Active and passive balance training system

Abstract

The present invention relates to an active and passive balance training system, including a display all-in-one, handrails, a frame, a step-assisting step, a cross guide rail, a connecting seat, a telescopic cross shaft, a clutch, a driving handle, a bowl seat, an anti-rotation mechanism, and a moving platform, wherein the cross guide rail includes a y-axis slide rail and an x-axis slide rail located on the y-axis slide rail, the x-axis slide rail is connected to the telescopic cross shaft through the connecting seat, and the telescopic cross shaft is semi-clutchedly connected to the driving handle through a clutch. Its advantages are as follows: the present invention adopts a bottom cross guide rail driving mode, and has a self-contained clutch machine to control whether the moving platform rotates automatically, has universal swing, powerful functions, simple inclination adjustment, mature control method, low cost, and one machine for multiple uses, which improves equipment utilization, enriches training, and makes the rehabilitation training process more efficient.

Description

Technical Field

[0001] The invention relates to the technical field of medical auxiliary equipment, in particular to an active and passive balance training system. Background Art

[0002] Balance ability is a basic motor skill of the human body and the basis of various activities. Maintaining balance is an important manifestation of body control ability, which is divided into static balance ability and dynamic balance ability. With the aging of my country's population, the number of stroke patients has increased year by year, and the incidence of hemiplegia caused by stroke is as high as more than 70%. Patients often suffer from complications related to balance dysfunction, such as falls and lameness. Balance training can enhance the patient's core muscle strength, improve the body's balance ability and lower limb motor function, thereby promoting the recovery of the patient's balance function and improving the quality of life.

[0003] Common instruments developed for dynamic balance training include the American Biodex dynamic and static balance trainer, the American NeuroCom SMART Equitest system, the Italian TecnoBody Pro-kin balance test training system, the German Posturomed static balance instrument, the German Dr-Wolf Balance-check dynamic balance ability tester, the French Synapsys Posturography System static and dynamic balance instrument, the French Allcare Innovations Imoove FTM dynamic balance tester, etc. Related research has also been carried out in China, such as Liu Kun, Song Leilei, Shen Wei, Wang Pengyu, Wen Zixing, Xiao Jinzhuang, Zou Zhen, etc., who have developed dynamic balance equipment; the above dynamic balance devices can perform dynamic balance training on the human body and help improve the patient's balance ability.

[0004] Chinese patent application: CN114432654A discloses a dynamic balance training device and training method for ankle joints, wherein a pad is fixed in the middle of the upper end of a base, and a swing structure is installed in the middle of the pad; a stable support plate is fixed on the top of the swing structure to support the middle position of the lower end of the stable support plate; a plurality of adjustable hydraulic dampers and an electric cylinder push rod are installed in the middle of the base; the adjustable hydraulic damper is fixedly connected to the hexagonal nut in the swing structure to adjust the damping during the balance training process, and the upper end of the electric cylinder push rod is movably connected to the lower end of the stable support plate to control the inclination change of the stable support plate on the swing structure. The device solves the problems of complex structure and high cost of existing dynamic balance training equipment, improves the utilization efficiency of the equipment, and enriches the mode of balance training; but the overall structure is too simple, its function is single, and it is still inconvenient to use.

[0005] There are still many problems with the current dynamic balance training equipment, which still need to be continuously improved. For example, there is a single movement mode, the training angle range cannot be adjusted at any time according to the different conditions and different rehabilitation stages of the patient, or the adjustment is cumbersome, or it is driven by no power source and only provides active dynamic balance training for the human body, or it is motorized, and the human body movement is passively trained through motorized drive. Some equipment has problems such as complex structure and high control difficulty. For the parallel-driven dynamic balance training mechanism, it cannot simulate the rotation of the human body to perform dizziness training movements.

[0006] Therefore, in summary, there is an urgent need for an active and passive balance training system that is easy to operate, simple to use, and can realize active and dynamic human static balance training (including both inclined plane and horizontal plane) and various passive dynamic swinging and shaking human dynamic balance training. However, there is no report on such an active and passive balance training system. Summary of the invention

[0007] The purpose of the present invention is to solve the above problems, and a passive balance training system is provided for this purpose.

[0008] To achieve the above object, the technical solution adopted by the present invention is:

[0009] An active and passive balance training system, comprising an integrated machine, an armrest, a frame, a step-assisting step, a cross guide, a connecting seat, a telescopic cross shaft, a clutch, a clutch motor mechanism, a driving handle, a bowl seat, an anti-rotation mechanism, a moving platform and a rotating driving mechanism, wherein the integrated display machine is fixedly connected to the armrest and the frame; the frame is also fixed with an armrest, and a step-assisting step is also arranged next to the frame;

[0010] The cross guide rail also includes a y-axis slide rail and an x-axis slide rail located on the y-axis slide rail, the x-axis slide rail is rotatably connected to the telescopic cross shaft through a connecting seat, and the telescopic cross shaft is semi-clutchedly connected to the driving handle through a clutch: the telescopic cross shaft is rotatably connected to the driving handle;

[0011] The platform is movably installed in the bowl seat, the bowl seat is fixed to the frame, a gyroscope is also arranged inside the upper surface of the platform, and the gyroscope is also electrically connected to the display integrated machine;

[0012] The clutch comprises an upper meshing head, a lower meshing head and a sliding block. The clutch is mounted on the driving handle through the sliding block and can slide up and down on the driving handle. The upper and lower ends of the clutch are respectively connected to the anti-rotation mechanism or one of the telescopic cross shafts by clutch, and the connection selection is controlled by the clutch motor mechanism installed thereon;

[0013] The anti-rotation mechanism comprises an upper meshing wheel, a rotation-stopping head, a telescopic rod, a cross-piece and a fixing seat which are connected in sequence, wherein the upper meshing wheel is sleeved on the driving handle, and the fixing seat is fixed to the frame;

[0014] The rotation drive mechanism also includes a friction wheel, a belt drive, a bevel gear drive, a compression spring, a telescopic transmission rod, a gearbox, a coupling, a gear pair, and a follower seat; and the friction wheel transmits the rotation generated by friction with the ground to the telescopic transmission rod after the belt drive and the bevel gear drive, and then transmits it to the telescopic cross shaft through the gear pair after the speed change, so that the telescopic cross shaft rotates relative to the connecting seat, and then the telescopic cross shaft and the driving handle are engaged by the clutch to rotate continuously, and finally the movable platform is driven to rotate.

[0015] In the active and passive balance training system described above, as a preferred solution, the telescopic cross shaft includes a telescopic shaft and a lower meshing wheel fixedly connected to the upper end, the head of the telescopic shaft is provided with a lower bearing mounting position, and a lower retaining ring is fixed outside the lower bearing mounting position to prevent the lower bearing installed on the lower bearing mounting position from slipping, so that the telescopic cross shaft is always inserted into the driving handle and can rotate relatively.

[0016] In the active and passive balance training system described above, as a preferred solution, the clutch can control whether the driving handle rotates relative to the telescopic cross axis, so that the cross guide can drive the moving platform fixedly connected to the driving handle to move.

[0017] In the active and passive balance training system described above, as a preferred scheme, the upper meshing wheel includes an upper bearing mounting position, an upper retaining ring, an upper meshing tooth and a swing shaft, the swing shaft cooperates with the axial hole of the anti-rotation head, and the two are rotatably connected, and the axis of the swing shaft is perpendicular to the axis of the upper bearing mounting position; the anti-rotation head is provided with a flat axis hole perpendicular to the axis hole, the flat axis hole is connected to the flat axis of the head of the telescopic rod, and the length of the telescopic rod can be telescopically changed, and the flat axis is always horizontal; the back of the telescopic rod is connected to a cross axis and a base fixed to the cross axis, and the base is fixedly connected to a fixed seat fixed on the frame.

[0018] In the active and passive balance training system described above, as a preferred solution, the driving handle includes a connecting plate, a connecting rod, an upper bearing, a guide seat, a lower bearing, a lower retaining ring and an anchor column; the clutch includes a lower meshing head, a sliding block, an opening window, and an upper meshing head, and the upper meshing head and the lower meshing head are respectively provided with upper meshing internal teeth and lower meshing internal teeth, and the upper meshing internal teeth and the lower meshing internal teeth are respectively matched with the upper meshing teeth and the lower meshing head.

[0019] In the active and passive balance training system described above, as a preferred solution, the integrated display device is also equipped with electrical signal reading, data processing, input and output, and human-computer interaction functions for setting up virtual game interactive training for patients.

[0020] In the active and passive balance training system described above, as a preferred solution, the clutch motor mechanism also includes a clutch motor, a motor seat and a paddle. The clutch motor is fixedly connected to the sliding block of the clutch through the motor seat, and a paddle is fixed on the shaft of the clutch motor, and the paddle is mounted on the anchor column.

[0021] In the active and passive balance training system described above, as a preferred solution, the telescopic cross shaft is combined with a clutch for clutch control.

[0022] The advantages of the present invention are:

[0023] 1. The present invention integrates active and passive functions into one, and is a multi-mode training device with multiple states, so that one machine can be used for multiple purposes, which reduces costs, improves equipment utilization, makes training richer, and makes the rehabilitation training process more efficient.

[0024] 2. The present invention adopts the bottom driving mode of the cross guide rail, and its control method is mature and simple. The calculation and adjustment of the inclination angle is intuitive and convenient, avoiding the high control difficulty of parallel drive. It can simulate the vertical swing training under the tilt state in a certain direction, and the control is one-dimensional motion control. The control method is extremely simple, and can simulate the walking training of pitch height changes on the inclined road surface. Adding a cushion on the moving platform can be used for human sitting training.

[0025] 3. The present invention makes full use of the clutch to control the spinning and non-spinning of the moving platform, which can simulate the spinning motion of the human body and perform balance training under vertigo. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Attached Figure 1 It is a partial cross-sectional structural schematic diagram of the active and passive balance training system described in the invention.

[0027] Attached Figure 2 It is a structural diagram of the core structure of the active and passive balance training system described in the invention.

[0028] Attached Figure 3 It is a schematic diagram of the structure of the cross guide rail in the active and passive balance training system of the present invention;

[0029] Attached Figure 4 It is a structural schematic diagram of the telescopic cross axis in the active and passive balance training system of the present invention;

[0030] Attached Figure 5 It is a structural schematic diagram of the anti-rotation mechanism in the active and passive balance training system of the present invention;

[0031] Attached Figure 6 It is a structural schematic diagram of the upper meshing wheel in the active and passive balance training system of the present invention;

[0032] Attached Figure 7 It is a structural schematic diagram of the stop rotation head of the active and passive balance training system of the present invention;

[0033] Attached Figure 8 It is a structural schematic diagram of the telescopic rod in the active and passive balance training system of the present invention;

[0034] Attached Fig. 9 It is a schematic diagram of the structure explosion of the upper and lower connecting parts of the clutch in the active and passive balance training system of the present invention;

[0035] Attached Fig.10 It is a structural schematic diagram of the upper and lower connection and meshing relationship of the clutch in the active and passive balance training system of the present invention;

[0036] Attached Fig.11 It is a structural schematic diagram of a driving handle in the active and passive balance training system of the present invention;

[0037] Attached Fig.12 It is a schematic diagram of the structure of the clutch in the active and passive balance training system of the present invention;

[0038] Attached Fig.13 It is a structural schematic diagram of the clutch motor mechanism in the active and passive balance training system of the present invention;

[0039] Attached Fig.14 It is a structural schematic diagram of the rotation drive mechanism in the active and passive balance training system of the present invention;

[0040] Attached Fig.15 It is a partial dissected schematic diagram of the rotation drive mechanism in the active and passive balance training system of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0042] The reference numerals and components involved in the drawings are as follows:

[0043] 1. To help climb stairs;

[0044] 2 is a cross guide rail, 201 is an x-axis slide rail, 202 is a y-axis slide rail, and 203 is a linkage axis;

[0045] 3. It is a connecting seat;

[0046] 4 is the telescopic cross shaft, 401 is the lower meshing wheel, 402 is the telescopic shaft, 4021 is the lower retaining ring, and 4022 is the lower bearing installation position;

[0047] 5 is a clutch, 501 is a lower meshing head, 5011 is a lower meshing inner tooth, 502 is a sliding block, 503 is a window, 504 is an upper meshing head, 5041 is an upper meshing inner tooth;

[0048] 6 is a driving handle, 601 is a connecting plate, 602 is a connecting rod, 603 is an upper bearing, 604 is a guide seat, 605 is a lower bearing, 606 is a lower retaining ring, and 607 is an anchor column;

[0049] 7. For the bowl seat;

[0050] 8 is an anti-rotation mechanism, 801 is an upper meshing wheel, 8011 is an upper bearing installation position, 8012 is an upper retaining ring, 8013 is an upper meshing tooth, 8014 is a swing shaft, 802 is a rotation stopper, 8021 is a flat shaft hole, 8022 is a shaft hole, 803 is a telescopic rod, 8031 ​​is a flat axis line of the head, 804 is a cross shaft, 8041 is a base, and 805 is a fixed seat;

[0051] 9, is a moving platform, 901, is a gyroscope;

[0052] 10. It is an all-in-one display machine;

[0053] 11. For handrails;

[0054] 12 is a clutch motor mechanism, 1201 is a motor seat, 1202 is a paddle, and 1203 is a clutch motor;

[0055] 13. For the rack;

[0056] 14 is a rotating drive mechanism, 1401 is a friction wheel, 1402 is a belt drive, 1403 is a bevel gear drive, 1404 is a compression spring, 1405 is a telescopic transmission rod, 1406 is a gearbox, 1407 is a coupling, 1408 is a gear pair, and 1409 is a follower seat.

[0057] Example

[0058] Please see attached Figure 2 , Figure 3 , Figure 5 , see also Figure 1 , Figure 4 As shown, the present invention mainly adopts the bottom drive of the cross guide rail, and combines the telescopic cross shaft and the clutch, so as to overcome the defects of the existing parallel mechanism such as high control difficulty and insufficient training mode; for this, an active and passive balance training system is provided to integrate the active and passive into one, and has the advantages of one machine with multiple uses and high utilization rate; the device mainly includes a display all-in-one machine 10, an armrest 11, a frame 13, an assisting step 1, a cross guide rail 2, a connecting seat 3, a telescopic cross shaft 4, a clutch 5, a clutch motor mechanism 12, a driving handle 6, a bowl seat 7, an anti-rotation mechanism 8, a moving platform 9 and a rotating driving mechanism 14, wherein the display all-in-one machine 10 is fixedly connected with the armrest 11 and the frame 13; the armrest 11 is also fixed on the frame 13, and an assisting step 1 is also arranged next to the frame 13;

[0059] The cross guide 2 includes a y-axis slide rail 202 and an x-axis slide rail 201 located on the y-axis slide rail 202. In order to increase stability, two y-axis slide rails 202 are provided, which are connected by a linkage shaft to move synchronously. The x-axis slide rail 201 is connected to the telescopic cross shaft 4 through a connecting seat 3. The telescopic cross shaft 4 is semi-clutchedly connected to the driving handle 6 through a clutch 5: the telescopic cross shaft 4 is always connected to the driving handle 6 in rotation. Preferably, the clutch 5 can control whether the driving handle 6 rotates relative to the telescopic cross shaft 4, so that the cross guide 2 can drive the moving platform 9 fixedly connected to the driving handle 6 to move;

[0060] The movable platform 9 can be movably mounted in the bowl seat 7 through a plurality of bull's eye bearings, the bowl seat 7 is fixed to the frame 13, a gyroscope 901 is provided inside the upper surface of the platform 9, and the gyroscope 901 is also electrically connected to the display all-in-one machine 10;

[0061] The clutch 5 includes an upper meshing head 504, a lower meshing head 501 and a sliding block 502, which are fixedly connected together. The clutch 5 is mounted on the driving handle 6 through the sliding block 502 and can slide up and down on the driving handle 6. The upper and lower ends are respectively connected to the anti-rotation mechanism 8 or one of the telescopic cross shafts 4 by clutch, and the connection selection is controlled by the clutch motor mechanism 12 installed thereon.

[0062] The anti-rotation mechanism 8 includes an upper meshing wheel 801, a rotation-stopping head 802, a telescopic rod 803, a cross head 804 and a fixing seat 805 which are connected in sequence. The upper meshing wheel 801 is sleeved on the driving handle 6, and the fixing seat 805 is fixed to the frame 13.

[0063] In this embodiment, the telescopic cross shaft 4 preferably includes a telescopic shaft 402 and a lower meshing wheel 401 fixedly connected to the upper end. The head of the telescopic shaft 402 is provided with a lower bearing mounting position 4022, and a lower retaining ring 4021 is fixed on the outside of the lower bearing mounting position 4022 to prevent the lower bearing 605 installed on the lower bearing mounting position 4022 from slipping, so that the telescopic cross shaft 4 is always inserted into the driving handle 6 and can rotate relatively.

[0064] In this embodiment, the upper meshing wheel 801 preferably includes an upper bearing mounting position 8011, an upper retaining ring 8012 and a swing shaft 8014, and the swing shaft 8014 cooperates with the shaft hole 8022 of the anti-rotation head 802, and the two are rotatably connected, and the axis of the swing shaft 8014 is perpendicular to the axis of the upper bearing mounting position 8011; the anti-rotation head 802 is provided with a flat shaft hole 8021 perpendicular to the shaft hole 8022, and the flat shaft hole 8021 is connected to the flat axis line 8031 ​​of the head of the telescopic rod 803, the length of the telescopic rod 803 can be telescopically changed, and the flat axis line 8031 ​​is always horizontal; the back of the telescopic rod 803 is connected to a cross shaft 804 and a base 8041 fixed to the cross shaft 804, and the base 8041 is fixedly connected to a fixed seat 805 fixed on the frame 13. Since the cross shaft 804 limits the axial movement in the direction of the telescopic rod 803, the horizontal axis 8031 ​​is always horizontal. Therefore, if it is engaged with the driving handle 6 and the moving platform 9, the rotation of the two around their own axes is limited.

[0065] In this embodiment, the driving handle 6 preferably includes a connecting plate 601, a connecting rod 602, an upper bearing 603, a guide seat 604, a lower bearing 605, a lower retaining ring 606 and an anchor column 607; the clutch 5 includes a lower meshing head 501, a sliding block 502, a window 503, an upper meshing head 504, and the upper and lower meshing heads are respectively provided with upper and lower meshing internal teeth 5041 and 5011, which respectively cooperate with the upper meshing teeth 8013 and the lower meshing head 501; thereby, the movement transmitted by the cross guide 2 can be transmitted to the clutch 5 through the telescopic cross shaft 4, and then to the driving handle 6, and further to the moving platform 9.

[0066] In this embodiment, the display all-in-one machine 10 is preferably also equipped with electrical signal reading, data processing, input and output, and setting human-computer interaction functions, which are used for patient virtual game interactive training, thereby enhancing the interaction between the patient and the dynamic balance training device, making the training effect quantifiable, and at the same time increasing training interest, which is conducive to encouraging the trainees to persist in training.

[0067] The clutch motor mechanism 12 also includes a clutch motor 1203, a motor seat 1201 and a paddle 1202. The clutch motor 1203 of the clutch motor mechanism 12 is fixedly connected to the sliding block 502 of the clutch 5 through the motor seat 1201. The paddle 1202 is fixed on the shaft of the clutch motor 1203. The paddle 1202 is sleeved on the anchor column 607. Therefore, the paddle 1202 can be controlled by the clutch motor 1203 to swing left and right, thereby controlling the clutch 5 to slide up and down relative to the guide seat 604, and finally realizing the engagement of the clutch 5 with the anti-rotation mechanism 8, or the engagement of the clutch 5 with the telescopic cross shaft 4, so that the moving platform 9 does not rotate on its own, or the moving platform 9 rotates on its own.

[0068] In this embodiment, the rotating drive mechanism 14 preferably also includes a friction wheel 1401, a belt drive 1402, a bevel gear drive 1403, a compression spring 1404, a retractable transmission rod 1405, a gearbox 1406, a coupling 1407, a gear pair 1408, and a follower seat 1409; the above are connected in sequence and fixed to the telescopic cross shaft 4 through the follower seat 1409, so that the rotating drive mechanism 14 moves with the connecting seat 3.

[0069] The friction wheel 1401 transmits the rotation generated by friction with the ground to the telescopic transmission rod 1405 after being transmitted through the belt drive 1402 and the bevel gear drive 1403, and then transmits it to the lower end of the telescopic cross shaft 4 through the gear pair 1408 after speed change, so that the telescopic cross shaft 4 rotates relative to the connecting seat 3, and then the telescopic cross shaft 4 is engaged with the driving handle 6 through the clutch 5 to rotate continuously, and finally the movable platform 9 is driven to rotate.

[0070] The friction wheel 1401 is an eccentric wheel, which is rotatably connected to the follower seat 1409, and a compression spring 1404 is used to ensure that the friction wheel 1401 is always in contact with the ground to prevent the machine from vibrating due to uneven ground. In addition, when the connecting seat 3 changes position, the friction wheel 1401 follows and does not hinder the movement of the connecting seat 3.

[0071] In this embodiment, the telescopic cross shaft is preferably combined with a clutch for clutch control, so that the present invention can achieve:

[0072] When the cross guide rail 2 stops at a certain position, if the connecting seat 3 is located directly below the bowl seat 7, static balance training of the human body based on the horizontal plane can be performed;

[0073] When the cross guide rail 2 stops at a certain position, if the connecting seat 3 is not directly below the bowl seat 7, human static balance training based on the inclined plane can be performed;

[0074] When the x-axis slide rail 201 in the cross guide rail 2 moves periodically, the human body dynamic balance training of swinging left and right can be performed;

[0075] When the y-axis slide rail 202 in the cross guide rail 2 moves periodically, the human body dynamic balance training of swinging back and forth can be performed;

[0076] When the x-axis slide rail 201 and the y-axis slide rail 202 in the cross guide rail 2 move at a constant speed at the same time, the connecting seat 3 is controlled to move in a straight line, and the human body dynamic balance training of oblique swing can be driven;

[0077] When the x-axis slide rail 201 and the y-axis slide rail 202 in the cross guide 2 are coupled to move, and the connecting seat 3 is controlled to move in an arc, if the clutch 5 is engaged with the lower meshing wheel 401 of the telescopic cross shaft 4, the moving platform 9 will perform spin transmission motion while shaking, driving the person to do compound dynamic balance training;

[0078] When the x-axis slide rail 201 and the y-axis slide rail 202 in the cross guide 2 are coupled to move, and the connecting seat 3 is controlled to move in an arc, if the clutch 5 is engaged with the upper meshing wheel 801 of the anti-rotation mechanism 8, the moving platform 9 only performs a shaking motion, and it always moves in one direction without self-rotation, which drives people to perform shaking dynamic balance training;

[0079] Finally, the present invention can realize active dynamic human static balance training (including two types of inclined plane and horizontal plane) and various passive dynamic swinging and shaking human dynamic balance training.

[0080] It should be noted that the present invention integrates active and passive functions into one, and is a multi-mode training device with multiple states, so that one machine can be used for multiple purposes, reducing costs, improving equipment utilization, making training richer, and making the rehabilitation training process more efficient; at the same time, the bottom drive mode of the cross guide rail is adopted, and its control method is mature and simple, and the inclination angle calculation and adjustment are intuitive and convenient, avoiding the high control difficulty of parallel drive, and can simulate vertical swing training under a tilted state in a certain direction, and the control is one-dimensional motion control, and the control method is extremely simple, which can simulate the walking training with pitch height changes on an inclined road surface, and adding a cushion to the moving platform can perform human sitting training; secondly, the clutch is fully utilized to control the spin and non-spin of the moving platform, which can simulate the human spin motion, and perform balance training under dizziness, thereby improving the compliance of training, which is conducive to prompting patients to persist in training, enhancing the effect of training, and facilitating the realization of rehabilitation treatment for patients.

[0081] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the principle of the present invention. These improvements and supplements should also be regarded as the scope of protection of the present invention.

Claims

1. An active and passive balance training system, characterized in that: It includes a display all-in-one, an armrest, a frame, a step-assisting step, a cross guide, a connecting seat, a telescopic cross shaft, a clutch, a clutch motor mechanism, a driving handle, a bowl seat, an anti-rotation mechanism, a moving platform and a rotating driving mechanism, wherein the display all-in-one is fixedly connected to the armrest and the frame; the frame is also fixed with an armrest, and a step-assisting step is also arranged next to the frame; The cross guide rail also includes a y-axis slide rail and an x-axis slide rail located on the y-axis slide rail, the x-axis slide rail is rotatably connected to the telescopic cross shaft through a connecting seat, and the telescopic cross shaft is semi-clutchedly connected to the driving handle through a clutch: the telescopic cross shaft is rotatably connected to the driving handle; The platform is movably installed in the bowl seat, the bowl seat is fixed to the frame, a gyroscope is also arranged inside the upper surface of the platform, and the gyroscope is also electrically connected to the display integrated machine; The clutch comprises an upper meshing head, a lower meshing head and a sliding block. The clutch is mounted on the driving handle through the sliding block and can slide up and down on the driving handle. The upper and lower ends of the clutch are respectively connected to the anti-rotation mechanism or one of the telescopic cross shafts by clutch, and the connection selection is controlled by the clutch motor mechanism installed thereon; The anti-rotation mechanism comprises an upper meshing wheel, a rotation-stopping head, a telescopic rod, a cross-piece and a fixing seat which are connected in sequence, wherein the upper meshing wheel is sleeved on the driving handle, and the fixing seat is fixed to the frame; The rotation drive mechanism also includes a friction wheel, a belt drive, a bevel gear drive, a compression spring, a telescopic transmission rod, a gearbox, a coupling, a gear pair, and a follower seat; and the friction wheel transmits the rotation generated by the friction with the ground to the telescopic transmission rod after the belt drive and the bevel gear drive, and then transmits it to the telescopic cross shaft through the gear pair after the speed change, so that the telescopic cross shaft rotates relative to the connecting seat, and then the telescopic cross shaft and the driving handle are engaged by the clutch to rotate continuously, and finally the moving platform is driven to rotate by itself, the telescopic cross shaft includes a telescopic shaft and a lower meshing wheel fixedly connected to the upper end, the head of the telescopic shaft is provided with a lower bearing mounting position, and a lower retaining ring is fixed outside the lower bearing mounting position to prevent the lower bearing installed on the lower bearing mounting position from slipping, so that the telescopic cross shaft is always inserted into the driving handle and can rotate relatively, the clutch motor mechanism also includes a clutch motor, a motor seat and a paddle, the clutch motor is fixedly connected to the sliding block of the clutch through the motor seat, a paddle is fixed on the shaft of the clutch motor, and the paddle is sleeved on the anchor column, and the telescopic cross shaft is combined with the clutch for clutch control.

2. The active and passive balance training system according to claim 1, characterized in that: The clutch can control whether the driving handle rotates relative to the telescopic cross shaft, so that the cross guide rail can drive the moving platform fixedly connected to the driving handle to move.

3. The active and passive balance training system according to claim 1, characterized in that: The upper meshing wheel includes an upper bearing mounting position, an upper retaining ring, an upper meshing tooth and a swing shaft. The swing shaft cooperates with the axial hole of the anti-rotation head, and the two are rotatably connected. The axis of the swing shaft is perpendicular to the axis of the upper bearing mounting position; the anti-rotation head is provided with a flat axis hole perpendicular to the axis hole, the flat axis hole is connected to the flat axis of the head of the telescopic rod, and the length of the telescopic rod can be telescopically changed, and the flat axis is always horizontal; the back of the telescopic rod is connected to a cross shaft and a base fixed to the cross shaft, and the base is fixedly connected to a fixing seat fixed on the frame.

4. The active and passive balance training system according to claim 1, characterized in that: The driving handle includes a connecting plate, a connecting rod, an upper bearing, a guide seat, a lower bearing, a lower retaining ring and an anchor column; the clutch includes a lower meshing head, a sliding block, an opening window and an upper meshing head, wherein the upper meshing head and the lower meshing head are respectively provided with upper meshing internal teeth and lower meshing internal teeth, and the upper meshing internal teeth and the lower meshing internal teeth are respectively matched with the upper meshing teeth and the lower meshing head.

5. The active and passive balance training system according to claim 1, characterized in that: The integrated display machine is also equipped with electric signal reading, data processing, input and output, and setting human-computer interaction functions, which are used for patient virtual game interactive training.

Images