Lower limb step gait training device

Abstract

The utility model relates to the technical field of rehabilitation training, and discloses a lower limb step gait training device, which comprises a rotary step platform comprising an annular guide rail, a folding step and a rotary power mechanism, the folding step can be driven by the rotary power mechanism to slide along the annular guide rail, and an adjusting rail and a height adjusting mechanism are arranged in the annular guide rail. The height adjusting mechanism is used for driving the adjusting rail to ascend and descend in the normal direction of the annular guide rail so as to adjust the height of the folding steps relative to the bottom face of the annular guide rail. The at least two supporting seats are arranged at the two ends of the bottom of the annular guide rail in the extending direction respectively, and the supporting seat at at least one end of the annular guide rail in the extending direction is provided with an inclination angle adjusting mechanism which is used for adjusting the pitch angle of the annular guide rail relative to the horizontal plane; the control device is in signal connection with the rotating power mechanism, the height adjusting mechanism and the inclination angle adjusting mechanism, automatic adjustment of the height and the gradient of the folding step is achieved, and different rehabilitation requirements and training targets of the lower limbs of the patient can be met.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation training technology, and more specifically, to a lower limb step gait training device. Background Technology

[0002] Rehabilitation training stairs are used to provide a safe and effective rehabilitation training platform for people with lower limb dysfunction and brain dysfunction. Through climbing stairs, patients can gradually increase their lower limb muscle strength, improve their gait, and enhance their balance and coordination.

[0003] While existing rehabilitation training stairs have adjustable height and slope to meet the rehabilitation training needs of different patients, the adjustment of rehabilitation training stairs is still manually operated, which to some extent limits patients from carrying out continuous and efficient training at different stages of rehabilitation.

[0004] In conclusion, how to conveniently adjust the height and slope of rehabilitation training stairs is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a lower limb step gait training device that realizes automatic adjustment of the height and slope of the folding steps, and can meet the different rehabilitation needs and training goals of patients' lower limbs, and help patients adapt to various walking environments.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A lower limb stepped gait training device, comprising:

[0008] A rotating stair platform includes an annular guide rail, folding steps, and a rotating power mechanism. The folding steps can slide along the annular guide rail under the drive of the rotating power mechanism. The annular guide rail is provided with an adjusting track and a height adjusting mechanism. The height adjusting mechanism is used to drive the adjusting track to rise and fall along the normal direction of the annular guide rail to adjust the height of the folding steps relative to the bottom surface of the annular guide rail.

[0009] At least two support seats are provided at both ends of the bottom of the annular guide rail in the extension direction, and the support seat at at least one end of the annular guide rail in the extension direction is provided with a tilt adjustment mechanism, which is used to adjust the pitch angle of the annular guide rail relative to the horizontal plane.

[0010] The control device includes a rotary power mechanism, a height adjustment mechanism, and a tilt adjustment mechanism, all of which are signal-connected to the control device.

[0011] Preferably, the folding staircase has several stair units, each stair unit including a pedal and a guide plate. The pedal and the guide plate are rotatably connected. At least one end of the guide plate is provided with a guide wheel that is slidably disposed on the annular guide rail. A snap-fit ​​gas spring is provided between the pedal and the guide plate. The snap-fit ​​gas spring is provided with a hook for hooking the pedal.

[0012] When the hook engages the pedal, the pedal forms a certain angle with the guide plate.

[0013] Preferably, the lower end of the annular guide rail is provided with a flat pressing wheel, which is used to apply pressure to the stepped unit to unlock the buckle gas spring so as to drive the pedal to rotate to be in close contact with the guide plate;

[0014] The higher end of the annular guide rail is provided with a locking mechanism, which is used to switch the buckle gas spring from the unlocked state to the locked state and to rotate the pedal in the opposite direction to form a certain angle with the guide plate.

[0015] Preferably, the locking mechanism includes an electromagnet, which is used to attract the latch gas spring from the unlocked position to the locked position.

[0016] Preferably, the annular guide rail includes a fixed rail and an adjustable rail. The adjustable rail is a horizontal rail located on the upper part of the annular guide rail. The adjustable rail is formed by splicing together several stepped guide rails. The length of the stepped guide rail is the same as the length of the pedal in the rotational direction of the folding guide rail.

[0017] Preferably, the height adjustment mechanism includes an adjustment mounting plate, the stepped guide rail is connected to the adjustment mounting plate, the adjustment mounting plate is provided with adjustment shafts at both ends in the extension direction, the adjustment mounting plate is threadedly connected to the adjustment shafts through adjustment nuts, and the adjustment shafts are connected to a height adjustment motor so that the height adjustment motor drives the adjustment shafts to rotate.

[0018] Preferably, a pressure sensor is provided between the stepped guide rail and the adjusting mounting plate, and the pressure sensor is signal-connected to the control device. The pressure sensor is used to collect the patient's real-time motion data.

[0019] Preferably, the control device includes a control module, a display module, and / or a communication module for signal communication with an external mobile device. The pressure sensor is signal-connected to the control module. The control module can perform gait analysis based on the patient's real-time movement data and output the analysis results to the display module and / or the communication module.

[0020] Preferably, the rotating power mechanism includes a rotary motor, a bottom drive wheel, a top reversing wheel, and a guide chain. The rotary motor is connected to the bottom drive wheel via a synchronous belt assembly. The bottom drive wheel and the top reversing wheel are respectively located at both ends of the annular guide rail in the extension direction. The guide chain is engaged and sleeved on the bottom drive wheel and the top reversing wheel, and the guide chain is connected to each step unit of the folding staircase.

[0021] Preferably, the guide chains are provided on both the left and right sides of the annular guide rail, and the bottom drive wheels corresponding to the guide chains are respectively connected to the output shafts at both ends of the rotary motor through the synchronous belt assembly.

[0022] The lower limb stepped gait training device provided by this utility model has a control device that can drive the adjustment track to rise and fall along the normal direction of the annular guide rail through the height adjustment mechanism, thereby changing the height of the folding steps that are slidably installed on the annular guide rail relative to the bottom surface of the annular guide rail.

[0023] Meanwhile, the control device can adjust the height of the support base through the tilt adjustment mechanism to adjust the pitch angle of the annular guide rail relative to the horizontal plane, thereby changing the slope of the folding steps relative to the horizontal plane.

[0024] Therefore, the lower limb step gait training device provided by this utility model realizes automatic adjustment of the height and slope of the folding steps, which can meet the different rehabilitation needs and training goals of patients' lower limbs, thereby helping patients adapt to various walking environments, improving their overall physical fitness, and accelerating the lower limb rehabilitation process. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 A schematic diagram of a specific embodiment of the lower limb stepped gait training device provided by this utility model;

[0027] Figure 2 This is a schematic diagram of the stepped unit structure;

[0028] Figure 3 This is a schematic diagram of the structure of the ring guide rail;

[0029] Figure 4 This is a schematic diagram of the pressure transmission between the guide wheel and the ring rail of the stepped unit;

[0030] Figure 5This is a schematic diagram illustrating the usage process of the lower limb stepped gait training device.

[0031] Figures 1-5 middle:

[0032] 1-Circular guide rail; 11-Adjustable rail; 111-Stepped guide rail; 121-Adjustable mounting plate; 122-Adjustable shaft; 123-Height adjustment motor; 13-Fixed rail; 2-Folding steps; 21-Pedal; 22-Rotating hinge; 23-Guide plate; 24-Guide wheel; 25-Snap-on gas spring; 26-Chain drive shaft; 31-Rotating motor; 32-Synchronous belt assembly; 33-Bottom drive wheel; 34-Guide chain; 35-Top reversing wheel; 41-Fixed base; 42-Lifting base; 5-Flat pressing wheel; 6-Electromagnet; 7-Pressure sensor. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] The core of this invention is to provide a lower limb step gait training device that automatically adjusts the height and slope of the folding steps, and can meet the different rehabilitation needs and training goals of patients' lower limbs, helping patients adapt to various walking environments.

[0035] The lower limb stepped gait training device provided by this utility model includes:

[0036] The rotating stair platform includes an annular guide rail 1, a folding staircase 2, and a rotating power mechanism. The folding staircase 2 can slide along the annular guide rail 1 under the drive of the rotating power mechanism. The annular guide rail 1 is provided with an adjusting track 11 and a height adjusting mechanism. The height adjusting mechanism is used to drive the adjusting track 11 to rise and fall along the normal direction of the annular guide rail 1 to adjust the height of the folding staircase 2 relative to the bottom surface of the annular guide rail 1.

[0037] At least two support seats are provided at the two ends of the bottom of the annular guide rail 1 in the extension direction, and the support seat at least one end of the annular guide rail 1 in the extension direction is provided with a tilt adjustment mechanism, which is used to adjust the pitch angle of the annular guide rail 1 relative to the horizontal plane.

[0038] The control device, the rotary power mechanism, the height adjustment mechanism, and the tilt adjustment mechanism are all connected to the control device via signals.

[0039] The circular guide rail 1 serves as the sliding track for the folding steps 2. To allow the pitch angle of the circular guide rail 1 relative to the horizontal plane to be adjusted to 0° and to provide a flat-ground training mode, the circular guide rail 1 is preferably configured as a waist-shaped guide rail. For consideration of the layout of the height adjustment mechanism, please refer to... Figure 3 Typically, the horizontal track at the top of the annular guide rail 1 is set as the adjusting track 11, and the horizontal track at the bottom of the annular guide rail 1 and the arc-shaped tracks at both ends are set as fixed tracks 13.

[0040] The height adjustment mechanism is used to adjust the height of the adjustment track 11 relative to the bottom surface of the annular guide rail 1. The height adjustment mechanism can be set as a linear power mechanism such as a linear motor and a linear guide rail mechanism set along the normal direction of the annular guide rail 1, or it can be set as a rotary motor and a screw and nut mechanism set along the normal direction of the annular guide rail 1.

[0041] At least two support seats are provided at both ends of the bottom of the annular guide rail 1 in the extension direction, and the two support seats are respectively provided at both ends of the extension direction of the annular guide rail 1. In order to improve the stability of the rotating stair platform, it is preferable to provide a support seat at each of the four corners of the bottom of the annular guide rail 1.

[0042] The length of the support at at least one end of the bottom of the annular guide rail 1 in the extending direction is adjustable so that the slope of the folding step 2 slidingly disposed in the annular guide rail 1 relative to the horizontal plane can be changed by adjusting the height difference between the support at both ends of the bottom of the annular guide rail 1 in the extending direction and adjusting the pitch angle of the annular guide rail 1 relative to the horizontal plane.

[0043] To reduce the number of height adjustment mechanisms, simplify the device structure, and lower costs, please refer to [reference needed]. Figure 1 The bottom of the annular guide rail 1 has a fixed base 41 at the lower end and a lifting base 42 at the higher end. The lifting base 42 can be configured as a linear power mechanism such as an electric push rod or a hydraulic cylinder. The specific structure of the lifting base 42 can be determined according to the actual training needs and with reference to the existing technology, and will not be described in detail here.

[0044] The control device is connected to the rotating power mechanism to adjust the working state of the rotating power mechanism, thereby controlling the moving speed of the folding stairs 2; at the same time, the control device is also connected to the height adjustment mechanism and the tilt adjustment mechanism to automatically control and adjust the height and slope of the folding stairs 2.

[0045] In this embodiment, the control device can drive the adjustment track 11 to rise and fall along the normal direction of the annular guide rail 1 through the height adjustment mechanism, thereby changing the height of the folding step 2 slidably installed on the annular guide rail 1 relative to the bottom surface of the annular guide rail 1.

[0046] Meanwhile, the control device can adjust the height of the support seat through the tilt adjustment mechanism to adjust the pitch angle of the annular guide rail 1 relative to the horizontal plane, thereby changing the slope of the folding steps 2 relative to the horizontal plane.

[0047] Therefore, the height and slope of the folding step 2 are automatically adjusted, which can meet the different rehabilitation needs and training goals of patients' lower limbs, thereby helping patients adapt to various walking environments, improving their overall physical fitness, and accelerating the lower limb rehabilitation process.

[0048] Based on the above embodiments, the structure of the folding staircase 2 is further defined. The folding staircase 2 is provided with several steps, each step including a pedal 21 and a guide plate 23. The pedal 21 and the guide plate 23 are rotatably connected. At least one end of the guide plate 23 is provided with a guide wheel 24 that is slidably disposed on the annular guide rail 1. A snap-fit ​​gas spring 25 is provided between the pedal 21 and the guide plate 23. The snap-fit ​​gas spring 25 is provided with a hook for hooking the pedal 21.

[0049] When the hook catches the pedal 21, the pedal 21 and the guide plate 23 form a certain angle. At this time, the step unit is in working state. The pedal 21 and the guide plate 23 are perpendicular or nearly perpendicular to each other. Usually, the angle between the pedal 21 and the guide plate 23 is 60°-120°. The pedal 21, the guide plate 23 and the adjusting track 11 form a stable triangular support structure so that the patient can step on the pedal 21 for rehabilitation training.

[0050] The pedal 21 is used for patients to step on. The specific material, structure and size of the pedal 21 can be determined according to actual production needs with reference to existing rehabilitation training steps. The surface of the pedal 21 is preferably provided with raised dots, diagonal textures, or rubber pads or other anti-slip pads.

[0051] The guide plate 23 is used to support the pedal 21 when the patient steps on it, and constrains the movement direction of the pedal 21 through the sliding cooperation of the guide wheel 24 and the annular guide rail 1.

[0052] Considering that the overall height of the pedal 21 and guide plate 23 in the flat state is much smaller than the height in the working state, in order to reduce the height of the horizontal track at the bottom of the annular guide rail 1 and thus reduce the height of the rotating step platform, the pedal 21 and guide plate 23 are rotatably connected by a pivot hinge 22, so that when the step unit moves to the bottom of the annular guide rail 1, the pedal 21 rotates inward to fit against the guide plate 23 in the flat state.

[0053] In order to lock the included angle between the pedal 21 and the guide plate 23 in the working state and ensure the stability and reliability of the step unit in the working state, a snap-fit ​​gas spring 25 is provided between the pedal 21 and the guide plate 23. The snap-fit ​​gas spring 25 is used to maintain the included angle between the pedal 21 and the guide plate 23.

[0054] When the step unit rotates from the lower part to the upper part of the ring guide rail 1, the snap-lock gas spring 25 needs to be adjusted to the locked state. At this time, the snap-lock gas spring 25 hooks the pedal 21, so that the step unit changes from the flat state to the working state.

[0055] When the step unit rotates from the upper part to the lower part of the ring guide rail 1, the buckle gas spring 25 needs to be adjusted to unlock, so that the buckle hook of the buckle gas spring 25 is disengaged from the pedal 21, and the pedal 21 is rotated inward to be in close contact with the guide plate 23, so that the step unit changes from the working state to the flat state.

[0056] In this embodiment, the pedal 21 is rotatably connected to the guide plate 23. By adjusting the angle between the pedal 21 and the guide plate 23, the step unit of the folding step 2 can be folded flat when the step unit rotates to the lower part of the annular guide rail 1, which effectively reduces the height of the horizontal track at the lower part of the annular guide rail 1, thereby reducing the base height of the step rotating platform and improving stability and reliability.

[0057] Based on the above embodiments, in order to switch the state of the step unit, a flat pressing wheel 5 is provided at the relatively lower end of the annular guide rail 1. The flat pressing wheel 5 is used to apply pressure to the step unit and unlock the buckle gas spring 25 so as to drive the pedal 21 to rotate to be in close contact with the guide plate 23.

[0058] The relatively high end of the annular guide rail 1 is provided with a locking mechanism. The locking mechanism is used to switch the buckle gas spring 25 from the unlocked state to the locked state, and to make the pedal 21 rotate in the opposite direction to form a certain angle with the guide plate 23.

[0059] The locking mechanism can be a mechanical structure such as a linkage mechanism, which drives the latch gas spring 25 from the unlocked position to the locked position through mechanical movement;

[0060] Locking mechanisms can also be such as Figure 1 The electromagnet 6 shown can attract the latching gas spring 25 from the unlocked position to the locked position through the electromagnetic field.

[0061] When the rotating stair platform is working, the folding stair 2 moves from the high point on the upper part of the ring guide rail 1 to the low point, and then moves from the low point to the high point through the horizontal track at the lower part of the ring guide rail 1.

[0062] When the step unit moves to the high point of the upper part of the ring guide rail 1, the locking mechanism drives the buckle gas spring 25 to switch from the unlocked state to the locked state. The buckle gas spring 25 hooks the pedal 21, so that the step unit is put into working state so that the patient can step on it.

[0063] When the step unit moves to the lower point of the upper part of the annular guide rail 1, the flat pressing wheel 5 applies pressure to the step unit, causing the pedal 21 to disengage from the hook of the snap-fit ​​gas spring 25 and rotate to be in close contact with the guide plate 23, so that the step unit changes to a flat position so that the step unit can enter the horizontal track at the lower part of the annular guide rail 1.

[0064] Based on the above embodiments, please refer to Figure 3 The structure of the annular guide rail 1 is defined. The annular guide rail 1 includes a fixed rail 13 and an adjustable rail 11. The adjustable rail 11 is a horizontal rail located on the upper part of the annular guide rail 1. The adjustable rail 11 is formed by splicing together several stepped rails 111. The length of the stepped rail 111 is the same as the length of the pedal 21 in the direction of rotation of the folding guide rail 2.

[0065] The height adjustment mechanism includes an adjustment mounting plate 121, which is connected to the stepped guide rail 111. The adjustment mounting plate 121 has adjustment shafts 122 at both ends in the extension direction. The adjustment mounting plate 121 is threadedly connected to the adjustment shafts 122 through adjustment nuts. The adjustment shafts 122 are connected to the height adjustment motor 123 so that the height adjustment motor 123 can drive the adjustment shafts 122 to rotate.

[0066] Therefore, when the height adjustment motor 123 drives the adjustment shaft 122 to rotate, the adjustment nut moves along the height direction of the adjustment shaft 122, which is also the normal direction of the annular guide rail 1, thereby driving the adjustment mounting plate 121 to move along the normal direction of the annular guide rail 1, thereby driving the stepped guide rail 111 to move along the normal direction of the annular guide rail 1, and finally changing the height of the stepped unit sliding in the stepped guide rail 111 relative to the bottom surface of the annular guide rail 1.

[0067] To facilitate the control of the motion state of each motion mechanism and to obtain the patient's rehabilitation status data, a pressure sensor 7 can be installed between the stepped guide rail 111 and the adjustment mounting plate 121. The type, model and measurement accuracy of the pressure sensor 7 are determined according to actual production needs. The pressure sensor 7 is connected to the control module signal and is used to collect the patient's real-time motion data.

[0068] Please refer to Figure 4 When the patient steps on the pedal 21, the pressure is transmitted to the pressure sensor 7 below through the stepped guide rail 111. Since the length of the stepped guide rail 111 is the same as the length of the pedal 21, it can be regarded as the pressure sensor 7 being fixed below the pedal 21. However, compared to setting the pressure sensor 7 below the pedal 21 in each stepped unit, the number of pressure sensors 7 is significantly reduced and the equipment cost is reduced.

[0069] Based on the above embodiments, the structure of the rotating power mechanism is further defined. The rotating power mechanism includes a rotary motor 31, a bottom drive wheel 33, a top reversing wheel 35, and a guide chain 34. The rotary motor 31 is connected to the bottom drive wheel 33 via a synchronous belt assembly 32. The bottom drive wheel 33 and the top reversing wheel 35 are respectively located at both ends of the extending direction of the annular guide rail 1. The guide chain 34 is engaged and sleeved around the bottom drive wheel 33 and the top reversing wheel 35. The guide chain 34 is connected to each step unit of the folding staircase 2, such as... Figure 2 As shown, the guide chain 34 can be connected to the chain drive shaft 26 of the step unit.

[0070] When the rotary motor 31 rotates, it drives the bottom drive wheel 33 to rotate through the synchronous belt assembly 32, which in turn drives the guide chain 34 and the top reversing wheel 35 to rotate through the sprocket mechanism, so that the guide chain 34 drives the various steps of the folding staircase 2 to move synchronously.

[0071] Considering that the force on one side of the stepped unit is detrimental to its stability, the preferred option is to refer to [reference needed]. Figure 2 The left and right sides of the circular guide rail 1 are provided with guide chains 34, and the bottom drive wheels 33 corresponding to the guide chains 34 are respectively connected to the output shafts at both ends of the rotary motor 31 through the synchronous belt assembly 32.

[0072] By using the output shafts on both sides of the rotary motor 31 to drive the guide chains 34 on both sides respectively, the number of power sources is reduced, the equipment cost of the rotary power mechanism is reduced, and the left and right sides of the stepped unit are simultaneously subjected to force, thereby improving the motion stability and reliability of the stepped unit.

[0073] Based on the above embodiments, the structure of the control device is defined. The control device includes a control module, a display module and / or a communication module for signal communication with an external mobile device. The pressure sensor 7 is connected to the control module. The control module can perform gait analysis based on the patient's real-time movement data and output the analysis results to the display module and / or the communication module.

[0074] The control module may include external control buttons and an internal control chip. The control buttons may include a mode selection button for selecting active or passive training modes, a training type button for selecting flat running and stair climbing, and a parameter setting button for setting the rotation speed, height, and slope of the folding stair 2, as well as training time, training distance, and other training objectives.

[0075] After the patient completes the setting of the training mode, training type and parameters, when any pressure sensor 7 detects an increase in pressure, it means that the patient has stepped onto a certain step. When the pressure sensor 7 detects a sharp drop in pressure, it means that the patient has left that step and is preparing to step onto the next step. The control module drives the lower limb stair gait training device to operate according to the input button command, so that the folding stair 2 rotates so that the patient can smoothly step onto the next step until the training task is completed.

[0076] Meanwhile, the control module can collect real-time motion data such as gait, stepping force, and stepping pressure distribution of the patient during the training process through pressure sensor 7. It can also extract key feature data such as gait cycle time, stride length, stride width, and peak stepping force of the patient through data cleaning, data standardization, and data segmentation processing to reflect the patient's gait stability, strength recovery and balance ability. Finally, it can quantitatively evaluate the patient's rehabilitation effect through regression algorithm model.

[0077] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0078] The lower limb stepped gait training device provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principle and implementation of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A lower extremity stair gait training device, characterized by, The application relates to a rotating folding staircase, which comprises a ring-shaped guide rail (1), a folding staircase (2) and a rotating power mechanism, the folding staircase (2) can slide along the ring-shaped guide rail (1) under the drive of the rotating power mechanism, an adjusting track (11) and a height adjusting mechanism are arranged in the ring-shaped guide rail (1), the height adjusting mechanism is used for driving the adjusting track (11) to ascend or descend along the normal direction of the ring-shaped guide rail (1) so as to adjust the height of the folding staircase (2) relative to the bottom surface of the ring-shaped guide rail (1), at least two supporting seats are arranged at the two ends of the bottom of the ring-shaped guide rail (1) in the extending direction, and the supporting seat at at least one end of the extending direction of the ring-shaped guide rail (1) is provided with an inclination angle adjusting mechanism, the inclination angle adjusting mechanism is used for adjusting the inclination angle of the ring-shaped guide rail (1) relative to the horizontal plane, and a control device is in signal connection with the rotating power mechanism, the height adjusting mechanism and the inclination angle adjusting mechanism. The folding staircase (2) is internally provided with a plurality of staircase units, each staircase unit comprises a stepping plate (21) and a guide plate (23), the stepping plate (21) and the guide plate (23) are rotatably connected, at least one end of the guide plate (23) is provided with a guide wheel (24) slidingly arranged in the ring-shaped guide rail (1), a buckle gas spring (25) is arranged between the stepping plate (21) and the guide plate (23), and the buckle gas spring (25) is provided with a hook for hooking the stepping plate (21). When the hook hooks the stepping plate (21), the stepping plate (21) and the guide plate (23) form a certain angle. The relatively lower end of the ring-shaped guide rail (1) is provided with a flat extrusion wheel (5), the flat extrusion wheel (5) is used for applying pressure to the staircase unit and unlocking the buckle gas spring (25) so as to drive the stepping plate (21) to rotate to tightly adhere to the guide plate (23).

2. The lower extremity ladder gait training device according to claim 1, wherein, The relatively higher end of the ring-shaped guide rail (1) is provided with a locking mechanism, the locking mechanism is used for switching the buckle gas spring (25) from the unlocked state to the locked state and reversely rotating the stepping plate (21) to form a certain angle with the guide plate (23). The locking mechanism comprises an electromagnet (6), the electromagnet (6) is used for attracting the buckle gas spring (25) to move from the unlocked position to the locked position.

3. The lower extremity ladder gait training device of claim 2, wherein, The ring-shaped guide rail (1) comprises a fixed track (13) and the adjusting track (11), the adjusting track (11) is a horizontal track arranged at the upper portion of the ring-shaped guide rail (1), the adjusting track (11) is formed by splicing a plurality of staircase guide rails (111), and the length of the staircase guide rail (111) is the same as the length of the stepping plate (21) in the rotating motion direction of the folding staircase (2). ​ 4. The lower extremity stair gait training device according to claim 3, wherein, ​ 5. The lower extremity ladder gait training device according to any one of claims 2-4, wherein, ​ 6. The lower extremity ladder gait training device of claim 5, wherein, The height adjusting mechanism comprises an adjusting mounting plate (121), the stepped guide rail (111) is connected with the adjusting mounting plate (121), the adjusting mounting plate (121) is provided with an adjusting shaft (122) at both ends in the extending direction, the adjusting mounting plate (121) is threadedly connected with the adjusting shaft (122) through an adjusting nut, and the adjusting shaft (122) is connected with a height adjusting motor (123) so that the height adjusting motor (123) drives the adjusting shaft (122) to rotate.

7. The lower extremity ladder gait training device of claim 6, wherein, A pressure sensor (7) is arranged between the stepped guide rail (111) and the adjusting mounting plate (121), the pressure sensor (7) is signal-connected with the control device, and the pressure sensor (7) is used for collecting real-time motion data of a patient.

8. The lower extremity ladder gait training device of claim 7, wherein, The control device comprises a control module, a display module and / or a communication module for signal communication with an external mobile device, the pressure sensor (7) is signal-connected with the control module, the control module can perform gait analysis according to the real-time motion data of the patient, and the analysis result is output to the display module and / or the communication module.

9. The lower extremity ladder gait training device according to any one of claims 1-4, wherein, The rotating power mechanism comprises a rotating motor (31), a bottom driving wheel (33), a top reversing wheel (35) and a guide chain (34), the rotating motor (31) is connected with the bottom driving wheel (33) through a synchronous belt assembly (32), the bottom driving wheel (33) and the top reversing wheel (35) are respectively arranged at both ends of the extending direction of the annular guide rail (1), the guide chain (34) is engaged and sleeved outside the bottom driving wheel (33) and the top reversing wheel (35), and the guide chain (34) is connected with each stepped unit of the folding stepped ladder (2).

10. The lower extremity ladder gait training device of claim 9, wherein, The annular guide rail (1) is provided with the guide chain (34) on the left side and the right side, and the corresponding bottom driving wheels (33) of the guide chains (34) are respectively connected with output shafts at both ends of the rotating motor (31) through the synchronous belt assemblies (32).

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