Riding type walking training device

Abstract

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

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation medical assistive devices, and particularly relates to a straddle-type walking training device. Background Art

[0002] With the improvement of human living conditions, the population structure has gradually entered an aging stage. my country's aging population stage is closely related to the problem of population aging. The number of people with limb dysfunction has increased, and patients cannot fully recover through surgery or drugs. Therefore, rehabilitation robots have gradually entered people's lives, and lower limb rehabilitation robots are also used as part of treatment.

[0003] Lower limb rehabilitation machines, with the main function of weight loss, assist the elderly in completing basic walking training and help them restore lower limb function. Based on the functional requirements to be achieved, the following types of mechanism designs are currently available in this research field:

[0004] Lift-type lower limb rehabilitation devices, which use a long pole placed under the patient's armpits to lift or tilt the patient, or a sling fixed to the patient's body to lift the patient, thereby reducing weight. This design has the advantages of a simple structure and a direct weight-reducing effect, but it also has the problem of low safety, as the patient bears a heavy burden during operation.

[0005] Exoskeleton-type lower limb rehabilitation devices use mechanical structures placed on the patient's legs to control lower limb movement, thereby reducing weight. While this design offers advantages such as stable operation and a small footprint, it also presents challenges, including high cost and a poor fit for the patient's joints. Most critically, the mismatch between the mechanism and human movement can directly lead to leg joint pain.

[0006] A straddle-type lower limb rehabilitation device uses a seat bar placed under the patient's hips to lift the patient for weight reduction. The seat is typically raised vertically or by a single lever. This design offers advantages in terms of minimal burden on the patient and a simple structure. However, its disadvantages include low movement efficiency, a large lifting mechanism, and insufficient mobility.

[0007] In summary, current products have common problems such as low exercise efficiency, large space occupation, and heavy burden on patients' bodies. Utility Model Content

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

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

[0010] A base is provided on the first motion plane;

[0011] a weight reduction mechanism disposed on a second motion plane, the second motion plane being perpendicular or approximately perpendicular to the first motion plane;

[0012] an upper body protection mechanism connected to a side of the weight reduction mechanism away from the base, comprising an armrest assembly, wherein the armrest assembly reciprocates left and right or rotates back and forth in a third motion plane, wherein the third motion plane is perpendicular to the first motion plane and the second motion plane;

[0013] The weight reduction mechanism is fixed to the base, and the upper body protection mechanism further includes an armrest drive assembly, wherein the armrest assembly is connected to the armrest drive assembly and is driven by the armrest drive assembly to move back and forth left and right within the third motion plane, or to rotate back and forth from a horizontal position to both sides within the third motion plane;

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

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

[0016] According to an embodiment of the present invention, the weight reduction mechanism includes:

[0017] an adjustment assembly connected to the base;

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

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

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

[0021] A connecting rod connected to the base;

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

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

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

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

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

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

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

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

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

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

[0032] According to one embodiment provided by the present utility model, the upper body protection mechanism also includes a vertical drive assembly, which is connected to the armrest drive assembly or the armrest assembly, and is slidingly connected or rotationally connected to the vertical support frame. The vertical drive assembly drives the armrest drive assembly and / or the armrest assembly to move or rotate relative to the vertical support frame within the second motion plane.

[0033] According to an embodiment of the present invention, the armrest assembly includes:

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

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

[0036] According to an embodiment of the present invention, the handrail drive assembly includes:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0056] Figure 11 This is a left side view of the walking aid design of an embodiment of a straddle-type walking training device provided by the utility model.

[0057] Description of labels:

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

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

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

[0061] 211. Connecting rod; 212. First connecting rod; 213. Second connecting rod; 214. Third connecting rod; 215. First fixing member; 216. Second fixing member; 217. Angle limiter; 218. Damper;

[0062] 221. Horizontal support frame; 222. Vertical support frame; 223. Seat cushion;

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

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

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

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

[0067] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

[0068] It should be noted that the illustrations provided in this embodiment are only used to schematically illustrate the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

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

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

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

[0072] See also Figures 1 to 2According to one embodiment of the present invention, the base 100 includes two longitudinal rods 110, a transverse rod 120, and two tail rods 130, which are arranged on both sides of the second motion plane. The two longitudinal rods 110 are arranged in parallel, and the transverse rod 120 is arranged between the two longitudinal rods 110 and connected to the ends of the two rods, leaving sufficient space for movement between the two longitudinal rods 110; the two tail rods 130 are symmetrically connected to the ends of the transverse rod 120 and located on opposite sides of the two longitudinal rods 110. The distance between the two tail rods 130 is greater than or equal to the length of the transverse rod 120, which better maintains the stability of the device; the weight reduction mechanism 200 is arranged in the second motion plane and located in the space between the two longitudinal rods 110. When the patient sits on the weight reduction mechanism 200, he can walk on both sides of the weight reduction mechanism 200, achieving walking training in the second motion plane while maintaining stability and balance. It is understandable that the base 100 can be a bracket structure that is processed in one piece or with its components connected to each other. In other embodiments, the base 100 can also be other structures such as a rectangular frame structure or a platform structure with a certain amount of movement space.

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

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

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

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

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

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

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

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

[0081] It can be understood that the first connecting rod 212 rotates relative to the connecting rod 211 under the action of the driving assembly 230 and drives the various components on the first connecting rod 212 to move together. When the first connecting rod 212 moves, the two parallel first connecting rods 212 and the connection points at both ends form a planar four-bar mechanism, so that the position angle of the first fixing member 215 remains unchanged during the movement and can maintain translational movement within the plane; similarly, the second connecting rod 213 rotates relative to the first fixing member 215 under the action of the driving assembly 230 and drives the various components on the second connecting rod 213 to move together. The parallel second connecting rods 213, first fixing member 215, and second fixing member 216 form a planar four-bar linkage, allowing second fixing member 216 to maintain translational motion within a plane. Under the action of drive assembly 230, third connecting rod 214 rotates relative to second fixing member 216, driving support assembly 220. The two parallel third connecting rods 214, along with the second fixing members 216 and support assembly 220 at both ends, form a planar four-bar linkage, ensuring translational motion of support assembly 220 within a plane, maintaining its levelness and stability, and enhancing the comfort and stability of the device. The coordination between the connecting rods further enhances the flexible motion trajectory, conforming to the curvilinear motion patterns of the human body.

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

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

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

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

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

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

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

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

[0090] See also Figures 1 to 7 According to one embodiment of the present invention, the seat cushion 223 is connected to the horizontal support frame 221 via an elastic member. For example, two sets of springs can be provided along the width of the horizontal support frame 221, with each set of springs evenly distributed along the length of the connection portion between the seat cushion 223 and the support frame. The seat cushion 223 can be, for example, an airbag seat cushion 223. It can be made of materials such as rubber, which has good flexibility and can disperse pressure, reduce pressure on the patient's body, and improve comfort while ensuring support. When the patient exercises on the seat cushion 223, the airbag seat cushion 223 and the springs are deformed by the force, and can move to a certain extent with the swing of the human hips, reducing the restraint on the lower body movement and achieving buffering and position adjustment. During walking training, the airbag seat cushion 223, together with the angle limiter 217 and damper 218 on the connecting rod 211, cooperates with the swing of the patient's lower body, achieving weight reduction while assisting the patient's steps, effectively improving training efficiency.

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

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

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

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

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

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

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

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

[0099] See also Figures 1 to 7 According to one embodiment of the present invention, the armrest drive assembly 310 is connected to the side of the weight-reducing mechanism 200 away from the base 100 and is disposed in the third motion plane. The armrest assembly 320 is connected to the armrest drive assembly 310. The armrest drive assembly 310 drives the armrest assembly 320 to reciprocate left and right within the third motion plane, thereby shifting the center of gravity of the patient's upper body shoulders and allowing them to take steps to achieve walking training. In other embodiments, for example, the armrest drive assembly 310 is rotatably connected to the armrest assembly 320. The armrest drive assembly 310 drives the armrest assembly 320 to rotate back and forth about the connection axis, thereby lifting the left and right sides of the patient's upper body back and forth to achieve center of gravity shift.

[0100] See also Figures 1 to 7 According to one embodiment of the present invention, while the armrest drive assembly 310 drives the armrest assembly 320 to reciprocate left and right within the third motion plane, the weight reduction mechanism 200 is rotationally connected to the base 100 and rotates relative to the base 100 under the action of the drive member. The movement direction of the armrest assembly 320 under the drive of the armrest drive assembly 310 is opposite to the rotational offset direction of the weight reduction mechanism 200. While the center of gravity of the upper body is reciprocatingly offset, the lower body is driven by the weight reduction mechanism 200 to take steps left and right, thereby achieving continuous walking training. In other embodiments, the weight reduction mechanism 200 can also be fixed to the base 100 or a drive member is not provided at the rotational connection. The center of gravity is offset by the armrest drive assembly 310, and the weight reduction mechanism 200 is offset by the lower limb strength to achieve stepping.

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

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

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

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

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

[0106] See also Figures 1 to 7 The second connecting member 313 is connected to the upper and lower ends of the sliding connection member 312 by the second connecting member 313, and the second connecting member 313 is connected to the upper and lower ends of the sliding connection member 312 by the second connecting member 313.

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

[0108] See also Figures 1 to 7 According to one embodiment of the present invention, the lifting rod 321 is connected to the second connecting member 313. When the fifth driving member 314 drives the sliding connecting member 312 and the second connecting member 313 to reciprocate axially, the lifting rod 321 is driven to reciprocate left and right relative to the first connecting member 311 within the third motion plane. Specifically, for example, the second connecting member 313 and the lifting rod 321 are connected by a sleeve. Because the support armrest 322 is used to support the upper body, the sleeve connection of the lifting rod 321 is subject to a large torque. Therefore, a parallel connecting groove is provided on the lifting rod 321 to connect with the sleeve to strengthen the connection strength.

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

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

[0111] During walking training, the armrest drive assembly 310 drives the armrest assembly 320 to slide left and right, driving the patient's shoulders to shift horizontally, shifting the center of gravity of the upper body. As the patient's shoulders move, their hips swing to allow them to take steps. As the lower body moves, the unweighting mechanism 200 slightly deflects and repositions relative to the base 100, coordinating with the shift in the lower body's center of gravity to facilitate walking and maintain overall stability. The spring-loaded seat cushion 223 can follow the body's small movements, improving comfort. The rollers 140 at the lower end of the base 100 assist the patient in taking steps and moving. During walking training, the patient sits on the seat cushion 223, effectively reducing the burden on the lower limbs with the support of the unweighting mechanism 200. The upper body protection mechanism 300 provides auxiliary support and protection. The coordinated walking mechanism prevents limb or joint damage, further enhancing safety and comfort. Furthermore, the device can also serve as a walking aid, controlling the motorized rollers 140 to achieve active movement, and coordinating with the various mechanisms to adjust the sitting or standing posture, assisting the patient in various activities.

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

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

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

[0115] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

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

Claims

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

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

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

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

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

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

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

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

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

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

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