Hip joint motion simulation device

Abstract

The embodiment of the utility model discloses a hip joint motion simulation device, which comprises a crotch back cushion, a first supporting plate, a first mounting plate and a first driving mechanism, and is characterized in that the crotch back cushion, the first supporting plate and the first mounting plate are sequentially and oppositely arranged along a first horizontal direction, and the crotch back cushion is mounted on the first supporting plate; the middle of the supporting plate is hinged to the first mounting plate through a first rotating shaft arranged in the vertical direction, the first driving mechanism is arranged on the first mounting plate, the driving end of the first driving mechanism is movably connected with the first supporting plate through a connecting rod, and one end of the connecting rod is hinged to the driving end of the first driving mechanism; the other end of the connecting rod is hinged to one end of the first supporting plate, and the first driving mechanism is used for linearly driving the first supporting plate to rotate around the first rotating shaft in the first horizontal direction so as to drive the crotch back cushion to swing front and back. According to the embodiment of the invention, the hip joint of the patient can be driven to simulate the motion state when the lower limbs walk.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation devices, in particular to a hip joint motion simulation device. BACKGROUND

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

[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 hip joint motion simulation device to solve the problem that the prior art cannot drive the patient to simulate the motion state of the hip joint when walking.

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

[0005] In a first aspect, the present application provides a hip joint motion simulation device, which includes a crotch floating assembly, the crotch floating assembly including a crotch pad, a first support plate, a first mounting plate, and a first driving mechanism. The crotch pad, the first support plate, and the first mounting plate are sequentially arranged relative to each other along a first horizontal direction, and the crotch pad is mounted on the first support plate. The middle part of the support plate is hinged to the first mounting plate through a first pivot shaft arranged in a vertical direction. The first driving mechanism is arranged on the first mounting plate, and the driving end of the first driving mechanism is movably connected to the first support plate through a connecting rod, wherein one end of the connecting rod is hinged to the driving end of the first driving mechanism, and the other end of the connecting rod is hinged to one end of the first support plate. The first driving mechanism is used to linearly drive the first support plate to rotate around the first pivot shaft along the first horizontal direction to drive the crotch pad to swing back and forth.

[0006] Optionally, the crotch floating assembly further includes a first base plate and a second driving mechanism. The first base plate is arranged on the side of the first mounting plate away from the first support plate. A first guide rod extending towards the first base plate is fixedly mounted on the first mounting plate. The first guide rod is arranged along the first horizontal direction. The first base plate is slidably connected to the first guide rod through a first linear bearing. The second driving mechanism is arranged on the first base plate and is used to drive the first support plate to linearly move along the first horizontal direction to drive the crotch pad to move horizontally back and forth.

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

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

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

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

[0011] Beneficial effects: the crotch part of the patient is abutted against the crotch part cushion, and the first driving mechanism is driven to linearly move in the first horizontal direction, so as to drive the first support plate to axially rotate around the first rotating shaft, and then the crotch part cushion drives the crotch part of the patient to twist back and forth, so as to simulate the motion state of the hip joint when the lower limbs walk, thereby exercising the muscle groups around the hip joint and improving the rehabilitation effect of the patient. BRIEF DESCRIPTION OF DRAWINGS

[0012] The application will be further described below with reference to the drawings.

[0013] Figure 1FIG. 1 is a perspective view of a gait training machine according to an embodiment of the present application;

[0014] Figure 2 FIG. 2 is another perspective view of the gait training machine of FIG. 1;

[0015] Figure 3 FIG. 3 is a perspective view of a crotch float assembly of the gait training machine of FIG. 1;

[0016] Figure 4 FIG. 4 is another perspective view of the crotch float assembly of FIG. 3;

[0017] Figure 5 FIG. 5 is a perspective view of a back float assembly of the gait training machine of FIG. 1;

[0018] Figure 6 FIG. 6 is a perspective view of the crotch float assembly, the back float assembly, a first mounting bracket, and a second mounting bracket of the gait training machine of FIG. 1;

[0019] Figure 7 FIG. 7 is a perspective view of the crotch float assembly, the back float assembly, the first mounting bracket, the second mounting bracket, and a frame of the gait training machine of FIG. 1;

[0020] Figure 8 FIG. 8 is a perspective view of the frame and a seventh drive mechanism of the gait training machine of FIG. 1;

[0021] Figure 9 FIG. 9 is a perspective view of the gait training machine of FIG. 1.

[0022] BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 10, Crotch floating assembly; 101, Crotch cushion; 102, First support plate; 103, First mounting plate; 104, First driving mechanism; 1041, First motor; 1042, First screw sleeve; 1043, Mounting cylinder; 105, First rotating shaft; 106, Connecting rod; 107, Six-dimensional force sensor; 108, Mounting frame; 109, First base plate; 110, Second driving mechanism; 1101, Second motor; 1102, Second ball screw; 1103, Second screw sleeve; 1104, Second synchronous belt; 111, First guide rod; 112, First linear bearing; 113, First bearing mounting seat; 114, Rod connecting plate; 115, Crotch cover; 116, Crotch handle; 117, Crotch activation button; 118, Locking plate; 11, First mounting frame; 12, Third driving mechanism; 121, Third motor; 122, Third ball screw; 123, Third nut mounting seat; 13, First vertical guide rail; 14, Back floating assembly; 141, Back cushion; 142, Second support plate; 143, Second base plate; 144, Fourth driving mechanism; 1441, Fourth motor; 1442, Fourth ball screw; 1443, Fourth screw sleeve; 1444, Fourth synchronous belt; 145, Fifth driving mechanism; 1451, Fifth motor; 1452, Fifth ball screw; 1453, Fifth nut mounting seat; 1454, Fifth synchronous belt; 146, Second guide rod; 147, Second linear bearing; 148, Second bearing mounting seat; 149, Back cover; 150, Back handle; 151, Back activation button; 15, Second mounting frame; 16, First horizontal guide rail; 17, Sixth driving mechanism; 171, Sixth motor; 172, Sixth ball screw; 173, Sixth nut mounting seat; 18, Third mounting frame; 19, Human body moving beam; 20, Weight reduction hanger; 21, Eighth driving mechanism; 211, Eighth motor; 212, Eighth ball screw; 213, Eighth nut mounting seat; 22, Floating cloud seat; 23, First connecting rod; 24, Handrail; 25, Emergency button; 26, Machine frame; 27, Seventh driving mechanism; 271, Seventh motor; 272, Seventh ball screw; 273, Seventh nut mounting seat; 274, Seventh synchronous belt; 28, Second vertical guide rail; 29, Second horizontal guide rail; 30, Step simulation device; 1000, Step training machine. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] Please refer toFigures 1-4 As shown in some embodiments, the present application provides a hip joint motion simulation device, which comprises a crotch floating assembly 10, the crotch floating assembly 10 comprising a crotch cushion 101, a first support plate 102, a first mounting plate 103 and a first driving mechanism 104, the crotch cushion 101, the first support plate 102 and the first mounting plate 103 being arranged in sequence along a first horizontal direction, and the crotch cushion 101 being mounted on the first support plate 102, the middle part of the support plate being hinged with the first mounting plate 103 through a first rotating shaft 105 arranged along a vertical direction, the first driving mechanism 104 being arranged on the first mounting plate 103, and the driving end of the first driving mechanism 104 being movably connected with the first support plate 102 through a connecting rod 106. Wherein, one end of the connecting rod 106 is hinged with the driving end of the first driving mechanism 104, and the other end of the connecting rod 106 is hinged with one end of the first support plate 102. The first driving mechanism 104 is used for linearly driving the first support plate 102 to rotate around the first rotating shaft 105 along the first horizontal direction to drive the crotch cushion 101 to swing back and forth.

[0026] Specifically, the first support plate 102 has a first side surface and a second side surface opposite to each other along a first horizontal direction, and a middle part and two end parts arranged along a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction.

[0027] For the convenience of description, the side surface of other components which is the same as the first side surface of the first support plate 102 is also called the first side surface, and the side surface of other components which is the same as the second side surface of the first support plate 102 is also called the second side surface.

[0028] The crotch cushion 101 is fixedly mounted on the first side surface of the first support plate 102. The middle part of the second side surface of the first support plate 102 is fixedly mounted with a first hinge head, and the first mounting plate 103 is fixedly mounted with a second hinge head corresponding to the first hinge head, the first hinge head and the second hinge head being assembled through the first rotating shaft 105 to hingedly connect the first support plate 102 and the first mounting plate 103 along the vertical direction. Wherein, the first rotating shaft 105 is arranged along the vertical direction, and the vertical direction, the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0029] The first driving mechanism 104 comprises a first motor 1041, a first ball screw (not shown) and a first screw sleeve 1042. An installation cylinder 1043 is fixedly installed on the second side of the first mounting plate 103. The installation cylinder 1043 penetrates the subsequent first base plate 109 and extends to the side of the first base plate 109 away from the first mounting plate 103. The first base plate 109 is provided with a relief hole for avoiding the installation cylinder 1043. The first ball screw extends in the first horizontal direction and is rotatably installed in the installation cylinder 1043 through a bearing. The first motor 1041 is arranged at one end of the first ball screw and is drivingly connected with the first ball screw through a shaft coupling. The first screw sleeve 1042 is arranged in the installation cylinder 1043 and is in clearance fit with the installation cylinder 1043. The first screw sleeve 1042 is sleeved on the first ball screw and is in threaded driving connection with the first ball screw. The first screw sleeve 1042 is fixedly installed at one end close to the first support plate 102. The second side of the first support plate 102 is fixedly installed with a second hinge seat at one end. The connecting rod 106 is hingedly connected with the first hinge seat and the second hinge seat through hinge shafts at two ends. The first motor 1041 drives the first ball screw to rotate to drive the first screw sleeve 1042 to move in the first horizontal direction, so as to drive the first support plate 102 to rotate around the first rotating shaft 105 through the connecting rod 106 to drive the crotch rest pad 101 to swing forward and backward.

[0030] When the patient is trained on the hip joint, the patient's crotch is abutted against the crotch rest pad 101. The first driving mechanism 104 is linearly moved in the first horizontal direction to drive the first support plate 102 to rotate around the first rotating shaft 105, so as to drive the crotch rest pad 101 to twist the patient's crotch forward and backward, so as to simulate the movement state of the hip joint when the lower limbs walk, to exercise the muscle groups around the hip joint and to improve the rehabilitation effect of the patient.

[0031] Please refer to Figure 3 In some embodiments, the crotch floating assembly 10 further comprises a six-dimensional force sensor 107, which is fixedly installed on the second side of the first support plate 102. The first hinge head is fixedly installed on the installation frame 108, and is hingedly connected with the second hinge head through the first rotating shaft 105. In this application, the six-dimensional force sensor 107 can sense the movement and force information of the user's crotch, so that the subsequent system can adjust the training mode of the hip joint movement simulation device according to the information sensed by the six-dimensional force sensor 107.

[0032] Please refer to Figures 2-4As shown, in some embodiments, the crotch floating assembly 10 further comprises a first base plate 109 and a second driving mechanism 110, the first base plate 109 is arranged on the side of the first mounting plate 103 away from the first support plate 102 and is arranged opposite to the first mounting plate 103. A first guide rod 111 extending towards the first base plate 109 is fixedly installed on the first mounting plate 103, the first guide rod 111 is arranged along the first horizontal direction, and the first base plate 109 is slidably connected with the first guide rod 111 through a first linear bearing 112. The second driving mechanism 110 is arranged on the first base plate 109 for driving the first support plate 102 to move linearly along the first horizontal direction to drive the crotch cushion 101 to move horizontally forward and backward.

[0033] Further, four first guide rods 111 are arranged in parallel around the second driving mechanism 110, the first guide rods 111 in each pair are connected through a rod connecting plate 114 at the end away from the first mounting plate 103, the shape of the rod connecting plate 114 can be specifically related according to the site condition, and the rod connecting plate 114 can avoid the surrounding structure.

[0034] The second driving mechanism 110 comprises a second motor 1101, a second ball screw 1102 and a second screw sleeve 1103. A first bearing mounting seat 113 is fixedly installed on the second side of the first base plate 109, the second ball screw 1102 extends along the first horizontal direction and is rotatably installed on the first bearing mounting seat 113 through a first bearing. The second screw sleeve 1103 is sleeved on the second ball screw 1102 and is in threaded transmission connection with the second ball screw 1102, one end of the second screw sleeve 1103 penetrates through the first base plate 109 and is fixedly connected on the second side of the first mounting plate 103. The second motor 1101 is arranged below the second ball screw 1102 and is fixedly installed on the first bearing mounting seat 113, and the second motor 1101 and the second ball screw 1102 are in transmission connection through a second synchronous belt 1104. The second motor 1101 drives the second ball screw 1102 to rotate through the second synchronous belt 1104, and then the second ball screw 1102 drives the second screw sleeve 1103, the first mounting plate 103, the first support plate 102 and the crotch cushion 101 to move synchronously along the first horizontal direction, so that the crotch cushion 101 can closely fit the crotch of patients of different body types.

[0035] Please refer to Figure 1As shown, in some embodiments, the crotch floating assembly 10 further comprises a crotch cover 115 between the first support plate 102 and the first mounting plate 103 and between the first mounting plate 103 and the first base plate 109, the crotch cover 115 is used to shield the structure between the first support plate 102 and the first mounting plate 103 and between the first mounting plate 103 and the first base plate 109, avoid the structure from leaking out, and improve the overall aesthetics of the device.

[0036] Among them, the crotch cover 115 between the first support plate 102 and the first mounting plate 103 is provided with a crotch handle 116 and a crotch activation button 117. The staff can manually move the crotch floating assembly 10 through the crotch handle 116. The crotch activation button 117 is used to activate the crotch floating assembly 10 to work.

[0037] In some embodiments, the first support plate 102 is fixedly installed with a lock buckle sheet metal 118 at both ends, respectively, and the lock buckle sheet metal 118 is used for subsequent installation of a crotch restraint belt. The patient can bind himself through the crotch restraint belt to make his crotch close to the crotch cushion 101.

[0038] Please refer to Figures 1-4 As shown, the hip joint motion simulation device further comprises a first mounting frame 11 and a third driving mechanism 12. The first mounting frame 11 is arranged on the side of the first base plate 109 away from the first mounting frame 11. The first mounting frame 11 is provided with a first vertical guide rail 13 extending in the vertical direction. The first base plate 109 is slidably installed on the first vertical guide rail 13 through a first sliding block. The third driving mechanism 12 is arranged on the first mounting frame 11, and the first base plate 109 is arranged at the driving end of the third driving mechanism 12. The third driving mechanism 12 is used to drive the first base plate 109 to move along the first vertical guide rail 13 to drive the crotch cushion 101 to vertically ascend and descend.

[0039] Specifically, the third driving mechanism 12 comprises a third motor 121, a third ball screw 122 and a third nut mounting seat 123. The third ball screw 122 extends along the vertical direction and is rotatably installed on the first mounting frame 11. The third nut mounting seat 123 is sleeved on the third ball screw 122 and is in threaded transmission connection with the third ball screw 122. The third nut mounting seat 123 is fixedly connected with the second side surface of the first base plate 109. The third motor 121 is arranged on one side of the third ball screw 122 and is fixedly installed on the first mounting frame 11. The third motor 121 and the third ball screw 122 are in transmission connection through a third synchronous belt. The third motor 121 drives the third ball screw 122 to rotate through the third synchronous belt. The third ball screw 122 drives the third nut mounting seat 123, the first base plate 109, the first mounting plate 103, the first support plate 102 and the crotch pad 101 to move along the vertical direction synchronously, so as to adjust the height of the crotch pad 101 and make the crotch pad 101 closely fit the crotch of the patient of different height.

[0040] Please refer to Figure 1 、 Figure 2 and Figure 5 , the hip joint motion simulation device further comprises a back floating assembly 14 for providing support to the back. The back floating assembly 14 is arranged above the crotch floating assembly 10. The back floating assembly 14 comprises a back pad 141, a second support plate 142, a second base plate 143, a fourth driving mechanism 144 and a fifth driving mechanism 145. The back pad 141, the second support plate 142 and the second base plate 143 are arranged in sequence along the first horizontal direction. The back pad 141 is installed on the first side surface of the second support plate 142. A second guide rod 146 extending towards the second base plate 143 is installed on the second side surface of the second support plate 142. The second guide rod 146 is arranged along the first horizontal direction. The second base plate 143 is in sliding connection with the second guide rod 146 through a second linear bearing 147. The second base plate 143 is slidingly installed on the first vertical guide rail 13 through a second vertical sliding block.

[0041] The fourth driving mechanism 144 comprises a fourth motor 1441, a fourth ball screw 1442 and a fourth screw sleeve 1443. The second side of the second base plate 143 is fixedly provided with a second bearing mounting seat 148. The fourth ball screw 1442 extends along the first horizontal direction and is rotatably mounted on the second bearing mounting seat 148. The fourth screw sleeve 1443 is sleeved on the fourth ball screw 1442 and is in threaded transmission connection with the fourth ball screw 1442. One end of the fourth screw sleeve 1443 penetrates through the second base plate 143 and is fixedly connected to the second side of the first support plate 102. The fourth motor 1441 is arranged above the fourth ball screw 1442 and is fixedly mounted on the second bearing mounting seat 148. The fourth motor 1441 is in transmission connection with the fourth ball screw 1442 through a fourth synchronous belt 1444. The fourth motor 1441 drives the fourth ball screw 1442 to rotate through the fourth synchronous belt 1444, so that the fourth ball screw 1442 drives the fourth screw sleeve 1443, the second support plate 142 and the backrest 141 to move synchronously along the first horizontal direction, and the backrest 141 can closely adhere to the back of the patient according to the fatness of the patient.

[0042] The fifth driving mechanism 145 comprises a fifth motor 1451, a fifth ball screw 1452 and a fifth nut mounting seat 1453. The fifth ball screw 1452 extends along the vertical direction and is rotatably mounted on the first mounting frame 11. The fifth nut mounting seat 1453 is sleeved on the fifth ball screw 1452 and is in threaded transmission connection with the fifth ball screw 1452. The fifth nut mounting seat 1453 is fixedly connected to the second side of the second base plate 143. The fifth motor 1451 is arranged on one side of the fifth ball screw 1452 and is fixedly mounted on the first mounting frame 11. The fifth motor 1451 is in transmission connection with the fifth ball screw 1452 through a fifth synchronous belt 1454. The fifth motor 1451 drives the fifth ball screw 1452 to rotate through the fifth synchronous belt 1454, so that the fifth ball screw 1452 drives the fifth nut mounting seat 1453, the second base plate 143, the second support plate 142 and the backrest 141 to move synchronously along the vertical direction, so as to adjust the height of the backrest 141, and the backrest 141 can closely adhere to the back of the patient according to the height of the patient.

[0043] The back floating assembly 14 further comprises a back cover 149 arranged between the second support plate 142 and the second base plate 143, so as to shield the structure between the second support plate 142 and the second base plate 143, avoid structure leakage and improve the overall aesthetics of the device.

[0044] A back handle 150 and a back activation button 151 are provided on the back cover 149. The staff can manually move the back floating assembly 14 through the back handle 150. The back activation button 151 is used to activate the work of the back floating assembly 14.

[0045] Please refer to Figure 6 As shown in the figure, the hip joint movement simulation device further comprises a second mounting frame 15 provided on the side of the first mounting frame 11 away from the first base plate 109. The second mounting frame 15 is provided with a first horizontal guide rail 16 and a sixth driving mechanism 17. The first horizontal guide rail 16 extends along a second horizontal direction, and the first mounting frame 11 is slidingly installed on the first horizontal guide rail 16 through a third sliding block. The sixth driving mechanism 17 comprises a sixth motor 171, a sixth ball screw 172 and a sixth nut mounting seat 173. The sixth ball screw 172 extends along a vertical direction and is rotatably installed on the second mounting frame 15. The sixth nut mounting seat 173 is sleeved on the sixth ball screw 172 and is in threaded transmission connection with the sixth ball screw 172, and the sixth nut mounting seat 173 is fixedly connected with the first mounting frame 11. The sixth motor 171 is provided on one side of the sixth ball screw 172 and is fixedly installed on the second mounting frame 15. The sixth motor 171 and the sixth ball screw 172 are in transmission connection through a sixth synchronous belt, so that the sixth motor 171 drives the sixth ball screw 172 to rotate through the sixth synchronous belt, and then the sixth ball screw 172 drives the sixth nut mounting seat 173, the first mounting frame 11, the crotch floating assembly 10 and the back floating assembly 14 to move synchronously along the second horizontal direction, so as to adjust the positions of the crotch cushion 101 and the back cushion 141 along the second horizontal direction, so that the crotch cushion 101 and the back cushion 141 respectively keep in close contact with the crotch and the back of the patient during the rehabilitation training, and drive the crotch and the back of the patient to move along the second horizontal direction (left and right reciprocating action).

[0046] Please refer to Figure 7As shown, the hip joint movement simulation device further comprises a third mounting frame 18, a human body moving beam 19, a weight reduction hanging frame 20 and an eighth driving mechanism 21. The third mounting frame 18 is fixedly installed on the top of the second mounting frame 15, and a second horizontal guide rail 29 extending along the second horizontal direction is arranged on the third mounting frame 18. The human body moving beam 19 is slidingly installed on the second horizontal guide rail 29 through a fifth sliding block. The weight reduction hanging frame 20 is arranged in two at intervals along the second horizontal direction. Both of the two weight reduction hanging frames 20 are fixedly installed on the human body moving beam 19 at one end and extend towards the first side of the human body moving beam 19 at the other end. The upper body of the patient can be hung on the two weight reduction hanging frames 20 through a hanging belt, so as to reduce the weight required to be borne by the lower limbs of the patient and facilitate subsequent rehabilitation training. The eighth driving mechanism 21 comprises an eighth motor 211, an eighth ball screw 212 and an eighth nut mounting seat 213. The eighth ball screw 212 extends along the second horizontal direction and is rotatably installed on the third mounting frame 18. The eighth nut mounting seat 213 is sleeved on the eighth ball screw 212 and is in threaded transmission connection with the eighth ball screw 212. The eighth nut mounting seat 213 is fixedly connected with the bottom of the human body moving beam 19. The eighth motor 211 is fixedly installed on the third mounting frame 18 and located at one end of the eighth ball screw 212. The eighth motor 211 is in transmission connection with the eighth ball screw 212 through a shaft coupling. The eighth motor 211 drives the eighth ball screw 212 to rotate, and then the eighth ball screw 212 drives the eighth nut mounting seat 213, the human body moving beam 19 and the weight reduction hanging frame 20 to move synchronously along the second horizontal direction, so as to facilitate the patient to quickly get on and off the rehabilitation equipment (the step training machine 1000).

[0047] The hip joint movement simulation device further comprises a floating cloud seat 22. The floating cloud seat 22 is arranged on the side of the crotch part cushion 101 away from the first support plate 102. The floating cloud seat 22 is fixedly connected with the second mounting frame 15 through a first connecting rod 23. The floating cloud seat 22 is used for supporting the crotch part from the inner side of the thigh, so that the patient can better stand on the subsequent step training machine 1000 to do step training.

[0048] Further, handrails 24 are arranged on both sides of the floating cloud seat 22. The handrails 24 are rotatably installed on the second mounting frame 15. The handrails 24 can be vertically retracted on both sides of the second mounting frame 15, so that the patient can get on the subsequent step training machine 1000. After the patient gets on the step training machine 1000, the handrails 24 are rotated relative to the second mounting frame 15, so that the handrails 24 are horizontally laid down, and the patient can get certain support by holding the handrails 24.

[0049] Still further, an emergency button 25 is arranged on the handrail 24. The patient can press the emergency button 25 to make the subsequent step training machine 1000 stop urgently.

[0050] Please refer to Figure 7 and Figure 8As shown, the hip joint movement simulation device further comprises a rack 26 and a seventh driving mechanism 27. The rack 26 is provided with a second vertical guide rail 28 extending in the vertical direction, and the second mounting rack 15 is slidingly installed on the second vertical guide rail 28 through a fourth sliding block. The seventh driving mechanism 27 comprises a seventh motor 271, a seventh ball screw 272 and a seventh nut mounting seat 273. The seventh ball screw 272 extends in the vertical direction and is rotationally installed on the rack 26, and the seventh nut mounting seat 273 is sleeved on the seventh ball screw 272 and is in threaded transmission connection with the seventh ball screw 272, and the seventh nut mounting seat 273 is fixedly connected with the second mounting rack 15. The seventh motor 271 is arranged on one side of the seventh ball screw 272 and is fixedly installed on the rack 26, and the seventh motor 271 and the seventh ball screw 272 are in transmission connection through a seventh synchronous belt 274, so that the seventh motor 271 drives the seventh ball screw 272 to rotate through the seventh synchronous belt 274, and then the seventh ball screw 272 drives the seventh nut mounting seat 273, the second mounting rack 15, the first mounting rack 11, the crotch floating assembly 10, the back floating assembly 14, the weight-reducing hanger 20, the floating cloud seat 22 and the handrail 24 to synchronously ascend and descend in the vertical direction, so as to adapt to the height of the patient.

[0051] Referring to Figure 9 As shown, in some embodiments, the application further provides a step training machine 1000, which comprises the lower limb step simulation device 30 and the above-mentioned hip joint movement simulation device. The lower limb step simulation device 30 is used to drive the patient to simulate the step training in place, and the hip joint movement simulation device can twist the crotch of the patient in cooperation with the step training of the lower limb step simulation device 30, so that the step training machine 1000 can drive the patient to simulate the movement state of the hip joint in the normal walking of the human body, and improve the rehabilitation effect of the muscle groups around the hip joint of the patient.

[0052] The above describes one embodiment of the application in detail, but the content described is only the preferred embodiment of the application and cannot be considered as limiting the implementation scope of the application. Any equivalent changes and improvements made within the scope of the application should still belong to the patent coverage scope of the application.

[0053] It should be noted that the terms "first", "second", and similar terms used in the present application do not denote any order, quantity, or importance, but are used to distinguish different components. The description of the present application with respect to "left", "right", "left side", "right side", "upper", "lower", "top", "bottom", and the like 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 "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0054] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

Claims

1. A hip joint motion simulation device, characterized in that, The device includes a hip-floating assembly comprising a hip cushion, a first support plate, a first mounting plate, and a first drive mechanism. The hip cushion, the first support plate, and the first mounting plate are arranged sequentially opposite each other along a first horizontal direction, and the hip cushion is mounted on the first support plate. The middle part of the support plate is hinged to the first mounting plate via a first rotating shaft arranged in a vertical direction. The first drive mechanism is mounted on the first mounting plate, and the drive end of the first drive mechanism is movably connected to the first support plate via a connecting rod. One end of the connecting rod is hinged to the drive end of the first drive mechanism, and the other end of the connecting rod is hinged to one end of the first support plate. The first drive mechanism is used to linearly drive the first support plate to rotate around the first rotating shaft along the first horizontal direction to cause the hip cushion to swing back and forth.

2. The hip joint motion simulation device according to claim 1, characterized in that, The crotch floating assembly further includes a first base plate and a second driving mechanism. The first base plate is disposed on the side of the first mounting plate opposite to the first support plate. A first guide rod extending toward the first base plate is fixedly mounted on the first mounting plate. The first guide rod is disposed along a first horizontal direction. The first base plate is slidably connected to the first guide rod through a first linear bearing. The second driving mechanism is disposed on the first base plate for driving the first support plate to move linearly along the first horizontal direction to drive the crotch cushion to move horizontally back and forth.

3. The hip joint motion simulation device according to claim 2, characterized in that, The hip joint motion simulation device further includes a first mounting frame and a third drive mechanism. The first mounting frame is provided with a first vertical guide rail. The first base plate is slidably mounted on the first vertical guide rail via a first slider. The third drive mechanism is provided on the first mounting frame. The first base plate is provided at the drive end of the third drive mechanism. The third drive mechanism is used to drive the first base plate to move along the first vertical guide rail to drive the hip cushion to rise and fall vertically.

4. The hip joint motion simulation device according to claim 3, characterized in that, The hip joint motion simulation device further includes a back floating assembly, which is disposed above the hip floating assembly. The back floating assembly includes a back cushion, a second support plate, a second base plate, a fourth drive mechanism, and a fifth drive mechanism. The back cushion, the second support plate, and the second base plate are arranged opposite to each other in a first horizontal direction. The back cushion is mounted on one side of the second support plate, and a second guide rod extending toward the second base plate is mounted on the other opposite side of the second support plate. The second guide rod is arranged in a first horizontal direction. The second base plate is slidably connected to the second guide rod through a second linear bearing, and the second base plate is slidably mounted on the first vertical guide rail through a second vertical slider. The fourth drive mechanism is used to drive the second support plate to move linearly in the first horizontal direction, and the fifth drive mechanism is used to drive the second base plate to move along the first vertical guide rail to drive the back cushion to rise and fall vertically.

5. The hip joint motion simulation device according to claim 3 or 4, characterized in that, The hip joint motion simulation device further includes a second mounting frame, on which a first horizontal guide rail and a sixth drive mechanism are provided. The first horizontal guide rail extends along a second horizontal direction, which is perpendicular to the first horizontal direction. The first mounting frame is slidably mounted on the first horizontal guide rail by a third slider. The sixth drive mechanism is provided on the second mounting frame for driving the first mounting frame to move along the second horizontal direction.

6. The hip joint motion simulation device according to claim 5, characterized in that, The hip joint motion simulation device also includes a frame and a seventh drive mechanism. The frame is provided with a second vertical guide rail, and the second mounting frame is slidably mounted on the second vertical guide rail via a fourth slider. The seventh drive mechanism is provided on the frame to drive the second mounting frame to move up and down along the second vertical guide rail.

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