A gait trainer

Abstract

The embodiment of the application discloses a kind of step training machines, including lower limb step simulation device and hip joint movement simulation device, the lower limb step simulation device is used to drive patient simulation step training, the hip joint movement simulation device includes crotch rest pad, first support plate, first mounting plate and first drive mechanism, crotch rest pad, first support plate and first mounting plate are sequentially arranged along the first horizontal direction, and crotch rest pad is installed on first support plate, support plate middle part is hinged between first mounting plate by being set along vertical direction first pivot, first drive mechanism is set on first mounting plate, and the driving end of first drive mechanism is hinged between first support plate by connecting rod movable connection, wherein one end of connecting rod is hinged with the driving end of first drive mechanism, the other end of connecting rod is hinged with one end of first support plate, and first drive mechanism is used to linearly drive first support plate around first pivot to drive crotch rest pad swing back and forth along the first horizontal direction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation devices, in particular to a step training machine. BACKGROUND

[0002] The hip joint is one of the key joints that support body weight and maintain body balance, and plays an important role in walking training. The existing step training machine can only drive the human body to perform the action of stepping in place, and cannot drive the patient to simulate the movement state of the hip joint when walking, which is not conducive to the rehabilitation of the muscle groups around the hip joint and affects the rehabilitation effect of the patient. SUMMARY

[0003] The present application aims to at least solve 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 the present application can be achieved by the following technical solutions:

[0005] In a first aspect, the present application provides a step training machine, comprising a lower limb step simulation device and a hip joint movement simulation device, the lower limb step simulation device is used to drive the patient to simulate the step training in place, and the hip joint movement simulation device comprises a crotch floating assembly, the crotch floating assembly comprises a crotch pad, a first support plate, a first mounting plate and a first driving mechanism, the crotch pad, the first support plate and the first mounting plate are arranged in sequence in the first horizontal direction, and the crotch pad is installed on the first support plate, the middle part of the support plate is hinged with the first mounting plate through a first rotating shaft arranged in the vertical direction, the first driving mechanism is arranged on the first mounting plate, and the driving end of the first driving mechanism is hingedly connected with the first support plate through a connecting rod, wherein one end of the connecting rod is hingedly connected with the driving end of the first driving mechanism, and the other end of the connecting rod is hingedly connected with one end of the first support plate, and the first driving mechanism is used to drive the first support plate to rotate around the first rotating shaft in the first horizontal direction to drive the crotch pad to swing back and forth.

[0006] Optionally, the crotch floating assembly further comprises 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 towards the first base plate is fixedly installed on the first mounting plate, the first guide rod is arranged in the first horizontal direction, the first base plate is slidably connected with the first guide rod through a first linear bearing, and the second driving mechanism is arranged on the first base plate and is used to drive the first support plate to move linearly in the first horizontal direction to drive the crotch pad to move horizontally back and forth.

[0007] Optionally, the hip joint movement simulation device further comprises a first mounting frame and a third driving mechanism, the first mounting frame is provided with a first vertical guide rail, the first base plate is slidably installed on the first vertical guide rail through a first sliding block, and the third driving mechanism is arranged on the first mounting frame and used to drive the first base plate to move along the first vertical guide rail so as to drive the crotch part to vertically ascend and descend.

[0008] Optionally, the device further comprises a back floating assembly arranged above the crotch floating assembly, the back floating assembly comprising a back cushion, a second support plate, a second base plate, a fourth driving mechanism and a fifth driving mechanism, the back cushion, the second support plate and the second base plate are sequentially arranged in a first horizontal direction, the back cushion is installed on one side of the second support plate, the other side of the second support plate is provided with a second guide rod extending towards the second base plate, the second guide rod is arranged in the first horizontal direction, the second base plate is slidably connected with 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 sliding block, the fourth driving mechanism is used to drive the second support plate to linearly move in the first horizontal direction, and the fifth driving mechanism is used to drive the second base plate to move along the first vertical guide rail so as to drive the back cushion to vertically ascend and descend.

[0009] Optionally, the device further comprises a second mounting frame, the second mounting frame is provided with a first horizontal guide rail and a sixth driving mechanism, the first horizontal guide rail extends in 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 sliding block, and the sixth driving mechanism is arranged on the second mounting frame and used to drive the first mounting frame to move in the second horizontal direction.

[0010] Optionally, the device further comprises a rack and a seventh driving mechanism, the rack is provided with a second vertical guide rail, the second mounting frame is slidably installed on the second vertical guide rail through a fourth sliding block, and the seventh driving mechanism is arranged on the rack and used to drive the second mounting frame to ascend and descend along the second vertical guide rail.

[0011] Optionally, the device further comprises a third mounting frame, a human body moving beam, a weight-reducing hanging frame and an eighth driving mechanism, the third mounting frame is fixedly installed on the top of the second mounting frame, the third mounting frame is provided with a second horizontal guide rail extending in the second horizontal direction, the human body moving beam is slidably installed on the second horizontal guide rail through a fifth sliding block, the weight-reducing hanging frame is arranged on the human body moving beam and used to hang a patient, and the eighth driving mechanism is arranged on the third mounting frame and used to drive the human body moving beam to move in the second horizontal direction.

[0012] Optionally, the device further comprises a floating cloud seat arranged on the side of the crotch cushion away from the first support plate, the floating cloud seat is fixedly connected with 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.

[0013] Optionally, handrails are arranged on both sides of the floating cloud seat, and the handrails are rotatably installed on the second mounting frame.

[0014] Beneficial effects: the step training machine of the present application can drive the first support plate to rotate around the first rotating shaft in the first horizontal direction through the first driving mechanism, and then drive the hip pad to twist the patient's hip back and forth, so as 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 rehabilitation effect of the patient. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present application will be further described below in combination with the drawings.

[0016] Figure 1 is a structure schematic view of the step training machine in one embodiment of the present application;

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

[0018] Figure 3 is another perspective structure schematic view of the assembly of the hip floating assembly, the back floating assembly and the first mounting frame in one embodiment of the present application;

[0019] Figure 4 is a structure schematic view of the hip floating assembly in one embodiment of the present application;

[0020] Figure 5 is another perspective structure schematic view of the hip floating assembly in one embodiment of the present application;

[0021] Figure 6 is a structure schematic view of the back floating assembly in one embodiment of the present application;

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

[0024] Figure 9 is a structure schematic view of the rack and the seventh driving mechanism in one embodiment of the present application.

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] 1000, step training machine; 30, step simulation device; 10, crotch floating assembly; 101, crotch cushion; 102, first support plate; 103, first mounting plate; 104, first driving mechanism; 1041, first motor; 1042, first screw sleeve; 1043, mounting cylinder; 105, first rotating shaft; 106, connecting rod; 107, six-dimensional force sensor; 108, mounting frame; 109, first base plate; 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, lock catch plate; 11, first mounting frame; 12, third driving 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 driving mechanism; 1441, fourth motor; 1442, fourth ball screw; 1443, fourth screw sleeve; 1444, fourth synchronous belt; 145, fifth driving 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 driving mechanism; 171, sixth motor; 172, sixth ball screw; 173, sixth nut mounting seat; 18, third mounting frame; 19, human body moving beam; 20, weight reduction hanging rack; 21, eighth driving 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 driving 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 technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] Please refer toFigure 1 As shown in some embodiments, the application provides a step training machine 1000, which comprises a lower limb step simulation device 30 and a hip joint motion simulation device. The lower limb step simulation device 30 is used to drive the patient to simulate the step training, and the hip joint motion simulation device can twist the patient's hip with the step training of the lower limb step simulation device 30, so that the step training machine 1000 can drive the patient to simulate the motion state of the hip joint during normal walking, and improve the rehabilitation effect of the muscle groups around the patient's hip joint.

[0029] Please refer to Figures 2-5 As shown, the hip joint motion simulation device is described in detail below. The hip joint motion simulation device comprises a hip floating assembly 10, which comprises a hip rest 101, a first support plate 102, a first mounting plate 103, and a first driving mechanism 104. The hip rest 101, the first support plate 102, and the first mounting plate 103 are arranged in sequence along a first horizontal direction, and the hip rest 101 is mounted 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 in 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. 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 to drive the first support plate 102 to rotate around the first rotating shaft 105 along the first horizontal direction to drive the hip rest 101 to swing forward and backward.

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

[0031] For the convenience of description, the following refers to the definition of the first side and the second side of the first support plate 102. The side of other components facing the same direction as the first side of the first support plate 102 is also referred to as the first side, and the side of other components facing the same direction as the second side of the first support plate 102 is also referred to as the second side.

[0032] The crotch cushion 101 is fixedly installed on the first side of the first support plate 102. The first hinge head is fixedly installed in the middle of the second side of the first support plate 102, and the second hinge head corresponding to the first hinge head is fixedly installed on the first mounting plate 103. The first hinge head and the second hinge head are assembled through the first rotating shaft 105 to enable the first support plate 102 and the first mounting plate 103 to be 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 comprises a first motor 1041, a first ball screw (not shown) and a first screw sleeve 1042. An installation cylinder 1043 is fixedly installed on the second side of the first mounting plate 103. The installation cylinder 1043 penetrates the subsequent first base plate 109 and extends to the side of the first base plate 109 away from the first mounting plate 103. The first base plate 109 is provided with a relief hole for avoiding the installation cylinder 1043. The first ball screw extends in the first horizontal direction and is rotatably installed in the installation cylinder 1043 through a bearing. The first motor 1041 is arranged at one end of the first ball screw and is drivingly connected with the first ball screw through a shaft coupling. The first screw sleeve 1042 is arranged in the installation cylinder 1043 and is in clearance fit with the installation cylinder 1043. The first screw sleeve 1042 is sleeved on the first ball screw and is in threaded driving connection with the first ball screw. The first hinge seat is fixedly installed on one end of the first screw sleeve 1042 close to the first support plate 102. The second hinge seat is fixedly installed on the end of the second side of the first support plate 102, and the connecting rod 106 is hingedly connected with the first hinge seat and the second hinge seat through hinge shafts at both ends thereof. The first motor 1041 drives the first ball screw to rotate to drive the first screw sleeve 1042 to move in the first horizontal direction, and then the first screw sleeve 1042 drives 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 forward and backward.

[0034] When the patient is trained on the hip joint, the patient's crotch is abutted against the crotch cushion 101, and the first driving mechanism 104 is linearly moved in the first horizontal direction to drive the first support plate 102 to axially rotate around the first rotating shaft 105, so that the crotch cushion 101 drives the patient's crotch to twist forward and backward to simulate the movement state of the hip joint when the lower limbs walk, to exercise the muscle groups around the hip joint and to improve the rehabilitation effect of the patient.

[0035] Please refer to Figure 4As shown, in some embodiments, the crotch floating assembly 10 further comprises a six-dimensional force sensor 107 fixedly installed 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-mentioned embodiments, the first hinge head is fixedly installed on the mounting frame 108, and is hingedly connected with 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 force information of the user's crotch, so that the subsequent system can adjust the training mode of the hip joint movement simulation device according to the information sensed by the six-dimensional force sensor 107.

[0036] Please refer to Figures 3-5 As shown, in some embodiments, the crotch floating assembly 10 further comprises a first base plate 109 and a second driving mechanism 110. The first base plate 109 is arranged on the side of the first mounting plate 103 away from the first support plate 102, and is arranged opposite to the first mounting plate 103. A first guide rod 111 extending towards the first base plate 109 is fixedly installed on the first mounting plate 103. The first guide rod 111 is arranged in the first horizontal direction. The first base plate 109 is slidably connected with the first guide rod 111 through a first linear bearing 112. The second driving mechanism 110 is arranged on the first base plate 109 for driving the first support plate 102 to move linearly in the first horizontal direction, so as to drive the crotch cushion 101 to move horizontally forward and backward.

[0037] Further, four first guide rods 111 are arranged in parallel around the second driving mechanism 110. The first guide rods 111 in each group are connected through a rod connecting plate 114 at the end away from the first mounting plate 103. The shape of the rod connecting plate 114 can be specifically related according to the site condition, and the rod connecting plate 114 can avoid the surrounding structure.

[0038] The second driving mechanism 110 comprises a second motor 1101, a second ball screw 1102 and a second screw sleeve 1103. The first bearing mounting seat 113 is fixedly installed on the second side of the first base plate 109. The second ball screw 1102 extends along the first horizontal direction and is rotatably installed on the first bearing mounting seat 113 through a first bearing. The second screw sleeve 1103 is sleeved on the second ball screw 1102 and is in threaded transmission connection with the second ball screw 1102. One end of the second screw sleeve 1103 penetrates through the first base plate 109 and is fixedly connected to the second side of the first mounting plate 103. The second motor 1101 is arranged below the second ball screw 1102 and is fixedly installed on the first bearing mounting seat 113. The second motor 1101 is in transmission connection with the second ball screw 1102 through the second synchronous belt 1104. The second motor 1101 drives the second ball screw 1102 to rotate through the second synchronous belt 1104, so as to drive the second screw sleeve 1103, the first mounting plate 103, the first support plate 102 and the crotch rest pad 101 to move synchronously along the first horizontal direction, so that the crotch rest pad 101 can closely fit the crotch of the patient according to the fatness of the patient.

[0039] Referring to Figure 2 As shown in the drawings, in some embodiments, the crotch floating assembly 10 further comprises a crotch cover 115 between the first support plate 102 and the first mounting plate 103 and between the first mounting plate 103 and the first base plate 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 base plate 109, so as to avoid the structure from leaking out and improve the overall aesthetics of the device.

[0040] The crotch cover 115 between the first support plate 102 and the first mounting plate 103 is provided with a crotch handle 116 and a crotch activation button 117. 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 to work.

[0041] In some embodiments, the first support plate 102 is fixedly installed with a lock buckle sheet metal 118 at both ends, respectively. The lock buckle sheet metal 118 is used for subsequent installation of a crotch binding belt. The patient can be bound by the crotch binding belt to make his / her crotch closely fit on the crotch rest pad 101.

[0042] Referring to Figures 2-5As shown, the hip joint movement simulation device further comprises a first mounting frame 11 and a third driving mechanism 12. The first mounting frame 11 is arranged on the side of the first base plate 109 away from the first mounting frame 11. The first mounting frame 11 is provided with a first vertical guide rail 13 extending in the vertical direction. The first base plate 109 is slidingly installed on the first vertical guide rail 13 through a first sliding block. The third driving mechanism 12 is arranged on the first mounting frame 11, and the first base plate 109 is arranged at the driving end of the third driving mechanism 12. The third driving mechanism 12 is used to drive the first base plate 109 to move along the first vertical guide rail 13 to drive the crotch part cushion 101 to vertically lift.

[0043] Specifically, the third driving mechanism 12 comprises 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 installed on the first mounting frame 11. The third nut mounting seat 123 is sleeved on the third ball screw 122 and is in threaded transmission connection with the third ball screw 122. The third nut mounting seat 123 is fixedly connected with the second side surface of the first base plate 109. The third motor 121 is arranged on one side of the third ball screw 122 and is fixedly installed on the first mounting frame 11. The third motor 121 and the third ball screw 122 are in transmission connection through a third synchronous belt, so that the third motor 121 drives the third ball screw 122 to rotate through the third synchronous belt. In turn, the third ball screw 122 drives the third nut mounting seat 123, the first base plate 109, the first mounting plate 103, the first support plate 102, and the crotch part cushion 101 to synchronously move in the vertical direction, so as to adjust the height of the crotch part cushion 101 and enable the crotch part cushion 101 to closely fit the crotch part of patients of different heights.

[0044] As shown in Figure 2 , Figure 3 and Figure 6 , the step training machine 1000 further comprises a back floating assembly 14 for providing support to the back. The back floating assembly 14 is arranged above the crotch floating assembly 10. The back floating assembly 14 comprises 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 sequentially arranged relative to each other in the first horizontal direction. The back cushion 141 is installed on the first side surface of the second support plate 142. The second side surface of the second support plate 142 is provided with a second guide rod 146 extending towards the second base plate 143. The second guide rod 146 is arranged in the first horizontal direction. The second base plate 143 is slidingly connected with the second guide rod 146 through a second linear bearing 147. The second base plate 143 is slidingly installed on the first vertical guide rail 13 through a second vertical sliding block.

[0045] The fourth driving mechanism 144 comprises a fourth motor 1441, a fourth ball screw 1442 and a fourth screw sleeve 1443. The second side of the second base plate 143 is fixedly provided with a second bearing mounting seat 148. The fourth ball screw 1442 extends along the first horizontal direction and is rotatably mounted on the second bearing mounting seat 148. The fourth screw sleeve 1443 is sleeved on the fourth ball screw 1442 and is in threaded transmission connection with the fourth ball screw 1442. One end of the fourth screw sleeve 1443 penetrates through the second base plate 143 and is fixedly connected to the second side 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 is in transmission connection with the fourth ball screw 1442 through a fourth synchronous belt 1444. The fourth motor 1441 drives the fourth ball screw 1442 to rotate through the fourth synchronous belt 1444, so that the fourth ball screw 1442 drives the fourth screw sleeve 1443, the second support plate 142 and the backrest 141 to move synchronously along the first horizontal direction, and the backrest 141 can closely adhere to the back of the patient according to the fat and thin body shape of different patients.

[0046] The fifth driving mechanism 145 comprises a fifth motor 1451, a fifth ball screw 1452 and a fifth nut mounting seat 1453. The fifth ball screw 1452 extends along 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 in threaded transmission connection with the fifth ball screw 1452. The fifth nut mounting seat 1453 is fixedly connected to the second side of the second base plate 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 is in transmission connection with the fifth ball screw 1452 through a fifth synchronous belt 1454. The fifth motor 1451 drives the fifth ball screw 1452 to rotate through the fifth synchronous belt 1454, so that the fifth ball screw 1452 drives the fifth nut mounting seat 1453, the second base plate 143, the second support plate 142 and the backrest 141 to move synchronously along the vertical direction, so as to adjust the height of the backrest 141, and the backrest 141 can closely adhere to the back of the patient according to the height of different patients.

[0047] The backrest floating assembly 14 further comprises a back cover 149 arranged between the second support plate 142 and the second base plate 143, so as to shield the structure between the second support plate 142 and the second base plate 143, avoid structure leakage 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 work of the back floating assembly 14.

[0049] Referring to Figure 7 As shown in the figure, the step training machine 1000 further comprises a second mounting frame 15 provided on the side of the first mounting frame 11 away from the first base plate 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 a second horizontal direction, and the first mounting frame 11 is slidingly installed on the first horizontal guide rail 16 through a third sliding block. The sixth driving mechanism 17 comprises a sixth motor 171, a sixth ball screw 172, and a sixth nut mounting seat 173. The sixth ball screw 172 extends along a vertical direction and is rotatably installed on the second mounting frame 15. The sixth nut mounting seat 173 is sleeved on the sixth ball screw 172 and is in threaded transmission connection with the sixth ball screw 172, and the sixth nut mounting seat 173 is fixedly connected with the first mounting frame 11. The sixth motor 171 is provided on one side of the sixth ball screw 172 and is fixedly installed on the second mounting frame 15. The sixth motor 171 and the sixth ball screw 172 are in transmission connection through a sixth synchronous belt, 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 crotch floating assembly 10, and the back floating assembly 14 to move synchronously along the second horizontal direction, so as to adjust the positions of the crotch cushion 101 and the back cushion 141 along the second horizontal direction, so that the crotch cushion 101 and the back cushion 141 respectively keep in close contact with the crotch and the back of the patient during the rehabilitation training, and drive the crotch and the back of the patient to move in the second horizontal direction (left and right reciprocating action).

[0050] Referring to Figure 8As shown, the step training machine 1000 further comprises a third mounting frame 18, a human body moving beam 19, a weight reduction hanger 20 and an eighth driving mechanism 21. The third mounting frame 18 is fixedly installed on the top of the second mounting frame 15, and a second horizontal guide rail 29 extending along the second horizontal direction is arranged on the third mounting frame 18. The human body moving beam 19 is slidingly installed on the second horizontal guide rail 29 through a fifth sliding block. The weight reduction hanger 20 is arranged in two at intervals along the second horizontal direction. Both of the two weight reduction hangers 20 are fixedly installed on the human body moving beam 19 at one end and extend towards the first side of the human body moving beam 19 at the other end. The upper body of the patient can be hung on the two weight reduction hangers 20 through a hanging belt, so as to reduce the weight required to be borne by the lower limbs of the patient and facilitate subsequent rehabilitation training. The eighth driving mechanism 21 comprises 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 installed on the third mounting frame 18. The eighth nut mounting seat 213 is sleeved on the eighth ball screw 212 and is in threaded transmission connection with the eighth ball screw 212. The eighth nut mounting seat 213 is fixedly connected with the bottom of the human body moving beam 19. The eighth motor 211 is fixedly installed on the third mounting frame 18 and located at one end of the eighth ball screw 212. The eighth motor 211 is in transmission connection with the eighth ball screw 212 through a shaft coupling. The eighth motor 211 drives the eighth ball screw 212 to rotate, and then the eighth ball screw 212 drives the eighth nut mounting seat 213, the human body moving beam 19 and the weight reduction hanger 20 to move synchronously along the second horizontal direction, so as to facilitate the patient to quickly get on and off the rehabilitation equipment (the step training machine 1000).

[0051] The step training machine 1000 further comprises a floating cloud seat 22. The floating cloud seat 22 is arranged on the side of the crotch rest pad 101 away from the first support plate 102. The floating cloud seat 22 is fixedly connected with the second mounting frame 15 through a first connecting rod 23. The floating cloud seat 22 is used for supporting the crotch from the inner side of the thigh, so that the patient can better stand on the subsequent step training machine 1000 to do step training.

[0052] Further, handrails 24 are arranged on both sides of the floating cloud seat 22. The handrails 24 are rotatably installed on the second mounting frame 15. The handrails 24 can be vertically retracted on both sides of the second mounting frame 15, so that the patient can get on the subsequent step training machine 1000. After the patient gets on the step training machine 1000, the handrails 24 are rotated relative to the second mounting frame 15, so that the handrails 24 are horizontally laid down, and the patient can get certain support by holding the handrails 24.

[0053] Further, an emergency button 25 is arranged on the handrail 24. The patient can press the emergency button 25 to make the subsequent step training machine 1000 stop urgently.

[0054] Please refer to Figure 8 and Figure 9As shown, the step training machine 1000 further comprises a rack 26 and a seventh driving mechanism 27. The rack 26 is provided with a second vertical guide rail 28 extending in the vertical direction, and the second mounting frame 15 is slidingly installed on the second vertical guide rail 28 through a fourth sliding block. The seventh driving mechanism 27 comprises 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 installed on the rack 26, and the seventh nut mounting seat 273 is sleeved on the seventh ball screw 272 and is in threaded transmission connection with the seventh ball screw 272, and the seventh nut mounting seat 273 is fixedly connected with the second mounting frame 15. The seventh motor 271 is arranged on one side of the seventh ball screw 272 and is fixedly installed on the rack 26, and the seventh motor 271 and the seventh ball screw 272 are in transmission connection through a seventh synchronous belt 274, so that the seventh motor 271 drives the seventh ball screw 272 to rotate through 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 crotch floating assembly 10, the back floating assembly 14, the weight-reducing hanging rack 20, the floating cloud seat 22 and the handrail 24 to synchronously ascend and descend in the vertical direction, so as to adapt to the height of the patient.

[0055] The above describes one embodiment of the present application in detail, but the description is only a preferred embodiment of the present application and cannot be considered as limiting the scope of the present application. Any equivalent changes and improvements made within the scope of the present application should still be attributed to the patent scope of the present application.

[0056] It should be noted that the "first", "second" and similar words used in the present application do not represent any order, quantity or importance, but are only used to distinguish different components. The description of the present application with respect to "left", "right", "left side", "right side", "upper", "lower", "top", "bottom" and the like is defined based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the structure must be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0057] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

Claims

1. A step training machine, characterized in that, The device includes a lower limb stepping simulation device and a hip joint motion simulation device. The lower limb stepping simulation device is used to guide the patient to simulate stepping training in place. The hip joint motion simulation device includes a hip floating assembly, which includes a hip cushion, a first support plate, a first mounting plate, and a first drive mechanism. The hip cushion, the first support plate, and the first mounting plate are arranged opposite each other in a first horizontal direction, and the hip cushion is mounted on the first support plate. The middle part of the first support plate is hinged to the first mounting plate through a first rotating shaft arranged in a vertical direction. The first drive mechanism is disposed on the first mounting plate, and the drive end of the first drive mechanism is movably connected to the first support plate through a connecting rod. One end of the connecting rod is hinged to the drive end of the first drive mechanism, and the other end of the connecting rod is hinged to one end of the first support plate. The first drive mechanism is used to linearly drive the first support plate to rotate around the first rotating shaft in a 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 further includes a first base plate and a second driving mechanism. The first base plate is disposed on the side of the first mounting plate opposite to 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 disposed 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 disposed 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 back and forth.

3. The step training machine according to claim 2, characterized in that, The hip joint motion simulation device further includes a first mounting frame and a third drive mechanism. The first mounting frame is provided with a first vertical guide rail. The first base plate is slidably mounted on the first vertical guide rail via a first slider. The third drive mechanism is provided on the first mounting frame. The first base plate is provided at the drive end of the third drive mechanism. The third drive mechanism is used to drive the first base plate 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, It also includes a back floating assembly, which is disposed above the crotch floating assembly. The back floating assembly includes a back cushion, a second support plate, a second base plate, a fourth driving mechanism, and a fifth driving mechanism. The back cushion, the second support plate, and the second base plate are arranged opposite each other in a first horizontal direction. The back cushion is mounted on one side of the second support plate, and a second guide rod extending toward the second base plate is mounted on the other opposite side of the second support plate. The second guide rod is arranged in a 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 mounted on the first vertical guide rail through a second vertical slider. The fourth driving mechanism is used to drive the second support plate to move linearly in the first horizontal direction, and the fifth driving 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.

5. The step training machine according to claim 3 or 4, characterized in that, It also includes a second mounting bracket, 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, which is perpendicular to the first horizontal direction. The first mounting bracket is slidably mounted on the first horizontal guide rail by a third slider. The sixth driving mechanism is provided on the second mounting bracket for driving the first mounting bracket 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 drive mechanism. The frame is provided with a second vertical guide rail. The second mounting bracket is slidably mounted on the second vertical guide rail by a fourth slider. The seventh drive mechanism is provided on the frame for driving the second mounting bracket 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 bracket, a human transfer beam, a weight-reducing hanger, and an eighth drive mechanism. The third mounting bracket is fixedly mounted on the top of the second mounting bracket. The third mounting bracket is provided with a second horizontal guide rail extending along a second horizontal direction. The human transfer beam is slidably mounted on the second horizontal guide rail via a fifth slider. The weight-reducing hanger is disposed on the human transfer beam and is used to hang the patient. The eighth drive mechanism is disposed on the third mounting bracket and is used to drive the human 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 disposed on the side of the hip cushion away from the first support plate. The floating cloud seat is fixedly connected to the second mounting bracket through a first connecting rod. The floating cloud seat is used to support the hip from the inside of the thigh.

9. The step training machine according to claim 8, characterized in that, Handrails are provided on both sides of the floating cloud base, and the handrails are rotatably mounted on the second mounting frame.

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