CN206745587U - Link spine recovering trainer of creeping - Google Patents

Abstract

A kind of spine recovering trainer, including chassis of creeping that link, movement angle governor motion, linkage crawling exercises mechanism, abdominal support mechanism and motion of wagging the tail.It can realize that left and right sequential movements side, upper and lower extremities counter motion ganged movement are trained by the crawling exercises mechanism that links；By wagging the tail, motion can drive patient to do left and right waist torsional movement；The motion comfort level of patient can be improved by abdominal support mechanism；Pass through the angle of movement angle governor motion adjustable movement panel.The utility model realizes the switching of active and passive motion, can adjust the resistance of motion during active movement.By adjust motion panel angle can realize cat crawling, climb to a higher point creep, facedown is creeped, ensure the effective rehabilitation training of patient.

Description

Linkage crawling spine rehabilitation training device

technical field

The utility model relates to a spinal medical rehabilitation device, in particular to a crawling spinal rehabilitation training device for sequential linkage of upper and lower limbs.

Background technique

Sports medicine experts pointed out that the cause of spondylosis is due to the excessive time of human beings standing upright (including sitting). Under the action of gravity, standing upright for a long time causes excessive load-bearing on the spine, while crawling can relieve the load-bearing on the spine caused by standing upright for a long time, and change the mechanical structure and stress state of the human spine. When crawling, the weight of the body is distributed to the limbs, thereby greatly reducing the burden of gravity on the cervical, thoracic, and lumbar spine. At present, in the early stage of modern clinical treatment, drugs and surgery are mostly used to treat spondylosis, while the rehabilitation in the later stage uses physical therapy crawling therapy, which has a significant effect.

At present, some active crawling training products at home and abroad are used for physical exercise and body shaping. There is only a single active crawling mode, which cannot be used for seriously ill patients who need auxiliary exercise training, let alone crawling evaluation. There are passive crawling trainers in recent years, but the limbs of the trainer are mostly controlled by multiple sets of discrete motors. The crawling process is a reverse movement of the upper and lower limbs on one side, and one side and the other side move in sequence. The use of discrete motor unit control is not conducive to the realization of the crawling linkage process, and the more motors, the more cumbersome the device, and it is prone to misoperation. , causing serious security problems

Utility model content

The purpose of this utility model is to provide a linkage crawling spinal rehabilitation training device in order to solve the above problems.

In order to achieve the above object, the utility model adopts the following technical solutions:

A linkage crawling spine rehabilitation training device, comprising a chassis, a movement angle adjustment mechanism, a linkage crawling movement mechanism, an abdominal support mechanism and a tail swing movement mechanism; the movement angle adjustment mechanism is installed on the chassis, and the linkage crawling movement mechanism and the abdomen support mechanism They are respectively installed on the movement angle adjustment mechanism, and can be tilted at an angle together under the action of the movement angle adjustment mechanism. The tail swing movement mechanism is connected with the abdominal support mechanism and can drive the rear part of the linkage crawling movement mechanism to swing.

The movement angle adjustment mechanism includes:

The rotating frame is movably connected with the bottom frame, and fixedly connected with the abdominal support mechanism and the linkage crawling mechanism;

The worm gear reduction transmission mechanism is arranged on the bottom frame and fixedly connected with the bottom frame;

The arc-shaped rack is connected to the worm gear reduction transmission mechanism, and is connected to the abdominal support mechanism; it can drive the rotating frame and the abdominal support mechanism to rotate and tilt at an angle.

The linkage crawling mechanism includes:

Motion panel bracket, installed on the motion angle adjustment mechanism;

Upper limb crawling support profiles, a total of two symmetrically arranged on the left and right sides of the front of the sports panel bracket and fixedly connected with the sports panel bracket;

Lower limb crawling support profiles, a total of two symmetrically arranged on the left and right sides of the rear of the sports panel bracket and are flexibly connected with the sports panel bracket;

Upper limb linear guide rails, a total of two are respectively fixed on the inner floor of the two upper limb crawling support profiles;

Two linear guide rails for the lower limbs are respectively fixed on the inner floor of the two lower limbs crawling support profiles;

Two upper limb sliders are slidingly connected with two upper limb linear guide rails;

There are four lower limb sliders, which are divided into two groups and arranged on the left and right. In each group, two lower limb sliders are arranged front and back, and are respectively connected with two linear guide rails of lower limbs by sliding;

Two upper limb handles are fixedly connected with two upper limb sliders respectively;

Leg supports for lower limbs, two in total are fixedly connected with two sets of lower limb sliders;

Linkage drive mechanism, a total of two groups are respectively set in the upper limb crawling support profile and lower limb crawling support profile on both sides, and are respectively connected with the upper limb slider and lower limb slider on the corresponding side; the linkage drive mechanism on one side can drive the same side. The upper limb slider and the lower limb slider move synchronously, and then drive the upper limb handle and lower limb leg rest on the same side to move synchronously.

The abdominal support mechanism includes:

The abdominal support plate is installed on the movement angle adjustment mechanism;

The ball screw module is installed under the abdominal support plate and can drive the abdominal support plate to move forward and backward;

Abdominal linear guide rail, fixedly connected above the abdominal support plate;

The abdominal linear guide rail slider is slidingly connected with the abdominal linear guide rail;

The abdominal push rod mounting block is fixedly connected to the abdominal linear guide rail slider, and is connected with the ball screw module for transmission;

The left and right sleeves are symmetrically arranged on the left and right sides of the abdominal push rod mounting block, and are fixedly connected with the abdominal push rod mounting block;

The electric push rod is arranged in the middle of the abdominal push rod mounting block and is fixedly connected with the abdominal push rod mounting block;

The support plate on the abdomen is arranged on the upper ends of the electric push rod and the left and right sleeves, and is fixedly connected with the electric push rod and the left and right sleeves;

The abdominal supporting board is arranged above the abdominal supporting board and is movably connected with the abdominal supporting board.

The tail swing mechanism includes:

The tail swing transmission mechanism fixing plate is fixed on the abdomen support mechanism;

The tail swing transmission mechanism is installed on the tail swing transmission mechanism fixing plate, and is connected with the linkage crawling mechanism through transmission, which can drive the rear part of the linkage crawling mechanism to swing left and right.

The linkage drive mechanism includes a synchronous wheel seat, an upper limb synchronous wheel, a lower limb synchronous wheel, a motor seat, a motor, an upper limb synchronous belt, a lower limb synchronous belt, a steel wire rope, a reversing guide wheel seat, a reversing guide wheel, a limiter mounting plate and a limiter. device;

The synchronous wheel seat is installed at the rear end of the lower limb crawling support profile, the motor seat is installed at the front end of the upper limb crawling support profile, the motor and the upper limb synchronous wheel are respectively installed on the motor seat, the lower body synchronous wheel is installed on the synchronous wheel seat, and the upper body synchronous belt is bypassed The upper limb synchronous wheel is fixedly connected with the upper limb slider, the lower limb synchronous belt bypasses the lower limb synchronous wheel and is fixedly connected with the lower limb slider, the upper limb synchronous belt and the lower limb synchronous belt are connected by a wire rope; the reversing guide wheel seat is installed at the rear end of the upper limb crawling support profile , the reversing guide wheel is installed on the reversing guide wheel seat, and the wire rope bypasses the reversing guide wheel;

The limiter mounting plate is installed on the side of the upper limb crawling support profile. A rear limiter is installed at the rear end of the limiter mounting plate, and two front end limiters are installed at the front end of the limiter mounting plate. One of the front end stoppers is connected with the movement range adjustment knob and can be adjusted forward and backward, and the movement range adjustment knob is installed on the outside of the stopper mounting plate.

The ball screw module includes an auxiliary bearing seat, a main bearing seat, a screw, an abdominal motor transmission mechanism and an abdominal ball screw slider; The rod is connected between the auxiliary bearing seat and the main bearing seat, the abdominal motor transmission mechanism is installed next to the main bearing seat and connected with the screw drive, the belly ball screw slider is connected with the lead screw meshing drive and fixed with the abdominal push rod mounting block connected.

The swing tail transmission mechanism includes:

The swing tail transmission box is connected to the fixed plate of the swing tail transmission mechanism;

The swing tail motor is arranged under the swing tail transmission box and connected with the swing tail transmission box;

The cylindrical rack and ejector rod is installed on the tail swing transmission box, and can be driven by the tail swing motor to move left and right, so as to drive the lower limbs to crawl and support the profile to swing left and right;

Two rack end sleeves are respectively connected to the two ends of the cylindrical rack ejector rod;

Tail swing guide wheels, a total of two groups are respectively connected to the upper and lower ends of the two rack end sleeves, and are in contact with the lower limb crawling support profiles;

The connecting rod is connected between the left and right lower limb crawling support profiles;

Tail-swinging rollers are set under the rear end of the lower limb crawling support profile, which can roll left and right on the sports panel bracket;

The guide pin is arranged at the rear end of the lower limb crawling support profile, and the sports panel bracket is correspondingly provided with an arc-shaped guide groove, and the guide pin can be inserted into the arc-shaped guide groove to slide along the arc-shaped guide groove;

The front end of the lower limb crawling support profile is rotatably connected to the sports panel bracket through a tail swing shaft.

Two shaft mounts are symmetrically installed below the abdomen support plate, rack shafts are respectively installed on the two shaft mounts, and the upper end of the arc-shaped rack in the movement angle adjustment mechanism is rotatably connected with the rack shaft.

Dampers are installed on both sides of the upper limb synchronous wheel.

The abdominal supporting board is movably connected with the abdominal supporting board through the rotating shaft of the abdomen, so that the abdominal supporting board can rotate slightly.

The rotating frame is connected with the bottom frame through the frame rotating shaft, and pointer discs are respectively installed at both ends of the frame rotating shaft.

The utility model introduces a linkage transmission mechanism, adopts the reverse movement joint training of the left motor and the right motor, and realizes the reverse passive movement of the upper and lower limbs. It solves the problem of potential safety hazards caused by wrong actions in crawling training. The utility model can realize the left and right sequential movement side and upper and lower limbs reverse movement linkage movement training through the linkage crawling movement mechanism; the tail swing movement mechanism can drive the patient to do left and right waist twisting movements; the abdominal support mechanism can improve the patient's exercise comfort; The angle of the motion panel can be adjusted through the motion angle adjustment mechanism. The utility model realizes switching between active and passive movements, and can adjust movement resistance during active movements. By adjusting the angle of the motion panel, kneeling crawling, climbing crawling, and prone crawling can be realized to ensure effective rehabilitation training for patients.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the utility model linkage crawling spinal rehabilitation training instrument;

Fig. 2 is the setting state when the utility model is used for the device on the patient;

Fig. 3 is the setting state that the utility model is used for climbing and climbing;

Fig. 4 is the setting state of the utility model for prone crawling;

Fig. 5 is the structural representation of the linkage crawling mechanism in the utility model;

Fig. 6 is a structural schematic diagram of the internal transmission mechanism of the linkage crawling mechanism in the utility model;

Fig. 7 is a schematic diagram of the local structure of the swing tail movement mechanism in the utility model;

Fig. 8 is a structural schematic diagram of the transmission part of the tail motion mechanism in the pendulum of the present invention;

Fig. 9 is a structural schematic diagram of the abdominal support mechanism in Fig. 10 of the present utility model;

Fig. 11, Fig. 12 and Fig. 13 are structural schematic diagrams of the angle adjustment mechanism in the utility model.

detailed description

See Figure 1, see Figure 2, Figure 3, and Figure 4 for coordination. The linkage crawling spine rehabilitation training device of the present utility model comprises a base frame 1, a motion angle adjustment mechanism 2, a linkage crawling motion mechanism 3, an abdominal support mechanism 4 and a tail swing motion mechanism 5; the motion angle adjustment mechanism is installed on the base frame, and the linkage The crawling movement mechanism and the abdominal support mechanism are installed on the movement angle adjustment mechanism respectively, and can be tilted at an angle together under the action of the movement angle adjustment mechanism. The tail swing movement mechanism is connected with the abdomen support mechanism and can drive the rear part of the linkage crawling movement mechanism swing.

Referring to Fig. 11 , Fig. 12 and Fig. 13 , the motion angle adjustment mechanism 2 in the present invention further includes a rotating frame 21 , a worm gear reduction transmission mechanism 22 and an arc-shaped rack 23 .

The rotating frame 21 is movably connected with the base frame 1, and is fixedly connected with the abdominal support plate 41 in the abdominal support mechanism and the motion panel support in the linkage crawling mechanism; the rotating frame is connected with the base frame through the frame rotating shaft 211, Pointer discs 212 are respectively installed at both ends of the rack shaft.

The worm gear reduction transmission mechanism 22 is arranged on the bottom frame and is fixedly connected with the bottom frame.

The arc rack 23 is connected with the transmission of the worm gear reduction transmission mechanism, and is connected with the transmission of the abdomen support plate 41 in the abdomen support mechanism; it can drive the rotating frame and the abdomen support mechanism to rotate and tilt an angle together. Two rotating shaft mounts 24 are symmetrically installed below the abdominal support plate 41, and rack rotating shafts 25 are respectively installed on the two rotating shaft mounts. Turn connected.

Referring to Fig. 5 and Fig. 6, the linkage crawling mechanism 3 in the utility model further includes a motion panel bracket 31, an upper limb crawling support profile 32, a lower limb crawling support profile 33, an upper limb linear guide rail 34, a lower limb linear guide rail 35, and an upper limb slider 36, lower limb slide block 37, upper limb handle 38, lower limb leg support 39 and linkage drive mechanism 30. Wherein, the motion panel bracket 31 is installed on the motion angle adjustment mechanism; two upper limbs crawl support profiles 32 are symmetrically arranged on the left and right sides of the front portion of the motion panel bracket and are fixedly connected with the motion panel bracket; two lower limbs crawl support profiles 33 are altogether Symmetrically arranged on the left and right sides of the sports panel support rear portion and flexibly connected with the sports panel support; Two upper limb linear guide rails 34 are respectively fixed on the inner base plates of the two upper limb crawling support profiles; two lower limb linear guide rails 35 are respectively fixed on the inner base plates of the two lower limb crawl support profiles; two upper limb sliders 36 are respectively It is slidingly connected with two upper limb linear guides; there are four lower limb sliders 37, which are divided into two groups and arranged around each other. It is fixedly connected with two upper limb sliders; two lower limb leg rests 39 are fixedly connected with two groups of lower limb sliders respectively; two groups of linkage drive mechanisms 30 are respectively arranged in the upper limb crawling support profiles and the lower limb crawling support profiles on both sides, And respectively connected with the upper limb slider and lower limb slider on the corresponding side; the linkage drive mechanism on one side can drive the upper limb slider and lower limb slider on the same side to move synchronously, and then drive the upper limb handle and lower limb leg support on the same side to move synchronously . This linkage driving mechanism 30 comprises synchronous wheel base 301, upper limb synchronous wheel 302, lower limb synchronous wheel 303, motor seat 304, motor 305, upper limb synchronous belt 306, lower limb synchronous belt 307, steel wire rope 308, reversing guide wheel seat 309, reversing guide Wheel 310, stopper mounting plate 311 and stopper 312.

The synchronous wheel seat is installed at the rear end of the lower limb crawling support profile, the motor seat is installed at the front end of the upper limb crawling support profile, the motor and the upper limb synchronous wheel are respectively installed on the motor seat, the lower body synchronous wheel is installed on the synchronous wheel seat, and the upper body synchronous belt is bypassed The upper limb synchronous wheel is fixedly connected with the upper limb slider, the lower limb synchronous belt bypasses the lower limb synchronous wheel and is fixedly connected with the lower limb slider, the upper limb synchronous belt and the lower limb synchronous belt are connected by a wire rope; the reversing guide wheel seat is installed at the rear end of the upper limb crawling support profile , the reversing guide wheel is installed on the reversing guide wheel seat, and the wire rope is bypassed from the reversing guide wheel.

The limiter mounting plate is installed on the side of the upper limb crawling support profile. A rear limiter is installed at the rear end of the limiter mounting plate, and two front end limiters are installed at the front end of the limiter mounting plate. One of the front end stoppers is connected to the movement range adjustment knob 313 and can be adjusted forward and backward, and the movement range adjustment knob is installed on the outside of the stopper mounting plate. A damper 314 is installed on both sides of the upper limb synchronous wheel 302 .

Referring to Fig. 9 and Fig. 10, the abdomen support mechanism 4 in the utility model further includes an abdomen support plate 41, a ball screw module 42, an abdomen linear guide 43, an abdomen linear guide slider 44, an abdomen push rod mounting block 45, Left and right sleeves 46, electric push rod 47, support plate 48 and abdomen supporting plate 49 on the abdomen. Wherein, the abdomen support plate 41 is installed on the motion angle adjustment mechanism; Two rotating shaft mounts 24 are symmetrically installed below the abdomen support plate, and rack rotating shafts 25 are respectively installed on the two rotation shaft mounts. The upper end of the arc rack 23 is rotatably connected with the rack shaft. The ball screw module 42 is installed below the abdomen support plate, and can drive the abdomen support plate to move back and forth; Abdominal ball screw slider 425; the auxiliary bearing seat and the main bearing seat are respectively installed at both ends of the belly support plate, the screw is connected between the auxiliary bearing seat and the main bearing seat, and the abdominal motor transmission mechanism is installed next to the main bearing seat And it is connected with the screw drive, and the belly ball screw slider is connected with the screw meshing drive and fixedly connected with the belly push rod mounting block. The abdominal linear guide rail 43 is fixedly connected above the abdominal support plate; the abdominal linear guide rail slider 44 is slidingly connected with the abdominal linear guide rail; the abdominal push rod mounting block 45 is fixedly connected to the abdominal linear guide rail slider and is connected with the ball screw module transmission The left and right sleeves 46 are symmetrically arranged on the left and right sides of the abdominal push rod mounting block, and are fixedly connected with the abdominal push rod mounting block; the electric push rod 47 is arranged in the middle of the abdominal push rod mounting block, and is installed with the abdominal push rod The upper support plate 48 on the abdomen is arranged on the upper end of the electric push rod and the left and right sleeves, and is fixedly connected with the electric push rod and the left and right sleeves; the abdomen support plate 49 is arranged on the top of the abdomen support plate and rotates through the abdomen The shaft 40 is movably connected with the abdomen support plate, so that the abdomen support plate can rotate slightly.

With reference to Fig. 7 and Fig. 8, the swing tail movement mechanism 5 in the utility model further includes:

Swing tail transmission mechanism fixed plate 50 and swing tail transmission mechanism, the swing tail transmission mechanism fixed plate 50 is fixed on the abdomen support plate 41 on the abdomen support mechanism, the swing tail transmission mechanism is installed on the swing tail transmission mechanism fixed plate 50, and with The linked crawling mechanism is connected by transmission and can drive the rear part of the linked crawling mechanism to swing left and right. The tail swing transmission mechanism includes a tail swing transmission box 51, a tail swing motor 52, a cylindrical rack push rod 53, a rack end cover 54, a tail swing guide wheel 55, a connecting rod 56, a tail swing roller 57 and a guide pin 58. Wherein, the tail swing transmission box 51 is connected to the fixed plate of the tail swing transmission mechanism; the tail swing motor 52 is arranged under the tail swing transmission box and is connected with the transmission of the tail swing transmission box; on the box, and can be driven by the tail swing motor to move left and right, thereby driving the lower limbs to crawl and support the profile to swing left and right; two rack end sleeves 54 are respectively connected to the two ends of the cylindrical rack push rod; two groups of tail swing guide wheels 55 They are respectively connected to the upper and lower ends of the two rack end sleeves, and are in contact with the lower limb crawling support profiles; the connecting rod 56 is connected between the left and right lower limb crawling support profiles, and the connecting rod is fixedly installed on the inner side of the lower limb crawling support profiles The connecting groove 561 is a ball-and-socket connection between the connecting rod 56 and the connecting rod connecting groove 561, and the mobility is very good. Tail wagging roller 57 is arranged on the lower limbs crawling support profile rear end below, and it can roll left and right on the sports panel support; guide pin 58 is arranged on the lower limbs crawling support profile rear end. An arc-shaped guide groove 3101 is correspondingly provided on the motion panel bracket 31 , and the guide pin is inserted into the arc-shaped guide groove and can slide along the arc-shaped guide groove.

Claims (10)

1. The spine recovering trainer 1. one kind linkage is creeped, it is characterised in that：Including chassis, movement angle governor motion, linkage Crawling exercises mechanism, abdominal support mechanism and motion of wagging the tail；Movement angle governor motion is arranged on chassis, and linkage is creeped Motion and abdominal support mechanism are separately mounted on movement angle governor motion, and can be in the work of movement angle governor motion Tilt an angle together under, motion of wagging the tail is connected with abdominal support mechanism and can drive linkage crawling exercises mechanism Rear portion is swung.
2. The spine recovering trainer 2. linkage according to claim 1 is creeped, it is characterised in that：The movement angle regulation Mechanism includes：

   Frame is rotated, is connected by frame rotating shaft with chassis, and fixes and connects with abdominal support mechanism and linkage crawling exercises mechanism Connect, needle dial is separately installed with frame rotating shaft both ends；

   Worm and gear reduction gearing mechanism, is arranged on chassis, and is fixedly connected with chassis；

   Arc-shaped rack, it is connected with the transmission of worm and gear reduction gearing mechanism, and is connected with abdominal support mechanism driving；Can be with turn Motivation frame and abdominal support mechanism rotate together tilts an angle.
3. The spine recovering trainer 3. linkage according to claim 1 is creeped, it is characterised in that：The linkage crawling exercises Mechanism includes：

   Panel rack is moved, on movement angle governor motion；

   Upper limbs, which is creeped, supports section bar, and totally two are symmetricly set on the anterior left and right sides of motion panel rack and with moving panel branch Frame is fixedly connected；

   Lower limb are creeped support section bar, totally two left and right sides for being symmetricly set on motion panel rack rear portion and with moving panel branch Frame is flexibly connected；

   Upper limbs line slideway, totally two be separately fixed at two upper limbs creep support section bar internal backplane on；

   Lower limb line slideway, totally two be separately fixed at two lower limb creep support section bar internal backplane on；

   Upper limbs sliding block, totally two pieces are slidably connected with two upper limbs line slideways respectively；

   Lower limb sliding block, totally four, it is divided to two groups or so settings, every group of two lower limb sliding blocks are front and rear to be set, straight with two lower limb respectively Line guide rail is slidably connected；

   Upper limbs handle, totally two are fixedly connected with two pieces of upper limbs sliding blocks respectively；

   Lower limb leg support, totally two are fixedly connected with two groups of lower limb sliding blocks respectively；

   Linkage driving mechanism, totally two groups of upper limbs being respectively provided at both sides, which are creeped, supports section bar and lower limb to creep in support section bar, And the upper limbs sliding block with corresponding side, the transmission of lower limb sliding block are connected respectively；The linkage driving mechanism of side can drive the upper of the same side Limb sliding block, lower limb sliding block are synchronized with the movement, and then drive the upper limbs handle of the same side and lower limb leg support to be synchronized with the movement.
4. The spine recovering trainer 4. linkage according to claim 1 is creeped, it is characterised in that：The abdominal support mechanism Including：

   Abdominal support plate, on movement angle governor motion；

   Ball-screw module, below abdominal support plate, and abdominal support plate can be driven to move forward and backward；

   Belly line slideway, it is fixedly connected on above abdominal support plate；

   Belly straight-line guide rail slide block, it is slidably connected with belly line slideway；

   Belly push rod mounting blocks, are fixedly connected on belly straight-line guide rail slide block, and are connected with ball-screw module；

   Left and right sleeve, the right and left being symmetricly set on belly push rod mounting blocks, and fix and connect with belly push rod mounting blocks Connect；

   Electric pushrod, the centre of belly push rod mounting blocks is arranged on, and is fixedly connected with belly push rod mounting blocks；

   Belly upper backup pad, electric pushrod and left and right sleeve upper end are arranged on, and fix and connect with electric pushrod and left and right sleeve Connect；

   Abdominal pallets, it is arranged on above abdominal support plate, and is flexibly connected with abdominal support plate.
5. The spine recovering trainer 5. linkage according to claim 1 is creeped, it is characterised in that：The motion of wagging the tail Including：

   Wag the tail transmission mechanism fixed plate, be fixed in abdominal support mechanism；

   Wag the tail transmission mechanism, be connected in transmission mechanism fixed plate of wagging the tail, and with linkage crawling exercises mechanism driving, can band The rear portion of dynamic linkage crawling exercises mechanism swings.
6. The spine recovering trainer 6. linkage according to claim 3 is creeped, it is characterised in that：The linkage driving mechanism Including synchronous wheel seat, upper limbs synchronizing wheel, lower limb synchronizing wheel, motor cabinet, motor, upper limbs timing belt, lower limb timing belt, steel wire rope, Commutate wheel stand, commutation guide wheel, limiter installing plate and limiter；

   Synchronous wheel seat is creeped installed in lower limb supports section bar rear end, and motor cabinet is creeped installed in upper limbs and supports section bar front end, motor It is separately mounted to upper limbs synchronizing wheel on motor cabinet, lower limb synchronizing wheel is movably arranged on synchronous wheel seat, and upper limbs timing belt bypasses Upper limbs synchronizing wheel is simultaneously fixedly linked with upper limbs sliding block, and lower limb timing belt is fixedly linked around lower limb synchronizing wheel and with lower limb sliding block, Upper limbs timing belt is connected with lower limb timing belt by steel wire rope；Commutation wheel stand is creeped installed in upper limbs and supports section bar rear end, is changed It is arranged on to guide wheel on commutation wheel stand, steel wire rope bypasses from commutation guide wheel；

   Limiter installing plate is creeped installed in upper limbs supports the side of section bar, after being mounted with one in the rear end of limiter installing plate Limiter is held, two front end limiters, one of front end limiter and motion width are mounted with the front end of limiter installing plate Spend adjusting knob and be connected and front and rear can adjust, motion amplitude adjusting knob is arranged on the outside of limiter installing plate.
7. The spine recovering trainer 7. linkage according to claim 4 is creeped, it is characterised in that：The ball-screw module Including countershaft bearing, main bearing seat, leading screw, belly motor transmission mechanism and belly ball-screw sliding block；Countershaft bearing and main shaft Bearing is separately mounted to the both ends below abdominal support plate, and leading screw is connected between countershaft bearing and main bearing seat, belly motor Transmission mechanism is arranged on beside main bearing seat and is connected with lead screw transmission, and belly ball-screw sliding block is connected with leading screw engaged transmission And it is fixedly linked with belly push rod mounting blocks.
8. The spine recovering trainer 8. linkage according to claim 4 is creeped, it is characterised in that：The transmission mechanism of wagging the tail Including：

   Wag the tail transmission case, be connected to and wag the tail in transmission mechanism fixed plate；

   Wag the tail motor, be arranged on below transmission case of wagging the tail and be connected with transmission case transmission of wagging the tail；

   Cylindricality rack push rod, is movably arranged on and wags the tail on transmission case, and can be by motor driven side-to-side movement of wagging the tail, so as to drive down Limb, which is creeped, supports section bar to swing；

   Rack end covers, totally two both ends for being connected to cylindricality rack push rod；

   Wag the tail guide wheel, totally two groups of upper and lower ends for being connected to two rack ends sets, and contacted with lower limb support section bar of creeping It is connected；

   Connecting rod, be connected to left and right two lower limb creep support section bar between；

   Wag the tail roller, be arranged on lower limb and creep below support section bar rear end, it can be rolled left and right on motion panel rack；

   Guide finger, it is arranged on lower limb and creeps support section bar rear end, be correspondingly provided with arc guide groove on the motion panel rack, lead Arcuately guide groove it can be slided into pin insertion arc guide groove；

   The lower limb, which are creeped, supports the front end of section bar to be rotatably connected with motion panel rack by rotating shaft of wagging the tail.
9. The spine recovering trainer 9. linkage according to claim 4 is creeped, it is characterised in that：Under the abdominal support plate Face is symmetrically installed with two rotating shaft mounting seats, is mounted with rack rotating shaft, movement angle regulation respectively in two rotating shaft mounting seats The upper end of arc-shaped rack in mechanism is rotatably connected with the rack rotating shaft；The abdominal pallets pass through belly rotary shaft and belly Supporting plate is flexibly connected, and makes abdominal pallets can fine rotation.
10. The spine recovering trainer 10. linkage according to claim 6 is creeped, it is characterised in that：The upper limbs synchronizing wheel Both sides are provided with damper.