Rolling mechanism and lower limb rehabilitation training device containing same

Abstract

The application provides a wheel sliding mechanism and a lower limb rehabilitation training device containing the same, which comprises a base, an auxiliary bearing table, a lifting device and a rotating device; a wearing shoe is arranged on the top of the base, and a main pulley block is arranged on the bottom of the base; the rotating device drives the base to horizontally rotate through gear transmission, so that the training direction is adjusted; the lifting device drives the auxiliary bearing table to lift relative to the base, so that the bottom of the auxiliary bearing table selectively contacts the ground; a linkage frame is arranged in the auxiliary bearing table; the linkage frame can absorb the ground impact, keep the appropriate tension of the auxiliary bearing table and the ground pressure, ensure the stable traction and improve the smoothness. The application integrates the controllable steering, the lifting double-mode switching and the elastic self-adaptive buffering function, can realize the precise steering and improve the training safety, the switching of the auxiliary mode can increase the friction, strengthen the climbing force, adapt to the complex site, and self-adaptively adjust the stable traction to improve the smoothness.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation machinery technology, specifically to a roller skating mechanism and a lower limb rehabilitation training device containing the same. Background Technology

[0002] Lower limb rehabilitation training is a key part of postoperative recovery and walking ability reconstruction for patients with limb dysfunction. Roller skating rehabilitation training institutions are widely used in lower limb gait rehabilitation training due to their lightweight structure and low resistance when skating on flat ground. They can assist patients in active skating training and gradually restore lower limb muscle strength and limb coordination.

[0003] Currently, conventional roller skating rehabilitation training institutions generally suffer from poor steering and control performance. Most of these institutions lack an independent, controllable rotational drive structure. Directional adjustments during training rely primarily on the patient's own lower limb force or manual assistance from medical staff. This not only results in laborious and inflexible steering but also fails to achieve precise and controllable angle adjustments. Patients are prone to steering imbalance and postural deviation during training, affecting the continuity of rehabilitation training and posing safety hazards such as falls and collisions, making it difficult to meet the needs of multi-directional, all-angle rehabilitation training. Furthermore, existing roller skating rehabilitation institutions generally suffer from weak climbing ability and insufficient effective traction. Traditional institutions rely solely on the main pulley at the bottom of the base for movement. This pulley has a point-line contact structure, resulting in a small contact area with the training ground and limited overall static friction and grip. When faced with training scenarios with inclines and slight undulations, the pulleys are prone to slipping and spinning, failing to provide stable climbing drive. The mechanism has extremely poor climbing and obstacle-crossing capabilities, making it only suitable for flat, hard surfaces. The training scenarios are limited and cannot meet the rehabilitation training requirements of complex venues. Summary of the Invention

[0004] The purpose of this invention is to provide a roller skating mechanism and a lower limb rehabilitation training device containing the same, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A roller skating mechanism includes: a base, an auxiliary support platform, a lifting device, and a rotating device; The base is equipped with a shoe for securing the patient's foot at the top and main pulleys for gliding on both sides of the bottom. The rotating device includes a rotating base, a cover plate, a support shaft, a driven gear, a driving gear, a drive motor, and a turntable. The rotating base is equipped with a support shaft and a drive motor. The output shaft of the drive motor is connected to the driving gear. The driving gear meshes with a driven gear that is coaxially fixed to the bottom of the turntable. The turntable is fixedly connected to the base so as to drive the base to rotate horizontally through gear transmission, thereby realizing the adjustment of the training direction. The lifting device includes a lead screw module, a lead screw seat, and a lead screw motor; the lead screw module is fixed to the outer walls of both sides of the rotating seat, the lead screw seat is fixedly connected to the auxiliary support platform, and the lead screw motor is driven to one end of the lead screw module so that the auxiliary support platform can be raised and lowered relative to the base by the up and down movement of the lead screw seat on the lead screw module, so that the bottom of the auxiliary support platform can selectively contact the ground. The auxiliary support platform is equipped with a linkage frame, which includes a main support arm, a driven linkage arm, a transition arm, a miniature auxiliary wheel assembly, a buffer spring, and a tension wheel assembly. The linkage frame absorbs ground impact through the elastic deformation of the buffer spring and drives the transition arm, tension wheel assembly, and miniature auxiliary wheel assembly on it to make adaptive adjustments, so as to always maintain the appropriate tension and ground pressure of the auxiliary support platform, ensure stable traction force, and improve smoothness of passage.

[0006] Preferably, a buffer layer is provided between the auxiliary support platform and the rotating device. The buffer layer contains multiple sets of disc springs. The disc springs provide elastic buffering, which can reduce the rigid impact caused by lifting and turning, improve the stability of the mechanism and the patient's training comfort, and at the same time reduce component wear and extend the equipment life.

[0007] Preferably, the main support arm and the driven linkage arm are hinged, and the two ends of the buffer spring are respectively attached to the top attachment points of the main support arm and the driven linkage arm. The end of the driven linkage arm away from the main support arm is connected to one end of the transition arm, and the other end is provided with a tensioning wheel set. A miniature auxiliary wheel set is installed at the lower part of the main support arm and the driven linkage arm. The hinged structure combined with the buffer spring realizes elastic adaptive deformation, which can absorb the impact of ground undulations and adjust the attitude of the wheel set in a linkage manner to ensure the ground contact and track tension.

[0008] Preferably, the main support arm is provided with an auxiliary pulley at the end away from the auxiliary support platform. The auxiliary pulley, tension wheel assembly, and miniature auxiliary wheel assembly surround the track to form a closed transmission structure. A synchronous shaft runs through the middle of the two auxiliary pulleys and connects to the auxiliary pulleys to achieve synchronous rotation of the two auxiliary pulleys. The synchronous shaft ensures that the rotation speed of the two auxiliary pulleys is completely consistent, avoiding track deflection and slippage, making the closed track transmission smoother and improving the transmission reliability during climbing and obstacle crossing.

[0009] Preferably, the auxiliary support platform further includes a support frame, with linkage frames on both sides of the support frame. A servo motor is fixedly installed on the support frame. The output shaft of the servo motor is connected to the synchronous shaft through a first pulley group and a second pulley group. The first pulley group and the second pulley group are connected by a transmission belt to form a power transmission path. The first pulley group and the second pulley group have smooth transmission and high transmission efficiency, which can stably transmit the power of the servo motor to the synchronous shaft, ensuring continuous and controllable track power output and meeting the power requirements of complex sites.

[0010] Preferably, the support frame is provided with a mounting base at the top, and an upper connecting shaft and a lower connecting shaft are provided on the support frame; the two ends of the upper connecting shaft are fixedly connected to the top fine-tuning wheel and abut against the upper part of the track; an auxiliary pulley is sleeved on the lower connecting shaft. The upper and lower connecting shafts can greatly improve the structural rigidity of the support frame, and the top fine-tuning wheel continuously tensions the upper part of the track to prevent the track from loosening and falling off, and ensures continuous stability in the transmission process.

[0011] Preferably, the rotating seat has a box-shaped structure, and a slot is provided on the surface of the rotating seat. The slot engages with the boss at the bottom of the cover plate. The rotating seat has a vertical support shaft and a drive motor inside. The support shaft is sleeved in the inner hole of the cover plate, and the top end of the support shaft is connected to the driven gear through a bearing. The inner ring of the bearing is fixedly engaged with the outer circumferential surface of the top end of the support shaft. The slot and the boss engage for easy assembly and strong sealing. The bearing and the support shaft can significantly reduce the friction of gear rotation, reduce drive loss, and improve the smoothness of rotation.

[0012] Preferably, the drive motor outputs power to drive the active gear to rotate. The active gear drives the driven gear to rotate around the support shaft through meshing transmission. When the driven gear rotates, it forms a rolling fit with the support shaft through the bearing to reduce friction, thereby driving the turntable fixedly connected to the driven gear to rotate synchronously, realizing the horizontal angle adjustment of the turntable. The gear meshing transmission has high precision and stable torque output. Combined with the low-friction rolling fit, it can realize precise and smooth steering adjustment of the base, perfectly matching the fine angle control requirements of rehabilitation training.

[0013] A lower limb rehabilitation training device includes the aforementioned roller skating mechanism.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention features an independent gear-driven rotating device that directly drives the base and the wearable shoe to rotate horizontally through the cooperation of a drive motor, a driving gear, and a driven gear, eliminating the need for the patient's lower limbs to shift force or for manual assistance. It allows for precise and controllable adjustment of the training direction, with effortless and smooth steering, solving the problems of traditional mechanisms such as laborious steering, uncontrollable angles, and susceptibility to postural imbalance. This ensures the continuity of the training process, reduces the safety hazards of falls and bumps, and meets the needs of multi-directional, all-angle gait rehabilitation training.

[0015] This invention utilizes a lifting mechanism comprised of a lead screw module, a lead screw seat, and a lead screw motor to drive the auxiliary support platform to rise and fall as a whole, freely switching between a flat-ground gliding mode and a track-assisted movement mode. During flat-ground training, the main pulley group achieves low-resistance gliding, ensuring smooth training. When facing complex scenarios such as slopes or undulating surfaces, the auxiliary support platform is lowered, allowing the tracks and auxiliary wheels to contact the ground, transforming the point-line contact of the pulleys into a surface contact of the tracks. This significantly increases the contact area and static friction with the ground, effectively preventing slippage and spinning, enhancing the mechanism's climbing drive and obstacle-crossing ability. It breaks the limitation of traditional mechanisms being only suitable for flat ground, expanding the applicable scenarios for rehabilitation training.

[0016] This invention features an auxiliary support platform with an internal elastic linkage frame consisting of a main support arm, a driven linkage arm, and a buffer spring. This linkage frame, connected by hinges and elastic joints, forms a deformable structure capable of absorbing impact loads from ground undulations through the elastic deformation of the buffer springs. Simultaneously, it adaptively adjusts the posture of the transition arm, tension wheel assembly, and miniature auxiliary wheel assembly, maintaining appropriate track tension and stable ground pressure at all times. This avoids traction fluctuations caused by track slack or uneven ground pressure, fundamentally ensuring traction stability on complex road surfaces. Compared to traditional rigid connection structures, this design improves the smoothness of the mechanism's movement and reduces the transmission of rigid impacts to the patient's feet, enhancing training comfort. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is an exploded view of the overall structure of the present invention.

[0019] Figure 3 This is a cross-sectional schematic diagram of the entire invention.

[0020] Figure 4 This is a schematic diagram of the auxiliary support platform of the present invention.

[0021] Figure 5 This is an exploded view of the auxiliary support platform of the present invention.

[0022] Figure 6 This is a schematic diagram of the linkage frame of the present invention.

[0023] Figure 7 This is a schematic diagram of the rotating device of the present invention.

[0024] Figure 8 This is a schematic diagram of the lifting device of the present invention.

[0025] In the diagram: 1. Base; 101. Wearing shoe; 102. Main pulley block; 2. Auxiliary support platform; 201. Auxiliary pulley; 202. Linkage frame; 203. Miniature auxiliary wheel block; 204. Buffer spring; 205. Track; 206. Synchronous shaft; 207. Tensioning wheel block; 208. Top fine-tuning wheel; 209. Lower connecting shaft; 210. Servo motor; 211. Support frame; 212. First pulley block; 213. Second pulley block; 214. 1. Mounting base; 215. Upper connecting shaft; 3. Buffer layer; 301. Disc spring; 4. Rotating device; 401. Rotating seat; 402. Cover plate; 403. Support shaft; 404. Driven gear; 405. Drive gear; 406. Drive motor; 407. Turntable; 5. Lifting device; 501. Lead screw module; 502. Lead screw seat; 503. Lead screw motor; 601. Main support arm; 602. Driven linkage arm; 603. Transition arm. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0028] Example: Please see Figures 1 to 8 The present invention provides a technical solution: A roller skating mechanism includes: a base 1, an auxiliary support platform 2, a lifting device 5, and a rotating device 4; The top plane of the base 1 is rigidly fixed with a wearable shoe 101 for fitting and binding the patient's foot, realizing a reliable connection between the patient's foot and the base 1, ensuring that the patient's lower limbs and the mechanism move synchronously during training, effectively avoiding slippage or displacement of the foot, maintaining a standardized training posture and improving safety. The left and right sides of the bottom of the base 1 are symmetrically arranged and hinged with a main pulley group 102 for moving on flat ground. The pulley group can rotate freely around the pivot and mainly undertakes the function of low-resistance gliding on flat ground, reducing the exercise load of the patient's lower limbs when actively gliding, and meeting the basic movement of conventional flat ground gait rehabilitation training.

[0029] The rotating device 4 includes a rotating base 401, a cover plate 402, a support shaft 403, a driven gear 404, a driving gear 405, a drive motor 406, and a turntable 407. The rotating base 401 serves as the mounting base and outer protective housing for the rotating mechanism. The vertically arranged support shaft 403 and drive motor 406 are fixedly installed in its internal cavity. The output shaft of the drive motor 406 is coaxially and fixedly connected to the driving gear 405. The driving gear 405 is coaxially and fixedly connected to the driven gear 404 at the bottom of the turntable 407. The upper surface of the turntable 407 is rigidly fixed to the base 1 through intermeshing; the drive motor 406 can be controlled by starting and stopping in the forward and reverse directions, driving the active gear 405 to rotate clockwise or counterclockwise accordingly. After gear meshing transmission, it drives the driven gear 404, the turntable 407 and the base 1 to complete the clockwise or counterclockwise horizontal rotation simultaneously, directly changing the direction of travel of the mechanism, thereby completing the precise adjustment of the training direction during rehabilitation training, so that the turning operation does not require the patient to exert extra force or manual assistance, which is flexible and controllable.

[0030] The lifting device 5 includes a lead screw module 501, a lead screw seat 502, and a lead screw motor 503, which are used to drive the auxiliary support platform 2 to achieve vertical displacement. The lead screw module 501, as the core component for vertical transmission and guidance, is symmetrically fixedly installed on the left and right outer walls of the rotating seat 401, achieving integrated assembly with the rotating device 4 and ensuring the connection strength and coaxiality of the overall structure. The lead screw seat 502 is fastened to the corresponding assembly position of the auxiliary support platform 2, forming a sliding transmission cooperation structure with the lead screw module 501. The lead screw motor 503 is driven by the end of the lead screw module 501, providing stable power for the lifting action. When the lead screw motor 503 is working, it drives the lead screw module 501 to rotate, causing the lead screw seat 502 to perform vertical linear reciprocating motion along the lead screw module 501, thereby pulling the auxiliary support platform 2 to complete the lifting action relative to the base 1. Driven by the lead screw motor 503, the lifting device 5 can drive the auxiliary support platform 2 to switch between working positions: in the roller slip state, the auxiliary support platform 2 is raised relative to the base 1, making the main pulley group 102 at the bottom of the base 1 the only component of the roller slip mechanism in contact with the ground. In the auxiliary state, the auxiliary support platform 2 descends relative to the base 1, causing the tracks 205 and related wheel sets at the bottom of the auxiliary support platform 2 to contact the ground and provide primary support and traction. At this time, the main pulley assembly 102 is lifted off the ground. The bottom of the auxiliary support platform 2 can be selectively controlled to contact the ground according to the actual training scenario requirements, thereby achieving flexible switching between low-resistance gliding on flat ground and track 205-type power-enhancing climbing mode, broadening the applicable training scenarios of the mechanism.

[0031] The auxiliary support platform 2 is internally equipped with a linkage frame 202, which includes a main support arm 601, a driven linkage arm 602, a transition arm 603, a miniature auxiliary wheel assembly 203, a buffer spring 204, and a tension wheel assembly 207. The linkage frame 202 absorbs ground impact through the elastic deformation of the buffer spring 204. The lower end of the main support arm 601 is rotatably hinged to one end of the driven linkage arm 602 via a hinge shaft. The other end of the driven linkage arm 602 is rigidly connected to the transition arm 603. The free end of the transition arm 603 is equipped with... The tension wheel set 207 is equipped with miniature auxiliary wheel sets 203 that can roll freely, which are installed at corresponding positions on the lower part of the main support arm 601 and the driven linkage arm 602 through wheel axles. Each wheel set and tension wheel set 207 are in close contact with the track 205 surrounding the outer side, which can absorb the impact of the ground and drive the transition arm 603, tension wheel set 207 and miniature auxiliary wheel set 203 on it to make adaptive adjustments, so as to always maintain the appropriate tension and ground pressure of the auxiliary bearing platform 2, ensure stable traction and improve smoothness of passage.

[0032] The lifting and steering adjustments of the entire equipment are all remotely controlled via an external remote controller. When changing or adjusting the direction, the operator issues a control command via the remote controller, first lowering the lifting device 5, which in turn lifts the auxiliary support platform 2, causing the base 1 to detach from the ground and reduce ground friction resistance. Then, the rotating device 4 rotates, causing the base 1 to adjust horizontally, thus changing the overall training direction. When it is necessary to increase ground friction, lock the direction of travel, or improve the stability of the equipment, the lifting device 5 rises, and the auxiliary support platform 2 falls simultaneously, allowing the base 1 to re-adhere to the ground. Relying on ground friction, the direction is fixed, ensuring stable and reliable equipment operation.

[0033] A buffer layer 3 is provided between the auxiliary support platform 2 and the rotating device 4. Multiple disc springs 301 are installed inside the buffer layer 3. The disc springs 301 elastically buffer the rigid impact caused by lifting, turning and turning, improve the stability of the mechanism and the comfort of the patient during training, and reduce the wear of parts and extend the life of the equipment. The disc springs 301 are selected in this structure because they are thin-sheet stacked structures with very little axial space occupied. They can be adapted to the limited assembly gap between the auxiliary support platform 2 and the rotating device 4, meet the design requirements of compact integration of rehabilitation equipment, and the disc springs 301 have high stiffness, strong load-bearing capacity and excellent fatigue resistance. They are not easy to plastically deform under long-term reciprocating alternating loads and instantaneous impacts, and have a fast reset response. They can play a long-term and stable role in buffering and vibration reduction, ensuring the continuous and reliable buffering performance of the mechanism.

[0034] The main support arm 601 and the driven linkage arm 602 are hinged. The two ends of the buffer spring 204 are respectively attached to the top attachment points of the main support arm 601 and the driven linkage arm 602. The end of the driven linkage arm 602 away from the main support arm 601 is connected to one end of the transition arm 603. The other end of the transition arm 603 is fixedly equipped with a tension wheel assembly 207. Miniature auxiliary wheel assemblies 203 are correspondingly installed on the lower parts of both the main support arm 601 and the driven linkage arm 602. When the mechanism travels on complex training surfaces such as slopes, uneven surfaces, and undulations, the miniature auxiliary wheel assemblies 203 will directly contact the ground and bear the vertical force. When a protruding obstacle appears on the ground, the miniature auxiliary wheel assemblies 203 are subjected to an upward compressive load. This load is transmitted along the arm body to the hinge point, forcing the driven linkage arm 602 to slightly deflect towards the main support arm 601 around the hinge point. At this time, the buffer spring 204 is actively stretched, producing elastic elongation deformation, and through its own elasticity... The potential energy counteracts the rigid impact and vibration transmitted from the ground, preventing the impact from being directly transmitted to the patient's foot. When a depression appears in the ground, the miniature auxiliary wheel assembly 203 loses its supporting pressure, and the buffer spring 204 releases its elastic potential energy to autonomously contract and reset, pulling the driven linkage arm 602 to rotate in the opposite direction around the hinge fulcrum. Simultaneously, it drives the transition arm 603, tension wheel assembly 207, and miniature auxiliary wheel assembly 203 to press down, ensuring that the wheel assembly always conforms to the ground contour. The tension wheel assembly 207 also adjusts its position simultaneously to maintain the tension of the track 205. The hinge structure, combined with the buffer spring 204, achieves elastic adaptive deformation. It can absorb the impact load from ground undulations through the elastic extension and contraction of the spring, and can also adjust the real-time posture of the transition arm 603, tension wheel assembly 207, and miniature auxiliary wheel assembly 203 in a coordinated manner, always ensuring the conformity of the wheel assembly to the ground and the stable tension of the track 205, ensuring stable traction of the mechanism and improving smooth operation.

[0035] The main support arm 601, at the end furthest from the auxiliary support platform 2, is fitted with an auxiliary pulley 201 via an axle and bearing. The bearing reduces the frictional resistance of the auxiliary pulley 201 during rotation, ensuring smooth rotation. The track 205 is entirely wrapped around the outside of the auxiliary pulleys 201, tension wheel assembly 207, and miniature auxiliary wheel assembly 203 on both sides. Through the limiting and supporting of each wheel assembly, a closed transmission circuit is formed. The auxiliary pulley 201 acts as the active transmission wheel, providing traction. The tension wheel assembly 207 and miniature auxiliary wheel assembly 203 respectively undertake the functions of tension adjustment and auxiliary support of the track 205. The three work together to keep the track 205 in a flat and close-fitting state, effectively increasing the contact area between the mechanism and the ground and improving traction.

[0036] To avoid asynchronous transmission on both sides, a transversely arranged synchronous shaft 206 passes through the center hole of the auxiliary pulleys 201 on both sides, and is rigidly fixed to the auxiliary pulleys 201 using a flat key connection, ensuring that there is no relative rotation between the synchronous shaft 206 and the auxiliary pulleys 201. When the servo motor 210 transmits power to the synchronous shaft 206 through the pulley assembly, the synchronous shaft 206 can drive the auxiliary pulleys 201 on both sides to rotate synchronously at the same speed, so that the force on both sides of the track 205 is balanced and the movement trajectory is consistent, avoiding the phenomenon of track 205 skewing, side slipping or derailment caused by unilateral speed deviation. This transmission structure allows the track 205 to stably and evenly transmit power to the ground when climbing slopes and crossing raised obstacles, avoiding unilateral idling or power loss, improving the transmission reliability and traction stability when traveling in complex terrain, and ensuring smooth operation of the mechanism on uneven terrain.

[0037] The auxiliary support platform 2 integrates a support frame 211 with an integrated frame structure, and the linkage frame 202 is located on both sides of the support frame 211. The support frame 211 is vertically fixed to the inner wall of the support platform cavity, serving as the core mounting base for the servo motor 210 and the transmission components, ensuring the stability and coaxiality of the power system assembly. The servo motor 210 is fixed to the preset mounting surface of the support frame 211 by bolt fastening, and its output shaft is arranged towards the synchronous shaft 206. The first pulley assembly 212 and the second pulley assembly 213 are integrated onto the same wheel body. The wheel body has two coaxially arranged pulley grooves with matching diameters. When the servo motor 210 starts and outputs power, the first pulley assembly 212 is rigidly connected via a key, directly driving the inner wheel body to rotate synchronously. Since the double-layer wheel is an integrated structure, the second pulley assembly 213 will rotate synchronously with the first pulley assembly 212 without differential speed. The outer wheel body establishes a transmission connection with the driven pulley at the end of the synchronous shaft 206 through a surrounding transmission belt. Power is smoothly transmitted to the synchronous shaft 206 via the transmission belt, ultimately driving the synchronous shaft 206 to rotate at a uniform speed. The synchronous shaft 206 is rigidly fixed to the auxiliary pulleys 201 on both sides via a key. Its rotation will directly drive the auxiliary pulleys 201 on both sides to rotate synchronously, thereby driving the track 205 surrounding the auxiliary pulleys 201, the tension wheel assembly 207, and the miniature auxiliary wheel assembly 203 to rotate. This dual-layer wheel integrated design simplifies the transmission chain and reduces the cumulative error of multi-wheel transmission. It ensures the efficiency and continuity of power transmission, and attenuates motor vibration through the elastic buffer characteristics of the pulleys, making the power output of track 205 more stable and controllable. It can fully meet the traction requirements of complex training scenarios such as climbing and obstacle crossing.

[0038] The top of the support frame 211 is integrally provided with a mounting base 214, which can be used to securely mount the support frame 211 in the internal cavity of the auxiliary support platform 2, thereby achieving precise positioning of the transmission support structure. The upper connecting shaft 215 and the lower connecting shaft 209 are arranged horizontally through the support frame 211, and both shafts are fastened to the support frame 211 to form a parallel horizontal support structure. The upper connecting shaft 215 is horizontally arranged on the upper part of the support frame 211, and its two ends are fixedly connected to the top fine-tuning wheel 208. The wheel body of the top fine-tuning wheel 208 is in close contact with the upper outer periphery of the track 205. When the track 205 is running, the fine-tuning wheel rotates passively and synchronously with it, continuously applying a uniform supporting force to the upper side of the track 205. The lower connecting shaft 209 is horizontally arranged on the lower part of the support frame 211 and is parallel to the upper connecting shaft 215. The auxiliary pulley 201 is movably sleeved on the lower connecting shaft 209 through the bearing, and can rotate freely and smoothly around the lower connecting shaft 209, providing stable lower support for the track 205. The upper connecting shaft 215 and the lower connecting shaft 209 are used to reinforce the support frame 211 laterally, which improves the structural rigidity and deformation resistance of the support frame 211 and prevents the support frame 211 from shaking or deforming during transmission. This ensures the assembly accuracy and coaxiality of each transmission component. At the same time, the top fine-tuning wheel 208 can compensate for the slack generated during the operation of the track 205 in real time, continuously tensioning the upper part of the track 205. This effectively prevents the track 205 from becoming loose, deviating, derailing, or even falling off, ensuring that the track 205 always maintains a stable tension state. This ensures that the entire power transmission and track 205 operation process is continuous, stable, safe, and reliable.

[0039] The rotating base 401 is a hollow box-shaped protective structure, serving as the outer shell and mounting carrier of the rotating component. A matching slot is provided on the upper surface of the rotating base 401, which precisely engages with a pre-set boss on the bottom of the cover plate 402. The two are assembled and fixed through this snap-fit ​​method, making the assembly process simple and efficient. Simultaneously, the tight fit of the snap-fit ​​structure improves the sealing of the internal cavity of the rotating base 401, reducing the entry of dust and debris that could affect the normal operation of the transmission components. A vertically arranged support shaft 403 and a drive motor 406 are fixedly arranged within the internal cavity of the rotating base 401. The upper end of the support shaft 403 passes through a pre-drilled internal hole in the cover plate 402, achieving positioning and assembly between the support shaft 403 and the cover plate 402. The outer circumferential surface of the top end of the support shaft 403 is interference-fitted with the inner ring of the bearing, while the outer ring of the bearing is fixedly connected to the center hole of the driven gear 404, allowing the driven gear 404 to rotate smoothly around the support shaft 403. By using bearings to achieve rotational engagement between the support shaft 403 and the driven gear 404, the sliding friction resistance during the rotation of the driven gear 404 can be reduced, the power loss of the drive motor 406 can be reduced, and the smoothness of gear meshing transmission can be ensured, making the horizontal rotation of the turntable 407 and the base 1 more stable and smooth, and ensuring the operational stability of the direction adjustment mechanism.

[0040] The drive motor 406 outputs power to drive the drive gear 405, which is fixedly connected to its output shaft, to rotate at a constant speed. The drive gear 405 and the driven gear 404 maintain stable meshing, and the torque is smoothly transmitted to the driven gear 404 through gear meshing transmission, causing the driven gear 404 to rotate horizontally around the support shaft 403. When the driven gear 404 rotates, the bearing in its central hole forms a rolling fit with the top of the support shaft 403, transforming traditional sliding friction into low-resistance rolling friction, greatly reducing mechanical loss and operating noise during gear rotation, while avoiding jamming and wear caused by direct friction between the gear and the shaft.

[0041] The driven gear 404 is rigidly fixed to the turntable 407. As the driven gear 404 rotates, it synchronously drives the turntable 407 to rotate horizontally, which in turn drives the base 1, which is fixedly connected to the turntable 407, to rotate as well, ultimately achieving horizontal angle adjustment of the base 1's travel direction. Gear meshing transmission inherently possesses advantages such as high transmission precision, stable torque output, and a constant transmission ratio. Combined with the low-friction rolling engagement achieved by bearings, it ensures precise and error-free steering angle control, and a smooth and gentle steering process without impact or jamming, thus not interfering with the rehabilitation training process and meeting the requirements for refined and stable steering movements in rehabilitation training scenarios.

[0042] All other parts of this invention not described herein are the same as existing technologies, or are known technologies, or can be implemented using existing technologies, and will not be described in detail here.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A roller sliding mechanism, characterized in that, include: Base (1), auxiliary support platform (2), lifting device (5) and rotating device (4); The base (1) is provided with a shoe (101) for fixing the patient's foot at the top and a main pulley assembly (102) for sliding on both sides of the bottom. The rotating device (4) includes a rotating base (401), a cover plate (402), a support shaft (403), a driven gear (404), a driving gear (405), a drive motor (406), and a turntable (407). The rotating base (401) is equipped with a support shaft (403) and a drive motor (406). The output shaft of the drive motor (406) is connected to the driving gear (405). The driving gear (405) meshes with the driven gear (404) which is coaxially fixed to the bottom of the turntable (407). The turntable (407) is fixedly connected to the base (1) so as to drive the base (1) to rotate horizontally through gear transmission and realize the adjustment of the training direction. The lifting device (5) includes a lead screw module (501), a lead screw seat (502), and a lead screw motor (503). The lead screw module (501) is fixed to the outer walls of both sides of the rotary seat (401), the lead screw seat (502) is fixedly connected to the auxiliary support platform (2), and the lead screw motor (503) is driven to one end of the lead screw module (501) so that the auxiliary support platform (2) can be raised and lowered relative to the base (1) by the up and down movement of the lead screw seat (502) on the lead screw module (501), so that the auxiliary support platform (2) can selectively contact the ground; The auxiliary support platform (2) is equipped with a linkage frame (202), which includes a main support arm (601), a driven linkage arm (602), a transition arm (603), a miniature auxiliary wheel assembly (203), a buffer spring (204), and a tension wheel assembly (207). The linkage frame (202) absorbs ground impact through the elastic deformation of the buffer spring (204) and drives the transition arm (603), tension wheel assembly (207), and miniature auxiliary wheel assembly (203) on it to make adaptive adjustments so as to always maintain the appropriate tension and ground pressure of the auxiliary support platform (2), ensure stable traction force and improve smoothness of passage.

2. The roller sliding mechanism according to claim 1, characterized in that, A buffer layer (3) is provided between the auxiliary support platform (2) and the rotating device (4), and multiple disc springs (301) are provided inside the buffer layer (3).

3. The roller sliding mechanism according to claim 1, characterized in that, The main support arm (601) and the driven linkage arm (602) are hinged together. The two ends of the buffer spring (204) are respectively attached to the top attachment points of the main support arm (601) and the driven linkage arm (602). The end of the driven linkage arm (602) away from the main support arm (601) is connected to one end of the transition arm (603). The other end of the transition arm (603) is provided with a tensioning wheel assembly (207). A miniature auxiliary wheel assembly (203) is installed on the lower part of the main support arm (601) and the driven linkage arm (602).

4. A roller sliding mechanism according to claim 3, characterized in that, The main support arm (601) is provided with an auxiliary pulley (201) at one end away from the auxiliary support platform (2). The auxiliary pulley (201), tension wheel group (207) and miniature auxiliary wheel group (203) surround the track (205) to form a closed transmission structure. The auxiliary pulleys (201) on both sides pass through the synchronous shaft (206) and are connected to the auxiliary pulleys (201) to realize the synchronous rotation of the auxiliary pulleys (201) on both sides.

5. A roller sliding mechanism according to claim 4, characterized in that, The auxiliary support platform (2) also includes a support frame (211). The support frame (211) has linkage frames (202) on both sides. A servo motor (210) is fixedly installed on the support frame (211). The output shaft of the servo motor (210) is connected to the synchronous shaft (206) through the first pulley group (212) and the second pulley group (213). The first pulley group (212) and the second pulley group (213) are connected by a transmission belt to form a power transmission path.

6. A roller sliding mechanism according to claim 5, characterized in that, The support frame (211) is provided with a mounting base (214) at the top. The support frame (211) is equipped with an upper connecting shaft (215) and a lower connecting shaft (209). The two ends of the upper connecting shaft (215) are fixedly connected to the top fine-tuning wheel (208) and abut against the upper part of the track (205). An auxiliary pulley (201) is sleeved on the lower connecting shaft (209).

7. A roller sliding mechanism according to claim 1, characterized in that, The rotating seat (401) is a box-shaped structure. The surface of the rotating seat (401) is provided with a slot, which is engaged with the boss at the bottom of the cover plate (402). The support shaft (403) is sleeved in the inner hole of the cover plate (402), and the top end of the support shaft (403) is connected to the driven gear (404) through a bearing. The inner ring of the bearing is fixedly engaged with the outer circumferential surface of the top end of the support shaft (403).

8. A roller sliding mechanism according to claim 7, characterized in that, The drive motor (406) outputs power to drive the drive gear (405) to rotate. The drive gear (405) drives the driven gear (404) to rotate around the support shaft (403) through meshing transmission. When the driven gear (404) rotates, it forms a rolling fit with the support shaft (403) through the bearing to reduce friction, thereby driving the turntable (407) fixedly connected to the driven gear (404) to rotate synchronously, so as to realize the horizontal angle adjustment of the turntable (407).

9. A lower limb rehabilitation training device, characterized in that, Includes the roller skating mechanism described in any one of claims 1-8.

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