Training device

Abstract

The present application relates to the technical field of balance training, and provides a training device, which comprises a rack, a pedal and a moving unit, the pedal is used for standing personnel, the moving unit is installed on the rack or under the rack and the pedal, and is used for driving the pedal to move in at least two directions and swing around at least two directions respectively. The above scheme can provide two imbalance states of center of gravity deflection and center of gravity movement, and can better train personnel, the personnel on the base can be in a moving and swinging state through the action of the base, so that the balance training of the moving and swinging state can be completed, the personnel can not only train the balance ability when walking on various slopes, but also train the balance ability when suddenly stopping or suddenly encountering obstacles. The training state is more diverse, and is more conducive to the rehabilitation of patients or the improvement of the balance ability of athletes.

Description

Technical Field

[0001] This invention relates to the field of balance training, and in particular to a training device. Background Technology

[0002] The reconstruction of proprioceptive balance is a crucial process in the transition from standing to walking. Balance disorders are one of the main functional impairments for independent walking. Central nervous system diseases such as spinal cord injury, cerebrovascular diseases, and traumatic brain injury can leave varying degrees of paraplegia or hemiplegia after onset. Lower limb bone and joint diseases causing joint dysfunction, loss of joint stability, muscle weakness, and imbalances between muscle groups all affect a patient's balance ability to varying degrees. Balance disorders are mainly manifested as the inability to stand independently or the ability to stand independently but not walk independently. This can affect the rehabilitation process, daily living abilities, and work capacity. Therefore, rebuilding proprioceptive balance is an urgent need for patients and a significant issue facing rehabilitation medicine. Simultaneously, the elderly and athletes also require various balance training programs, which generally require the assistance of balance training devices.

[0003] Balance training devices primarily use the device's own movement to force a person into a state of imbalance, which the person must overcome to regain balance, thus achieving the training purpose. Existing balance training devices mainly involve the person standing on a flat surface, then continuously changing the surface's tilt angle and direction to force them into imbalance. However, imbalance is not limited to a shift in the center of gravity; it also includes imbalances caused by sudden changes in momentum, such as the imbalance that occurs when moving at a certain speed and suddenly stopping. Conventional deflection-type balance training devices cannot achieve this. Existing balance training platforms generally have limited degrees of freedom, hindering comprehensive training; or the training platform is too high off the ground, making users feel unsafe and uncomfortable. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a training device that enables personnel to perform multi-degree-of-freedom training on a low-height pedal under various imbalance conditions.

[0005] To achieve the above and other related objectives, the present invention provides a training device.

[0006] include:

[0007] A footboard, used for people to stand on;

[0008] The frame is located on both sides of the pedal;

[0009] A moving unit, mounted on a frame or mounted on a frame and under a pedal, is used to drive the pedal to move in at least two directions and to oscillate about at least two directions.

[0010] In a specific embodiment of the present application, the base is further provided, and the footboard is arranged on the base, and the footboard is provided with two or one corresponding to the feet of the human body

[0011] In a specific embodiment of the present application, the first direction, the second direction and the third direction are perpendicular to each other, the moving unit arranged on the frame is used to drive the footboard to move along the second direction and the third direction respectively and to swing around the first direction, the second direction and the third direction respectively, and the moving unit arranged under the footboard is used to drive the footboard to move along the first direction.

[0012] In a specific embodiment of the present application, the first direction, the second direction and the third direction are perpendicular to each other, the moving unit arranged on the frame is used to drive the footboard to move along the second direction and the third direction respectively and to swing around the second direction and the third direction respectively, the moving unit arranged under the footboard is used to drive the footboard to move along the first direction, and the rotating unit is used to drive the footboard to rotate around the first direction.

[0013] In a specific embodiment of the present application, the first moving mechanism is arranged on the base to drive the footboard to move left and right along the first direction.

[0014] In a specific embodiment of the present application, the second moving mechanism is arranged on each of the two frames to move up and down along the second direction, and there are two second moving mechanisms on one side of the frame and two or one second moving mechanisms on the other side of the frame, and the first connecting unit is connected between the second moving mechanism and the base.

[0015] In a specific embodiment of the present application, the second moving mechanism is arranged on each of the two frames to move up and down along the second direction, and there is only one second moving mechanism on each side of the frame, and the second connecting unit is connected between the second moving mechanism and the base.

[0016] In a specific embodiment of the present application, the third moving mechanism is arranged on each of the two frames to move forward and backward along the third direction, and the third direction is perpendicular to the first direction and the second direction.

[0017] In a specific embodiment of the present application, the first rotating mechanism is arranged on the first moving mechanism to drive the single footboard to swing in the first direction.

[0018] In a specific embodiment of the present application, the second rotating mechanism is arranged on the first rotating mechanism to drive the single footboard to swing in the second direction.

[0019] The application provides a training device, which can provide two unbalanced states of center of gravity deflection and center of gravity movement, and can better train personnel. The personnel on the base can be in corresponding movement and swing states through the movement of the base, so that the balance training of the movement and swing states can be completed. The personnel can be trained to keep balance when walking on various slopes, and the balance ability of the personnel when suddenly stopping or suddenly encountering obstacles can be trained. The training state is more diverse, which is more conducive to the rehabilitation of patients or the improvement of the balance ability of athletes. The combination of three mutually perpendicular direction movement units or the combination of three mutually perpendicular direction movement units and a rotating unit can realize 6-degree-of-freedom movement training, and even the independent movement of two pedals can be realized. The frame is arranged on both sides of the pedals, so that the pedals can be in a low position, so that the user can perform multi-degree-of-freedom movement training at a safe, natural and suitable height. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0021] Figure 1 It is a structural schematic view of the application in an embodiment.

[0022] Figure 2 It is a structural schematic view of the frame of the application in an embodiment.

[0023] Figure 3 It is a structural schematic view of the base of the application in an embodiment.

[0024] Figure 4 It is a structural schematic view of the inside of the base of the application in an embodiment.

[0025] Figure 5 It is a structural schematic view of the third movement mechanism on the frame of the application in an embodiment.

[0026] Figure 6 It is a structural schematic view of the single second movement mechanism on one side of the application in an embodiment.

[0027] Figure 7 It is a disassembled schematic view of the first connecting unit of the application in an embodiment.

[0028] Reference numerals: 10, frame; 20, pedal; 30, moving unit; 31, base; 32, first moving mechanism; 33, first rotating mechanism; 34, second rotating mechanism; 35, third moving mechanism; 36, second moving mechanism; 37, first connecting unit; 38, telescopic mechanism; 39, second connecting unit; 40, handrail; 371, hinge one; 372, hinge two; 373, hinge three. DETAILED DESCRIPTION

[0029] Other advantages and effects of the present application can be easily understood by those skilled in the art from the description of the embodiments of the present application. The present application can also be implemented or applied in other different embodiments, and the details in the description can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments can be combined with each other without conflict.

[0030] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the drawings, not the number, shape and size of the components when actually implemented. The shape, number and ratio of the components can be arbitrarily changed, and the layout of the components can be more complex when actually implemented.

[0031] For the sake of simplicity, all examples listed in this paper are based on a static standing mode. Humans have three main imbalance states:

[0032] 1. Self-rotational imbalance, such as imbalance when turning around oneself, corresponding to the self-rotational motion, at this time the angle correction can be achieved by the rotational acceleration of the body mass. In this case, the rotational swing arm acceleration is mainly used to generate a body reverse rotational acceleration.

[0033] 2. Inclination imbalance, such as imbalance caused by standing on an inclined surface, corresponding to the forward and backward swing and left and right swing motions, at this time the platform can be moved back to the user's replaced center of gravity to "catch the balance" by taking a step forward, backward or sideways. At this time it can be done naturally by a person, only by moving the hips to keep the center of gravity as high as possible.

[0034] 3. Inertial imbalance, such as imbalance caused by sudden braking on a bus, corresponding to the moving motion. At a low disturbance level, only a simple change in the force center of the foot contact area is needed to keep the force center as low as possible below the center of gravity. Changing the force center can be done by applying more force on the toes or heels, or on one side or the other of the foot.

[0035] A variety of combinations of these modes can be used simultaneously. The center of gravity correction is the most natural balance correction method and only requires a small amount of energy.

[0036] As shown in Figure 1 The present application provides a training device, comprising a pedal 20, a frame 10 and a moving unit 30,

[0037] The pedal 20 is used for a person to stand on; the frame 10 is arranged on both sides of the pedal 20; the moving unit 30 is installed on the frame 10 or installed on the frame 10 and under the pedal 20, and is used to drive the pedal 20 to move in at least two directions respectively and swing around at least two directions respectively.

[0038] In the above scheme, the person stands on the pedal 20, so that the action of the pedal 20 can be converted into the action of the human foot, thereby simulating the movement state of the person in various environments. The pedal 20 in the present application has both moving action and swinging action, which can make the person in two imbalance states of center of gravity deflection and center of gravity movement, and the two imbalance states can also be performed simultaneously, which can better train the person. Not only can the ability of the person to keep balance when walking on various slopes be trained, but also the balance ability of the person when suddenly stopping or suddenly encountering obstacles can be trained. The training state is more diverse and more conducive to the rehabilitation of patients or the improvement of the balance ability of athletes.

[0039] Embodiment one:

[0040] The first direction, the second direction and the third direction are perpendicular to each other, the moving unit installed on the frame is used to drive the pedal to move along the second direction and the third direction respectively and swing around the first direction, the second direction and the third direction respectively, and the moving unit installed under the pedal 20 drives the pedal 20 to move along the first direction. In this way, the human body can move in six degrees of freedom, corresponding to forward and backward swing, self-rotation, left and right swing, left and right movement, up and down movement and forward and backward movement respectively, and multiple actions can also be performed simultaneously, further improving the diversity of the training state. Among them, the first direction corresponds to the X direction in Figure 1 , the second direction corresponds to the Z direction in Figure 1 , and the third direction corresponds to the Y direction in Figure 1 .

[0041] In the embodiment one of the present application, the moving unit 30 comprises a base 31, the treadle 20 is arranged on the base 31, the treadle 20 is provided with two or one corresponding to the foot of the human body. One structure is relatively simple, two in the embodiment, so that the two treadles 20 can be driven separately, such as can drive the two treadles 20 to separate or close or move as a whole, and can also swing the two treadles 20 respectively, and the combination of various actions of the two treadles 20 further increases the training state of the training device.

[0042] In the embodiment one of the present application, the base 31 is provided with a first moving mechanism 32 to drive the treadle 20 to move in the first direction. In this way, the two treadles 20 can be driven to approach or move away from each other to adapt to users of various body types. The treadle 20 can also be translated as a whole in the first direction to simulate the left and right movement of the human body. The treadle 20 can be provided with a plantar force measuring plate for measuring the plantar force data of the human body standing on the treadle 20.

[0043] In the embodiment one of the present application, the two racks 10 are respectively provided with a second moving mechanism 36 moving up and down in the second direction, and the rack 10 has two second moving mechanisms 36 on one side and two or one second moving mechanisms 36 on the other side. The second moving mechanism 36 is connected with the base 31 through a first connecting unit 37. The displacement difference of the two second moving mechanisms 36 on the same side can realize the swing of the treadle 20 around the first direction, and also can simulate the posture of the human body standing on the front and back inclined slope. The displacement difference of the two second moving mechanisms 36 on the two sides can realize the swing of the treadle 20 around the third direction, and also can simulate the posture of the human body standing on the left and right inclined slope. The synchronous movement of the two second moving mechanisms 36 on the two sides can realize the up and down movement of the human body to simulate the weightless environment when the human body rides the lifting mechanism. The first connecting unit 37 can be a hard rod mechanism, or a flexible member such as a pull rope or a chain or a cable, etc. Figure 1 The first connecting unit 37 is a hard rod mechanism.

[0044] In the embodiment one of the present application, the two racks are respectively provided with a third moving mechanism 35 perpendicular to the first and second directions to drive the treadle 20 to move forward and backward along the third direction. The displacement difference is formed by the distance difference of the forward and backward movement of the two third moving mechanisms 35 on the two sides, so that the base 31 generates self-rotation.

[0045] In the embodiment one of the application, the first connecting unit 37 is hinged with the second moving mechanism 36 through a hinge, the hinge comprises hinge one 371 and hinge two 372, the axis direction of the hinge one 371 and hinge two 372 are perpendicular to each other, the rotation axis direction of the hinge one 371 is the second direction, the rotation axis direction of the hinge two 372 is the third direction, the hinge one 371 is adapted to the self-rotation movement of the base 31, corresponding to the self-rotation of the human body; the hinge two 372 is adapted to the left and right swing of the base 31, corresponding to the left and right swing of the human body or standing on the left and right inclined slope; the first connecting unit 37 is hinged with the base 31 through a hinge three 373, the axis direction of the hinge three 373 is the first direction, the hinge three 373 is adapted to the front and back swing of the base 31, corresponding to the front and back swing of the human body or standing on the front and back inclined slope; the first connecting unit 37 is provided with a moving pair moving along the first direction, used for compensating the position deviation generated when the base 31 is left and right inclined or self-rotated. The hinge three 373 and the base 31 form a moving pair along the third direction, the relative movement between the base 31 and the hinge three 373 can compensate the position deviation generated when the base 31 is front and back inclined. The first connecting unit can also be provided with a telescopic device, the telescopic device can be along the first direction or the third direction, used for actively and quantitatively compensating the corresponding offset distance, the telescopic device can be provided with three, such as two in the first direction and one in the third direction, or one in the first direction and two in the third direction.

[0046] Embodiment two

[0047] The installation on the rack moving unit is used for driving the pedal to move along the second direction and the third direction respectively and swing around the second direction and the third direction respectively, the installation under the pedal 20 moving unit drives the pedal 20 to move along the first direction, and the rotating unit drives the pedal 20 to rotate around the first direction. Thus the human body can move in six degrees of freedom, corresponding to front and back swing, self-rotation, left and right swing, left and right movement, up and down movement and front and back movement respectively, and multiple movements can be performed simultaneously, further improving the diversity of the training state.

[0048] In the embodiment two of the application, the moving unit 30 comprises a base 31, the pedal 20 is arranged on the base 31, and the pedal 20 is provided with two or one corresponding to the foot of the human body. The structure of one is relatively simple, and two in the embodiment, so that the two pedals 20 can be driven respectively, such as being driven to separate or approach or move integrally, and the two pedals 20 can also be swung respectively, and the combination of various movements of the two pedals 20 further increases the training state of the training device.

[0049] In the second embodiment of the present application, the base 31 is provided with a first moving mechanism 32 to drive the foot plate 20 to move in the first direction. In this way, the two foot plates 20 can be driven to approach or move away from each other to adapt to users of various body sizes. The foot plates 20 can also be driven to move in the first direction as a whole to simulate the left and right movements of the human body. The foot plates 20 can be provided with foot force measuring plates to measure the foot force data of the human body standing on the foot plates 20.

[0050] In the second embodiment of the present application, the two racks 10 are respectively provided with second moving mechanisms 36 moving up and down in the second direction. Each side of the rack 10 is provided with one second moving mechanism 36. The second moving mechanisms 36 are connected with the base 31 through a second connecting unit 39. The synchronous movement of the two second moving mechanisms 36 can realize the up and down movement of the human body to simulate the weightless environment when the human body is riding on the lifting mechanism. The displacement difference between the two second moving mechanisms 36 can realize the swing of the foot plate 20 around the third direction, which can also simulate the posture of the human body standing on a left and right inclined slope. The second connecting unit 39 can be a rigid rod mechanism or a flexible member such as a pull rope or a chain or a cable, etc. As shown in FIG. 6, the second connecting unit 39 is a rigid rod mechanism.

[0051] In the second embodiment of the present application, the first moving mechanism 32 is provided with a first rotating mechanism 33 to drive the foot plate 20 to swing in the first direction. The first rotating mechanism 33 can realize the forward and backward swing of the human body to simulate the standing posture of the human body on an inclined surface.

[0052] In the second embodiment of the present application, the two racks are respectively provided with third moving mechanisms 35 perpendicular to the first and second directions to drive the foot plate 20 to move forward and backward in the third direction. The displacement difference between the forward and backward movements of the two third moving mechanisms 35 can cause the base 31 to rotate by itself.

[0053] In the second embodiment of the present application, the second connecting unit 39 is hingedly connected with the second moving mechanism 36 through a hinge, which comprises hinge one 371 and hinge two 372, the hinge one 371 and the hinge two 372 are perpendicular to each other in the direction of the axis, the hinge one 371 is adapted to the self-rotation of the base 31, corresponding to the self-rotation of the human body, the hinge two 372 is adapted to the left and right inclination of the base 31, corresponding to the human body standing on the slope with left and right inclination; the second connecting unit 39 is fixedly connected with the base 31; a moving pair moving along the first direction is arranged on the second connecting unit 39, for compensating the position deviation caused by the left and right inclination and self-rotation of the base 31; a telescopic device along the first direction can also be arranged on the first connecting unit, for actively and quantitatively compensating the deviation distance, and one telescopic device is arranged in the first direction.

[0054] In the first embodiment and the second embodiment of the present application, the first connecting unit and the second connecting unit can be flexible members, and no hinge, moving pair or telescopic device is arranged between the first connecting unit, the second connecting unit and the moving mechanism or the base.

[0055] In the first embodiment and the second embodiment of the present application, the base 31 is provided with a handrail 40 on one side or both sides in the third direction, and a control switch is arranged on the handrail 40. The control switch is generally arranged close to the hand of the patient, and it is beneficial for the patient to press the control switch to stop suddenly when the patient is unbalanced, so as to avoid the injury of the patient.

[0056] In the first embodiment and the second embodiment of the present application, a second rotating mechanism 34 can also be arranged, for driving the single pedal 20 to swing in the second direction. The self-rotation of the human body is realized through the second rotating mechanism 34, so as to simulate the rotation of the human body.

[0057] In the above scheme, the moving mechanism can be a screw nut mechanism, a hydraulic rod, an air pressure rod, a linear motor, etc., and the rotating mechanism can be realized by a driving motor, a worm and gear structure, etc.

[0058] In summary, the present application provides a training device, and the above scheme can provide two unbalanced states of center of gravity deflection and center of gravity movement, so as to better train the personnel. The personnel on the base 31 can be in the moving and swinging state through the movement of the base 31, so as to complete the balance training in the moving and swinging state. Not only the ability of the personnel to keep balance when walking on various slopes can be trained, but also the balance ability of the personnel when suddenly stopping or suddenly encountering obstacles can be trained. The training state is more diverse, which is more conducive to the rehabilitation of the patient or the improvement of the balance ability of the athlete.

[0059] The above-described embodiments are merely illustrative for the principles of the application and its efficacy, and are not intended to limit the application. Any modification or change to the above-described embodiments can be made by any person skilled in the art without departing from the spirit and scope of the application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the application should be covered by the claims of the application.

[0060] In the description of the description herein, many specific details are provided, such as examples of components and / or methods, in order to provide a thorough understanding of embodiments of the present application. It will be apparent, however, to one skilled in the art that the embodiments of the present application can be practiced without one or more of the specific details, or with other devices, systems, components, methods, materials, parts, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail in order to avoid obscuring aspects of embodiments of the present application.

[0061] Reference throughout this specification to "an embodiment", "embodiments" or "certain embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application and is not necessarily included in all embodiments. Thus, the appearances of the phrase "in one embodiment", "in an embodiment", or "in certain embodiments" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present application can be combined in any suitable manner in one or more other embodiments. It is understood that other variations and modifications of the applications described and illustrated herein can be made based on the teachings herein, and are therefore within the scope of the present application.

[0062] It is also understood that one or more of the elements of the drawings shown can be implemented in a more separated or more integrated manner, or even removed, and that even as cases in which it is not operable or as it can be useful according to a particular application.

[0063] In addition, unless explicitly stated otherwise, any reference signs in the drawings should be considered only as illustration and not as a limitation of the application. Furthermore, unless specifically stated otherwise, the use of the term "or" as used herein is generally intended to mean "and / or", that is, the term "or" is generally used in the same sense as the term "and / or" is used. Combinations of components or steps will also be considered as being explicitly recited where "or" is predicated of the components or steps.

[0064] As used in the description of the description herein and in the following claims, the articles "a", "an" and "the" include plural references unless otherwise indicated. Also, as used in the description of the description herein and in the following claims, the phrase "in an embodiment" is intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, appearances of the phrase "in an embodiment" in various places throughout the specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the application can be combined in any suitable manner in one or more other embodiments. It is understood that other variations and modifications of the applications described and illustrated herein can be made based on the teachings herein, and are therefore within the scope of the present application.

[0065] The above description of the illustrated embodiments of the application (including what is described in the abstract) is not intended to be exhaustive or to limit the application to the precise forms disclosed. While specific embodiments of, and examples for, the application are described herein for illustrative purposes, various equivalent modifications are possible within the spirit and scope of the application, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications can be made to the above-described embodiments and yet the application will remain within the scope of the application. Accordingly, while the application is susceptible to various modifications and alternative forms, specific embodiments and examples thereof have been shown and described in detail herein. It should be understood, however, that the application is not to be limited to the particular

[0066] The systems and methods have been described generally herein as facilitating an understanding of the details of the application. Moreover, various specific details have been given in order to provide a thorough understanding. It will be appreciated, however, that one of ordinary skill in the relevant art will recognize and appreciate that embodiments of the application can be practiced without one or more of the specific details, or with other devices, systems, assemblies, methods, components, materials, parts, and the like. In other instances, well-known structures, materials, and / or operations have not been shown or described in detail in order to avoid obscuring aspects of embodiments of the application.

[0067] Accordingly, although the application has been described herein in reference to specific embodiments thereof, many modifications, alternate constructions, and equivalents can be apparent to those of ordinary skill in the art in view of the above teachings without departing from the scope of the application. Therefore, it is the object of the appended claims to cover all such modifications and variations as come within the scope of the application. Thus, the scope of the application should be determined by the appended claims and their legal equivalents, rather than by the expressly recited specific embodiments above.

Claims

1. A training device, characterized in that, The application relates to a treadmill, comprising: a pedal for a person to stand on; a frame arranged on both sides of the pedal; a moving unit installed on the frame or under the pedal for driving the pedal to move in at least two directions and swing around the at least two directions respectively; a base, wherein the pedal is arranged on the base, and two of the pedals are arranged corresponding to the feet of a human body; two second moving mechanisms arranged on the frame and moving up and down along the second direction, wherein there are two second moving mechanisms on one side of the frame and two or one second moving mechanism on the other side of the frame, and a first connecting unit is arranged between the second moving mechanism and the base; a first moving mechanism arranged on the base for driving the pedal to move left and right along the first direction; a first rotating mechanism arranged on the first moving mechanism for driving a single pedal to swing around the first direction.

2. A training device according to claim 1, characterised in that: The application relates to a treadmill, comprising:

3. The exercise device of claim 1, wherein: a first direction, a second direction and a third direction which are perpendicular to each other, wherein the moving unit installed on the frame is used for driving the pedal to move along the second direction and the third direction respectively and swing around the first direction, the second direction and the third direction respectively, and the moving unit installed under the pedal is used for driving the pedal to move along the first direction.

4. A training device according to claim 3, characterised in that: The application relates to a treadmill, comprising:

5. A training device according to claim 2 or 3, characterised in that: one or two rotating mechanisms and a first direction, a second direction and a third direction which are perpendicular to each other, wherein the moving unit installed on the frame is used for driving the pedal to move along the second direction and the third direction respectively and swing around the second direction and the third direction respectively, the moving unit installed under the pedal is used for driving the pedal to move along the first direction, and the rotating mechanism is used for driving the pedal to rotate around the first direction.

6. A training device according to claim 2 or 3, characterised in that: two second moving mechanisms arranged on the frame and moving up and down along the second direction, wherein there is only one second moving mechanism on each side of the frame, and a second connecting unit is arranged between the second moving mechanism and the base. two third moving mechanisms arranged on the frame and perpendicular to the first direction and the second direction, for driving the pedal to move forward and backward along the third direction. a second rotating mechanism arranged on the first rotating mechanism for driving a single pedal to swing around the second direction.

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