Stepping training machine

Abstract

The embodiment of the invention discloses a stepping training machine which comprises a lower limb stepping simulation device and a hip joint movement simulation device, the lower limb stepping simulation device is used for driving a patient to simulate in-situ stepping training, and the hip joint movement simulation device comprises a crotch back cushion, a first supporting plate, a first mounting plate and a first driving mechanism. The crotch back cushion, the first supporting plate and the first mounting plate are sequentially and oppositely arranged in the first horizontal direction, the crotch back cushion is mounted on the first supporting plate, the middle of the supporting plate is hinged to the first mounting plate through a first rotating shaft arranged in the vertical direction, and the first driving mechanism is arranged on the first mounting plate; the driving end of the first driving mechanism is movably connected with the first supporting plate through a connecting rod, one end of the connecting rod is hinged to the driving end of the first driving mechanism, and the other end of the connecting rod is hinged to one end of the first supporting plate. The first driving mechanism is used for linearly driving the first supporting plate to rotate around the first rotating shaft in the first horizontal direction so as to drive the crotch back cushion to swing front and back.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation devices, and in particular to a step training machine. Background Art

[0002] The hip joint is one of the key joints that supports the body weight and maintains body balance, and plays an important role in walking training. Existing stepping training machines can only drive the human body to perform stepping movements in situ, but cannot drive the patient to simulate the movement state of the hip joint when walking, which is not conducive to the rehabilitation of the muscles around the hip joint and affects the patient's rehabilitation effect. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application provides a step training machine to solve the problem that the prior art cannot drive the patient to simulate the movement state of the hip joint when walking.

[0004] The purpose of this application can be achieved through the following technical solutions:

[0005] In a first aspect, the present application provides a stepping training machine, comprising a lower limb stepping simulation device and a hip joint motion simulation device, wherein the lower limb stepping simulation device is used to drive the patient to simulate in-situ stepping training, and the hip joint motion simulation device comprises a hip floating assembly, the hip floating assembly comprises a hip cushion, a first support plate, a first mounting plate and a first driving mechanism, the hip cushion, the first support plate and the first mounting plate are arranged opposite to each other in sequence along a first horizontal direction, and the hip cushion is installed on the first support plate, the middle part of the support plate and the first mounting plate are hinged through a first rotating shaft arranged along a vertical direction, the first driving mechanism is arranged on the first mounting plate, and the driving end of the first driving mechanism is movably connected to the first support plate through a connecting rod, wherein one end of the connecting rod is hinged to the driving end of the first driving mechanism, and the other end of the connecting rod is hinged to one end of the first support plate, and the first driving mechanism is used to linearly drive the first support plate to rotate around the first rotating shaft along the first horizontal direction to drive the hip cushion to swing back and forth.

[0006] Optionally, the crotch floating assembly also includes a first base plate and a second driving mechanism, the first base plate is arranged on the side of the first mounting plate away from the first support plate, a first guide rod extending toward the first base plate is fixedly mounted on the first mounting plate, the first guide rod is arranged along a first horizontal direction, the first base plate is slidably connected to the first guide rod through a first linear bearing, and the second driving mechanism is arranged on the first base plate for driving the first support plate to move linearly along the first horizontal direction to drive the crotch cushion to move horizontally forward and backward.

[0007] Optionally, the hip joint motion simulation device also includes a first mounting frame and a third driving mechanism, the first mounting frame is provided with a first vertical guide rail, the first substrate is slidably mounted on the first vertical guide rail through a first slider, the third driving mechanism is arranged on the first mounting frame, the first substrate is arranged at the driving end of the third driving mechanism, and the third driving mechanism is used to drive the first substrate to move along the first vertical guide rail to drive the hip cushion to rise and fall vertically.

[0008] Optionally, it also includes a back floating component, which is arranged above the hip floating component, and the back floating component includes a back cushion, a second support plate, a second base plate, a fourth drive mechanism and a fifth drive mechanism. The back cushion, the second support plate and the second base plate are arranged opposite to each other in sequence along the first horizontal direction, and the back cushion is installed on one side of the second support plate, and a second guide rod extending toward the second base plate is installed on the other opposite side of the second support plate, the second guide rod is arranged along the first horizontal direction, the second base plate is slidably connected to the second guide rod through a second linear bearing, and the second base plate is slidably installed on the first vertical guide rail through a second vertical slider, the fourth drive mechanism is used to drive the second support plate to move linearly along the first horizontal direction, and the fifth drive mechanism is used to drive the second base plate to move along the first vertical guide rail to drive the back cushion to rise and fall vertically.

[0009] Optionally, it also includes a second mounting frame, on which a first horizontal guide rail and a sixth driving mechanism are provided, the first horizontal guide rail extends along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, the first mounting frame is slidably installed on the first horizontal guide rail through a third slider, and the sixth driving mechanism is provided on the second mounting frame for driving the first mounting frame to move along the second horizontal direction.

[0010] Optionally, it also includes a frame and a seventh driving mechanism, the frame is provided with a second vertical guide rail, the second mounting frame is slidably mounted on the second vertical guide rail through a fourth slider, and the seventh driving mechanism is arranged on the frame for driving the second mounting frame to move up and down along the second vertical guide rail.

[0011] Optionally, it also includes a third mounting frame, a human body transfer beam, a weight-reducing hanger and an eighth driving mechanism. The third mounting frame is fixedly mounted on the top of the second mounting frame. The third mounting frame is provided with a second horizontal guide rail extending along the second horizontal direction. The human body transfer beam is slidably mounted on the second horizontal guide rail through a fifth slider. The weight-reducing hanger is arranged on the human body transfer beam. The weight-reducing hanger is used to mount the patient. The eighth driving mechanism is arranged on the third mounting frame and is used to drive the human body transfer beam to move along the second horizontal direction.

[0012] Optionally, it also includes a floating cloud seat, which is arranged on the side of the crotch cushion away from the first support plate, and the floating cloud seat is fixedly connected to the second mounting frame through a first connecting rod, and is used to support the crotch from the inner side of the thigh.

[0013] Optionally, armrests are respectively provided on both sides of the floating cloud seat, and the armrests are rotatably mounted on the second mounting frame.

[0014] Beneficial effects: The stepping training machine of the present application can drive the first support plate to rotate axially around the first rotating axis by placing the patient's hips against the hip cushion and moving linearly along the first horizontal direction through the first driving mechanism, so as to make the hip cushion drive the patient's hips to twist back and forth to simulate the movement state of the hip joint when the lower limbs walk, thereby exercising the muscle groups around the hip joint and improving the patient's rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application is further described below in conjunction with the accompanying drawings.

[0016] Figure 1 This is a structural schematic diagram of a step training machine in one of the embodiments of the present application;

[0017] Figure 2 It is a schematic diagram of the structure of the assembly of the crotch floating assembly, the back floating assembly and the first mounting frame in one embodiment of the present application;

[0018] Figure 3 is a structural schematic diagram of another perspective of the assembly of the crotch floating assembly, the back floating assembly and the first mounting frame in one embodiment of the present application;

[0019] Figure 4 is a schematic diagram of the structure of a crotch floating assembly in one of the embodiments of the present application;

[0020] Figure 5 is a structural schematic diagram of a crotch floating assembly from another perspective in one of the embodiments of the present application;

[0021] Figure 6 This is a schematic diagram of the structure of the back floating assembly in one of the embodiments of the present application;

[0022] Figure 7 It is a schematic diagram of the structure of the hip floating assembly, the back floating assembly, the first mounting frame and the second mounting frame in one embodiment of the present application;

[0023] Figure 8 It is a structural schematic diagram of the crotch floating assembly, the back floating assembly, the first mounting frame, the second mounting frame assembly and the rack assembly in one embodiment of the present application;

[0024] Fig. 9 It is a structural schematic diagram of a frame and a seventh driving mechanism in one of the embodiments of the present application.

[0025] Description of reference numerals:

[0026] 1000, step training machine; 30, step simulation device; 10, hip floating assembly; 101, hip cushion; 102, first support plate; 103, first mounting plate; 104, first driving mechanism; 1041, first motor; 1042, first screw sleeve; 1043, mounting tube; 105, first rotating shaft; 106, connecting rod; 107, six-dimensional force sensor; 108, mounting frame; 109, first substrate; 110, second driving mechanism; 1101, second motor; 1102, second ball screw; 1103, second screw sleeve; 1104, second Synchronous belt; 111, first guide rod; 112, first linear bearing; 113, first bearing mounting seat; 114, rod connecting plate; 115, crotch cover; 116, crotch handle; 117, crotch activation button; 118, locking sheet metal; 11, first mounting frame; 12, third drive mechanism; 121, third motor; 122, third ball screw; 123, third nut mounting seat; 13, first vertical guide rail; 14, back floating assembly; 141, back cushion; 142, second support plate; 143, second base plate; 144, fourth drive mechanism; 1441, Fourth motor; 1442, fourth ball screw; 1443, fourth screw sleeve; 1444, fourth synchronous belt; 145, fifth drive mechanism; 1451, fifth motor; 1452, fifth ball screw; 1453, fifth nut mounting seat; 1454, fifth synchronous belt; 146, second guide rod; 147, second linear bearing; 148, second bearing mounting seat; 149, back cover; 150, back handle; 151, back activation button; 15, second mounting frame; 16, first horizontal guide rail; 17, sixth drive mechanism; 171, sixth motor; 1 72. Sixth ball screw; 173. Sixth nut mounting seat; 18. Third mounting frame; 19. Human body transfer beam; 20. Weight reduction bracket; 21. Eighth drive mechanism; 211. Eighth motor; 212. Eighth ball screw; 213. Eighth nut mounting seat; 22. Floating cloud seat; 23. First connecting rod; 24. Handrail; 25. Emergency button; 26. Rack; 27. Seventh drive mechanism; 271. Seventh motor; 272. Seventh ball screw; 273. Seventh nut mounting seat; 274. Seventh synchronous belt; 28. Second vertical guide rail; 29. ​​Second horizontal guide rail. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] See also Figure 1 As shown, in some embodiments, the present application provides a stepping training machine 1000, which includes a lower limb stepping simulation device 30 and a hip joint motion simulation device. The lower limb stepping simulation device 30 is used to drive the patient to simulate the in-situ stepping training, and the hip joint motion simulation device can twist the patient's hips in coordination with the stepping training of the lower limb stepping simulation device 30, so that the stepping training machine 1000 can drive the patient to simulate the movement state of the hip joint during normal walking of the human body, thereby improving the rehabilitation effect of the muscle groups around the patient's hip joint.

[0029] See also Figure 2-5 As shown, the hip joint motion simulation device is described in detail below. The hip joint motion simulation device includes a crotch floating assembly 10, which includes a crotch cushion 101, a first support plate 102, a first mounting plate 103 and a first driving mechanism 104. The crotch cushion 101, the first support plate 102 and the first mounting plate 103 are arranged in sequence relative to each other along a first horizontal direction, and the crotch cushion 101 is installed on the first support plate 102. The middle part of the support plate is hinged to the first mounting plate 103 through a first rotating shaft 105 arranged along a vertical direction. The first driving mechanism 104 is arranged on the first mounting plate 103, and the driving end of the first driving mechanism 104 is movably connected to the first support plate 102 through a connecting rod 106. Among them, one end of the connecting rod 106 is hinged to the driving end of the first driving mechanism 104, and the other end of the connecting rod 106 is hinged to one end of the first support plate 102. The first driving mechanism 104 is used for linearly driving the first supporting plate 102 to rotate around the first rotating shaft 105 along a first horizontal direction to drive the crotch cushion 101 to swing back and forth.

[0030] Specifically, the first support plate 102 has a first side surface and a second side surface opposite to each other along a first horizontal direction, a middle portion arranged along a second horizontal direction and two ends located on both sides of the middle portion, and the first horizontal direction is perpendicular to the second horizontal direction.

[0031] For ease of description, the following refers to the definitions of the first side and the second side of the first support plate 102, and the side of other components facing the same side as the first side of the first support plate 102 is referred to as the first side, and the side facing the same side as the second side of the first support plate 102 is referred to as the second side.

[0032] The crotch cushion 101 is fixedly mounted on the first side surface of the first support plate 102. A first hinge head is fixedly mounted on the middle of the second side surface of the first support plate 102, and a second hinge head corresponding to the first hinge head is fixedly mounted on the first mounting plate 103. The first hinge head and the second hinge head are assembled through a first rotating shaft 105, so that the first support plate 102 and the first mounting plate 103 are hinged in the vertical direction. The first rotating shaft 105 is arranged in the vertical direction, and the vertical direction, the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0033] The first driving mechanism 104 includes a first motor 1041, a first ball screw (not shown) and a first screw sleeve 1042. A mounting tube 1043 is fixedly mounted on the second side of the first mounting plate 103. The mounting tube 1043 penetrates the subsequent first substrate 109 and extends to the side of the first substrate 109 away from the first mounting plate 103. A dodge hole for dodge the mounting tube 1043 is provided on the first substrate 109. The first ball screw extends along the first horizontal direction and is rotatably mounted on the mounting tube 1043 through a bearing. The first motor 1041 is arranged at one end of the first ball screw and is connected to the first ball screw through a coupling. The first screw sleeve 1042 is arranged in the mounting tube 1043, and is clearance-matched with the mounting tube 1043. The first screw sleeve 1042 is sleeved on the first ball screw and is connected to the first ball screw through a threaded transmission. The first screw sleeve 1042 is fixedly mounted with a first hinge seat at one end of the first screw sleeve 1042 close to the first support plate 102. A second hinge seat is fixedly mounted on one end of the second side surface of the first support plate 102, and two ends of the connecting rod 106 are respectively hinged to the first hinge seat and the second hinge seat through the hinge shaft. The first motor 1041 drives the first ball screw to rotate to drive the first screw sleeve 1042 to move along the first horizontal direction, and then the first screw sleeve 1042 pushes the first support plate 102 to rotate around the first rotating shaft 105 through the connecting rod 106 to drive the crotch cushion 101 to swing back and forth.

[0034] When the patient is undergoing hip joint training, the patient's hips are placed against the hip cushion 101, and the first driving mechanism 104 is used to linearly move along the first horizontal direction to drive the first support plate 102 to rotate axially around the first rotating shaft 105, thereby causing the hip cushion 101 to drive the patient's hips to twist back and forth to simulate the movement state of the hip joint when the lower limbs are walking, thereby exercising the muscle groups around the hip joint and improving the patient's rehabilitation effect.

[0035] See also Figure 4As shown, in some embodiments, the hip floating assembly 10 further includes a six-dimensional force sensor 107, which is fixedly mounted on the second side of the first support plate 102, and a mounting frame 108 is fixedly sleeved on the six-dimensional force sensor 107. Different from the above embodiments, the first hinge head is fixedly mounted on the mounting frame 108, and is hinged to the second hinge head through the first rotating shaft 105. In the present application, the six-dimensional force sensor 107 can sense the movement and strength information of the user's hip, so that the subsequent system can adjust the training mode of the hip joint motion simulation device according to the information sensed by the six-dimensional force sensor 107.

[0036] See also Figure 3-5 As shown, in some embodiments, the crotch floating assembly 10 further includes a first base plate 109 and a second driving mechanism 110. The first base plate 109 is disposed on a side of the first mounting plate 103 away from the first support plate 102 and is disposed opposite to the first mounting plate 103. A first guide rod 111 extending toward the first base plate 109 is fixedly mounted on the first mounting plate 103. The first guide rod 111 is disposed along a first horizontal direction. The first base plate 109 is slidably connected to the first guide rod 111 through a first linear bearing 112. The second driving mechanism 110 is disposed on the first base plate 109 and is used to drive the first support plate 102 to move linearly along the first horizontal direction to drive the crotch cushion 101 to move horizontally forward and backward.

[0037] Furthermore, four first guide rods 111 are arranged in parallel around the second driving mechanism 110, and the first guide rods 111 are grouped in pairs. The end of the first guide rod 111 in each group away from the first mounting plate 103 is connected through a rod connecting plate 114. The shape of the rod connecting plate 114 can be specifically designed according to the on-site conditions, and the rod connecting plate 114 can avoid the surrounding structures.

[0038] The second driving mechanism 110 includes a second motor 1101, a second ball screw 1102, and a second screw sleeve 1103. A first bearing mounting seat 113 is fixedly mounted on the second side surface of the first substrate 109. The second ball screw 1102 extends along the first horizontal direction and is rotatably mounted on the first bearing mounting seat 113 through the first bearing. The second screw sleeve 1103 is sleeved on the second ball screw 1102 and is threadedly connected to the second ball screw 1102. One end of the second screw sleeve 1103 passes through the first substrate 109 and is fixedly connected to the second side surface of the first mounting plate 103. The second motor 1101 is arranged below the second ball screw 1102 and is fixedly mounted on the first bearing mounting seat 113. The second motor 1101 and the second ball screw 1102 are connected via a second synchronous belt 1104. The second motor 1101 drives the second ball screw 1102 to rotate via the second synchronous belt 1104, thereby causing the second ball screw 1102 to drive the second screw sleeve 1103, the first mounting plate 103, the first support plate 102 and the crotch cushion 101 to move synchronously along the first horizontal direction, so that the crotch cushion 101 can adapt to the fat or thin body shapes of different patients and fit closely to the patient's crotch.

[0039] See also Figure 2 As shown, in some embodiments, the crotch floating assembly 10 also includes a crotch cover 115 located between the first support plate 102 and the first mounting plate 103 and between the first mounting plate 103 and the first substrate 109. The crotch cover 115 is used to shield the structure between the first support plate 102 and the first mounting plate 103 and between the first mounting plate 103 and the first substrate 109 to avoid leakage of the structure and improve the overall aesthetics of the device.

[0040] A crotch handle 116 and a crotch activation button 117 are provided on the crotch cover 115 between the first support plate 102 and the first mounting plate 103. The staff can manually move the crotch floating assembly 10 through the crotch handle 116. The crotch activation button 117 is used to activate the crotch floating assembly 10 for operation.

[0041] In some embodiments, locking sheet metals 118 are fixedly installed at both ends of the first support plate 102, and the locking sheet metals 118 are used for the subsequent installation of a hip restraint belt. The patient can be tied up with the hip restraint belt to make his or her hips fit tightly against the hip cushion 101.

[0042] See also Figure 2-5As shown, the hip joint motion simulation device further includes a first mounting frame 11 and a third driving mechanism 12. The first mounting frame 11 is arranged on the side of the first substrate 109 away from the first mounting frame 11. The first mounting frame 11 is provided with a first vertical guide rail 13, and the first vertical guide rail 13 extends vertically. The first substrate 109 is slidably mounted on the first vertical guide rail 13 through a first slider. The third driving mechanism 12 is arranged on the first mounting frame 11, and the first substrate 109 is arranged at the driving end of the third driving mechanism 12. The third driving mechanism 12 is used to drive the first substrate 109 to move along the first vertical guide rail 13 to drive the crotch cushion 101 to rise and fall vertically.

[0043] Specifically, the third driving mechanism 12 includes a third motor 121, a third ball screw 122 and a third nut mounting seat 123. The third ball screw 122 extends in the vertical direction and is rotatably mounted on the first mounting frame 11, the third nut mounting seat 123 is sleeved on the third ball screw 122 and is threadedly connected to the third ball screw 122, and the third nut mounting seat 123 is fixedly connected to the second side surface of the first substrate 109. The third motor 121 is arranged on one side of the third ball screw 122 and is fixedly mounted on the first mounting frame 11. The third motor 121 and the third ball screw 122 are connected via a third synchronous belt transmission, so that the third motor 121 drives the third ball screw 122 to rotate via the third synchronous belt, and then the third ball screw 122 drives the third nut mounting seat 123, the first substrate 109, the first mounting plate 103, the first support plate 102 and the crotch cushion 101 to move synchronously in the vertical direction to adjust the height of the crotch cushion 101 so that the crotch cushion 101 can adapt to the height of patients with different patients and fit closely to the patient's crotch.

[0044] See also Figure 2 , Figure 3 and Figure 6 As shown, the step training machine 1000 also includes a back floating assembly 14 to provide support for the back. The back floating assembly 14 is arranged above the hip floating assembly 10. The back floating assembly 14 includes a back cushion 141, a second support plate 142, a second base plate 143, a fourth driving mechanism 144 and a fifth driving mechanism 145. The back cushion 141, the second support plate 142 and the second base plate 143 are arranged in sequence opposite to each other along the first horizontal direction, and the back cushion 141 is installed on the first side surface of the second support plate 142. A second guide rod 146 extending toward the second base plate 143 is installed on the second side surface of the second support plate 142, and the second guide rod 146 is arranged along the first horizontal direction. The second base plate 143 is slidably connected to the second guide rod 146 through a second linear bearing 147, and the second base plate 143 is slidably installed on the first vertical guide rail 13 through a second vertical slider.

[0045] The fourth driving mechanism 144 includes a fourth motor 1441, a fourth ball screw 1442 and a fourth screw sleeve 1443. A second bearing mounting seat 148 is fixedly mounted on the second side surface of the second substrate 143. The fourth ball screw 1442 extends along the first horizontal direction and is rotatably mounted on the second bearing mounting seat 148 through a second bearing. The fourth screw sleeve 1443 is sleeved on the fourth ball screw 1442 and is threadedly connected to the fourth ball screw 1442. One end of the fourth screw sleeve 1443 penetrates the second substrate 143 and is fixedly connected to the second side surface of the first support plate 102. The fourth motor 1441 is arranged above the fourth ball screw 1442 and is fixedly mounted on the second bearing mounting seat 148. The fourth motor 1441 and the fourth ball screw 1442 are connected via a fourth synchronous belt 1444. The fourth motor 1441 drives the fourth ball screw 1442 to rotate via the fourth synchronous belt 1444, and then the fourth ball screw 1442 drives the fourth screw sleeve 1443, the second support plate 142 and the back cushion 141 to move synchronously along the first horizontal direction, so that the back cushion 141 can adapt to the fat or thin body shapes of different patients and fit closely to the patient's back.

[0046] The fifth driving mechanism 145 includes a fifth motor 1451, a fifth ball screw 1452 and a fifth nut mounting seat 1453. The fifth ball screw 1452 extends in the vertical direction and is rotatably mounted on the first mounting frame 11, the fifth nut mounting seat 1453 is sleeved on the fifth ball screw 1452 and is threadedly connected to the fifth ball screw 1452, and the fifth nut mounting seat 1453 is fixedly connected to the second side surface of the second substrate 143. The fifth motor 1451 is arranged on one side of the fifth ball screw 1452 and is fixedly mounted on the first mounting frame 11. The fifth motor 1451 and the fifth ball screw 1452 are connected via a fifth synchronous belt 1454, so that the fifth motor 1451 drives the fifth ball screw 1452 to rotate via the fifth synchronous belt 1454, and then the fifth ball screw 1452 drives the fifth nut mounting seat 1453, the second substrate 143, the second support plate 142 and the back cushion 141 to move synchronously in the vertical direction, so as to adjust the height of the back cushion 141 so that the back cushion 141 can adapt to the height of different patients and fit closely to the patient's back.

[0047] The back floating assembly 14 further includes a back cover 149 located between the second support plate 142 and the second base plate 143 to shield the structure between the second support plate 142 and the second base plate 143 to prevent the structure from leaking out and improve the overall aesthetics of the device.

[0048] A back handle 150 and a back activation button 151 are provided on the back cover 149. The staff can manually move the back floating assembly 14 through the back handle 150. The back activation button 151 is used to activate the back floating assembly 14 operation.

[0049] See also Figure 7 As shown, the step training machine 1000 also includes a second mounting frame 15, which is arranged on the side of the first mounting frame 11 away from the first substrate 109. The second mounting frame 15 is provided with a first horizontal guide rail 16 and a sixth driving mechanism 17, the first horizontal guide rail 16 extends along the second horizontal direction, and the first mounting frame 11 is slidably mounted on the first horizontal guide rail 16 through a third slider. The sixth driving mechanism 17 includes a sixth motor 171, a sixth ball screw 172 and a sixth nut mounting seat 173. The sixth ball screw 172 extends along the vertical direction and is rotatably mounted on the second mounting frame 15, the sixth nut mounting seat 173 is sleeved on the sixth ball screw 172 and is threadedly connected to the sixth ball screw 172, and the sixth nut mounting seat 173 is fixedly connected to the first mounting frame 11. The sixth motor 171 is arranged on one side of the sixth ball screw 172 and is fixedly mounted on the second mounting frame 15. The sixth motor 171 and the sixth ball screw 172 are connected through the sixth synchronous belt transmission, so that the sixth motor 171 drives the sixth ball screw 172 to rotate through the sixth synchronous belt, and then the sixth ball screw 172 drives the sixth nut mounting seat 173, the first mounting frame 11, the hip floating assembly 10 and the back floating assembly 14 to move synchronously along the second horizontal direction, so as to adjust the position of the hip cushion 101 and the back cushion 141 along the second horizontal direction, so that during the rehabilitation training process, the hip cushion 101 and the back cushion 141 are kept in contact with the patient's hip and back respectively, driving the patient's hip and back to move in the second horizontal direction (left and right reciprocating motion).

[0050] See also Figure 8As shown, the step training machine 1000 also includes a third mounting frame 18, a human body transfer beam 19, a weight reduction bracket 20 and an eighth driving mechanism 21. The third mounting frame 18 is fixedly mounted on the top of the second mounting frame 15, and a second horizontal guide rail 29 extending along the second horizontal direction is provided on the third mounting frame 18, and the human body transfer beam 19 is slidably mounted on the second horizontal guide rail 29 through a fifth slider. Two weight reduction brackets 20 are arranged at intervals along the second horizontal direction, and one end of the two weight reduction brackets 20 is fixedly mounted on the human body transfer beam 19, and the other end extends toward one side of the first side of the human body transfer beam 19. The patient's upper body can be hung on the two weight reduction brackets 20 through a hanging belt to reduce the weight that the patient's lower limbs need to bear, which is convenient for subsequent rehabilitation training. The eighth driving mechanism 21 includes an eighth motor 211, an eighth ball screw 212 and an eighth nut mounting seat 213. The eighth ball screw 212 extends along the second horizontal direction and is rotatably mounted on the third mounting frame 18. The eighth nut mounting seat 213 is sleeved on the eighth ball screw 212 and is threadedly connected to the eighth ball screw 212, and the eighth nut mounting seat 213 is fixedly connected to the bottom of the human body transfer beam 19. The eighth motor 211 is fixedly mounted on the third mounting frame 18 and is located at one end of the eighth ball screw 212. It is connected to the eighth ball screw 212 through a coupling. The eighth motor 211 drives the eighth ball screw 212 to rotate, thereby causing the eighth ball screw 212 to drive the eighth nut mounting seat 213, the human body transfer beam 19 and the weight reduction bracket 20 to move synchronously along the second horizontal direction, so as to facilitate patients to quickly get on and off the rehabilitation equipment (step training machine 1000).

[0051] The stepping training machine 1000 also includes a floating cloud seat 22, which is arranged on the side of the hip cushion 101 away from the first support plate 102. The floating cloud seat 22 is fixedly connected to the second mounting frame 15 through a first connecting rod 23. The floating cloud seat 22 is used to support the hips from the inner side of the thigh so that the patient can better stand on the subsequent stepping training machine 1000 for stepping training.

[0052] Furthermore, armrests 24 are respectively provided on both sides of the floating cloud seat 22, and the armrests 24 are rotatably mounted on the second mounting frame 15. The armrests 24 can be vertically retracted and located on both sides of the second mounting frame 15, so that the patient can board the subsequent stepping training machine 1000. After the patient boards the stepping training machine 1000, the armrests 24 are rotated relative to the second mounting frame 15, so that the armrests 24 are horizontally laid down, so that the patient can get a certain amount of support by holding the armrests 24.

[0053] Furthermore, an emergency button 25 is provided on the armrest 24, and the patient can press the emergency button 25 to make the subsequent step training machine 1000 stop urgently.

[0054] See also Figure 8 and Fig. 9As shown, the step training machine 1000 also includes a frame 26 and a seventh driving mechanism 27. A second vertical guide rail 28 is provided on the frame 26, and the second vertical guide rail 28 extends in the vertical direction. The second mounting frame 15 is slidably mounted on the second vertical guide rail 28 through a fourth slider. The seventh driving mechanism 27 includes a seventh motor 271, a seventh ball screw 272, and a seventh nut mounting seat 273. The seventh ball screw 272 extends in the vertical direction and is rotatably mounted on the frame 26. The seventh nut mounting seat 273 is sleeved on the seventh ball screw 272 and is threadedly connected to the seventh ball screw 272, and the seventh nut mounting seat 273 is fixedly connected to the second mounting frame 15. The seventh motor 271 is arranged on one side of the seventh ball screw 272 and is fixedly mounted on the frame 26. The seventh motor 271 and the seventh ball screw 272 are connected via the seventh synchronous belt 274, so that the seventh motor 271 drives the seventh ball screw 272 to rotate via the seventh synchronous belt 274, and then the seventh ball screw 272 drives the seventh nut mounting seat 273, the second mounting frame 15, the first mounting frame 11, the hip floating assembly 10, the back floating assembly 14, the weight-reducing hanger 20, the floating cloud seat 22 and the armrest 24 to rise and fall synchronously in the vertical direction to adapt to the patient's height.

[0055] The above is a detailed description of an embodiment of the present application, but the content is only a preferred embodiment of the present application and cannot be considered to limit the scope of implementation of the present application. All equivalent changes and improvements made within the scope of the present application should still fall within the scope of the patent coverage of the present application.

[0056] It should be noted that the words "first", "second" and similar terms used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. The descriptions of the application regarding directions such as "left", "right", "left side", "right side", "upper", "lower", "top", and "bottom" are all defined based on the relationship between the orientations or positions shown in the accompanying drawings. They are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the application. In the description of the application, "multiple" means more than two, unless otherwise clearly and specifically defined.

[0057] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

Claims

1. A step training machine, characterized in that: It includes a lower limb stepping simulation device and a hip joint motion simulation device. The lower limb stepping simulation device is used to drive the patient to simulate in-situ stepping training. The hip joint motion simulation device includes a hip floating component. The hip floating component includes a hip cushion, a first support plate, a first mounting plate and a first driving mechanism. The hip cushion, the first support plate and the first mounting plate are arranged opposite to each other in sequence along a first horizontal direction, and the hip cushion is installed on the first support plate. The middle part of the support plate and the first mounting plate are hinged through a first rotating shaft arranged along a vertical direction. The first driving mechanism is arranged on the first mounting plate, and the driving end of the first driving mechanism is movably connected to the first support plate through a connecting rod, wherein one end of the connecting rod is hinged to the driving end of the first driving mechanism, and the other end of the connecting rod is hinged to one end of the first support plate. The first driving mechanism is used to linearly drive the first support plate to rotate around the first rotating shaft along the first horizontal direction to drive the hip cushion to swing back and forth.

2. The step training machine according to claim 1, characterized in that: The crotch floating assembly also includes a first base plate and a second driving mechanism. The first base plate is arranged on a side of the first mounting plate away from the first support plate. A first guide rod extending toward the first base plate is fixedly mounted on the first mounting plate. The first guide rod is arranged along a first horizontal direction. The first base plate is slidably connected to the first guide rod through a first linear bearing. The second driving mechanism is arranged on the first base plate and is used to drive the first support plate to move linearly along the first horizontal direction to drive the crotch cushion to move horizontally forward and backward.

3. The step training machine according to claim 2, characterized in that: The hip joint motion simulation device also includes a first mounting frame and a third driving mechanism, the first mounting frame is provided with a first vertical guide rail, the first substrate is slidably mounted on the first vertical guide rail through a first slider, the third driving mechanism is arranged on the first mounting frame, the first substrate is arranged at the driving end of the third driving mechanism, and the third driving mechanism is used to drive the first substrate to move along the first vertical guide rail to drive the hip cushion to rise and fall vertically.

4. The step training machine according to claim 3, characterized in that: The cam is an assembly of a plurality of support members, each of which is adapted to move along a line extending from one side of the cam and to one side of the base, wherein the plurality of support members are provided with a plurality of support members, each of which is adapted to move along a line extending from one side of the cam and to one side of the base.

5. The step training machine according to claim 3 or 4, characterized in that: It also includes a second mounting frame, on which a first horizontal guide rail and a sixth driving mechanism are provided, the first horizontal guide rail extends along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, the first mounting frame is slidably installed on the first horizontal guide rail through a third slider, and the sixth driving mechanism is provided on the second mounting frame for driving the first mounting frame to move along the second horizontal direction.

6. The step training machine according to claim 5, characterized in that: It also includes a frame and a seventh driving mechanism, the frame is provided with a second vertical guide rail, the second mounting frame is slidably mounted on the second vertical guide rail through a fourth slider, and the seventh driving mechanism is arranged on the frame for driving the second mounting frame to move up and down along the second vertical guide rail.

7. The step training machine according to claim 5, characterized in that: It also includes a third mounting frame, a human body transfer beam, a weight-reducing hanger and an eighth driving mechanism. The third mounting frame is fixedly mounted on the top of the second mounting frame. The third mounting frame is provided with a second horizontal guide rail extending along the second horizontal direction. The human body transfer beam is slidably mounted on the second horizontal guide rail through a fifth slider. The weight-reducing hanger is arranged on the human body transfer beam. The weight-reducing hanger is used to mount patients. The eighth driving mechanism is arranged on the third mounting frame and is used to drive the human body transfer beam to move along the second horizontal direction.

8. The step training machine according to claim 5, characterized in that: It also includes a floating cloud seat, which is arranged on the side of the crotch cushion away from the first support plate, and the floating cloud seat is fixedly connected to the second mounting frame through a first connecting rod, and the floating cloud seat is used to support the crotch from the inner side of the thigh.

9. The step training machine according to claim 8, characterized in that: Armrests are respectively arranged on both sides of the floating cloud seat, and the armrests are rotatably mounted on the second mounting frame.

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