A multi-dimensional human body dynamic balance training system

Abstract

The present invention relates to a multi-dimensional human body dynamic balance training system, which includes a cross slide, a lifting mechanism, a left-right rotation mechanism, a front-back rotation mechanism, a horizontal rotation mechanism, a foot pedal, and a frame. The frame includes a pedestal, a protective cover, an electrical box, a columnar frame, and an armrest seat. The cross slide is arranged on the pedestal, and the lifting mechanism, the left-right rotation mechanism, the front-back rotation mechanism, the horizontal rotation mechanism, and the foot pedal are sequentially connected in series upward and installed on the cross slide. The protective cover is arranged between the pedestal and the foot pedal. The present invention drives the human body to perform passive movement in an external drive mode, can realize the dynamic balance training of the human body with 0 to 6 degrees of freedom, meet the requirements of various human body balance function trainings, enhance the core muscle strength of the body, improve the vestibular sense, increase the reaction speed, etc. It has a wide range of applications, can be used for patient rehabilitation, athlete training, or simulate various working environments. Its modular design is easy to disassemble, assemble, and repair.

Description

Technical Field

[0001] The present invention relates to a medical rehabilitation device for evaluating and training human body balance function, and in particular to a multi-dimensional human body dynamic balance training system. Background Art

[0002] Rehabilitation training of body balance is an important treatment means to restore the body coordination ability of the human body. In clinical practice, Berg Balance Scale (BBS), Fulg-Meyer Balance Assessment Scale (FM-B), and Postural Assessment Scale for Stroke (PASS) are mostly used. However, these evaluation methods mostly require physical therapists, and rely on the experience of physical therapists. The labor intensity of one-on-one physical therapists is large, the efficiency is low, the objectivity is poor, and it is difficult to quantify. Therefore, it is more objective, scientific, and accurate to use instruments for evaluation and rehabilitation training. Thus, the importance of rehabilitation training equipment related to body balance restoration is reflected. At present, the human body balance training devices developed at home and abroad mainly focus on Pro-kin visual feedback systems, etc. Rehabilitation patients need to use vision to adjust balance, which belongs to the active dynamic and static balance training of rehabilitation patients. It is reported that due to the influence of various factors such as vision and emotion of rehabilitation patients during the active movement training process, the dispersion degree of training effects is relatively large. For stroke patients, their movement, senses, and cognition are mostly damaged to varying degrees. The ability of this group of people to actively coordinate body balance is limited. Passive movement balance ability training for patients is more in line with the principles of human anatomy, less affected by human factors, and the effect of passive movement balance rehabilitation training is better. The balance rehabilitation instruments on the market are mainly divided into non-mechanical products and mechanical products. Non-mechanical products mainly include balance balls, balance training boards, balance discs, balance beams, etc.; common mechanical products include the French Allcare Imoove series 3D composite movement training table, the German Dr-Wolf's Balance-check dynamic balance ability tester, the multi-functional rehabilitation training system of Gongtong Medical Technology (Beijing) Co., Ltd., the core muscle group training system of Yongkangtai, etc. Existing dynamic balance devices still have problems such as single active movement training actions of people, complex mechanical structures, inconvenient maintenance, inability to fully restore the body balance state of the human body, and low curative effects, and need to be further improved. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-dimensional human body dynamic balance training system to meet the requirements of various human body balance function trainings.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] The present invention provides a multi-dimensional human body dynamic balance training system, including a cross slide table, a lifting mechanism, a left-right rotation mechanism, a front-back rotation mechanism, a horizontal rotation mechanism, a foot pedal, and a frame.

[0006] The frame includes a pedestal, the cross slide is arranged on the pedestal, and the lifting mechanism, the left - right rotation mechanism, the front - rear rotation mechanism, the horizontal rotation mechanism, and the foot pedal are sequentially connected upward and installed on the cross slide.

[0007] The horizontal rotation mechanism, the front - rear rotation mechanism, the left - right rotation mechanism, the lifting mechanism, and the cross slide are the core driving mechanisms for providing dynamic balance training with 0 - 6 degrees of freedom.

[0008] The cross slide provides x - direction movement and y - direction movement for the lifting mechanism and the structures above it.

[0009] The lifting mechanism provides up - and - down movement in the z - direction for the left - right rotation mechanism and the structures above it.

[0010] The left - right rotation mechanism provides rotation around the y - axis for the front - rear rotation mechanism and the structures above it, that is, it realizes left - right swing.

[0011] The front - rear rotation mechanism provides rotation around the x - axis for the horizontal rotation mechanism and the structures above it, that is, it realizes front - rear swing.

[0012] The horizontal rotation mechanism provides rotational movement in the XY plane for the foot pedal, that is, the horizontal rotation mechanism provides rotation around the z - axis for the foot pedal.

[0013] The foot pedal is used to support the human body. Driven by the horizontal rotation mechanism, the front - rear rotation mechanism, the left - right rotation mechanism, the lifting mechanism, and the cross slide, it can realize 0 - 6 degrees of freedom movement in space or combined movement of multiple degrees of freedom.

[0014] Among them, the x, y, and z axes are the three coordinate axes of the Cartesian coordinate system, and the coordinate axis directions are also the three directions of the human body reference coordinate system. The x - direction is the abbreviation of the x - axis direction. The x - direction is the left - right direction of the human body, the y - direction is the front - rear direction of the human body, the z - direction is the up - down direction of the human body. The x - direction and the y - direction are two perpendicular directions on the horizontal plane, and the z - direction is the direction perpendicular to the horizontal plane where x and y are located.

[0015] In an embodiment of the present invention, the cross slide includes an X - direction moving platform and a Y - direction moving platform.

[0016] The X - direction moving platform is installed on the X - direction slide rail and can slide relatively. The X - direction moving platform is driven by a first motor through a coupling to drive the X - direction lead screw nut pair to move left and right on the X - direction slide rail, providing horizontal translation movement in the left - right direction of the human body, that is, in the x - direction of the coronal axis.

[0017] The Y-direction moving platform is installed on the Y-direction slide rail and can slide relatively, and the Y-direction moving platform is driven by the second motor through a coupling to drive the Y-direction screw-nut pair to move back and forth on the Y-direction slide rail; the Y-direction moving platform provides a front-back translation motion in the front-back direction for human body training, that is, in the y-direction of the sagittal axis.

[0018] The X-direction moving platform and the Y-direction moving platform are cross-shaped, and their moving directions are perpendicular to each other. The X-direction moving platform is located above the Y-direction moving platform. The X-direction slide rail and the first motor of the X-direction moving platform are fixed on the upper surface of the Y-direction moving platform, so that the X-direction moving platform can move together with the Y-direction moving platform.

[0019] In an embodiment of the present invention, the bottom of the cross slide table is fixedly installed in the pedestal of the frame through the Y-direction slide rail, and the second motor of the cross slide table is also fixed on the pedestal.

[0020] In an embodiment of the present invention, the lifting mechanism includes a lower fixed seat, a lower moving seat, a moving guide rail, an upper fixed seat, an upper moving seat, an X-shaped hinge frame and a Z-direction lifting platform;

[0021] There are two pairs of upper and lower moving guide rails. The lower moving seat is slidably connected to the lower moving guide rail, and the upper moving seat is slidably connected to the upper moving guide rail;

[0022] The Z-direction lifting platform is driven by the third motor through a coupling to drive the Z-direction screw-nut pair to drive the push plate, and then push the lower moving seat to slide left and right, and finally drive the X-shaped hinge frame to deform so that the Z-direction lifting platform moves up and down;

[0023] The lower fixed seat of the lifting mechanism and the lower moving guide rail are fixed on the cross slide table.

[0024] In an embodiment of the present invention, the lower fixed seat of the lifting mechanism and the lower moving guide rail are fixed on the X-direction moving platform on the upper surface of the cross slide table, so that the lifting mechanism can move together with the X-direction moving platform, and thus the Z-direction lifting platform of the lifting mechanism can obtain movement in the x, y, and z axis directions.

[0025] In an embodiment of the present invention, the Z-direction lifting platform is installed above the X-shaped hinge frame, and the X-shaped hinge frame is installed on the X-direction moving platform on the upper surface of the cross slide table. The Z-direction lifting platform can move up and down relative to the cross slide table, providing an up and down lifting motion in the vertical direction, that is, in the z-axis direction of the vertical axis, for human body training.

[0026] In an embodiment of the present invention, the Z-direction lifting platform is connected to the screw of the Z-direction screw-nut pair through a coupling. The middle of the push plate is fixed to the nut of the Z-direction screw-nut pair, and both ends of the push plate are fixed to the lower moving seat. The lower moving seat is installed on the moving guide rail and can slide relatively on the moving guide rail.

[0027] In an embodiment of the present invention, the left - right rotation mechanism includes an XZ - plane motor base, a fourth motor, an XZ - plane meshing gear, an XZ - plane rotating shaft, an XZ - plane bearing seat, a support and an XZ - plane rotating platform;

[0028] The fourth motor is installed on the XZ - plane motor base. The fourth motor drives the XZ - plane meshing gear to move through a coupling, drives the XZ - plane rotating shaft fixedly connected to the XZ - plane meshing gear to move, and thus drives the XZ - plane rotating platform fixedly connected to the XZ - plane rotating shaft to swing left and right, that is, to rotate in the xz - plane, that is, to swing in the coronal plane of the human body;

[0029] The XZ - plane bearing seat and the XZ - plane motor base of the left - right rotation mechanism are installed on the upper surface of the lifting mechanism and fixedly connected to the Z - direction lifting platform. Thus, the left - right rotation mechanism can rise and fall along with the rise and fall of the Z - direction lifting platform. Therefore, the XZ - plane rotating platform of the left - right rotation mechanism can obtain movements in the x, y, and z - axis directions and rotation around the y - axis.

[0030] In an embodiment of the present invention, the fourth motor is connected to one of the gears of the XZ - plane meshing gear through a coupling. The XZ - plane rotating shaft is fixed to the other gear of the XZ - plane meshing gear. A support is also fixed on the XZ - plane rotating shaft, and an XZ - plane rotating platform is fixed on the support.

[0031] In an embodiment of the present invention, convex feet are provided on both sides of the lower part of the support. The convex feet cooperate with height - adjustable adjustable feet to limit the swing range of the support, that is, to limit the left - right swing angle range of the XZ - plane rotating platform. When the adjustable feet are adjusted higher, the swing range of the support becomes smaller, and vice versa. Thus, the height of the adjustable feet is used to control or limit the left - right swing angle range of the XZ - plane rotating platform.

[0032] In an embodiment of the present invention, the front - back rotation mechanism is similar in structure to the left - right rotation mechanism. The front - back rotation mechanism includes a YZ - plane motor base, a fifth motor, a YZ - plane meshing gear, a YZ - plane rotating shaft, a YZ - plane bearing seat and a YZ - plane rotating platform;

[0033] The fifth motor is installed on the YZ - plane motor base. The fifth motor drives the YZ - plane meshing gear to move through a coupling, drives the YZ - plane rotating shaft fixedly connected to the YZ - plane meshing gear to move, and thus drives the YZ - plane rotating platform fixedly connected to the YZ - plane rotating shaft to swing back and forth, that is, to rotate in the yz - plane, that is, to swing in the sagittal plane of the human body;

[0034] The YZ-plane bearing seat and the YZ-plane motor seat of the front-back rotation mechanism are installed on the upper surface of the left-right rotation mechanism and fixedly connected to the XZ-plane rotating platform. Thus, the front-back rotation mechanism can swing along with the left-right swing of the XZ-plane rotating platform. Ultimately, the YZ-plane rotating platform of the front-back rotation mechanism can obtain movements in the x, y, and z-axis directions and rotations around the y-axis and x-axis.

[0035] A swivel base hole is provided at the center of the YZ-plane rotating platform. The swivel base hole is fixedly connected to the swivel mechanism. A swivel shaft hole is provided at the eccentric position of the YZ-plane rotating platform. The swivel shaft hole is connected to the swivel mechanism in a mating manner. Thus, the swivel mechanism is installed on the YZ-plane rotating platform and can swing back and forth together with the YZ-plane rotating platform.

[0036] In an embodiment of the present invention, the swivel mechanism includes a bull's-eye bearing, a large gear, a swivel base, a small gear, a sixth motor, and a small gear shaft. The large gear is centrally equipped with a swivel base, and a force sensor mounting hole is provided in the middle of the large gear. The bull's-eye bearing supports the lower surface of the large gear. The large gear and the small gear are a pair of meshing gears. The sixth motor is fixedly connected to the small gear shaft through a coupling, and the small gear shaft is fixedly connected to the small gear. Thus, the sixth motor can drive the large gear to rotate in a swivel motion by driving the small gear, that is, to rotate in the xy-plane, that is, to perform a swivel motion in the horizontal plane of the human body.

[0037] In an embodiment of the present invention, the swivel base is fixed on the swivel base hole of the YZ-plane rotating platform. Thus, the rotation center of the large gear of the swivel mechanism coincides with the central axis of the YZ-plane rotating platform. The small gear shaft of the swivel mechanism passes through and is rotatably connected in the swivel shaft hole of the YZ-plane rotating platform. The axial distance between the swivel base hole and the swivel shaft hole is equal to the center distance of the gear meshing between the large gear and the small gear. After connection, the swivel mechanism can swing along with the back-and-forth swing of the YZ-plane rotating platform of the front-back rotation mechanism. Ultimately, the large gear of the swivel mechanism can obtain movements in the x, y, and z-axis directions and rotations around the y, x, and z axes.

[0038] In an embodiment of the present invention, in addition, a force sensor mounting hole is provided in the middle of the large gear for connecting the foot pedal.

[0039] In an embodiment of the present invention, the foot pedal includes a pedal and force sensors provided under the pedal. There are several force sensors, which are circumferentially evenly distributed and used to detect the center of gravity position of the human body standing on the pedal. The pedal is connected to the large gear through the force sensors, and the lower ends of the force sensors are installed in the force sensor mounting holes of the swivel mechanism.

[0040] The foot pedal can obtain movements in the x, y, and z-axis directions and rotations around the x, y, and z axes, with a total of 6 degrees of freedom.

[0041] In an embodiment of the present invention, the frame includes a pedestal, a protective cover, an electrical box, a columnar frame, and an armrest seat, and an upper tooth seat is provided at the end of the armrest seat.

[0042] The protective cover is arranged between the pedestal and the footrest; both the columnar frame and the electrical box are fixed on the pedestal, the armrests and the handrails are both installed on the upper part of the columnar frame, and the armrests are movably connected to the armrest seats;

[0043] The touch screen all-in-one machine is arranged on the top of the columnar frame;

[0044] The emergency stop switch is arranged at the top end of the columnar frame.

[0045] In an embodiment of the present invention, the armrest includes two sets of multi-layer grip bars that are symmetric left and right, a locking button, a telescopic rod, and a lower tooth seat.

[0046] The multi-layer grip bars are installed at one end of the telescopic rod, the length of the telescopic rod is adjustable, and the extended length of the telescopic rod is locked by the locking button;

[0047] An upper tooth seat is provided on the armrest seat of the frame, and the lower tooth seat of the armrest and the upper tooth seat of the frame are vertically matched to form a lockable connection;

[0048] By adjusting the length of the telescopic rod and the rotation direction of the lower tooth seat, the opening angle and the front and back positions of the multi-layer grip bars that are symmetric left and right can be adjusted to meet the gripping needs of different patients.

[0049] The armrest provides auxiliary support for the trainer to prevent the patient from falling, or to assist the trainer's training and treatment actions.

[0050] In an embodiment of the present invention, the handrail includes a fixed seat, an elastic rope, and a handle, which are connected in sequence. The length of the elastic rope is adjustable. The elastic rope can be an elastic extended rubber band rope or a non-elastic rope.

[0051] The handrail provides support stability or assistance for the trainer.

[0052] In an embodiment of the present invention, the protective cover includes a lower sealed box, a flexible connection, and a bellows cover that are connected in sequence.

[0053] In an embodiment of the present invention, the control and acquisition circuit board arranged inside the electrical box can control the first motor to the sixth motor, acquire the force sensor signals, and communicate with the touch screen all-in-one machine, etc., so as to perform interactive virtual game training.

[0054] In an embodiment of the present invention, the force sensor, in cooperation with the electrical box and the touch screen all-in-one machine, can record the center of gravity movement trajectory and evaluate the balance ability of the tester.

[0055] In an embodiment of the present invention, the multi-dimensional human dynamic balance training system consists of a 6-degree-of-freedom motion mechanism that rotates around the x, y, and z axes and moves along the x, y, and z axes. By independently controlling each degree of freedom, the foot pedal can achieve 0-6 degrees of freedom of motion or a combined motion of multiple degrees of freedom in space.

[0056] Compared with the prior art, the technical effects of the present invention are mainly reflected in the following aspects:

[0057] (1) It can achieve dynamic balance training of the human body with 0-6 degrees of freedom, thus simulating various working environments. It can be used for the rehabilitation of patients and can also be provided as a balance training device for children and athletes. It has powerful functions, more flexible and rich training combination methods, can better promote the rehabilitation effect, and can achieve dynamic balance training with 0-6 degrees of freedom, such as:

[0058] When it is 0 degrees of freedom, it is static balance. At this time, static balance training under a plane and inclined planes in various directions can be achieved;

[0059] When it is 1 degree of freedom, it is the movement along the x, y, and z axes - left and right movement, front and back movement, up and down movement, or the rotation around the x, y, and z axes - rotation in the coronal plane, rotation in the sagittal plane, rotation in the horizontal plane;

[0060] When it is 2 degrees of freedom, there are a total of 15 training modes, namely, two-dimensional movement: movement in the xy plane, yz plane, and xz plane - two-dimensional movement of the human body center of gravity in the horizontal plane, two-dimensional movement in the sagittal plane, two-dimensional movement in the coronal plane; or two-dimensional rotation: simultaneous rotation around the x + y, x + z, and y + z axes; or movement + rotation: x-direction movement + x-axis rotation, x-direction movement + y-axis rotation, x-direction movement + z-axis rotation, y-direction movement + x-axis rotation, y-direction movement + y-axis rotation, y-direction movement + z-axis rotation, z-direction movement + x-axis rotation, z-direction movement + y-axis rotation, z-direction movement + z-axis rotation.

[0061] When it is 3 degrees of freedom, there are 20 motion training modes, when it is 4 degrees of freedom, there are 15, when it is 5 degrees of freedom, there are 6, and when it is 6 degrees of freedom, there is 1, that is, the 6-degree-of-freedom motion mode is full-directional motion training in space.

[0062] (2) Modular design, simple driving principle, diverse combination styles, and relatively independent control of each degree of freedom.

[0063] (3) It can be used for standing balance training and also for sitting balance training.

[0064] (4) The multi-layer handrail design can adapt to patients with different heights and body widths, and the front and back distance and opening angle of the handrail are adjustable to adapt to different treatment actions and training modes. Description of the Drawings

[0065] Figure 1 It is a schematic diagram of the overall structure of the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0066] Figure 2 It is an exploded structure diagram of the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0067] Figure 3 It is a partial sectional structure diagram of the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0068] Figure 4 It is a structure diagram of the core driving mechanism of the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0069] Figure 5 It is a structure diagram of the cross slide table in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0070] Figure 6 It is a structure diagram of the lifting mechanism in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0071] Figure 7(a) is a schematic diagram of the structure of the left-right rotation mechanism in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention Figure 1 ;

[0072] Figure 7(b) is a schematic diagram of the structure of the left-right rotation mechanism in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention Figure 2 ;

[0073] Figure 7(c) is a schematic diagram of the structure of the left-right rotation mechanism in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention Figure 3 ;

[0074] Figure 8 It is a structure diagram of the front-back rotation mechanism in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0075] Figure 9 It is a structure diagram of the planar rotation mechanism in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0076] Figure 10 It is a structure diagram of the foot pedal in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0077] Figure 11 It is a structure diagram of the handrail in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0078] Figure 12 It is a structure diagram of the handle in the multi-dimensional human dynamic balance training system in Embodiment 1 of the present invention;

[0079] Figure 13 This is a schematic structural diagram of the frame in the multi-dimensional human dynamic balance training system of Embodiment 1 of the present invention;

[0080] Figure 14 This is a schematic structural diagram of the protective cover in the multi-dimensional human dynamic balance training system of Embodiment 1 of the present invention.

[0081] Reference numerals in the figure:

[0082] 1 is a foot pedal, 101 is a pedal, and 102 is a force sensor;

[0083] 2 is a horizontal rotation mechanism, 201 is a bull's-eye bearing, 202 is a large gear, 2021 is a force sensor mounting hole, 203 is a horizontal rotation base, 204 is a sixth motor, 205 is a pinion shaft, and 206 is a pinion;

[0084] 3 is a front-back rotation mechanism, 301 is a YZ-plane meshing gear, 302 is a YZ-plane bearing seat, 303 is a YZ-plane rotating shaft, 304 is a YZ-plane motor seat, 305 is a fifth motor, 306 is a YZ-plane rotating platform, 3061 is a horizontal rotation shaft hole, and 3062 is a horizontal rotation base hole;

[0085] 4 is a left-right rotation mechanism, 401 is a support, 4011 is a convex foot, 402 is an XZ-plane bearing seat, 403 is an XZ-plane rotating shaft, 404 is an XZ-plane motor seat, 405 is a fourth motor, 406 is an XZ-plane meshing gear, and 407 is an XZ-plane rotating platform;

[0086] 5 is a lifting mechanism, 501 is an upper fixed seat, 502 is a third motor, 503 is a Z-direction screw-nut pair, 504 is a lower fixed seat, 505 is an X-shaped hinge bracket, 506 is a lower moving seat, 507 is a moving guide rail, 508 is an upper moving seat, 509 is a push plate, and 510 is a Z-direction lifting platform;

[0087] 6 is a cross slide, 601 is a first motor, 602 is an X-direction screw-nut pair, 603 is an X-direction slide rail, 604 is an X-direction moving platform, 605 is a second motor, 606 is a Y-direction screw-nut pair, 607 is a Y-direction slide rail, and 608 is a Y-direction moving platform;

[0088] 7 is a frame, 701 is a pedestal, 702 is a protective cover, 7021 is a lower sealed box, 7022 is a flexible connection, 7023 is a bellows cover, 703 is an electrical box, 704 is a columnar frame, 705 is an armrest seat, and 7051 is an upper tooth seat;

[0089] 8 is an armrest, 801 is a multi-layer grip rod, 802 is a locking button, 803 is a telescopic rod, and 804 is a lower tooth seat;

[0090] 9 is the handle, 901 is the grip, 902 is the elastic rope, and 903 is the fixed seat;

[0091] 10 is the emergency stop switch.

[0092] 11 is the touch screen all-in-one machine. Specific implementation manners

[0093] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0094] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0095] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0096] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0098] In order to distinguish the differences between the human body coordinate system, that is, the x, y, z axes and their directions x, y, z of the Cartesian coordinate system and the numbered names, lowercase x, y, z are specifically used to represent the coordinate axes or coordinate directions, while uppercase X, Y, Z are only used in the name definitions, such as the YZ plane meshing gear 301.

[0099] Embodiment

[0100] Refer to Figure 3 、 Figure 13 and, with reference toFigure 1 , Figure 2 , Figure 4 , this embodiment provides a multi-dimensional human dynamic balance training system, which is characterized by including: a cross slide 6, a lifting mechanism 5, a left-right rotation mechanism 4, a front-back rotation mechanism 3, a horizontal rotation mechanism 2, a footrest 1, and a frame 7.

[0101] The frame 7 includes a pedestal 701. The cross slide 6 is arranged on the pedestal 701. The lifting mechanism 5, the left-right rotation mechanism 4, the front-back rotation mechanism 3, the horizontal rotation mechanism 2, and the footrest 1 are sequentially connected upward and installed on the cross slide 6.

[0102] The horizontal rotation mechanism 2, the front-back rotation mechanism 3, the left-right rotation mechanism 4, the lifting mechanism 5, and the cross slide 6 are the core driving mechanisms for providing 0 to 6 degrees of freedom of dynamic balance training.

[0103] The cross slide 6 provides x-direction movement and y-direction movement for the lifting mechanism 5 and the structures thereon.

[0104] The lifting mechanism 5 provides up-and-down movement in the z-direction for the left-right rotation mechanism 4 and the structures thereon.

[0105] The left-right rotation mechanism 4 provides movement in the x, y, and z-axis directions and rotation around the y-axis for the front-back rotation mechanism 3 and the structures thereon. Rotation around the y-axis means realizing left-right swaying.

[0106] The front-back rotation mechanism 3 provides movement in the x, y, and z-axis directions and rotation around the y and x axes for the horizontal rotation mechanism 2 and the structures thereon, that is, realizing front-back swaying.

[0107] The horizontal rotation mechanism 2 provides movement in the x, y, and z-axis directions and rotation around the y, x, and z axes for the footrest 1 and the structures thereon.

[0108] The footrest 1 is used to support the human body. Driven by the horizontal rotation mechanism 2, the front-back rotation mechanism 3, the left-right rotation mechanism 4, the lifting mechanism 5, and the cross slide 6, the footrest 1 can realize 0 to 6 degrees of freedom of movement in space, or a combined movement of multiple degrees of freedom.

[0109] Among them, the x, y, and z axes are the three coordinate axes of the Cartesian coordinate system. The coordinate axis directions are also the three directions of the human body reference coordinate system. The x-direction is the abbreviation of the x-axis direction. The x-direction is the left-right direction of the human body, the y-direction is the front-back direction of the human body, the z-direction is the up-down direction of the human body. The x-direction and the y-direction are two perpendicular directions on the horizontal plane, and the z-direction is the direction perpendicular to the horizontal plane where the x and y are located.

[0110] See Figure 5 and cooperate with Figure 3 , Figure 4, in this embodiment, the cross slide table 6 includes an X-direction moving platform 604 and a Y-direction moving platform 608;

[0111] The X-direction moving platform 604 is installed on the X-direction slide rail 603 and can slide and translate relatively. The X-direction moving platform 604 is driven by a first motor 601 through a coupling to move left and right on the X-direction slide rail 603 by an X-direction screw-nut pair 602, providing horizontal translation movement in the left-right direction, i.e., the x-axis direction of the coronal axis, for human body training.

[0112] The Y-direction moving platform 608 is installed on the Y-direction slide rail 607 and can slide and translate relatively. The Y-direction moving platform 608 is driven by a second motor 605 through a coupling to move back and forth on the Y-direction slide rail 607 by a Y-direction screw-nut pair 606. The Y-direction moving platform 608 provides back-and-forth translation movement in the front-back direction, i.e., the y-axis direction of the sagittal axis, for human body training.

[0113] The X-direction moving platform 604 and the Y-direction moving platform 608 cross each other, and their moving directions are perpendicular. The X-direction moving platform 604 is located above the Y-direction moving platform 608. The X-direction slide rail 603 and the first motor 601 of the X-direction moving platform 604 are fixed on the upper surface of the Y-direction moving platform 608, so that the X-direction moving platform 604 can move together with the Y-direction moving platform 608.

[0114] See Figure 3 and see in conjunction with Figure 13 , in this embodiment, the bottom of the cross slide table 6 is fixedly installed in the pedestal 701 of the frame 7 through the Y-direction slide rail 607, and the second motor 605 of the cross slide table 6 is also fixed on the pedestal 701.

[0115] See Figure 6 and see in conjunction with Figure 3 , Figure 4 , Figure 5 , in this embodiment, the lifting mechanism 5 includes a lower fixed seat 504, a lower moving seat 506, a moving guide rail 507, an upper fixed seat 501, an upper moving seat 508, an X-shaped hinge frame 505, and a Z-direction lifting platform 510;

[0116] There are two pairs of upper and lower moving guide rails 507. The lower moving seat 506 is slidably connected to the lower moving guide rail 507 and can slide and translate relatively with respect to the moving guide rail 507. The upper moving seat 508 is slidably connected to the upper moving guide rail 507 and can slide and translate relatively with respect to the moving guide rail 507;

[0117] The Z-direction lifting platform 510 is installed above the X-shaped hinge frame 505. The third motor 502 drives the Z-direction screw-nut pair 503 through a coupling. The middle of the push plate 509 is fixed to the nut of the Z-direction screw-nut pair 503, and both ends of the push plate 509 are fixed to the lower moving seat 506. Therefore, it can further drive the push plate 509 and the lower moving seat 506 to slide left and right, and finally drive the X-shaped hinge frame 505 to deform so that the Z-direction lifting platform 510 can move up and down relative to the cross slide 6, thereby providing the up and down movement in the vertical direction, that is, the vertical axis z-axis direction, for human body training.

[0118] The lower fixed seat 504, the lower moving guide rail 507 and the third motor 502 of the lifting mechanism 5 are all fixed on the upper surface X-direction moving platform 604 of the cross slide 6, so that the lifting mechanism 5 can move together with the X-direction moving platform 604. Therefore, the Z-direction lifting platform 510 of the lifting mechanism 5 can obtain the movement along the x, y, and z axes.

[0119] See Figure 7a 、7b、7c, and cooperate with the reference to Figure 3 、 Figure 4 、 Figure 6 In this embodiment, the left and right rotation mechanism 4 includes an XZ-plane motor seat 404, a fourth motor 405, an XZ-plane meshing gear 406, an XZ-plane rotating shaft 403, an XZ-plane bearing seat 402, a support 401, and an XZ-plane rotating platform 407.

[0120] The fourth motor 405 is installed on the XZ-plane motor seat 404. The fourth motor 405 drives the XZ-plane meshing gear 406 to move through a coupling, drives the XZ-plane rotating shaft 403 fixedly connected to the XZ-plane meshing gear 406 to move, and thus drives the XZ-plane rotating platform 407 fixedly connected to the XZ-plane rotating shaft 403 to swing left and right, that is, to rotate in the xz plane, that is, to swing in the coronal plane of the human body.

[0121] The XZ-plane bearing seat 402 and the XZ-plane motor seat 404 of the left and right rotation mechanism 4 are installed on the upper surface of the lifting mechanism 5 and are fixedly connected to the Z-direction lifting platform 510. Therefore, the left and right rotation mechanism 4 can rise and fall with the rise and fall of the Z-direction lifting platform 510. Therefore, the XZ-plane rotating platform 407 of the left and right rotation mechanism 4 can obtain the movement along the x, y, and z axes and the rotation around the y axis.

[0122] The fourth motor 405 is connected to one of the gears of the XZ-plane meshing gear 406 through a coupling. The XZ-plane rotating shaft 403 is fixed to the other gear of the XZ-plane meshing gear 406. A support 401 is also fixed on the XZ-plane rotating shaft 403, and an XZ-plane rotating platform 407 is fixed on the support 401.

[0123] In addition, in this embodiment, convex feet 4011 are provided on both sides of the lower part of the support 401. The convex feet 4011 cooperate with adjustable feet (not shown) with adjustable height to limit the swinging range of the support 401, that is, to limit the left - right swing angle range of the XZ - plane rotating platform 407. When the adjustable feet are raised, the swinging range of the support 401 becomes smaller, and vice versa. Thus, the height of the adjustable feet is used to control or limit the left - right swing angle range of the XZ - plane rotating platform 407.

[0124] See Figure 8 , see in conjunction with Figure 3 、 Figure 4 、 Figure 7a In this embodiment, the front - rear rotation mechanism 3 is similar in structure to the left - right rotation mechanism 4. The front - rear rotation mechanism 3 includes a YZ - plane motor base 304, a fifth motor 305, a YZ - plane meshing gear 301, a YZ - plane rotating shaft 303, a YZ - plane bearing seat 302, and a YZ - plane rotating platform 306.

[0125] The fifth motor 305 is installed on the YZ - plane motor base 304. The fifth motor 305 drives the YZ - plane meshing gear 301 to move through a coupling, driving the YZ - plane rotating shaft 403 fixedly connected to the YZ - plane meshing gear 301 to move, thereby driving the YZ - plane rotating platform 306 to swing back and forth, that is, to rotate within the yz - plane, that is, to swing within the sagittal plane of the human body.

[0126] The YZ - plane bearing seat 302 and the YZ - plane motor base 304 of the front - rear rotation mechanism 3 are installed on the upper surface of the left - right rotation mechanism 4 and are fixedly connected to the XZ - plane rotating platform 407. Thus, the front - rear rotation mechanism 3 can swing along with the left - right swing of the XZ - plane rotating platform 407. Finally, the YZ - plane rotating platform 306 of the front - rear rotation mechanism 3 can obtain movements along the x, y, and z axes and rotations around the y - axis and x - axis.

[0127] A flat - rotation seat hole 3062 is provided at the center of the YZ - plane rotating platform 306. The flat - rotation seat hole 3062 is fixedly connected to the flat - rotation mechanism 2. A flat - rotation shaft hole 3061 is provided at an eccentric position of the YZ - plane rotating platform 306. The flat - rotation shaft hole 3061 is connected to the flat - rotation mechanism 2 in a mating manner. Thus, the flat - rotation mechanism 2 is installed on the YZ - plane rotating platform 306 and can perform flat - rotation movement, that is, rotation around the z - axis, together with the YZ - plane rotating platform 306.

[0128] See Figure 9 , see in conjunction with Figure 3 、 Figure 4 、 Figure 8, in this embodiment, the slewing mechanism 2 includes a bull's-eye bearing 201, a large gear 202, a slewing base 203, a small gear 206, a sixth motor 204, and a small gear shaft 205. The large gear 202 is provided with a slewing base 203 in the center, and a force sensor mounting hole 2021 is provided on the large gear 202. The bull's-eye bearing 201 is supported on the lower surface of the large gear 202. The large gear 202 and the small gear 206 are a pair of meshing gears. The sixth motor 204 is fixedly connected to the small gear shaft 205 through a coupling, and the small gear shaft 205 is also fixedly connected to the small gear 206. Thus, the sixth motor 204 can drive the large gear 202 to rotate slewingly by driving the small gear 206, that is, to rotate in the xy plane or around the z axis, that is, to perform slewing motion in the horizontal plane of the human body.

[0129] The slewing base 203 is fixed on the slewing base hole 3062 of the Z-plane rotating platform 306, so that the rotation center of the large gear 202 of the slewing mechanism 2 coincides with the central axis of the YZ-plane rotating platform 306; the small gear shaft 205 of the slewing mechanism 2 passes through and is rotatably connected in the slewing shaft hole 3061 at the eccentric position of the YZ-plane rotating platform 306. The axial distance between the slewing base hole 3062 and the slewing shaft hole 3061 is equal to the center distance of the gear meshing between the large gear 202 and the small gear 206. After connection, the slewing mechanism 2 is installed on the YZ-plane rotating platform 306. The slewing mechanism 2 can swing along with the forward and backward swing of the YZ-plane rotating platform 306 of the front and rear rotating mechanism 3. Finally, the large gear 202 of the slewing mechanism 2 can obtain movement in the x, y, and z axis directions and rotation around the y, x, and z axes.

[0130] In addition, the force sensor mounting hole 2021 provided on the large gear 202 is used to connect the foot pedal 1.

[0131] See Figure 10 and, in conjunction with Figure 3 、 Figure 4 、 Figure 9 , in this embodiment, the foot pedal 1 includes a pedal 101 and a force sensor 102 provided under the pedal 101. There are several force sensors 102, which are circumferentially evenly distributed and are used to detect the position of the center of gravity of the human body standing on the pedal 101. The pedal 101 is connected to the large gear 202 through the force sensor 102. The lower end of the force sensor 102 is installed on the force sensor mounting hole 2021 of the slewing mechanism 2.

[0132] The foot pedal 1 can obtain movement in the x, y, and z axis directions and rotation around the x, y, and z axes, with a total of 6 degrees of freedom.

[0133] Refer to Figure 3 、 Figure 13 and, in conjunction with Figure 1 、 Figure 2 、 Figure 4, in this embodiment, the frame 7 includes a pedestal 701, a protective cover 702, an electrical box 703, a columnar frame 704 and an armrest seat 705. An upper tooth seat 7051 is provided at the end of the armrest seat 705.

[0134] The protective cover 702 is arranged between the pedestal 701 and the footrest 1; the columnar frame 704 and the electrical box 703 are both fixed on the pedestal 701.

[0135] The armrest 8 and the handle 9 are both installed on the upper part of the columnar frame 704, and the armrest 8 is movably connected to the armrest seat 705.

[0136] The touch screen all-in-one machine 11 is arranged on the top of the columnar frame 704.

[0137] The emergency stop switch 10 is arranged at the top end of the columnar frame 704.

[0138] See Figure 11 、 Figure 13 and, for reference, see Figure 1 、 Figure 3 , in this embodiment, the armrest 8 includes two sets of multi-layer grip bars 801, locking buttons 802, telescopic rods 803, and lower tooth seats 804 that are symmetric about the left and right.

[0139] The multi-layer grip bars 801 are installed at one end of the telescopic rod 803. The length of the telescopic rod 803 is adjustable and the extended length of the telescopic rod 803 is locked by the locking button 802.

[0140] An upper tooth seat 7051 is provided on the armrest seat 705 of the frame 7. The lower tooth seat 804 and the upper tooth seat 7051 of the frame 7 are vertically matched to form a lockable connection.

[0141] By adjusting the length of the telescopic rod 803 and the rotation direction of the lower tooth seat 804, the opening angle and the front and rear positions of the multi-layer grip bars 801 that are symmetric about the left and right can be adjusted to meet the gripping needs of different patients.

[0142] The armrest 8 provides auxiliary support for the trainer to prevent the patient from falling or to assist the trainer in training and treatment actions.

[0143] See Figure 12 and, for reference, see Figure 1 、 Figure 3 、 Figure 13 , in this embodiment, the handle 9 includes a fixed seat 903, an elastic rope 902 and a handle 901, which are connected in sequence. The length of the elastic rope 902 is adjustable. The elastic rope 902 can be an elastic stretched rubber band rope or a non-elastic rope.

[0144] The handle 9 provides support stability or assistance for the trainer.

[0145] SeeFigure 13 , Figure 14 In this embodiment, the protective cover 702 includes a lower sealing box 7021, a flexible connection 7022, and a bellows cover 7023 that are connected in sequence.

[0146] In this embodiment, the control and acquisition circuit board arranged inside the electrical box 703 can control the first to sixth motors, acquire the signals of the force sensors 102, communicate with the touch screen all-in-one machine 11, etc., so as to perform interactive virtual game training.

[0147] In this embodiment, the force sensors 102 cooperate with the electrical box 703 and the touch screen all-in-one machine 11 to record the trajectory of the center of gravity movement and evaluate the balance ability of the tester.

[0148] In this embodiment, the multi-dimensional human body dynamic balance training system constitutes a 6-degree-of-freedom motion mechanism that rotates around the x, y, and z axes and moves in the x, y, and z axis directions in space. By independently controlling each degree of freedom, the 0-6 degrees of freedom motion or the combined motion of multiple degrees of freedom of the foot pedal 1 in space can be realized.

[0149] The specific dynamic balance training motion modes that can be realized from 0 to 6 degrees of freedom are summarized as follows:

[0150] There is 1 mode with 0 degrees of freedom. At this time, all the first to sixth motors do not move. The human body stands on the foot pedal 1 for static balance training, but the plane on which it stands can be a horizontal plane or an inclined plane. Controlling the fourth to sixth motors to make the pedal 101 horizontally placed is static balance training under a horizontal plane; if the fourth to sixth motors are controlled to make the pedal 101 inclined in all directions, this is static balance training under an inclined plane.

[0151] There are 6 training modes with 1 degree of freedom, which are respectively the movement along the x, y, and z axes - left and right movement, front and back movement, up and down movement, or the rotation around the x, y, and z axes - rotation in the coronal plane, rotation in the sagittal plane, and rotation in the horizontal plane.

[0152] There are 15 training modes with 2 degrees of freedom, which are respectively: (1) two-dimensional movement: movement in the xy plane, yz plane, and xz plane - the center of gravity of the human body moves in the horizontal plane, sagittal plane, and two-dimensional movement in the coronal plane; (2) or two-dimensional rotation: simultaneous rotation around the x + y, x + z, and y + z axes; (3) movement along the axis + rotation around the axis: x-direction movement + x-axis rotation, x-direction movement + y-axis rotation, x-direction movement + z-axis rotation, y-direction movement + x-axis rotation, y-direction movement + y-axis rotation, y-direction movement + z-axis rotation, z-direction movement + x-axis rotation, z-direction movement + y-axis rotation, z-direction movement + z-axis rotation.

[0153] When there are 3 degrees of freedom, half of the motors move and half do not. At this time, there are 20 training modes, which are: x-axis movement + x-axis rotation + y-axis rotation, x-axis movement + x-axis rotation + z-axis rotation, x-axis movement + y-axis rotation + z-axis rotation, y-axis movement + x-axis rotation + y-axis rotation, y-axis movement + x-axis rotation + z-axis rotation, y-axis movement + y-axis rotation + z-axis rotation, z-axis movement + x-axis rotation + y-axis rotation, z-axis movement + x-axis rotation + z-axis rotation, z-axis movement + y-axis rotation + z-axis rotation; x-axis movement + y-axis movement + x-axis rotation, x-axis movement + y-axis movement + y-axis rotation, x-axis movement + y-axis movement + z-axis rotation, x-axis movement + x-axis rotation + z-axis movement, x-axis movement + y-axis rotation + z-axis movement, x-axis movement + z-axis rotation + z-axis movement, x-axis rotation + y-axis movement + z-axis movement, y-axis rotation + y-axis movement + z-axis movement, z-axis rotation + y-axis movement + z-axis movement; x-axis movement + y-axis movement + z-axis movement, x-axis rotation + y-axis rotation + z-axis rotation.

[0154] When there are 4 degrees of freedom, 4 motors are selected from the six first to sixth motors to control the movement. At this time, there are 15 training modes, which are: x, y, z-axis movement + x-axis rotation, x, y, z-axis movement + y-axis rotation, x, y, z-axis movement + z-axis rotation; x-axis movement + x, y, z-axis rotation, y-axis movement + x, y, z-axis rotation, z-axis movement + x, y, z-axis rotation; x, y-axis movement + x, y-axis rotation, x, y-axis movement + x, z-axis rotation, x, y-axis movement + y, z-axis rotation, x, z-axis movement + x, y-axis rotation, x, z-axis movement + x, z-axis rotation, x, z-axis movement + y, z-axis rotation, y, z-axis movement + x, y-axis rotation, y, z-axis movement + x, z-axis rotation, y, z-axis movement + y, z-axis rotation.

[0155] When there are 5 degrees of freedom, only one of the first to sixth motors does not move. At this time, there are 6 training modes, which are: x, y, z-axis movement + x, y-axis rotation, x, y, z-axis movement + x, z-axis rotation, x, y, z-axis movement + y, z-axis rotation; x, y-axis movement + x, y, z-axis rotation, x, z-axis movement + x, y, z-axis rotation, y, z-axis movement + x, y, z-axis rotation.

[0156] When there are 6 degrees of freedom, there is only 1 training mode, that is, the first to sixth motors are all in motion. At this time, the human body can perform 6-degree-of-freedom spatial movement.

[0157] The application of the present invention adopts a modular design, which is easy to disassemble, assemble and repair, and is more economical and practical. The present invention can achieve dynamic balance training of 0 to 6 degrees of freedom of the human body, or disassemble the 6 parts of the core drive mechanism for free combination to control costs, and can meet various human balance function training requirements according to different individuals, enhance the core muscle strength of the body, improve the vestibular sense, and increase the reaction speed. It has a wide range of applications, can be used for patient rehabilitation, athlete training, or simulate various working environments. It can formulate personalized training programs according to the requirements of the trainers, and adjust the training difficulty in a timely manner to better adapt to the treatment plan adjustments for different trainers and different rehabilitation stages due to balance ability differences, improve the rehabilitation efficiency, and effectively improve the balance ability. The following is only an example of its individual applications:

[0158] It can simulate the left - right swing of the body. At this time, the fourth motor 405 controls the left - right rotation mechanism 4 to swing left and right, and the other motors remain stationary.

[0159] It can simulate the right - front / left - rear fall of the human body while standing. At this time, the fourth motor 405 controls the left - right rotation mechanism 4 to swing, and the fifth motor 305 controls the front - rear rotation mechanism 3 to swing simultaneously.

[0160] It can simulate taking an elevator. At this time, the third motor 502 controls the lifting of the lifting mechanism 5.

[0161] It can simulate the forward / backward slip of the human body. At this time, the fifth motor 305 controls the front - rear rotation mechanism 3 to swing, and at the same time, the second motor 605 controls the Y - direction moving platform 608 of the cross - slide 6 to accelerate forward and backward.

[0162] In addition, seats and armrests are set on the pedal 101 of the footrest 1, and a car steering wheel is set on the columnar frame 704 of the frame 7, which can simulate various road conditions in car driving.

[0163] The above description of the embodiments is for the convenience of those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative labor. Therefore, the present invention is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. A multi-dimensional human body dynamic balance training system, characterized in that, it includes: a cross slide (6), a lifting mechanism (5), a left-right rotation mechanism (4), a front-back rotation mechanism (3), a horizontal rotation mechanism (2), a foot pedal (1), and a frame (7), the frame (7) includes a pedestal (701), the cross slide (6) is arranged on the pedestal (701), and the lifting mechanism (5), the left-right rotation mechanism (4), the front-back rotation mechanism (3), the horizontal rotation mechanism (2), and the foot pedal (1) are sequentially connected upward and installed on the cross slide (6); the horizontal rotation mechanism (2), the front-back rotation mechanism (3), the left-right rotation mechanism (4), the lifting mechanism (5), and the cross slide (6) are the core driving mechanisms for providing 0-6 degrees of freedom of dynamic balance training, the cross slide (6) provides x-direction movement and y-direction movement for the lifting mechanism (5) and the structures thereon, the lifting mechanism (5) provides up-and-down movement in the z-direction for the left-right rotation mechanism (4) and the structures thereon, the left-right rotation mechanism (4) provides rotation around the y-axis for the front-back rotation mechanism (3) and the structures thereon, that is, realizes left-right swing, the front-back rotation mechanism (3) provides rotation around the x-axis for the horizontal rotation mechanism (2) and the structures thereon, that is, realizes front-back swing, the horizontal rotation mechanism (2) provides rotational movement in the xy plane for the foot pedal (1), that is, the horizontal rotation mechanism (2) provides rotation around the z-axis for the foot pedal (1), the foot pedal (1) is used to support the human body, and the foot pedal (1) is driven by the horizontal rotation mechanism (2), the front-back rotation mechanism (3), the left-right rotation mechanism (4), the lifting mechanism (5), and the cross slide (6), and can realize 0-6 degrees of freedom of movement in space, or combined movement of multiple degrees of freedom; wherein, the x, y, and z axes are the three coordinate axes of the Cartesian coordinate system, and the coordinate axis directions are also the three directions of the human body reference coordinate system. The x-direction is the abbreviation of the x-axis direction, the x-direction is the left-right direction of the human body, the y-direction is the front-back direction of the human body, the z-direction is the up-down direction of the human body, the x-direction and the y-direction are two perpendicular directions on the horizontal plane, and the z-direction is the direction perpendicular to the horizontal plane where x and y are located; the cross slide (6) includes an X-direction moving platform (604) and a Y-direction moving platform (608); the X-direction moving platform (604) is installed on the X-direction slide rail (603) and can slide relatively, and the X-direction moving platform (604) is driven by a first motor (601) through a coupling to drive the X-direction screw-nut pair (602) to move left and right on the X-direction slide rail (603); the Y-direction moving platform (608) is installed on the Y-direction slide rail (607) and can slide relatively, and the Y-direction moving platform (608) is driven by a second motor (605) through a coupling to drive the Y-direction screw-nut pair (606) to move back and forth on the Y-direction slide rail (607); The X-direction moving platform (604) and the Y-direction moving platform (608) cross each other, and their moving directions are perpendicular. The X-direction moving platform (604) is located above the Y-direction moving platform (608). The X-direction slide rail (603) and the first motor (601) of the X-direction moving platform (604) are fixed on the upper surface of the Y-direction moving platform (608). The lifting mechanism (5) includes a lower fixed seat (504), a lower moving seat (506), a moving guide rail (507), an upper fixed seat (501), an upper moving seat (508), an X-shaped hinge frame (505), and a Z-direction lifting platform (510). There are two pairs of upper and lower moving guide rails (507). The lower moving seat (506) is slidably connected to the lower moving guide rail (507), and the upper moving seat (508) is slidably connected to the upper moving guide rail (507). The Z-direction lifting platform (510) is driven by the third motor (502) through a coupling to drive the Z-direction screw-nut pair (503) to drive the push plate (509), thereby pushing the lower moving seat (506) to slide left and right, and finally driving the X-shaped hinge frame (505) to deform to lift the Z-direction lifting platform (510) up and down. The lower fixed seat (504) of the lifting mechanism (5) and the lower moving guide rail (507) are fixed on the cross slide table (6). The left-right rotation mechanism (4) includes an XZ-plane motor seat (404), a fourth motor (405), an XZ-plane meshing gear (406), an XZ-plane rotating shaft (403), an XZ-plane bearing seat (402), a support (401), and an XZ-plane rotating platform (407). The fourth motor (405) is installed on the XZ-plane motor seat (404). The fourth motor (405) drives the XZ-plane meshing gear (406) to move through a coupling, driving the XZ-plane rotating shaft (403) fixedly connected to the XZ-plane meshing gear (406) to move, thereby driving the XZ-plane rotating platform (407) fixedly connected to the XZ-plane rotating shaft (403) to swing left and right. The XZ-plane bearing seat (402) and the XZ-plane motor seat (404) of the left-right rotation mechanism (4) are installed on the upper surface of the lifting mechanism (5) and are fixedly connected to the Z-direction lifting platform (510). The front-back rotation mechanism (3) includes a YZ-plane motor seat (304), a fifth motor (305), a YZ-plane meshing gear (301), a YZ-plane rotating shaft (303), a YZ-plane bearing seat (302), and a YZ-plane rotating platform (306). The fifth motor (305) is installed on the YZ-plane motor seat (304). The fifth motor (305) drives the YZ-plane meshing gear (301) to move through a coupling, driving the YZ-plane rotating shaft (303) fixedly connected to the YZ-plane meshing gear (301) to move, thereby driving the YZ-plane rotating platform (306) fixedly connected to the YZ-plane rotating shaft (303) to swing back and forth. The YZ-plane bearing seat (302) and the YZ-plane motor seat (304) of the front-back rotation mechanism (3) are installed on the upper surface of the left-right rotation mechanism (4) and fixedly connected to the XZ-plane rotating platform (407), so that the front-back rotation mechanism (3) can swing along with the left-right swing of the XZ-plane rotating platform (407). A swivel base hole (3062) is provided at the center of the YZ-plane rotating platform (306). The swivel base hole (3062) is fixedly connected to the swivel mechanism (2). A swivel shaft hole (3061) is provided at the eccentric position of the YZ-plane rotating platform (306). The swivel shaft hole (3061) is cooperatively connected to the swivel mechanism (2). Thus, the swivel mechanism (2) is installed on the YZ-plane rotating platform (306) and can swing back and forth together with the YZ-plane rotating platform (306).

2. A multi-dimensional human body dynamic balance training system according to claim 1, characterized in that, Convex feet (4011) are provided on both sides of the lower part of the support (401). The convex feet (4011) cooperate with adjustable feet to limit the swing range of the support (401), that is, to limit the left-right swing angle range of the XZ-plane rotating platform (407).

3. A multi-dimensional human body dynamic balance training system according to claim 1, characterized in that, The swivel mechanism (2) includes a ball bearing (201), a large gear (202), a swivel base (203), a small gear (206), a sixth motor (204), and a small gear shaft (205). The swivel base (203) is installed in the center of the large gear (202). A force sensor mounting hole (2021) is provided in the middle of the large gear (202). The ball bearing (201) supports the lower surface of the large gear (202). The large gear (202) and the small gear (206) are a pair of meshing gears. The sixth motor (204) is fixedly connected to the small gear shaft (205) through a coupling, and the small gear shaft (205) is also fixedly connected to the small gear (206).

4. A multi-dimensional human body dynamic balance training system according to claim 3, characterized in that, The foot pedal (1) includes a pedal (101) and force sensors (102) arranged under the pedal (101). There are several force sensors (102), which are circumferentially evenly distributed. The pedal (101) is connected to the large gear (202) through the force sensors (102). The lower ends of the force sensors (102) are installed in the force sensor mounting holes (2021) of the swivel mechanism (2).

5. A multi-dimensional human body dynamic balance training system according to claim 1, characterized in that, The frame (7) includes a pedestal (701), a protective cover (702), an electrical box (703), a columnar frame (704), and an armrest seat (705). The protective cover (702) is arranged between the pedestal (701) and the foot pedal (1); the columnar frame (704) and the electrical box (703) are both fixed on the pedestal (701). The armrest (8) and the handle (9) are both installed on the upper part of the columnar frame (704). The armrest (8) is movably connected to the armrest seat (705). The touchscreen all-in-one machine (11) is arranged on the top of the columnar frame (704); The emergency stop switch (10) is arranged at the top end of the columnar frame (704).

6. A multi-dimensional human body dynamic balance training system according to claim 1, characterized in that the multi-dimensional human body dynamic balance training system forms a 6-degree-of-freedom motion mechanism that rotates around the x, y, and z axes and moves in the x, y, and z axis directions in space. By independently controlling each degree of freedom, the footrest (1) can perform 0-6 degrees-of-freedom motion or combined motion of multiple degrees of freedom in space.

Images