Lower limb stepping training device

Abstract

The embodiment of the utility model discloses a lower limb stepping training device, and relates to the technical field of rehabilitation medicines.The lower limb stepping training device comprises a rack, a left stepping assembly and a right stepping assembly, the left stepping assembly and the right stepping assembly are oppositely arranged on the rack in the first horizontal direction, and each of the left stepping assembly and the right stepping assembly comprises a transverse moving mechanism, a lifting mechanism and a pedal mechanism; the pedal mechanism is arranged at the driving end of the lifting mechanism and used for bearing the sole of a user and simulating the sole to do ankle joint movement, the lifting mechanism is arranged at the driving end of the transverse moving mechanism and used for driving the pedal mechanism to do lifting movement, and the transverse moving mechanism is arranged on the rack and used for driving the pedal mechanism to transversely move in the second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction. According to the lower limb stepping training device, comprehensive training of leg training and ankle joint training can be conducted on a user, and the rehabilitation training effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation medicine, in particular to a lower limb walking training device. BACKGROUND

[0002] For patients with walking disorders, leg movement training and ankle training are important links to restore the walking ability of patients. In the traditional training method, part of the machine separates the ankle joint training alone, and part of the machine only focuses on leg movement training, without combining ankle joint training and leg movement training, so it cannot be trained comprehensively, and the rehabilitation training effect is poor. CONTENT OF THE UTILITY MODEL

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a lower limb walking training device, which solves the problem that the prior art does not combine ankle joint training and leg movement training.

[0004] The purpose of the present application can be achieved by the following technical solutions:

[0005] The present application provides a lower limb walking training device, which comprises a rack and left and right walking components arranged opposite to each other along a first horizontal direction on the rack. The left and right walking components each comprise a horizontal moving mechanism, a lifting mechanism and a footrest mechanism. The footrest mechanism is arranged at the driving end of the lifting mechanism and is used to carry the user's foot and simulate the foot to move the ankle joint. The lifting mechanism is arranged at the driving end of the horizontal moving mechanism and is used to drive the footrest mechanism to move up and down. The horizontal moving mechanism is arranged on the rack and is used to drive the footrest mechanism to move horizontally along a second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction.

[0006] Optionally, the horizontal moving mechanism comprises a first ball screw rod rotatably installed on the rack, a first screw nut in transmission connection with the first ball screw rod, and a first motor for driving the first ball screw rod to rotate. The first ball screw rod extends along the second horizontal direction. The lifting mechanism is connected with the first screw nut.

[0007] Optionally, the lower limb walking training device further comprises first guide rails and a mounting rack. The first guide rails extend along the second horizontal direction and are arranged in parallel with two first guide rails. The mounting rack is arranged between the two first guide rails, and the two ends of the mounting rack are respectively connected with the first guide rails through first sliding blocks. The first screw nut is fixedly connected with the mounting rack, and the lifting mechanism is arranged on the mounting rack.

[0008] Optionally, the lower limb walking training device further comprises a mounting rack arranged at the driving end of the horizontal moving mechanism. The lifting mechanism comprises a driving assembly arranged on the mounting rack, a lifting scissor and a mounting plate arranged at the top of the lifting scissor. The footrest mechanism is mounted on the mounting plate, and the driving assembly drives the footrest mechanism to move up and down through the lifting scissor.

[0009] Optionally, the driving assembly comprises a second ball screw rotatably mounted on the mounting frame, a second screw nut in transmission connection with the second ball screw, and a second motor for driving the second screw nut to move linearly through the second ball screw, the second ball screw extends along the second horizontal direction, the lifting scissors comprises first and second cross-linked and hinged connecting rods, the first connecting rod is hinged with first and second hinge seats at its upper and lower ends respectively, the second connecting rod is hinged with third and fourth hinge seats at its upper and lower ends respectively, the mounting plate is provided with a second guide rail extending along the second horizontal direction at its bottom, the first hinge seat is arranged at the bottom of the mounting plate, the second hinge seat is arranged on the second screw nut, the third hinge seat is slidingly mounted on the second guide rail through a sliding block, and the fourth hinge seat is arranged on the mounting frame.

[0010] Optionally, the lower limb walking training device further comprises a weight reduction mechanism arranged on the mounting frame, the weight reduction mechanism comprises an auxiliary lifting shaft located at one side of the second hinge seat and a weight reduction spring for elastically mounting the auxiliary lifting shaft on the mounting frame, and during movement of the second hinge seat close to the fourth hinge seat, the weight reduction spring rebounds to generate a pushing force on the second hinge seat towards the fourth hinge seat.

[0011] Optionally, the foot pedal mechanism comprises a base, a foot plate, a left driving component and a right driving component, the base is mounted on the driving end of the lifting mechanism, the foot plate is connected to the base in a universal manner, the foot plate has left and right sides opposite along a first horizontal direction and front and rear ends opposite along a second horizontal direction, the first horizontal direction is perpendicular to the second horizontal direction, the left driving component is hinged to the left edge of the bottom of the foot plate, the right driving component is hinged to the right edge of the bottom of the foot plate, and the left and right driving components are used for synchronously driving the foot plate to swing forward and backward relative to the base or for asynchronously driving the foot plate to flip towards the left side or the right side relative to the base.

[0012] Optionally, the left driving component comprises a left connecting rod assembly and a left driving assembly, the left connecting rod assembly comprises a left rotating connecting rod and a left lifting connecting rod, the first end of the left lifting connecting rod is ball-hinged to the first end of the left rotating connecting rod, the second end of the left lifting connecting rod is hinged to the left edge of the bottom of the foot plate, and the second end of the left rotating connecting rod is arranged at the driving end of the left driving assembly, the left driving assembly drives the left rotating connecting rod to rotate so as to drive the left lifting connecting rod to flip the foot plate towards the right side relative to the base; and / or,

[0013] The right side driving component comprises a right side connecting rod assembly and a right side driving assembly, the right side connecting rod assembly comprises a right side rotating connecting rod and a right side lifting connecting rod, the first end of the right side lifting connecting rod is connected with the first end of the right side rotating connecting rod through a spherical hinge, the second end of the right side lifting connecting rod is hinged with the right side edge of the bottom of the foot plate, and the second end of the right side rotating connecting rod is arranged at the driving end of the right side driving assembly; the right side driving assembly drives the right side rotating connecting rod to rotate so as to drive the right side lifting connecting rod to overturn the foot plate relative to the base towards the left side.

[0014] Optionally, the foot pedal mechanism further comprises a front foot sole plate and a front sole driving component, the front foot sole plate is hinged with the front end of the foot plate along the first horizontal direction, and the front sole driving component is used for driving the front foot sole plate to rotate relative to the foot plate along the first horizontal direction.

[0015] Optionally, the front sole driving component comprises a front sole driving assembly and a turnover connecting rod, the front sole driving assembly is installed at the bottom of the foot plate, the first end of the turnover connecting rod is hinged with the bottom of the front foot sole plate along the first horizontal direction, and the second end of the turnover connecting rod is hinged with the driving end of the front sole driving assembly along the first horizontal direction; the front sole driving assembly is used for driving the second end of the turnover connecting rod to translate along the second horizontal direction so as to drive the front foot sole plate to overturn relative to the foot plate along the first horizontal direction.

[0016] The above one or more embodiments of the present application have at least one or more of the following beneficial effects:

[0017] 1. Through the setting of the horizontal moving mechanism, the lifting mechanism and the foot pedal mechanism, the user can be subjected to comprehensive training of leg training and ankle joint training, and the rehabilitation training effect is improved.

[0018] 2. The lower limb stepping training device in the present application can completely simulate the comprehensive movement of the joints such as the large and small legs, the ankle joint and the foot sole in the walking process of the human lower limbs, compared with the leg action training and the ankle joint training respectively using different devices, the rehabilitation training effect and efficiency are improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be further described below in combination with the drawings.

[0020] Figure 1 is a schematic diagram of the overall structure of the lower limb stepping training device in one embodiment of the present application;

[0021] Figure 2 is a perspective view of the lifting mechanism and the foot pedal mechanism in one embodiment of the present application;

[0022] Figure 3 is a front view of the lifting mechanism and the foot pedal mechanism in one embodiment of the present application;

[0023] Figure 4 is a schematic diagram of the local structure of the lifting mechanism in one embodiment of the present application;

[0024] Figure 5 is a structural diagram of a weight-reducing mechanism in one of the embodiments of the present application;

[0025] Figure 6 is a structural diagram of an assembly of a weight-reducing spring and an auxiliary lifting shaft in one of the embodiments of the present application;

[0026] Figure 7 is a structural diagram of an initial state of a foot pedal mechanism in one of the embodiments of the present application;

[0027] Figure 8 is a structural diagram of a state in which a foot plate in a foot pedal mechanism is turned to the left side in one of the embodiments of the present application;

[0028] Figure 9 is a perspective view of the bottom of a foot plate and the inside of a left side housing in one of the embodiments of the present application;

[0029] Figure 10 is a top view of a left side driving part, a right side driving part, and a front palm driving part in one of the embodiments of the present application;

[0030] Figure 11 is a perspective view of a left side link assembly in one of the embodiments of the present application;

[0031] Figure 12 is a perspective view of a right side link assembly in one of the embodiments of the present application.

[0032] Explanation of Reference Numerals:

[0033] 1, rack; 2, left step assembly; 3, right step assembly; 4, horizontal moving mechanism; 41, first ball screw; 42, first screw nut; 43, first motor; 44, first bearing seat; 5, lifting mechanism; 51, driving assembly; 511, second ball screw; 512, second screw nut; 513, second motor; 52, lifting scissors; 521, first connecting rod; 522, second connecting rod; 523, first hinge seat; 524, second hinge seat; 525, third hinge seat; 526, fourth hinge seat; 53, mounting plate; 54, second guide rail; 55, third guide rail; 6, foot pedal mechanism; 601, base; 602, foot plate; 603, left side driving component; 6031, left side rotary connecting rod; 6032, left side lifting connecting rod; 6033, first joint bearing; 6034, left side hinge head; 6035, left side hinge shaft; 6036, left side driving motor; 6037, left side first synchronous wheel; 6038, left side second synchronous wheel; 6039, left side synchronous belt; 60310, first transmission shaft; 60311, left side tension pulley; 60312, left side limiting block; 604, right side driving component; 6041, right side rotary connecting rod; 6042, right side lifting connecting rod; 6043, second joint bearing; 6044, right side hinge head; 6045, right side hinge shaft; 6046, right side driving motor; 6047, right side first synchronous wheel; 6048, right side second synchronous wheel; 6049, right side synchronous belt; 60410, second transmission shaft; 60411, right side tension pulley; 60412, right side limiting block; 605, fifth hinge seat; 606, sixth hinge seat; 6061, hinge end; 607, first hinge shaft; 608, seventh hinge seat; 609, left side plate; 610, right side plate; 611, left side shell; 612, right side shell; 613, front palm bottom plate; 614, overturning connecting rod; 615, front palm driving motor; 616, third ball screw; 617, screw sliding seat; 618, hinge mounting seat; 619, front palm hinge head; 620, front palm hinge shaft; 621, hinge rod; 622, hinge cover; 623, guide rod; 624, guide sleeve seat; 625, front palm curved hinge shaft; 7, weight reduction mechanism; 71, auxiliary lifting shaft; 72, weight reduction spring; 73, guide plate; 74, spring seat; 75, spring cover; 8, first guide rail; 9, mounting frame. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] Please refer to Figure 1 As shown in the drawings, in some embodiments, the present application provides a lower limb walking training device, which comprises a rack 1 and a left walking assembly 2 and a right walking assembly 3 arranged opposite to each other along a first horizontal direction on the rack 1. The left walking assembly 2 is used to drive one of the left foot and the right foot of a user to walk and perform ankle movement, and the right walking assembly 3 is used to drive the other of the left foot and the right foot of the user to walk and perform ankle movement.

[0036] Specifically, the left walking assembly 2 and the right walking assembly 3 each comprise a horizontal moving mechanism 4, a lifting mechanism 5 and a foot pedal mechanism 6. The foot pedal mechanism 6 is arranged on the driving end of the lifting mechanism 5 and is used to carry the instep of the user and simulate the instep to perform ankle movement. The lifting mechanism 5 is arranged on the driving end of the horizontal moving mechanism 4 and is used to drive the foot pedal mechanism 6 to perform lifting movement. The horizontal moving mechanism 4 is arranged on the rack 1 and is used to drive the foot pedal mechanism 6 to move horizontally along a second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction.

[0037] In the present application, the foot pedal mechanism 6 can be driven to move up and down and forward and backward by the lifting mechanism 5 and the horizontal moving mechanism 4, thereby simulating the action of human walking. After the instep of the user steps on the foot pedal mechanism 6, the lifting mechanism 5 and the horizontal moving mechanism 4 cooperate with each other to drive the user to walk, thereby training the leg movement. At the same time of the leg movement training, the instep of the user can be driven by the foot pedal mechanism 6 to perform ankle training, thereby completely simulating the comprehensive movement of the thigh and the ankle in the process of human lower limb movement. Compared with the leg movement training and the ankle training being respectively performed by different devices, the training effect and efficiency are improved.

[0038] In some embodiments, the horizontal moving mechanism 4 comprises a first ball screw 41, a first screw nut 42 and a first motor 43. The first ball screw 41 extends along the second horizontal direction. First bearing seats 44 are arranged at both ends of the first ball screw 41. The first bearing seats 44 are fixedly installed on the rack 1. The first ball screw 41 passes through the bearings in the corresponding first bearing seats 44 at both ends and is in interference fit with the bearings, so as to be rotatably installed on the rack 1. The first screw nut 42 is sleeved on the first ball screw 41 and is in threaded transmission with the first ball screw 41. The lifting mechanism 5 is arranged on the first screw nut 42. The first motor 43 is arranged at one end of the first ball screw 41 and is fixedly installed on the rack 1. The motor shaft of the first motor 43 is fixedly connected with one end of the first ball screw 41, which is used to drive the first ball screw 41 to rotate, so as to drive the first screw nut 42 to move linearly along the first ball screw 41, and further drive the foot pedal mechanism 6 to move horizontally along the second horizontal direction.

[0039] Please refer to Figures 2-4As shown, in some embodiments, the lower limb walking training device further comprises a first guide rail 8 extending along the second horizontal direction and arranged in parallel with two first guide rails 8. The two first guide rails 8 are located on the same side of the first ball screw 41. The mounting bracket 9 is arranged between the two first guide rails 8, and the two ends of the mounting bracket 9 are respectively slidably mounted on the two first guide rails 8 by the first sliding block, so that the subsequent mounting bracket 9 can stably move along the second horizontal direction. The first screw nut 42 is fixedly connected with the mounting bracket 9 through the connecting seat to drive the mounting bracket 9 to move horizontally along the second horizontal direction. The lifting mechanism 5 is arranged on the mounting bracket 9, so that the lifting mechanism 5 and the foot pedal mechanism 6 connected thereto move horizontally along the second horizontal direction synchronously.

[0040] In some embodiments, the lifting mechanism 5 comprises a driving assembly 51 arranged on the mounting bracket 9, a lifting scissor 52, and a mounting plate 53 arranged at the top of the lifting scissor 52, and the foot pedal mechanism 6 is arranged on the mounting plate 53. The driving assembly 51 drives the foot pedal mechanism 6 to lift through the lifting scissor 52.

[0041] Specifically, the driving assembly 51 comprises a second ball screw 511, a second screw nut 512, and a second motor 513. The second ball screw 511 extends along the second horizontal direction. The two ends of the second ball screw 511 are provided with second bearing seats (not shown), which are fixedly installed on the mounting bracket 9. The two ends of the second ball screw 511 are arranged in the bearings of the corresponding end second bearing seat and are in interference fit with the bearings to rotate and be installed on the mounting bracket 9. The second screw nut 512 is sleeved on the second ball screw 511 and is in threaded transmission with the second ball screw 511. The second motor 513 is arranged at one end of the second ball screw 511 and is fixedly installed on the mounting bracket 9. The motor shaft of the second motor 513 is fixedly connected with one end of the second ball screw 511 to drive the second ball screw 511 to rotate, so that the second screw nut 512 moves linearly along the second ball screw 511.

[0042] The mounting plate 53 is provided with a second guide rail 54 extending along the second horizontal direction. The lifting scissor 52 comprises a first connecting rod 521 and a second connecting rod 522 which are crossed and hinged. The upper and lower ends of the first connecting rod 521 are respectively hinged with a first hinge seat 523 and a second hinge seat 524. The upper and lower ends of the second connecting rod 522 are respectively hinged with a third hinge seat 525 and a fourth hinge seat 526. The mounting plate 53 is provided with a second guide rail 54 extending along the second horizontal direction. The first hinge seat 523 is arranged on the bottom of the mounting plate 53. The second hinge seat 524 is arranged on the second screw nut 512. The third hinge seat 525 is slidably mounted on the second guide rail 54 by a sliding block. The fourth hinge seat 526 is arranged on the mounting bracket 9.

[0043] The second motor 513 can drive the second hinge base 524 to move along the second horizontal direction through the second screw nut 512, so as to drive the mounting plate 53 to lift, and the mounting plate 53 drives the foot pedal mechanism 6 to lift synchronously.

[0044] In some embodiments, the mounting frame 9 is further provided with a third guide rail 55 parallel to the second ball screw 511, the third guide rail 55 is provided with two third guide rails 55 respectively located on two sides of the second ball screw 511, and the second hinge base 524 is further slidably installed on the two third guide rails 55, and the third guide rod 623 can guide the movement of the second hinge base 524, so as to improve the stability of the lifting scissor 52.

[0045] In some embodiments, the second connecting rod 522 is provided in parallel with two second connecting rods 522, the two second connecting rods 522 are fixedly connected, and the first connecting rod 521 is arranged between the two second connecting rods 522, so as to support the mounting plate 53 through the three connecting rods, and further improve the stability of the lifting of the mounting plate 53.

[0046] Please refer to Figure 3 , Figure 7 and Figure 8 In some embodiments, the lower limb walking training device further comprises a weight reduction mechanism 7 arranged on the mounting frame, the weight reduction mechanism 7 comprises an auxiliary lifting shaft 71 located on one side of the second hinge base 524 and a weight reduction spring 72 elastically mounting the auxiliary lifting shaft 71 on the mounting frame, and in the movement process of the second hinge base 524 close to the fourth hinge base 526, the weight reduction spring 72 rebounds to generate a pushing force of the auxiliary lifting shaft 71 on the second hinge base 524 towards the fourth hinge base 526.

[0047] Specifically, the weight reduction mechanism 7 further comprises a guide plate 73, a spring seat 74 and a spring cover 75. The guide plate 73 and the spring cover 75 are fixedly installed on both ends of the spring seat 74, and the weight reduction spring 72 is arranged in the spring seat 74. The guide plate 73 is fixed on the base 601 and located at one end of the third guide rail 55, and a guide hole is formed in the guide plate 73, the auxiliary lifting shaft 71 extends into the spring seat 74 through the guide hole, one end of the weight reduction spring 72 is connected with the auxiliary lifting shaft 71, and the other end is connected with the spring cover 75, and the guide hole extends along the second horizontal direction to guide the movement of the auxiliary lifting shaft 71 along the second horizontal direction.

[0048] In the process that the lifting scissor 52 drives the foot pedal mechanism 6 to rise from the lowest point, the second motor 513 drives the second hinge base 524 to move close to the fourth hinge base 526, and in this process, the weight reduction spring 72 rebounds to generate a pushing force of the auxiliary lifting shaft 71 on the second hinge base 524 towards the fourth hinge base 526, so as to offset part of the pressure borne by the lifting scissor 52, reduce the load of the second motor 513, and improve the service life of the second motor 513.

[0049] Referring to Figure 3 , Figure 7 and Figure 8 , in some embodiments, the foot pedal mechanism 6 includes a base 601, a foot plate 602, a left side driving component 603 and a right side driving component 604. The base 601 is mounted on the mounting plate 53, and a six-dimensional force sensor 625 is arranged between the base 601 and the mounting plate 53. The foot plate 602 is connected to the base 601 in all directions, and the foot plate 602 has left and right sides opposite in a first horizontal direction and front and rear ends opposite in a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction. The left side driving component 603 is hinged to the left side edge of the bottom of the foot plate 602, and the right side driving component 604 is hinged to the right side edge of the bottom of the foot plate 602.

[0050] The foot pedal mechanism 6 can realize active rehabilitation training and passive rehabilitation training of the ankle joint. When active rehabilitation training is performed, the six-dimensional force sensor 625 senses the movement and force information of the lower limbs of the user and transmits the information to the controller (not shown). The controller analyzes the six-dimensional force sensor 625 data through algorithms and programs, and controls the movement of the left side driving component 603 and / or the right side driving component 604 according to the set parameters and modes, so that the foot plate 602 drives the user's foot to move, thereby realizing rehabilitation training of the ankle.

[0051] When the left side driving component 603 and the right side driving component 604 drive the foot plate 602 synchronously, the left side driving component 603 and the right side driving component 604 respectively lift the left and right sides of the bottom of the foot plate 602 synchronously, so that the foot plate 602 can drive the foot of the rehabilitation personnel to swing forward and backward for rehabilitation training.

[0052] When the left side driving component 603 operates alone, the left side driving component 603 lifts the foot plate 602 from the left side of the bottom of the foot plate 602, so that the left side of the foot plate 602 is lifted while the front end of the foot plate 602 is gradually lowered, to drive the foot of the rehabilitation personnel to turn right for rehabilitation training.

[0053] When the right side driving component 604 operates alone, the right side driving component 604 lifts the foot plate 602 from the right side of the bottom of the foot plate 602, so that the right side of the foot plate 602 is lifted while the front end of the foot plate 602 is gradually lowered, to drive the foot of the rehabilitation personnel to turn left for rehabilitation training.

[0054] When passive rehabilitation training is performed, the user independently performs ankle movement to drive the foot plate 602 to move correspondingly, so that the six-dimensional force sensor 625 senses the movement and force information of the lower limbs of the user through the foot plate 602, and the controller can determine the rehabilitation condition of the user by analyzing the six-dimensional force sensor 625 data information.

[0055] Referring toFigure 11 and Figure 12 As shown in FIG. 6, in some embodiments, a fifth hinge seat 605 is fixedly installed on the base 601 by a bolt, and a sixth hinge seat 606 is hinged to the fifth hinge seat 605 by a second hinge shaft (not shown), and the sixth hinge seat 606 is hinged to the foot plate 602 by a first hinge shaft 607. The first hinge shaft 607 extends along a first horizontal direction, and the second hinge shaft extends along a second horizontal direction, so that the foot plate 602 can rotate relative to the base 601 along the first horizontal direction and the second horizontal direction.

[0056] In other embodiments, the foot plate 602 and the base 601 can also be connected by a spherical bearing, a universal bearing, or a universal joint.

[0057] In some embodiments, two first hinge shafts 607 are provided, and one second hinge shaft is provided, and the two first hinge shafts 607 are symmetrically arranged on both sides of the second hinge shaft. The foot plate 602 has a front end and a rear end opposite along the second horizontal direction, and a seventh hinge seat 608 is arranged on both sides of the front end of the foot plate 602. The sixth hinge seat 606 has two hinge ends 6061 corresponding to the seventh hinge seats 608, respectively, and each hinge end 6061 is hinged to the corresponding seventh hinge seat 608 by the first hinge shaft 607, so as to improve the stability of the movement of the foot plate 602 relative to the base 601.

[0058] In some embodiments, the left side driving component 603 includes a left side linkage assembly and a left side driving assembly 51. The left side linkage assembly includes a left side rotating linkage 6031 and a left side lifting linkage 6032. The first end of the left side lifting linkage 6032 is ball-hinged to the first end of the left side rotating linkage 6031 by a first joint bearing 6033. The second end of the left side lifting linkage 6032 is hinged to the left side edge of the bottom of the foot plate 602. Specifically, a left side hinge head 6034 is fixedly installed on the left side edge of the bottom of the foot plate 602, and the second end of the left side lifting linkage 6032 is hinged to the left side hinge head 6034 by a left side hinge shaft 6035, which extends along the first horizontal direction, so that the second end of the left side lifting linkage 6032 is hinged to the foot plate 602 along the first horizontal direction.

[0059] The second end of the left side rotating linkage 6031 is arranged at the driving end of the left side driving assembly 51, and the left side driving assembly 51 drives the left side rotating linkage 6031 to rotate so as to lift the foot plate 602 from the left side of the bottom of the foot plate 602, and the foot plate 602 can be synchronously rotated relative to the base 601 along the first horizontal direction and the second horizontal direction, so as to realize the turning of the foot plate 602 towards the right side.

[0060] In some embodiments, the left drive assembly 51 comprises a left drive motor 6036, a left first synchronous wheel 6037, a left second synchronous wheel 6038, and a left synchronous belt 6039. The left first synchronous wheel 6037 is mounted on the motor shaft of the left drive motor 6036, the left second synchronous wheel 6038 is drivingly connected with the left first synchronous wheel 6037 through the left synchronous belt 6039, and the second end of the left rotary connecting rod 6031 is drivingly connected through a first transmission shaft 60310, and the left drive motor 6036 drives the left rotary connecting rod 6031 to rotate along the first horizontal direction through the first transmission shaft 60310.

[0061] Specifically, the left and right sides of the base 601 are respectively fixedly installed with opposite left and right plates 609 and 610, the left drive motor 6036 is arranged along the first horizontal direction between the left and right plates 609 and 610 and located at the rear end of the base 601. The left first synchronous wheel 6037 is arranged on the side of the left plate 609 away from the right plate 610 and drivingly connected with the motor shaft of the left drive motor 6036. The left second synchronous wheel 6038 is arranged along the second horizontal direction on the side of the left first synchronous wheel 6037, and the left plate 609 is fixedly installed with a first bearing, and the left second synchronous wheel 6038 is matched with the first bearing through the first transmission shaft 60310 arranged along the first horizontal direction, so that the left second synchronous wheel 6038 is rotatably connected with the left plate 609 along the first horizontal direction. The first transmission shaft 60310 extends through the left plate 609 to the side of the left plate 609 close to the right plate 610 and is fixedly connected with the second end of the left rotary connecting rod 6031, so that the left rotary connecting rod 6031 can rotate along the first horizontal direction with the left second synchronous wheel 6038. The left drive motor 6036 drives the left first synchronous wheel 6037 to rotate along the first horizontal direction, and then drives the left second synchronous wheel 6038 to rotate along the first horizontal direction through the left synchronous belt 6039, so that the first transmission shaft 60310 drives the left rotary connecting rod 6031 to rotate along the first horizontal direction, and the left rotary connecting rod 6031 drives the left lifting connecting rod 6032 to swing up and down to drive the left side of the sole plate 602 to be lifted and turned to the right.

[0062] The left plate 609 is also rotatably installed with a left tensioning wheel 60311 through a left mounting shaft, and the left tensioning wheel 60311 abuts against the left synchronous belt 6039 to tension the left synchronous belt 6039.

[0063] The left plate 609 is also rotatably installed with a left tensioning wheel 60311 through a left mounting shaft, and the left tensioning wheel 60311 abuts against the left synchronous belt 6039 to tension the left synchronous belt 6039.

[0064] The left side plate 609 is also provided with a left side limiting block 60312 on the side close to the right side plate 610, the left side limiting block 60312 is located on the moving path of the left side rotating connecting rod 6031, and is used for limiting the moving range of the left side rotating connecting rod 6031, so as to prevent the deflection amplitude of the foot plate 602 from being too large and causing ankle sprain of the rehabilitation personnel.

[0065] The right side driving component 604 includes a right side connecting rod assembly and a right side driving assembly 51. The right side connecting rod assembly includes a right side rotating connecting rod 6041 and a right side lifting connecting rod 6042. The first end of the right side lifting connecting rod 6042 is ball-hinged with the first end of the right side rotating connecting rod 6041 through a second joint bearing 6043, and the second end of the right side lifting connecting rod 6042 is hinged with the right side edge of the bottom of the foot plate 602. Specifically, the right side hinged head 6044 is fixedly installed on the right side edge of the bottom of the foot plate 602, the second end of the right side lifting connecting rod 6042 is hinged with the right side hinged head 6044 through a right side hinged shaft 6045, and the right side hinged shaft 6045 extends along the first horizontal direction, so that the second end of the right side lifting connecting rod 6042 is hinged with the right side edge of the bottom of the foot plate 602 along the first horizontal direction.

[0066] The second end of the right side rotating connecting rod 6041 is arranged at the driving end of the right side driving assembly 51, the right side driving assembly 51 drives the right side rotating connecting rod 6041 to rotate, so that the right side lifting connecting rod 6042 lifts the foot plate 602 from the right side of the bottom of the foot plate 602, and the foot plate 602 can be synchronously rotated along the first horizontal direction and the second horizontal direction relative to the base 601, so as to realize the turning of the foot plate 602 towards the left side.

[0067] In some embodiments, the right side driving assembly 51 includes a right side driving motor 6046, a right side first synchronous wheel 6047, a right side second synchronous wheel 6048, and a right side synchronous belt 6049. The right side first synchronous wheel 6047 is installed on the motor shaft of the right side driving motor 6046, the right side second synchronous wheel 6048 is drivingly connected with the right side first synchronous wheel 6047 through the right side synchronous belt 6049, and the second end of the right side rotating connecting rod 6041 is drivingly connected with the right side second synchronous wheel 6048 through a second transmission shaft 60410, and the right side driving motor 6046 drives the right side rotating connecting rod 6041 to rotate along the first horizontal direction through the second transmission shaft 60410.

[0068] Specifically, the right drive motor 6046 is arranged between the left side plate 609 and the right side plate 610 along the first horizontal direction and at the front end of the base 601. The right first synchronous wheel 6047 is arranged on the side of the right side plate 610 away from the left side plate 609 and is in transmission connection with the motor shaft of the right drive motor 6046. The right second synchronous wheel 6048 is arranged on the side of the right first synchronous wheel 6047 along the second horizontal direction. The right side plate 610 is provided with a second bearing, and the right second synchronous wheel 6048 is in cooperation with the second bearing through the second transmission shaft 60410 arranged along the first horizontal direction, so that the right second synchronous wheel 6048 is rotationally connected with the right side plate 610 along the first horizontal direction. The second transmission shaft 60410 extends through the right side plate 610 to the side of the right side plate 610 close to the left side plate 609 and is fixedly connected with the second end of the right rotary connecting rod 6041, so that the right rotary connecting rod 6041 can rotate along the first horizontal direction with the right second synchronous wheel 6048. The right drive motor 6046 drives the right first synchronous wheel 6047 to rotate along the first horizontal direction, and then drives the right second synchronous wheel 6048 to rotate along the first horizontal direction through the right synchronous belt 6049, so that the second transmission shaft 60410 drives the right rotary connecting rod 6041 to rotate along the first horizontal direction, and the right rotary connecting rod 6041 drives the right lifting connecting rod 6042 to swing up and down to drive the right side of the sole plate 602 to be lifted and turned to the left.

[0069] The right side plate 610 is further rotationally mounted with a right tensioning wheel 60411 through a right mounting shaft. The right tensioning wheel 60411 is in abutment with the right synchronous belt 6049 to tension the right synchronous belt 6049.

[0070] The right side plate 610 is further provided with a right housing 612. The right first synchronous wheel 6047, the right second synchronous wheel 6048, the right synchronous belt 6049 and the right tensioning wheel 60411 are all hidden in the right housing 612.

[0071] The side of the right side plate 610 close to the left side plate 609 is further provided with a right limiting block 60412. The right limiting block 60412 is located on the moving path of the right rotary connecting rod 6041 and is used for limiting the moving range of the right rotary connecting rod 6041 to prevent the right rotary connecting rod 6041 from driving the sole plate 602 to be deflected too much to twist the ankle of the rehabilitation personnel.

[0072] Please refer to Figures 7-10As shown, in some embodiments, the foot pedal mechanism 6 further comprises a forefoot bottom plate 613 hingedly connected to the front end of the sole plate 602 along the first horizontal direction, and a forefoot driving component for driving the forefoot bottom plate 613 to rotate relative to the sole plate 602 along the first horizontal direction. In the present application, the forefoot bottom plate 613 is used to correspond to the forefoot of the human foot, the sole plate 602 is used to correspond to the hindfoot of the human foot, and the forefoot driving component drives the forefoot bottom plate 613 to rotate relative to the sole plate 602 along the first horizontal direction, so that the forefoot and the hindfoot make flexion and extension movements between each other.

[0073] Specifically, the forefoot bottom plate 613 and the sole plate 602 are connected by a forefoot bending hinge shaft 625, which extends along the first horizontal direction. The forefoot driving component includes a forefoot driving assembly 51 and a turnover connecting rod 614. The forefoot driving assembly 51 is installed at the bottom of the sole plate 602, and the turnover connecting rod 614 is an arc-shaped rod concave downward. The first end of the turnover connecting rod 614 is hingedly connected to the bottom of the forefoot bottom plate 613 along the first horizontal direction, and the second end of the turnover connecting rod 614 is hingedly connected to the driving end of the forefoot driving assembly 51 along the first horizontal direction. The forefoot driving assembly 51 can drive the second end of the turnover connecting rod 614 to translate along the second horizontal direction to make the forefoot bottom plate 613 flip relative to the sole plate 602 along the first horizontal direction.

[0074] In some embodiments, the forefoot driving assembly 51 includes a forefoot driving motor 615, a third ball screw 616, a screw sliding seat 617, and a hinge mounting seat 618. The third ball screw 616 extends along the second horizontal direction, the screw sliding seat 617 is sleeved on the third ball screw 616 and is in threaded transmission with the third ball screw 616, the hinge mounting seat 618 is fixedly installed on the screw sliding seat 617 and is hingedly connected to the second end of the turnover connecting rod 614 through a hinge rod 621, and the forefoot driving motor 615 is used to drive the third ball screw 616 to rotate to make the screw sliding seat 617 drive the second end of the turnover connecting rod 614 to move along the second horizontal direction. The forefoot bottom plate 613 is fixedly installed with a forefoot hinge joint 619 at the bottom, the first end of the turnover connecting rod 614 is hingedly connected to the forefoot hinge joint 619 through a forefoot hinge shaft 620, and the forefoot hinge shaft 620 is arranged along the first horizontal direction to hingedly connect the turnover connecting rod 614 and the forefoot bottom plate 613 along the first horizontal direction.

[0075] Specifically, the hinge cover 622 is further bolted on the hinge mounting seat 618, and the hinge rod 621 is locked between the hinge mounting seat 618 and the hinge cover 622, so that the hinge rod 621 can be disassembled and replaced. The forefoot driving motor 615 is distributed along the second horizontal direction and is installed at the bottom rear end of the foot plate 602. The motor shaft of the forefoot driving motor 615 is drivingly connected with one end of the third ball screw 616 through a shaft coupling. The two guide rods 623 extending along the second horizontal direction are arranged in parallel between the screw sliding seat 617 and the hinge mounting seat 618. One end of the guide rod 623 is fixedly connected with the screw sliding seat 617, and the other end is fixedly connected with the hinge mounting seat 618. The guide sleeve seat 624 is further fixedly installed at the middle segment of the bottom of the foot plate 602. The guide rod 623 penetrates through the guide sleeve seat 624 and is in sliding fit with the guide sleeve seat 624, so that the guide sleeve seat 624 guides the movement of the guide rod 623, thereby improving the stability of the forefoot plate 613 relative to the foot plate 602.

[0076] In summary, the lower limb walking training device in the present application is small and flexible, and can completely simulate the comprehensive movement of the joints such as the thigh, ankle joint and foot in the process of human lower limbs. At the same time, the foot plate 602 can be tilted forward, backward, left and right, and the bendable relationship between the forefoot plate 613 and the foot plate 602 can also simulate the movement scene of the foot in various inclined slopes, gravel and other terrains, thereby increasing the richness and interesting degree of rehabilitation training.

[0077] The above describes one embodiment of the present application in detail, but the content described is only the preferred embodiment of the present application, and cannot be considered as limiting the implementation scope of the present application. Any equivalent changes and improvements made within the scope of the present application should still belong to the patent coverage scope of the present application.

[0078] It should be noted that the "first", "second" and similar words used in the present application do not represent any order, quantity or importance, but are only used to distinguish different components. The description of "left", "right", "left side", "right side", "upper", "lower", "top", "bottom" and the like in the present application are defined based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0079] In the description of the application, unless specifically stated and limited otherwise, the terms "mounting", "connection", "connecting" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

Claims

1. A lower extremity stepping training device, characterized by, The device comprises a frame and left and right stride components arranged opposite to each other along a first horizontal direction, each of the left and right stride components comprising a horizontal moving mechanism, a lifting mechanism and a footboard mechanism, the footboard mechanism being arranged at a driving end of the lifting mechanism for carrying a user's foot and simulating ankle movement, the lifting mechanism being arranged at a driving end of the horizontal moving mechanism for driving the footboard mechanism to move up and down, and the horizontal moving mechanism being arranged on the frame for driving the footboard mechanism to move horizontally along a second horizontal direction perpendicular to the first horizontal direction.

2. The lower extremity walking training device according to claim 1, wherein The horizontal moving mechanism comprises a first ball screw rod rotatably arranged on the frame, a first screw nut in transmission connection with the first ball screw rod, and a first motor for driving the first ball screw rod to rotate, the first ball screw rod extending along the second horizontal direction, and the lifting mechanism being connected with the first screw nut.

3. The lower leg walking training device according to claim 2, characterized in that, The lower limb stride training device further comprises first guide rails extending along the second horizontal direction and arranged in parallel, and a mounting frame arranged between the first guide rails and slidably connected with the first guide rails through first sliding blocks at both ends thereof, and the first screw nut is fixedly connected with the mounting frame, and the lifting mechanism is arranged on the mounting frame.

4. The lower leg walking training device according to claim 1, characterized by The lower limb stride training device further comprises a mounting frame arranged at a driving end of the horizontal moving mechanism, and the lifting mechanism comprises a driving assembly arranged on the mounting frame, a lifting scissor and a mounting plate arranged at a top of the lifting scissor, and the footboard mechanism is arranged on the mounting plate, and the driving assembly drives the footboard mechanism to move up and down through the lifting scissor.

5. The lower leg walking training device according to claim 4, characterized in that, The driving assembly comprises a second ball screw rod rotatably arranged on the mounting frame, a second screw nut in transmission connection with the second ball screw rod, and a second motor for driving the second screw nut to move linearly through the second ball screw rod, the second ball screw rod extending along the second horizontal direction, and the lifting scissor comprises first and second links crossing and hingedly connected with each other, the first link having first and second hinge seats hingedly connected with upper and lower ends thereof respectively, the second link having third and fourth hinge seats hingedly connected with upper and lower ends thereof respectively, and the mounting plate has second guide rails extending along the second horizontal direction, the first hinge seat being arranged on the bottom of the mounting plate, the second hinge seat being arranged on the second screw nut, the third hinge seat being slidably arranged on the second guide rails through a sliding block, and the fourth hinge seat being arranged on the mounting frame.

6. The lower leg walking training device according to claim 5, characterized in that The lower limb stride training device further comprises a weight reduction mechanism arranged on the mounting frame, the weight reduction mechanism comprising an auxiliary lifting shaft arranged on one side of the second hinge seat and a weight reduction spring elastically arranging the auxiliary lifting shaft on the mounting frame, and the weight reduction spring rebounds to generate a pushing force on the second hinge seat towards the fourth hinge seat during movement of the second hinge seat close to the fourth hinge seat.

7. The lower leg walking training device according to claim 1, wherein The foot pedal mechanism comprises a base, a foot plate, a left driving component and a right driving component, the base is installed at the driving end of the lifting mechanism, the foot plate is connected to the base in all directions, the foot plate has left and right sides opposite in the first horizontal direction and front and back ends opposite in the second horizontal direction, the first horizontal direction is perpendicular to the second horizontal direction, the left driving component is hinged to the left side edge of the bottom of the foot plate, the right driving component is hinged to the right side edge of the bottom of the foot plate, and the left driving component and the right driving component are used to synchronously drive the foot plate to swing forward and backward relative to the base or used to asynchronously drive the foot plate to flip to the left or flip to the right relative to the base.

8. The lower leg walking training device according to claim 7, characterized in that The left driving component comprises a left connecting rod assembly and a left driving assembly, the left connecting rod assembly comprises a left rotating connecting rod and a left lifting connecting rod, the first end of the left lifting connecting rod is ball-hinged to the first end of the left rotating connecting rod, the second end of the left lifting connecting rod is hinged to the left side edge of the bottom of the foot plate, and the second end of the left rotating connecting rod is arranged at the driving end of the left driving assembly; the left driving assembly drives the left rotating connecting rod to rotate so that the left lifting connecting rod drives the foot plate to flip to the right relative to the base; and / or, The right driving component comprises a right connecting rod assembly and a right driving assembly, the right connecting rod assembly comprises a right rotating connecting rod and a right lifting connecting rod, the first end of the right lifting connecting rod is ball-hinged to the first end of the right rotating connecting rod, the second end of the right lifting connecting rod is hinged to the right side edge of the bottom of the foot plate, and the second end of the right rotating connecting rod is arranged at the driving end of the right driving assembly; the right driving assembly drives the right rotating connecting rod to rotate so that the right lifting connecting rod drives the foot plate to flip to the left relative to the base.

9. The lower leg walking training device according to claim 7, characterized by The foot pedal mechanism further comprises a front foot plate and a front palm driving component, the front foot plate is hinged to the front end of the foot plate in the first horizontal direction, and the front palm driving component is used to drive the front foot plate to rotate relative to the foot plate in the first horizontal direction.

10. The lower leg walking training device according to claim 9, characterized in that, The front palm driving component comprises a front palm driving assembly and a flipping connecting rod, the front palm driving assembly is installed at the bottom of the foot plate, the first end of the flipping connecting rod is hinged to the bottom of the front foot plate in the first horizontal direction, the second end of the flipping connecting rod is hinged to the driving end of the front palm driving assembly in the first horizontal direction, and the front palm driving assembly is used to drive the second end of the flipping connecting rod to translate in the second horizontal direction so that the front foot plate flips relative to the foot plate in the first horizontal direction.

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