Riding type walking training device

Abstract

The invention provides a straddle type walking training device which comprises a base, a weight reduction mechanism and an upper body protection mechanism, and the upper body protection mechanism can perform displacement in the horizontal direction while providing upper body protection, and assists a patient in center-of-gravity shift so as to realize auxiliary walking; the weight reduction mechanism is a straddle type weight reduction mechanism and provides effective supporting and weight reduction during walking; an angle limiter and a rotary damper are arranged at the joint of the weight reduction mechanism and the base, the weight reduction mechanism can perform offset rotation at a certain angle to be matched with human body gravity center transfer and keep stable during walking training, and the training effect is improved; meanwhile, the weight reduction mechanism and the upper body protection mechanism can move in the vertical direction to adjust the height so as to adapt to different posture requirements, the whole device is a whole, stability, safety and comfort are high, the weight reduction effect is good, the body movement law is met, and the training effect is better.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation medical auxiliary equipment, and in particular relates to a straddle-type walking training device. Background Art

[0002] People with limb dysfunction cannot fully recover through surgery or medication, so rehabilitation robots are gradually entering people's lives, and lower limb rehabilitation robots are also used as part of treatment.

[0003] Lower limb rehabilitation machines mainly focus on weight loss functions, assisting the elderly to complete basic walking training and helping them restore lower limb functions. Based on the functional requirements to be achieved, there are currently several main mechanism designs in this research field:

[0004] Lifting lower limb rehabilitation machine, this type of assistive device lifts or tilts the patient through a long pole placed under the patient's armpit, or lifts the patient with a sling fixed to the patient to achieve the weight loss function. The advantages of this design are simple structure and intuitive weight loss effect, but there is a problem of low safety, and the patient will bear a greater burden during the operation of the assistive device.

[0005] Exoskeleton lower limb rehabilitation machine, this type of assistive device controls the patient's lower limb movement through a mechanical structure placed on the patient's leg, which can achieve the function of weight loss. The advantages of this design are stable operation and small space, but there are also some problems, such as high cost and insufficient fit with the patient's joint fixation. The most critical thing is that the incoordination between the mechanism and human body movement will directly cause pain in the patient's leg joints.

[0006] The straddle-type lower limb rehabilitation machine, this type of assistive device lifts the patient to achieve the weight loss function by placing a seat bar under the patient's crotch. The seat lifting method is mostly vertical lifting or single-rod rotating lifting. The advantages of this design are that it does not put a heavy burden on the patient and the structure is simple. The disadvantages are low movement efficiency, large space occupied by the lifting mechanism and insufficient assistive action.

[0007] In summary, current products have common problems such as low exercise efficiency, large space occupation, and heavy burden on patients' bodies. Summary of the invention

[0008] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a straddle-type walking training device that can reduce the patient's exercise burden, effectively improve the training effect and comfort, ensure training safety, and occupy a small space, suitable for use in various scenarios by different groups of people.

[0009] To achieve the above-mentioned and other related purposes, the present invention provides a straddle-type walking training device, comprising:

[0010] A base, disposed on the first motion plane;

[0011] a weight reduction mechanism, arranged in a second motion plane, wherein the second motion plane is perpendicular or approximately perpendicular to the first motion plane;

[0012] An upper body protection mechanism, connected to a side of the weight reduction mechanism away from the base, comprising an armrest assembly, the armrest assembly reciprocating left and right or rotating reciprocatingly in a third motion plane, the third motion plane being perpendicular to the first motion plane and the second motion plane;

[0013] Wherein, the weight reduction mechanism is fixed to the base, and the upper body protection mechanism further comprises an armrest driving assembly, and the armrest assembly is connected to the armrest driving assembly, and is driven by the armrest driving assembly to reciprocate left and right in the third motion plane, or to reciprocate from a horizontal position to both sides in the third motion plane;

[0014] Or the weight reduction mechanism is rotatably connected to the base, the armrest assembly is fixed to the weight reduction mechanism, and the weight reduction mechanism rotates relative to the base under power drive, thereby driving the armrest assembly to reciprocate at a certain angle relative to the base in the third motion plane;

[0015] Or the weight-reducing mechanism is rotatably connected to the base, and the upper body protection mechanism further comprises an armrest driving assembly, and the movement or rotation direction of the armrest assembly driven by the armrest driving assembly cooperates with the rotation offset direction of the weight-reducing mechanism.

[0016] According to an embodiment provided by the present invention, the weight reduction mechanism comprises:

[0017] An adjustment component connected to the base;

[0018] A support assembly connected to an end of the adjustment assembly away from the base, and capable of realizing horizontal and / or vertical movement in the second motion plane under the action of the adjustment assembly;

[0019] A driving assembly is connected to the adjusting assembly and / or the base and / or the supporting assembly.

[0020] According to an embodiment provided by the present invention, the adjustment component includes:

[0021] A connecting rod connected to the base;

[0022] Two first connecting rods arranged in parallel, one end of which is rotatably connected to the connecting rod;

[0023] A first fixing member, rotatably connected to one end of the two first connecting rods away from the connecting rod;

[0024] Two second connecting rods arranged in parallel and rotatably connected to the first fixing member;

[0025] A second fixing member, rotatably connected to one end of the two second connecting rods away from the first fixing member;

[0026] Two third connecting rods arranged in parallel and rotatably connected to the second fixing member;

[0027] The support assembly is rotatably connected to one end of the two third connecting rods away from the second fixing member. In the second motion plane, the driving assembly drives the support assembly to achieve translation.

[0028] According to an embodiment provided by the present invention, the support assembly includes:

[0029] A horizontal support frame, rotatably connected to one end of the two third connecting rods away from the second fixing member, and a seat cushion is arranged on the horizontal support frame;

[0030] The vertical support frame is arranged on the horizontal support frame.

[0031] According to an embodiment provided by the present invention, the seat cushion and the horizontal support frame are connected via an elastic member.

[0032] According to one embodiment provided by the present invention, the upper body protection mechanism also includes a vertical drive assembly, which is connected to the armrest drive assembly or the armrest assembly, and is slidably connected or rotatably connected to the vertical support frame, and the vertical drive assembly drives the armrest drive assembly and / or the armrest assembly to move or rotate relative to the vertical support frame in the second movement plane.

[0033] According to an embodiment provided by the present invention, the armrest assembly comprises:

[0034] a lifting rod connected to the handrail drive assembly or the vertical drive assembly and perpendicular to the second motion plane;

[0035] The support armrests are connected to the lifting rod and symmetrically distributed on both sides of the lifting rod.

[0036] According to an embodiment provided by the present invention, the handrail drive assembly comprises:

[0037] A first connecting member connected to the vertical drive assembly or the vertical support frame;

[0038] a sliding connection member, slidably connected to the first connection member and perpendicular to the second motion plane;

[0039] A second connecting member is connected to the sliding connecting member and is symmetrically distributed on both sides of the sliding connecting member;

[0040] a fifth driving member, one end of which is fixed to the first connecting member, the other end of which is connected to the second connecting member and is parallel to the sliding connecting member;

[0041] The lifting rod is connected to the second connecting member, and the fifth driving member drives the sliding connecting member and the second connecting member to reciprocate axially, and drives the lifting rod to reciprocate horizontally relative to the first connecting member in the third movement plane.

[0042] According to an embodiment provided by the present invention, the connecting rod is rotatably connected to the base, and an angle limiter is provided at the connection point to limit the offset movement generated by the adjustment component.

[0043] According to an embodiment provided by the present invention, it also includes a support frame and a walking-assisting mechanism distributed on both sides of the support frame, the support frame is fixed to the weight-reducing mechanism, two groups of the walking-assisting mechanisms are interconnected with the pulley set on the support frame through straps, and the two groups of the walking-assisting mechanisms are pulled by each other through the straps.

[0044] The straddle walking training device of the present invention utilizes the weight-reducing mechanism and its supporting assembly to provide effective support and weight reduction for the lower body, thereby reducing the patient's exercise burden; the upper body protection mechanism assists in realizing upper body support and drives the patient's center of gravity to change through its left and right displacement to assist the patient in walking; the weight-reducing mechanism and the base can be offset by a certain angle as the patient walks to coordinate with the movement of the center of gravity, which conforms to the laws of human movement and effectively assists the patient in taking steps to achieve better training effects; the weight-reducing mechanism and the upper body protection mechanism are both height-adjustable, which can adapt to different groups of people and different exercise postures, and can realize various activities of the patient in coordination with the control of the moving roller; the structures of the components are simple and easy to process, the coordination between the components is simple, and they are easy to disassemble for maintenance and cleaning, which ensures structural strength while saving costs, and occupies a small space and can adapt to a variety of usage occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0046] Figure 1 A three-dimensional structural diagram of an embodiment of a straddle-type walking training device provided by the present invention;

[0047] Figure 2 A front view of an embodiment of a straddle-type walking training device provided by the present invention;

[0048] Figure 3 A three-dimensional structural diagram of an embodiment of a straddle-type walking training device provided by the present invention;

[0049] Figure 4 A three-dimensional structural diagram of a handrail driving assembly of an embodiment of a straddle-type walking training device provided by the present invention;

[0050] Figure 5 A three-dimensional structural diagram of an angle limiter and a damper of an embodiment of a straddle-type walking training device provided by the present invention;

[0051] Figure 6 A three-dimensional structural cross-sectional view of an angle limiter and a damper of an embodiment of a straddle-type walking training device provided by the present invention;

[0052] Figure 7 A front view of an embodiment of a straddle-type walking training device provided by the present invention;

[0053] Figure 8 A three-dimensional structural diagram of an embodiment of a straddle-type walking training device provided by the present invention;

[0054] Fig. 9 A three-dimensional structural diagram of a walking aid design of an embodiment of a straddle-type walking training device provided by the present invention;

[0055] Fig.10 A right side view of a walking aid design of an embodiment of a straddle-type walking training device provided by the present invention;

[0056] Fig.11 The present invention provides a straddle-type walking training device, a left side view of the walking aid design of one embodiment.

[0057] Description of labels:

[0058] 100, base; 200, weight reduction mechanism; 300, upper body protection mechanism; 400, support frame; 500, walking aid mechanism;

[0059] 110, longitudinal rod; 120, cross rod; 130, tail rod; 140, roller;

[0060] 210, adjustment assembly; 220, support assembly; 230, drive assembly;

[0061] 211, connecting rod; 212, first connecting rod; 213, second connecting rod; 214, third connecting rod; 215, first fixing member; 216, second fixing member; 217, angle limiter; 218, damper;

[0062] 221, horizontal support frame; 222, vertical support frame; 223, seat cushion;

[0063] 310, armrest drive assembly; 320, armrest assembly; 330, vertical drive assembly; 340, handle assembly;

[0064] 311, first connecting member; 312, sliding connecting member; 313, second connecting member; 314, fifth driving member;

[0065] 321, lifting rod; 322, supporting armrest;

[0066] 410, fixed pulley; 510, strap; 520, thigh connection part; 530, calf connection part. DETAILED DESCRIPTION

[0067] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0068] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0069] Lower limb rehabilitation machines are used to assist people with limb dysfunction and postoperative patients in walking training and lower limb rehabilitation, etc. They need to realize assisted walking and weight loss protection functions. Current lower limb rehabilitation machines are either inefficient, cannot be well coordinated with human movement, have low comfort and safety, or occupy a large space and are expensive, and are not suitable for daily recovery exercises for most people.

[0070] See also Figures 1 to 7The present invention provides a straddle-type walking training device, which includes a base 100, a weight-reducing mechanism 200 and an upper body protection mechanism 300. The base 100 is arranged on a first movement plane, where the first movement plane is a walking plane during walking training, such as the ground, etc. The base 100 can be a support structure to leave enough movement space for walking training; the weight-reducing mechanism 200 is arranged on a second movement plane, where the second movement plane is perpendicular or approximately perpendicular to the first movement plane, and the weight-reducing mechanism 200 can move freely in the horizontal direction and / or vertical direction in the second movement plane to adapt to the patient's body shape to achieve support and weight reduction, effectively reducing the burden on the lower limbs, and at the same time, the weight-reducing mechanism 200 can also be rotatably connected to the base 100, so that it can actively make small movements with the power of the human body's left and right movements or under the drive of non-human external power. Left and right offset and repositioning, cooperate with the patient's lower body to achieve walking movements and maintain overall balance; the upper body protection mechanism 300 is arranged on the side of the weight reduction mechanism 200 away from the base 100, and is connected to the weight reduction mechanism 200 to provide upper body support. When the weight reduction mechanism 200 is fixed to the base 100, the upper body protection mechanism 300 can drive the patient's shoulders to swing to achieve left and right shifting of the center of gravity, so as to take steps. When the weight reduction mechanism 200 is rotated and connected to the base 100, the upper body protection mechanism 300 rotates relative to the base 100 with the weight reduction mechanism 200, or the upper body protection mechanism 300's own movement cooperates with the rotation of the weight reduction mechanism 200 to drive the patient to achieve a gravity center offset.

[0071] During walking training, the second motion plane serves as the main motion plane, and the weight reduction mechanism 200 is arranged at the symmetric plane of the base 100 to ensure the stability and balance of the movement. The rotation of the weight reduction mechanism 200 relative to the base 100 and the relative movement of the upper body protection mechanism 300 cooperate to assist the center of gravity transfer and stepping, which conforms to the laws of human movement, has good training effects and high safety. The free movement of the weight reduction mechanism 200 and the upper body protection mechanism 300 in the vertical direction can adjust the height of the device to a suitable position to adapt to the movement of people of different body shapes and different postures.

[0072] See also Figure 1 to Figure 2According to an embodiment of the present invention, the base 100 includes two longitudinal rods 110, a cross bar 120 and two tail rods 130, which are arranged on both sides of the second motion plane. The two longitudinal rods 110 are arranged in parallel, and the cross bar 120 is arranged between the two longitudinal rods 110 and connected to the ends of the two rods, leaving enough motion space between the two longitudinal rods 110; the two tail rods 130 are symmetrically connected to the two ends of the cross bar 120 and are located on the opposite sides of the two longitudinal rods 110. The distance between the two tail rods 130 is greater than or equal to the length of the cross bar 120, so as to better maintain the stability of the device; the weight loss mechanism 200 is arranged in the second motion plane and is located in the space between the two longitudinal rods 110. When the patient sits on the weight loss mechanism 200, he can walk on both sides of the weight loss mechanism 200, realize walking training in the second motion plane, and maintain stability and balance. It can be understood that the base 100 can be a bracket structure that is processed in one piece or the components are connected to each other. In other embodiments, the base 100 can also be other structures such as a rectangular frame structure or a platform structure with a certain motion space.

[0073] See also Figure 1 to Figure 2 According to an embodiment of the present invention, a plurality of rollers 140 are provided on one side of the base 100 close to the first motion plane to ensure the free movement of the walking training device as a whole, so as to assist the patient in displacement and walking rehabilitation training. Specifically, for example, two universal wheels are provided at the two corners in front of the base 100, and two directional wheels are provided at the two corners in the rear of the base 100 to ensure the flexibility and stability of the overall movement and facilitate the control of the direction; the front is the forward direction of the device during walking training, and the rear is the side corresponding thereto. The rollers 140 can also all be universal wheels to enhance the ability of lateral displacement. The weight reduction mechanism 200 is provided at a symmetrical position of the base 100, and when one end thereof is connected to the cross bar 120 of the base 100, at least one roller 140 is provided correspondingly at the other end away from the cross bar 120, which can be, for example, a universal wheel or a directional wheel, to ensure the stability of the entire device, while better assisting walking training and displacement.

[0074] It should be noted that each roller 140 can be an electric wheel. In addition to assisting walking training, the device can also be used as a walking aid, using the active movement of the base 100 to assist the patient to move forward, and adjusting the posture through the weight reduction mechanism 200 and the upper body protection mechanism 300 to achieve various activities.

[0075] See also Figure 3According to another embodiment provided by the present invention, in order to save the space occupied by the device, the base 100 can be simplified. Specifically, the base 100 includes a cross bar 120 and two tail bars 130 connected on both sides thereof. One end of the weight reduction mechanism 200 is connected to the center position of the cross bar 120 and is arranged in the second motion plane. Rollers 140 are respectively arranged on the tail bars 130 on both sides, which work together with the weight reduction mechanism 200 to maintain the balance of the device and realize the shifting function, and effectively reduce the space occupied by the device.

[0076] It should be noted that, according to another embodiment provided by the present invention, for greater convenience, the base 100 can also be removed, that is, there is no cross bar 120, longitudinal bar 110 and tail bar 130. Specifically, the connecting rod 211 of the weight reduction mechanism 200 is used as the bottom support, and the rollers 140 are arranged at both ends of the connecting rod. The ground is the first motion plane, wherein one end is a directional wheel and the other end is a universal wheel; the weight reduction mechanism 200 swings left and right under the power of the human body, thereby driving the upper body protection mechanism 300 to swing left and right at a certain angle; cooperate with the lower body to realize the walking action and maintain the overall balance.

[0077] See also Figures 1 to 7 According to an embodiment of the present invention, the weight reduction mechanism 200 includes an adjustment component 210, a support component 220 and a drive component 230. The adjustment component 210 is connected to the base 100, and can be, for example, a connecting rod mechanism or a combined sliding mechanism, etc., which can move in the second motion plane to drive the support component 220 connected thereto to move freely to achieve position adjustment; the support component 220 is connected to the end of the adjustment component 210 away from the base 100, and moves horizontally and / or vertically in the second motion plane under the action of the adjustment component 210; the drive component 230 is connected to the adjustment component 210 and / or the base 100 and / or the support component 220, and drives the adjustment component 210 to move to achieve height adjustment of the support component 220. The patient is positioned on the support assembly 220 of the weight loss mechanism 200 for training. By adjusting the height of the support assembly 220, effective support is provided to the patient to reduce the burden on the lower limbs, while ensuring that the patient can effectively mobilize the strength of various parts of the lower body to walk during rehabilitation training. The free adjustment of the height of the support assembly 220 can well adapt to different heights or different movement postures.

[0078] See also Figures 1 to 7According to an embodiment of the present invention, the adjustment assembly 210 includes a connecting rod 211, a first connecting rod 212, a second connecting rod 213, a third connecting rod 214, a first fixing member 215 and a second fixing member 216. The multiple groups of connecting rods are connected head to tail through fixing members in a rotating pair, and a driving assembly 230 is arranged between each connecting rod. The rotating connection of each connecting rod and / or the rotating connection of the driving assembly 230 and the adjustment assembly 210 are, for example, rotatably connected by a pin, so that the support assembly 220 can be freely displaced in the horizontal direction and / or the vertical direction in the second motion plane and maintain translation. Compared with a single-rod rotating mechanism and a simple horizontal or vertical displacement mechanism, the multi-rod rotating activity range is larger and the trajectory is more flexible. While saving space, a larger range of adjustment can be achieved, which is well adapted to the use of various groups of people. The curved trajectory movement fits the change of the center of gravity of the human body during standing. The patient will not be injured when sitting on the device to adjust the posture, which is convenient for adjustment and ensures the comfort and safety of the device. During operation, the double-degree-of-freedom connecting rod mechanism can achieve better weight loss and training effects, which can adapt to various groups of people.

[0079] Specifically, see Figures 1 to 3 The connecting rod 211 is connected to the base 100, and together with the base 100, realizes the connection support and displacement of the entire device; two parallel first connecting rods 212 are rotatably connected to the connecting rod 211; the first fixing member 215 is rotatably connected to the ends of the two first connecting rods 212 away from the connecting rod 211; two parallel second connecting rods 213 are rotatably connected to the first fixing member 215; the second fixing member 216 is rotatably connected to the ends of the two second connecting rods 213 away from the first fixing member 215; two parallel third connecting rods 214 are rotatably connected to the second fixing member 216, the support assembly 220 is rotatably connected to the two third connecting rods 214 at one end away from the second fixing member 216, and can maintain the translation of the support assembly 220 during the movement of the adjustment assembly 210, thereby ensuring the horizontality of the support assembly 220 and the stability of the entire device; the driving assembly 230 drives the first connecting rod 212 and / or the second connecting rod 213 and / or the third connecting rod 214 to rotate within the second motion plane to realize the translation movement of the support assembly 220, with a larger and more flexible adjustment range, while ensuring the overall stability and balance, thereby improving the comfort and safety of the device.

[0080] Please note that Figures 1 to 3When each connecting rod moves under the drive of the driving component 230, the driving component 230 can be, for example, an electric push rod. When the push rod moves along the length direction, it drives the connecting rod connected above to rotate relative to the connecting rod connected below. Under the driving action of the three driving members, the support component 220 can be freely moved in the horizontal direction and / or vertical direction in the second movement plane. Compared with the single-rod rotation mechanism, the multi-rod rotation has a larger range of motion and high movement efficiency, and can flexibly adjust the translation range of the support component 220. Multiple groups of connecting rod mechanisms cooperate to realize free adjustment of the support component 220 in the second movement plane, which can adapt to people of different body shapes, achieve better weight loss effects, and improve training efficiency while reducing weight.

[0081] It can be understood that the first connecting rod 212 rotates relative to the connecting rod 211 under the action of the driving assembly 230 and drives the various components on the first connecting rod 212 to move together. When the first connecting rod 212 moves, the two parallel first connecting rods 212 and the connection points at both ends form a planar four-bar mechanism, so that the position angle of the first fixing member 215 does not change during the movement and can maintain translational movement in the plane; similarly, the second connecting rod 213 rotates relative to the first fixing member 215 under the action of the driving assembly 230 and drives the various components on the second connecting rod 213 to move together. The parallel second connecting rod 213, the first fixing member 215 and the second fixing member 216 form a planar four-bar mechanism, so that the second fixing member 216 maintains translational motion in the plane; the third connecting rod 214 rotates relative to the second fixing member 216 under the action of the driving assembly 230 and drives the support assembly 220 to move. The two parallel third connecting rods 214, the second fixing members 216 at both ends and the support assembly 220 form a planar four-bar mechanism, thereby ensuring the translational motion of the support assembly 220 in the plane, maintaining the level and stability of the support assembly 220, and improving the comfort and stability of the device. In addition, the connecting rods cooperate with each other, making the motion trajectory more flexible and in line with the curvilinear motion law of the human body.

[0082] See also Figures 1 to 3 According to an embodiment provided by the present invention, the first fixing member 215 and the second fixing member 216 can be, for example, fan-shaped fixing members, which together with the parallel connecting rods form a parallel four-bar mechanism to achieve stable movement of the support assembly 220 so as to flexibly adjust its height, while ensuring the structural strength of the mechanism and ensuring the stability of the device during use.

[0083] See also Figures 1 to 3According to an embodiment of the present invention, angle sensors may be provided at the fan-shaped fixing member and at the connection between the first connecting rod 212 and the connecting rod 211 to measure and record the angles between the rod groups during the movement, so as to plan the seat path, achieve precise coordination between the mechanisms, and better adapt to the human body's movement posture. For example, when the height of the support assembly 220 is adjusted by the adjustment assembly 210, the angle sensor may be used to measure the angles of the mechanisms when the optimal position is reached. The optimal position is a position that can effectively support and reduce the weight of the patient while mobilizing more of the patient's hip and lower limb strength to ensure efficient and comfortable walking training. The drive assembly 230 is connected to the control device. Before the training activity, the control device controls the drive assembly 230 to adjust the mechanisms to the optimal position to ensure comfortable and convenient use of the device. In addition, controlling the movement of each connecting rod can also assist in the training of sit-to-stand conversion, which can well adapt to the human body's movement posture without causing damage.

[0084] See also Figures 1 to 7 According to an embodiment of the present invention, one end of the connecting rod 211 is rotatably connected to the base 100, and an angle limiter 217 and a damper 218 are provided at the connection to limit the offset motion of the adjustment assembly 210 and to buffer and reset the motion of the weight reduction mechanism 200. Specifically, the connecting rod 211 is connected to the center of the crossbar 120 and is located in the second motion plane to ensure the balance and stability of the entire device; the connecting rod 211 can rotate slightly relative to the base 100, thereby driving the various groups of connecting rods and the support assembly 220 connected to the connecting rod 211 to achieve left and right offset and reset motion. When the patient is training to walk, the hips need to swing at the same time as the shoulders to achieve walking, and the center of gravity of the lower body will also change continuously. As the center of gravity of the lower body changes, the swing of the hips drives the support component 220 and the adjustment component 210 to produce a certain offset relative to the base 100, which cooperates with the human body to better achieve walking movements. At the same time, the entire device is stable and will not shake or tip over. During exercise, the weight reduction mechanism 200 can swing slightly left and right relative to the base 100, which is more in line with the laws of human movement and can effectively improve the training effect and comfort.

[0085] See also Figures 1 to 7 According to another embodiment provided by the present invention, the weight-reducing mechanism 200 is rotatably connected to the base 100, and a driving member such as a motor can be provided at the rotatably connected position of one end of the connecting rod 211 and the base 100. The weight-reducing mechanism 200 is controlled by the driving member to rotate relative to the base 100, and is limited by the angle limiter 217. The weight-reducing mechanism 200 drives the upper body protection mechanism 300 thereon to reciprocate at a certain angle relative to the base 100 in the third motion plane, thereby driving the patient's body to shift left and right to achieve a shift in the center of gravity, thereby achieving a stepping action.

[0086] See also Figures 1 to 7According to an embodiment provided by the present invention, the angle limiter 217 is a limiting bolt, a first connecting block is provided on the bottom surface of the cross bar 120, and a second connecting block is correspondingly provided on the bottom surface of the connecting rod 211, a threaded hole is provided on the second connecting block, and the limiting bolt is connected and fixed to the second connecting block by threads; a connecting groove is provided at a corresponding position on the first connecting block, and the connecting groove can be, for example, an arc-shaped structure, and the other end of the limiting bolt is inserted into the connecting groove and can swing slightly, thereby driving the connecting rod 211 to achieve a small range of displacement relative to the base 100; the limiting bolt extends out of the second connecting block and is fixed on its end face by a nut, thereby realizing axial limitation of the connecting rod 211 and the base 100.

[0087] See also Figures 1 to 7 According to an embodiment of the present invention, a rectangular groove is provided along the bottom of one end of the connecting rod 211 close to the cross bar 120, and the second connecting block is partially located in the rectangular groove. The damper 218 is arranged at the connection between the second connecting block and the cross bar 120. Specifically, the damper 218 can be, for example, a damping nut, which fixes the cross bar 120 and the connecting rod 211 through bolts and nuts, and realizes the damping function through the damping ring between the bolts and the connecting holes. A step hole can be provided on the cross bar 120 to enhance the stability of the threaded connection, and a step is provided at the installation position of the nut to facilitate installation and ensure the connection strength. When the weight reduction mechanism 200 swings slightly relative to the base 100, the damper 218 is used to provide buffering and support during the swing, and to achieve effective offset and reset, thereby ensuring the overall stability of the device and preventing the device from shaking or tipping over violently; when not subject to external forces, the entire device can also maintain stable balance under the action of the damper 218.

[0088] See also Figures 1 to 7 According to an embodiment provided by the present invention, the support assembly 220 includes a horizontal support frame 221 and a vertical support frame 222. The horizontal support frame 221 is rotatably connected to one end of the two third connecting rods 214 away from the second fixing member 216, and a cushion 223 is arranged on it to support the lower body to reduce the burden on the lower limbs; the vertical support frame 222 is arranged on the horizontal support frame 221, and is used to connect with the upper body protection mechanism 300, connecting the weight reduction mechanism 200 and the upper body protection mechanism 300 as a whole, so that the entire device can achieve effective adjustment while occupying a small space, can adapt to a variety of scenarios, and is easy to use.

[0089] See also Figures 1 to 7According to an embodiment provided by the present invention, the horizontal support frame 221 is connected to one end of the third connecting rod 214 away from the second fixing member 216. For example, the horizontal support frame 221 has two side plates at the bottom, and its lower edge line forms a certain angle with the horizontal direction, which is convenient for connecting with the two rods of the third connecting rod 214 and forming a parallel four-bar mechanism. The third connecting rod 211 is connected to the side plate and is located in the middle of the horizontal support frame 221, which can better ensure the support strength and maintain balance; the horizontal support frame 221 can maintain translation under the rotation adjustment of each connecting rod, realizing free adjustment while ensuring the stability and comfort of the device.

[0090] See also Figures 1 to 7 According to an embodiment of the present invention, the cushion 223 is connected to the horizontal support frame 221 through an elastic member. For example, two groups of springs can be set along the width direction of the horizontal support frame 221, and each group of springs is evenly distributed along the length direction of the connection part between the cushion 223 and the support frame; the cushion 223 can be, for example, an airbag cushion 223, which can be made of materials such as rubber, has good flexibility, can disperse pressure, reduce pressure on the patient's body, and improve comfort while ensuring support. When the patient exercises on the cushion 223, the airbag cushion 223 and the spring are deformed by force, and can move to a certain extent with the swing of the human hips, reduce the restraint on the lower body movement, and achieve buffering and position adjustment. When performing walking training, it cooperates with the angle limiter 217 and the damper 218 on the connecting rod 211 to cooperate with the swing of the patient's lower body, achieve weight loss, and help the patient walk, effectively improving the training efficiency.

[0091] See also Figures 1 to 7 According to an embodiment provided by the present invention, the vertical support frame 222 is perpendicular to the horizontal support frame 221 and is fixedly connected to one end of the horizontal support frame 221. The upper body protection mechanism 300 is connected to the weight reduction mechanism 200 as a whole through the vertical support frame 222, and the height of the upper body protection mechanism 300 can be adjusted to adapt to people of different body shapes and different exercise postures.

[0092] See also Figures 1 to 7 According to an embodiment provided by the present invention, the horizontal support frame 221 and the vertical support frame 222 can be an integrated structure. For example, the support component 220 can be an L-shaped support frame, and its horizontal section, namely the horizontal support frame 221, is connected to the adjustment component 210 for supporting the lower body to reduce weight and assist movement; its vertical section, namely the vertical support member, is connected to the upper body protection mechanism 300 to support the upper body and adjust the height of the upper body protection mechanism 300.

[0093] See also Figures 1 to 7According to an embodiment of the present invention, the upper body protection mechanism 300 includes an armrest drive assembly 310, an armrest assembly 320 and a vertical drive assembly 330. The armrest assembly 320 can reciprocate left and right or rotate reciprocatingly in a third motion plane. The third motion plane is perpendicular to the first motion plane and the second motion plane, so that the relative position of the armrest assembly 320 can be adjusted to adapt to people of different body shapes and heights or to assist in achieving the patient's center of gravity transfer.

[0094] See also Figures 1 to 7 According to an embodiment of the present invention, the weight reduction mechanism 200 is fixed to the base 100, and the armrest assembly 320 is connected to the armrest driving assembly 310, and is driven by the armrest driving assembly 310 to reciprocate left and right in the third motion plane, thereby driving the shoulder to move left and right to achieve the center of gravity transfer. In other embodiments, the armrest assembly 320 and the armrest driving assembly 310 can also be rotatably connected, and can be driven by the armrest driving assembly 310 to reciprocate from the horizontal position to both sides in the third motion plane.

[0095] See also Figures 1 to 7 According to another embodiment provided by the present invention, the weight reduction mechanism 200 is rotatably connected to the base 100, and the armrest assembly 320 is fixed to the weight reduction mechanism 200. The weight reduction mechanism 200 is driven by power to rotate relative to the base 100, thereby driving the armrest assembly 320 to reciprocate at a certain angle relative to the base 100 in the third motion plane. The patient achieves a center of gravity transfer as the weight reduction mechanism 200 and the armrest assembly 320 are offset, thereby facilitating walking. In other embodiments, the armrest assembly 320 is rotatably or slidably connected to the armrest drive assembly 310, and can reciprocate in the horizontal direction or reciprocate from the horizontal position to both sides under the drive of the armrest drive assembly 310. The movement or rotation direction of the armrest assembly 320 cooperates with the rotation offset direction of the weight reduction mechanism 200 to achieve the center of gravity transfer of the human body.

[0096] See also Figures 1 to 7 According to an embodiment provided by the present invention, the vertical drive assembly 330 is connected to the handrail drive assembly 310 or the handrail assembly 320, and is slidably connected or rotationally connected to the vertical support frame 222. The vertical drive assembly 330 drives the handrail drive assembly 310 and / or the handrail assembly 320 to move or rotate relative to the vertical support frame 222 in the second motion plane.

[0097] See also Figures 1 to 4According to an embodiment provided by the present invention, the vertical support frame 222 is a hollow structure with a slide groove arranged on it. The vertical drive assembly 330 is arranged in the cavity of the vertical support frame 222 and is slidably connected thereto. The armrest drive assembly 310 is fixedly connected to the vertical drive assembly 330. Under the drive of the vertical drive assembly 330, it moves in the vertical direction relative to the vertical support frame 222 in the third movement plane, thereby adjusting the relative position of the armrest assembly 320 to adapt to people of different heights and body shapes. Its structure is simple and can ensure the connection strength of the upper body protection mechanism 300 and the stability and convenience of movement.

[0098] See also Figure 7 According to another embodiment provided by the present invention, the vertical drive assembly 330 is rotatably connected to the vertical support frame 222, for example, one end of the vertical drive assembly 330 is rotatably connected to the vertical support frame 222, and the other end is rotatably connected to the vertical support frame 222 through two parallel connecting rods, and the handrail drive assembly 310 is rotatably connected to the other end of the connecting rod. The vertical drive assembly 330 drives the connecting rod to rotate relative to the vertical support frame 222, thereby driving the handrail drive assembly 310 to rotate relative to the vertical support frame 222, and realizing the adjustment of the height of the handrail assembly 320.

[0099] See also Figures 1 to 7 According to an embodiment of the present invention, the armrest drive assembly 310 is connected to the side of the weight reduction mechanism 200 away from the base 100 and is arranged in the third motion plane. The armrest assembly 320 is connected to the armrest drive assembly 310. The armrest drive assembly 310 drives it to reciprocate left and right in the third motion plane, driving the patient's upper body shoulder to achieve the center of gravity transfer, and then take steps to achieve walking training. In other embodiments, for example, the armrest drive assembly 310 is rotatably connected to the armrest assembly 320, and the armrest drive assembly 310 drives the armrest assembly 320 to reciprocate around the connection axis, thereby driving the left and right sides of the patient's upper body to be lifted back and forth to achieve the center of gravity transfer.

[0100] See also Figures 1 to 7 According to an embodiment of the present invention, while the armrest drive assembly 310 drives the armrest assembly 320 to reciprocate left and right in the third motion plane, the weight reduction mechanism 200 is rotationally connected to the base 100 and rotates relative to the base 100 under the action of the driving member. The movement direction of the armrest assembly 320 under the driving action of the armrest drive assembly 310 is opposite to the rotational offset direction of the weight reduction mechanism 200. While the center of gravity of the upper body is reciprocatingly offset, the lower body is driven by the weight reduction mechanism 200 to take steps left and right, thereby achieving continuous walking training. In other embodiments, the weight reduction mechanism 200 may also be fixed to the base 100 or no driving member is provided at the rotational connection. The center of gravity is offset by the armrest drive assembly 310, and the weight reduction mechanism 200 is offset by the lower limb strength to achieve stepping.

[0101] It can be understood that the armrest assembly 320 can support the upper body and achieve weight loss for the human body, and when the armrest assembly 320 drives the shoulder center of gravity to shift under the drive of the armrest drive assembly 310, it cooperates with the offset and reset movement of the weight loss mechanism 200 to assist the patient in walking and achieve a good training effect; the armrest drive assembly 310 and the armrest assembly 320 can be located on the same side or opposite sides of the vertical support frame 222. When the armrest drive assembly 310 and the armrest assembly 320 are located on opposite sides of the vertical support frame 222, space can be effectively saved.

[0102] See also Figures 1 to 7 According to an embodiment of the present invention, the armrest drive assembly 310 includes a first connection member 311, a sliding connection member 312, a second connection member 313 and a fifth drive member 314. The first connection member 311 is connected to the vertical drive assembly 330 or the vertical support frame 222; the sliding connection member 312 is slidably connected to the first connection member 311 and is perpendicular to the second motion plane; the second connection member 313 is connected to the sliding connection member 312 and is symmetrically distributed on both sides of the sliding connection member 312; the fifth drive member 314 can be, for example, an electric push rod, one end of which is fixed to the first connection member 311, and the other end is connected to the second connection member 313 and is parallel to the sliding connection member 312; the armrest assembly 320 is connected to the second connection member 313, and the fifth drive member 314 drives the sliding connection member 312 and the second connection member 313 to reciprocate along the axial direction, and drives the armrest assembly 320 to reciprocate left and right relative to the first connection member 311 in the third motion plane.

[0103] See also Figures 1 to 4 According to an embodiment provided by the present invention, the first connecting member 311 and the vertical driving assembly 330 are respectively located at the upper and lower parts of the hollow part of the vertical support frame 222. A sliding groove is provided on the side of the vertical support frame 222 close to the armrest assembly 320. The protruding connecting part on the vertical support member extends out of the sliding groove and is connected to the sliding connecting member 312, so as to drive the entire armrest driving assembly 310 and the armrest assembly 320 to move together with the first connecting member 311. The vertical driving assembly 330 is, for example, an electric push rod, one end of which is fixed to the vertical support frame 222, and the other end is connected to the first connecting member 311. The push rod is used to drive the vertical support member to move freely in the vertical direction, thereby driving the upper body protection mechanism 300 to achieve height adjustment as a whole.

[0104] See also Figure 7In another embodiment, the first connecting member 311 and the vertical driving assembly 330 are rotatably connected to the vertical support frame 222 through two parallel connecting rods. The vertical driving assembly 330 is, for example, an electric push rod, one end of which is rotatably connected to the vertical support frame 222, and the other end is rotatably connected to the parallel connecting rod. By utilizing a parallel four-bar mechanism, the push rod pushes the connecting rod to rotate when it moves back and forth. The connecting rod rotates relative to the vertical support frame 222 and drives the first connecting member 311 to rotate relative to it, thereby realizing the height adjustment of the armrest assembly 320.

[0105] See also Figures 1 to 4 According to an embodiment of the present invention, handle assemblies 340 are symmetrically arranged on both side surfaces of the first connecting member 311, and correspondingly, sliding grooves are also opened on both side surfaces of the vertical support frame 222 to ensure the displacement of the first connecting member 311 in the vertical direction. The handle assembly 340 can be, for example, two curved handles, which are located on the opposite sides of the weight reduction mechanism 200 and the armrest assembly 320, and can serve as auxiliary support during training. When the device needs to be moved, the handle assembly 340 can be held to conveniently push the device to the destination position.

[0106] See also Figures 1 to 7 According to an embodiment provided by the present invention, the sliding connector 312 is arranged on the upper and lower sides of the fifth driving member 314, and is connected to the vertical support member through the connecting hole thereof; the second connecting member 313 can, for example, be two connecting plates, which are respectively fixedly connected to the two ends of the sliding connector 312; one end of the fifth driving member 314 is fixed to the first connecting member 311, and the other end is connected to the second connecting member 313. The fifth driving member 314 is, for example, an electric push rod, which reciprocates axially relative to the fixed end, drives the second connecting member 313 to drive the sliding connector 312 to slide axially in the connecting hole, so that the entire armrest driving assembly 310 and the armrest assembly 320 can realize left and right reciprocating motion relative to the first connecting member 311 in the third motion plane, drive the human shoulder to swing to realize the center of gravity transfer, and will not rotate relative to the vertical support frame 222, thereby ensuring the stability of the support.

[0107] See also Figures 1 to 7 According to an embodiment of the present invention, the armrest assembly 320 includes a lifting rod 321 and a supporting armrest 322. The lifting rod 321 is connected to the armrest drive assembly 310 or the vertical drive assembly 330 and is perpendicular to the second motion plane. The supporting armrests 322 are connected to the lifting rod 321 and are symmetrically distributed on both sides of the lifting rod 321. Under the action of the armrest drive assembly 310, the lifting rod 321 reciprocates left and right in the third motion plane, thereby driving the supporting armrest 322 to reciprocate. The patient's arms are supported on the supporting armrest 322, and the shoulders swing left and right as the supporting armrest 322 moves left and right, realizing the transfer of the center of gravity of the upper body, and cooperating with the weight reduction mechanism 200 to realize the stepping action.

[0108] See also Figures 1 to 7 According to an embodiment of the present invention, the lifting rod 321 is connected to the second connecting member 313. When the fifth driving member 314 drives the sliding connecting member 312 and the second connecting member 313 to reciprocate along the axial direction, the lifting rod 321 is driven to reciprocate left and right relative to the first connecting member 311 in the third motion plane. Specifically, for example, the second connecting member 313 is connected to the lifting rod 321 through a sleeve. Since the support armrest 322 is used to support the upper body, the sleeve connection of the lifting rod 321 will bear a large torque. A parallel connection groove is provided on the lifting rod 321 to connect with the sleeve to enhance the connection strength.

[0109] See also Figures 1 to 7 According to an embodiment provided by the present invention, an underarm protective cover is provided on the support armrest 322, and a soft material such as sponge can be used to prevent discomfort or injury due to long-term stress when supporting both arms, thereby improving the comfort of using the device.

[0110] See also Figures 1 to 7 According to an embodiment of the present invention, when in use, the seat cushion 223 is first adjusted to a suitable height using the adjustment component 210. The patient sits on the seat cushion 223 with both arms supported on the armrest component 320. The seat cushion 223 and the upper body protection mechanism 300 are adjusted according to the patient's body shape and required movement posture to ensure that the patient's hip and lower limb strength can be better mobilized while effectively supporting and reducing weight, so as to achieve the effect of walking training and ensure the comfort of the device. The angle position of each mechanism can also be measured and recorded by an angle sensor, so that the control device can control the driving member to drive each mechanism to move to a suitable working position along a predetermined track.

[0111] During walking training, the armrest drive assembly 310 drives the armrest assembly 320 to slide left and right, driving the patient's shoulders to move left and right, realizing the change of the center of gravity of the upper body. The patient moves his shoulders and swings his hips to take steps. When the lower body moves, the weight reduction mechanism 200 is slightly offset and reset relative to the base 100, and the lower body center of gravity is transferred, so that the patient can take steps and maintain overall stability. At the same time, the seat cushion 223 can follow the body's small movements under the action of the spring to improve comfort. The roller 140 at the lower end of the base 100 assists the patient in taking steps and moving. During walking training, the person sits on the seat cushion 223, and the burden on the lower limbs is effectively reduced under the support of the weight reduction mechanism 200. The upper body protection mechanism 300 assists in achieving support and protection. At the same time, the various mechanisms cooperate to walk, which will not cause damage to the limbs or joints, further improving safety and comfort. In addition, the device can also be used as a walking aid, controlling the electric roller 140 to realize the active movement of the device, coordinating with various mechanisms to adjust the sitting or standing posture, and can assist the patient in various activities.

[0112] See also Figures 1 to 7 In other embodiments, when the patient is performing walking training, the driving member at the rotational connection between the weight-reducing mechanism 200 and the base 100 is used to drive the weight-reducing mechanism 200 to rotate relative to the base 100, thereby driving the patient's lower body center of gravity to shift and take steps to achieve walking training; or while the weight-reducing mechanism 200 drives the lower body to move, the armrest assembly 320 moves back and forth under the driving action of the armrest driving assembly 310 and drives the upper body center of gravity to shift, and its shift direction is opposite to the shift direction of the weight-reducing mechanism 200, and the upper and lower parts cooperate to assist the patient to take continuous steps to achieve walking training.

[0113] See also Figures 8 to 11 According to another embodiment provided by the present invention, a walking aid design is added to the walking training device. Specifically, it includes a support frame 400 and walking aid mechanisms 500 symmetrically distributed on both sides of the support frame 400. The support frame 400 is fixed to the weight reduction mechanism 200. Each set of walking aid mechanisms 500 includes a thigh connection part 520 and a calf connection part 530 connected by a strap 510. A plurality of fixed pulleys 410 are provided on the support frame 400. The straps 510 on the two sets of walking aid mechanisms 500 are connected to each other through the pulley group on the support frame 400. When the strap 510 on one side is pulled, the strap 510 on the other side and the parts connected thereto will be driven to move. The two sets of walking aid mechanisms 500 are pulled by the straps 510 to achieve relative movement. Specifically, for example, the support frame 400 is fixed on the horizontal support frame 221 or the vertical support frame 222, providing support while facilitating the wearing of the walking aid mechanism 500. The two sets of walking aid mechanisms 500 are located at the lower positions on both sides of the horizontal support frame 221. When the patient sits on the device, the thigh and calf are respectively located at the thigh connection part 520 and the calf connection part 530 and are fixed by the strap 510. During the movement of the device, if the patient's left leg contacts the ground and moves backward relative to the device, the strap on the left leg will give tension to the right leg strap through the pull ring and the fixed pulley group, thereby prompting the right leg to move forward, and vice versa, thereby prompting the left and right legs to cyclically step.

[0114] The straddle walking training device of the present invention has a frame of the base that leaves enough space for movement. The design of the mobile base can not only provide assistance when the patient is actively walking training, but also use the present invention as a walking aid to achieve assisted advancement, which is more functional; the weight-reducing mechanism is adjusted by using multiple sets of connecting rod mechanisms, and its movement trajectory is more flexible, which can better fit the movement posture of the human body while saving space, and can adapt to different body shapes, effectively reducing the burden on the patient's lower limbs without affecting the training effect; the upper body protection mechanism and the weight-reducing mechanism are designed as one body to ensure the stability of the movement, and the upper body protection mechanism is driven to move synchronously while the weight-reducing mechanism moves. As a protective device, it shortens the stroke without affecting the function, saving the space occupied by the whole device; during the training process, the horizontal movement of the armrest assembly drives the shoulder movement to realize the center of gravity transfer, and the weight-reducing mechanism cooperates with the hip movement to swing slightly left and right relative to the base, simulating the center of gravity shift of human walking, and assisting patients to achieve better training effects. It conforms to the laws of human movement and will not cause limb injuries and joint pain, etc.; the whole device has good stability and high safety, can effectively improve the training effect and ensure the comfort of use, the structure of each component is simple and easy to process, the coordination between the components is simple, and it is easy to disassemble and repair, which ensures the structural strength while saving costs, and has good universality.

[0115] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

[0116] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. A straddle-type walking training device, characterized in that: include: A base, disposed on the first motion plane; a weight reduction mechanism, arranged in a second motion plane, wherein the second motion plane is perpendicular or approximately perpendicular to the first motion plane; An upper body protection mechanism, connected to a side of the weight reduction mechanism away from the base, comprising an armrest assembly, the armrest assembly reciprocating left and right or rotating reciprocatingly in a third motion plane, the third motion plane being perpendicular to the first motion plane and the second motion plane; Wherein, the weight reduction mechanism is fixed to the base, and the upper body protection mechanism further comprises an armrest driving assembly, and the armrest assembly is connected to the armrest driving assembly, and is driven by the armrest driving assembly to reciprocate left and right in the third motion plane, or to reciprocate from a horizontal position to both sides in the third motion plane; Or the weight reduction mechanism is rotatably connected to the base, the armrest assembly is fixed to the weight reduction mechanism, and the weight reduction mechanism rotates relative to the base under power drive, thereby driving the armrest assembly to reciprocate at a certain angle relative to the base in the third motion plane; Or the weight-reducing mechanism is rotatably connected to the base, and the upper body protection mechanism further comprises an armrest driving assembly, and the movement or rotation direction of the armrest assembly driven by the armrest driving assembly cooperates with the rotation offset direction of the weight-reducing mechanism.

2. The straddle walking training device according to claim 1, characterized in that: The weight reduction mechanism comprises: An adjustment component connected to the base; A supporting assembly connected to an end of the adjusting assembly away from the base, and capable of realizing horizontal and / or vertical movement in the second motion plane under the action of the adjusting assembly; A driving assembly is connected to the adjusting assembly and / or the base and / or the supporting assembly.

3. The straddle walking training device according to claim 2, characterized in that: The adjustment component comprises: A connecting rod connected to the base; Two first connecting rods arranged in parallel, one end of which is rotatably connected to the connecting rod; A first fixing member, rotatably connected to one end of the two first connecting rods away from the connecting rod; Two second connecting rods arranged in parallel and rotatably connected to the first fixing member; A second fixing member, rotatably connected to one end of the two second connecting rods away from the first fixing member; Two third connecting rods arranged in parallel and rotatably connected to the second fixing member; The support assembly is rotatably connected to one end of the two third connecting rods away from the second fixing member. In the second motion plane, the driving assembly drives the support assembly to achieve translation.

4. The straddle walking training device according to claim 3, characterized in that: The support assembly comprises: A horizontal support frame, rotatably connected to one end of the two third connecting rods away from the second fixing member, and a seat cushion is arranged on the horizontal support frame; The vertical support frame is arranged on the horizontal support frame.

5. The straddle walking training device according to claim 4, characterized in that: The seat cushion and the horizontal support frame are connected via an elastic member.

6. The straddle walking training device according to claim 4, characterized in that: The upper body protection mechanism also includes a vertical drive assembly, which is connected to the armrest drive assembly or the armrest assembly, and is slidably connected or rotatably connected to the vertical support frame. The vertical drive assembly drives the armrest drive assembly and / or the armrest assembly to move or rotate relative to the vertical support frame in the second movement plane.

7. The straddle walking training device according to claim 6, characterized in that: The armrest assembly comprises: a lifting rod connected to the handrail drive assembly or the vertical drive assembly and perpendicular to the second motion plane; The support armrests are connected to the lifting rod and symmetrically distributed on both sides of the lifting rod.

8. The straddle walking training device according to claim 7, characterized in that: The handrail drive assembly comprises: A first connecting member connected to the vertical drive assembly or the vertical support frame; a sliding connection member, slidably connected to the first connection member and perpendicular to the second motion plane; A second connecting member is connected to the sliding connecting member and is symmetrically distributed on both sides of the sliding connecting member; a fifth driving member, one end of which is fixed to the first connecting member, the other end of which is connected to the second connecting member and is parallel to the sliding connecting member; The lifting rod is connected to the second connecting member, and the fifth driving member drives the sliding connecting member and the second connecting member to reciprocate axially, and drives the lifting rod to reciprocate horizontally relative to the first connecting member in the third movement plane.

9. The straddle walking training device according to claim 3, characterized in that: The connecting rod is rotatably connected to the base, and an angle limiter is provided at the connection point to limit the offset movement generated by the adjustment component.

10. The straddle walking training device according to claim 1, characterized in that: It also includes a support frame and walking-assisting mechanisms distributed on both sides of the support frame, the support frame is fixed to the weight-reducing mechanism, two groups of the walking-assisting mechanisms are connected to each other with a pulley set on the support frame through a strap, and the two groups of the walking-assisting mechanisms are pulled mutually through the strap.

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