CN216148993U - Multi-dimensional human body dynamic balance training system - Google Patents

Abstract

The utility model relates to a multidimensional human body dynamic balance training system which comprises a cross sliding table, a lifting mechanism, a left-right rotating mechanism, a front-back rotating mechanism, a horizontal rotating mechanism, a pedal plate and a rack, wherein the rack comprises a pedestal, a protective cover, an electric box, a columnar rack and a handrail seat, the cross sliding table is arranged on the pedestal, the lifting mechanism, the left-right rotating mechanism, the front-back rotating mechanism, the horizontal rotating mechanism and the pedal plate are sequentially connected in series and are arranged on the cross sliding table, and the protective cover is arranged between the pedestal and the pedal plate. The utility model adopts an external driving mode to drive the human body to perform passive motion, can realize the dynamic balance training of the human body with 0-6 degrees of freedom, meets the training requirements of various human body balance functions, enhances the core muscle strength of the body, improves the vestibular sensation, improves the reaction speed and the like, has wide application range, can be used for the rehabilitation of patients, can be used for the training of athletes, or simulates various operation environments, has modularized design and is easy to assemble, disassemble, assemble and maintain.

Description

Multi-dimensional human body dynamic balance training system

Technical Field

The utility model relates to a medical instrument rehabilitation device for evaluating and training a human body balance function, in particular to a multi-dimensional human body dynamic balance training system.

Background

The rehabilitation training of body balance is an important treatment means for restoring the body coordination ability of a human body, a Berg balance ability measurement method (BBS), a Fulg-Meyer balance function evaluation table (FM-B) method and a posture evaluation index (PASS) are mostly used in clinic, and the evaluation methods are mostly equipped with physical therapists and depend on the experience of the physical therapists, so that the one-to-one physical therapists are high in labor intensity, low in efficiency, poor in objectivity, difficult to quantify and the like, and therefore, the evaluation and rehabilitation training performed by using an instrument are more objective, scientific and accurate, and therefore the importance of rehabilitation training equipment related to the body balance restoration is reflected. At present, most human body balance training devices researched and developed at home and abroad mainly adopt a Pro-kin visual feedback system and the like, require a rehabilitee to adjust balance by using vision, and belong to the field of active dynamic and static balance training of the rehabilitee. Reportedly, because the initiative motor training process receives the influence of many-sided factors such as recovered person's vision, emotion, the dispersion degree of training effect is great, and to the cerebral apoplexy patient, motion, sense organ and cognition etc. receive the damage of different degrees mostly, and the ability of this kind of crowd initiatively allotment body balance is limited, and carries out passive motion balance ability training to the patient and more accords with human anatomy principle, receives the human factor influence less, and the effect of passive motion balance rehabilitation training is better. The balance rehabilitation apparatus on the market is mainly divided into non-mechanical products and mechanical products, and the non-mechanical products mainly comprise balance balls, balance training plates, balance discs, balance beams and the like; common mechanical products include a French Allcrare animal series 3D compound exercise training platform, a Balance-check dynamic Balance capability tester of Dr-Wolf Germany, a multifunctional rehabilitation training system of the common medical science and technology (Beijing) Co., Ltd, a Yongkangtai core muscle group training system and the like. The existing dynamic balance device still has the problems of single action of active exercise training of people, complex mechanical structure, inconvenient maintenance, incapability of completely restoring the body balance state of a human body, low curative effect and the like, and needs to be further improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a multi-dimensional human body dynamic balance training system to meet the training requirements of various human body balance functions.

The purpose of the utility model can be realized by the following technical scheme:

the utility model provides a multi-dimensional human body dynamic balance training system, which comprises a cross sliding table, a lifting mechanism, a left-right rotating mechanism, a front-back rotating mechanism, a horizontal rotating mechanism, a pedal plate and a frame,

the frame comprises a pedestal, the cross sliding table is arranged on the pedestal, and the lifting mechanism, the left and right rotating mechanisms, the front and rear rotating mechanisms, the horizontal rotation mechanism and the pedal plate are sequentially connected upwards and are arranged on the cross sliding table;

the flat rotating mechanism, the front and back rotating mechanism, the left and right rotating mechanism, the lifting mechanism and the cross sliding table are core driving mechanisms for providing dynamic balance training with 0-6 degrees of freedom,

the cross sliding table provides x-direction movement and y-direction movement for the lifting mechanism and the upper structure thereof,

the lifting mechanism provides the up-and-down lifting motion in the z direction for the left-and-right rotating mechanism and the upper structure thereof,

the left-right rotating mechanism provides rotation around the y axis for the front-back rotating mechanism and the upper structure thereof, namely, the left-right swinging is realized,

the front and back rotating mechanism provides rotation around an x axis for the flat rotating mechanism and the upper structure thereof, namely, the front and back swinging is realized,

the horizontal rotation mechanism provides the pedal with rotation motion in an XY plane, namely the horizontal rotation mechanism provides the pedal with rotation around a z axis,

the pedal is used for supporting a human body and can realize the motion with 0-6 degrees of freedom in space or the combined motion with a plurality of degrees of freedom under the drive of the horizontal rotation mechanism, the front and rear rotation mechanism, the left and right rotation mechanism, the lifting mechanism and the cross sliding table;

the x, y and z axes are three coordinate axes of a cartesian coordinate system, the coordinate axis directions are also three directions of a human body reference coordinate system, the x direction is the x axis direction, which is short for the left and right directions of the human body, the y direction is the front and back directions of the human body, the z direction is the up and down directions of the human body, the x direction and the y direction are two directions vertical to the horizontal plane, and the z direction is the direction vertical to the horizontal plane where the x and the y are located.

In one embodiment of the utility model, the cross sliding table comprises an X-direction moving platform and a Y-direction moving platform;

the X-direction moving platform is arranged on the X-direction sliding rail and can relatively slide and translate, and the X-direction moving platform is driven by a first motor through a coupler to move left and right on the X-direction sliding rail; the horizontal translation movement in the left-right direction, namely the x direction of the coronary axis, is provided for human body training.

The Y-direction moving platform is arranged on the Y-direction sliding rail and can relatively slide and translate, and the Y-direction moving platform is driven by a second motor through a coupler to move back and forth on the Y-direction sliding rail through a Y-direction screw nut pair; the Y-direction moving platform provides forward and backward translation motion, namely forward and backward translation motion in the Y direction of the sagittal axis, for human body training.

The X-direction moving platform and the Y-direction moving platform are crossed and perpendicular to each other in moving direction, the X-direction moving platform is located above the Y-direction moving platform, and an X-direction sliding rail of the X-direction moving platform and the first motor are fixed on the upper surface of the Y-direction moving platform, so that the X-direction moving platform can move along with the Y-direction moving platform.

In one embodiment of the utility model, the bottom of the cross sliding table is fixedly arranged in a pedestal of the frame through a Y-direction sliding rail, and a second motor of the cross sliding table is also fixed on the pedestal.

In one embodiment of the present invention, the lifting mechanism includes a lower fixed seat, a lower movable seat, a movable guide rail, an upper fixed seat, an upper movable seat, an X-shaped hinge frame and a Z-direction lifting platform;

the upper moving guide rail and the lower moving guide rail are arranged in parallel, the lower moving seat is connected with the moving guide rail below in a sliding manner, and the upper moving seat is connected with the moving guide rail above in a sliding manner;

the Z-direction lifting platform drives the Z-direction screw rod nut pair to drive the push plate through a third motor through a coupler, so that the lower moving seat is pushed to slide left and right, and finally the X-shaped hinge frame is driven to deform to enable the Z-direction lifting platform to lift up and down;

and the lower fixed seat of the lifting mechanism and the movable guide rail below the lower fixed seat are fixed on the cross sliding table.

In one embodiment of the utility model, the lower fixed seat of the lifting mechanism and the lower movable guide rail are fixed on the upper surface X-direction movable platform of the cross sliding table, so that the lifting mechanism can move along with the X-direction movable platform, and the Z-direction lifting platform of the lifting mechanism can obtain movement along the directions of X, y and Z axes.

In one embodiment of the utility model, the Z-direction lifting platform is arranged above the X-shaped hinge frame, the X-shaped hinge frame is arranged on the X-direction moving platform on the upper surface of the cross sliding table, and the Z-direction lifting platform can be lifted up and down relative to the cross sliding table to provide vertical up-and-down movement in the vertical axis Z-axis direction for human body training.

In one embodiment of the utility model, the Z-direction lifting platform is connected with a screw rod of a Z-direction screw rod nut pair through a coupler, the middle of the push plate is fixed with a nut of the Z-direction screw rod nut pair, two ends of the push plate are fixed with the lower moving seat, and the lower moving seat is arranged on the moving guide rail and can slide and translate relative to the moving guide rail.

In one embodiment of the utility model, the left-right rotating mechanism comprises an XZ surface motor base, a fourth motor, an XZ surface meshing gear, an XZ surface rotating shaft, an XZ surface bearing seat, a support and an XZ surface rotating platform;

the fourth motor is arranged on an XZ surface motor base and drives the XZ surface meshing gear to move through a coupler so as to drive an XZ surface rotating shaft fixedly connected with the XZ surface meshing gear to move, so that the XZ surface rotating platform fixedly connected with the XZ surface rotating shaft is driven to swing left and right, namely to rotate in an xZ surface, namely to swing in a coronal plane of a human body;

the XZ surface bearing block and the XZ surface motor base of the left-right rotating mechanism are arranged on the upper surface of the lifting mechanism and are fixedly connected with the Z-direction lifting platform, so that the left-right rotating mechanism can lift along with the lifting and descending of the Z-direction lifting platform, and the XZ surface rotating platform of the left-right rotating mechanism can move along the directions of x, y and Z axes and rotate around the y axis.

In one embodiment of the utility model, the fourth motor is connected with one of the gears of the XZ plane meshing gear through a coupling, the XZ plane rotating shaft is fixed with the other gear of the XZ plane meshing gear, a support is further fixed on the XZ plane rotating shaft, and an XZ plane rotating platform is fixed on the support.

In one embodiment of the utility model, the two sides of the lower part of the support are provided with convex feet, and the convex feet are matched with the adjustable supporting feet with adjustable height and used for limiting the swing range of the support, namely limiting the range of the left and right swing angles of the XZ plane rotating platform. When the adjustable supporting legs are adjusted to be high, the swing range of the supporting seat is reduced, otherwise, the swing range of the supporting seat is increased, and therefore the height of the adjustable supporting legs is adopted to control or limit the left and right swing angle range of the XZ plane rotating platform.

In one embodiment of the present invention, the front-back rotating mechanism is similar to the left-right rotating mechanism in structure, and the front-back rotating mechanism comprises a YZ plane motor base, a fifth motor, a YZ plane meshing gear, a YZ plane rotating shaft, a YZ plane bearing base and a YZ plane rotating platform;

the fifth motor is arranged on a YZ plane motor base and drives the YZ plane meshing gear to move through a coupler so as to drive a YZ plane rotating shaft fixedly connected with the YZ plane meshing gear to move, so that the YZ plane rotating platform fixedly connected with the YZ plane rotating shaft is driven to swing back and forth, namely to rotate in a YZ plane, namely to swing in a sagittal plane of a human body;

the YZ plane bearing seat and the YZ plane motor seat of the front and rear rotating mechanism are arranged on the upper surface of the left and right rotating mechanism and are fixedly connected with the XZ plane rotating platform, so that the front and rear rotating mechanism can swing along with the left and right swinging of the XZ plane rotating platform, and finally the YZ plane rotating platform of the front and rear rotating mechanism can obtain the movement along the directions of x, y and z axes and the rotation around the y axis and the x axis;

a flat rotating base hole is formed in the center of the YZ-plane rotating platform and fixedly connected with a flat rotating mechanism, a flat rotating shaft hole is formed in the eccentric position of the YZ-plane rotating platform and is in fit connection with the flat rotating mechanism, and therefore the flat rotating mechanism is installed on the YZ-plane rotating platform and can swing back and forth along with the YZ-plane rotating platform.

In one embodiment of the utility model, the horizontal rotation mechanism comprises a bull eye bearing, a large gear, a horizontal rotation seat, a small gear, a sixth motor and a small gear shaft, wherein the horizontal rotation seat is arranged in the center of the large gear, a force sensor mounting hole is formed in the middle of the large gear, the bull eye bearing is supported on the lower surface of the large gear, the large gear and the small gear are a pair of meshed gears, the sixth motor is fixedly connected with the small gear shaft through a coupler, and the small gear shaft is fixedly connected with the small gear, so that the sixth motor can drive the large gear to rotate horizontally through driving the small gear, namely to rotate in an xy plane, namely to rotate horizontally in a horizontal plane of a human body.

In one embodiment of the utility model, the flat rotary seat is fixed on a flat rotary seat hole of the YZ-plane rotating platform, so that the rotation center of a gearwheel of the flat rotary mechanism is matched with the central axis of the YZ-plane rotating platform; the pinion shaft of the horizontal rotation mechanism penetrates through and is rotatably connected into a horizontal rotation shaft hole of the YZ plane rotation platform, and the axial center distance between the horizontal rotation seat hole and the horizontal rotation shaft hole is equal to the gear meshing center distance between the large gear and the small gear. After the connection, the flat-rotating mechanism can swing along with the front and back swing of the YZ plane rotating platform of the front and back rotating mechanism, and finally the large gear of the flat-rotating mechanism can obtain the movement along the directions of x, y and z axes and the rotation around the y, x and z axes.

In one embodiment of the utility model, in addition, the middle of the gearwheel is provided with a force sensor mounting hole for connecting a pedal.

In one embodiment of the utility model, the pedal comprises a pedal and a plurality of force sensors arranged below the pedal, the force sensors are uniformly distributed in the circumferential direction and used for detecting the gravity center position of a human body standing on the pedal, the pedal is connected with the large gear through the force sensors, and the lower ends of the force sensors are arranged on force sensor mounting holes of the horizontal rotation mechanism.

The foot pedal can obtain the movement along the directions of the x axis, the y axis and the z axis and the rotation around the x axis, the y axis and the z axis, and has 6 degrees of freedom.

In one embodiment of the utility model, the machine frame comprises a pedestal, a protective cover, an electric box, a columnar frame and a handrail seat, and the end of the handrail seat is provided with an upper tooth seat.

The protective cover is arranged between the pedestal and the pedal; the columnar frame and the electric box are fixed on the pedestal, the handrail and the handle are both arranged on the upper part of the columnar frame, and the handrail is movably connected with the handrail seat;

the touch screen integrated machine is arranged at the top of the columnar frame;

the emergency stop switch is arranged at the top end of the columnar frame.

In one embodiment of the utility model, the handrail comprises two sets of multilayer holding rods, a locking button, a telescopic rod and a lower tooth seat which are bilaterally symmetrical,

the multi-layer holding rod is arranged at one end of the telescopic rod, the length of the telescopic rod can be contracted, and the expansion length of the telescopic rod can be locked through the locking button;

an upper tooth seat is arranged on a handrail seat of the frame, and a lower tooth seat of the handrail and the upper tooth seat of the frame are matched up and down to form lockable connection;

the stretching angle and the front and back positions of the multilayer holding rod with bilateral symmetry can be adjusted by adjusting the length of the telescopic rod and the steering of the lower tooth holder, so that the holding requirements of different patients can be met.

The handrail provides auxiliary support for the trainer, prevents the patient from falling down, or provides help for the training and treatment actions of the trainer.

In one embodiment of the utility model, the handle comprises a fixed seat, an elastic rope and a handle, which are connected in sequence, wherein the length of the elastic rope can be adjusted, and the elastic rope can be an elastic stretched rubber band rope or an inelastic rope.

The handle provides support stability or helping hand for the training person.

In one embodiment of the utility model, the protective cover comprises a lower sealing box, a flexible connection and an organ cover which are connected in sequence.

In one embodiment of the utility model, the control and acquisition circuit board arranged in the electric box can control the first motor to the sixth motor, acquire the force sensor signals, communicate with the touch screen all-in-one machine and the like, and further perform interactive virtual game training.

In one embodiment of the utility model, the force sensor is matched with an electric box and a touch screen all-in-one machine to record the gravity center movement track and evaluate the balance ability of a tester.

In one embodiment of the utility model, the multi-dimensional human body dynamic balance training system constitutes a 6-degree-of-freedom motion mechanism which rotates around the x axis, the y axis and the z axis and moves along the x axis, the y axis and the z axis, and can realize the motion of 0-6 degrees of freedom or the combined motion of a plurality of degrees of freedom of the pedal plate in the space by independently controlling each degree of freedom.

Compared with the prior art, the technical effects of the utility model are mainly embodied in the following aspects:

(1) can realize the dynamic balance training of human 0 ~ 6 degree of freedom to can simulate various operation environment, can supply the recovered use of patient, also can offer children, sportsman to use as balance training equipment, powerful, training combination mode is more nimble abundant, the recovered effect of promotion that can be better, can realize the dynamic balance training of 0 ~ 6 degree of freedom, if:

the degree of freedom is static balance at 0 degree of freedom, and static balance training under a plane and inclined planes in all directions can be realized;

the degree of freedom is 1 degree of freedom, namely movement along x, y and z axes, left-right movement, front-back movement and up-down movement, or rotation around the x, y and z axes, rotation in a coronal plane, rotation in a sagittal plane and rotation in a horizontal plane;

there are 15 training modes in 2 degrees of freedom, which are two-dimensional movement: the movement in the xy plane, the yz plane and the xz plane, namely the two-dimensional movement of the center of gravity of the human body in the horizontal plane, the two-dimensional movement in the sagittal plane and the two-dimensional movement in the coronal plane; or two-dimensional rotation: rotation around x + y, x + z, y + z axes simultaneously; or move + rotate: x-direction movement + x-axis rotation, x-direction movement + y-axis rotation, x-direction movement + z-axis rotation, y-direction movement + x-axis rotation, y-direction movement + y-axis rotation, y-direction movement + z-axis rotation, z-direction movement + x-axis rotation, z-direction movement + y-axis rotation, and z-direction movement + z-axis rotation.

There are 20 kinds of motion training modes in 3 degrees of freedom, 15 kinds in 4 degrees of freedom, 6 kinds in 5 degrees of freedom, 1 kind in 6 degrees of freedom, that is, the motion mode with 6 degrees of freedom is the space omnidirectional motion training.

(2) The modular design, the drive principle is succinct, and the combination pattern is various, and each degree of freedom control is relatively independent.

(3) Can be used for the balance training of the standing position and the sitting position.

(4) The multi-layer handrail design can adapt to patients with different heights and body widths, and the front-back distance and the opening angle of the handrail can be adjusted to adapt to different treatment actions and training modes.

Drawings

Fig. 1 is a schematic diagram of an overall structure of a multi-dimensional human dynamic balance training system in embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of an explosive structure of the multi-dimensional human dynamic balance training system in embodiment 1 of the present invention;

FIG. 3 is a schematic diagram of a partially cut-away structure of a multi-dimensional human dynamic balance training system in embodiment 1 of the present invention;

FIG. 4 is a schematic structural diagram of a core driving mechanism of a multi-dimensional human dynamic balance training system in embodiment 1 of the present invention;

fig. 5 is a schematic structural diagram of a cross sliding table in the multi-dimensional human dynamic balance training system in embodiment 1 of the present invention;

fig. 6 is a schematic structural diagram of a lifting mechanism in the multi-dimensional human body dynamic balance training system in embodiment 1 of the present invention;

fig. 7(a) is a first schematic structural diagram of a left-right rotating mechanism in a multi-dimensional human body dynamic balance training system in embodiment 1 of the present invention;

fig. 7(b) is a schematic structural diagram of a left-right rotating mechanism in the multi-dimensional human body dynamic balance training system in embodiment 1 of the present invention;

fig. 7(c) is a third schematic structural diagram of a left-right rotating mechanism in the multi-dimensional human body dynamic balance training system in embodiment 1 of the present invention;

fig. 8 is a schematic structural view of a front-back rotating mechanism in the multi-dimensional human body dynamic balance training system in embodiment 1 of the present invention;

FIG. 9 is a schematic structural diagram of a horizontal rotation mechanism in the multi-dimensional human dynamic balance training system according to embodiment 1 of the present invention;

FIG. 10 is a schematic structural diagram of a foot pedal in the multi-dimensional human dynamic balance training system according to embodiment 1 of the present invention;

fig. 11 is a schematic structural diagram of an armrest in the multi-dimensional human dynamic balance training system according to embodiment 1 of the present invention;

fig. 12 is a schematic structural diagram of a handle in the multi-dimensional human body dynamic balance training system in embodiment 1 of the present invention;

fig. 13 is a schematic structural diagram of a frame in the multi-dimensional human dynamic balance training system in embodiment 1 of the present invention;

fig. 14 is a schematic structural diagram of a protective cover in the multi-dimensional human body dynamic balance training system in embodiment 1 of the present invention.

Reference numbers in the figures:

1 is a pedal, 101 is a pedal, and 102 is a force sensor;

2, a horizontal rotation mechanism, 201 a bull eye bearing, 202 a bull gear, 2021 a force sensor mounting hole, 203 a horizontal rotation seat, 204 a sixth motor, 205 a pinion shaft and 206 a pinion;

3, a front-back rotating mechanism, 301, a YZ-plane meshing gear, 302, a YZ-plane bearing seat, 303, a YZ-plane rotating shaft, 304, a YZ-plane motor seat, 305, a fifth motor, 306, a YZ-plane rotating platform, 3061, a flat rotating shaft hole and 3062, a flat rotating seat hole;

4, a left-right rotating mechanism, 401, 4011, a convex foot, 402, an XZ-surface bearing seat, 403, an XZ-surface rotating shaft, 404, an XZ-surface motor seat, 405, a fourth motor, 406, an XZ-surface meshing gear and 407, wherein the left-right rotating mechanism is a support seat;

5, a lifting mechanism, 501, an upper fixed seat, 502, a third motor, 503, a Z-direction screw nut pair, 504, a lower fixed seat, 505, an X-shaped hinge frame, 506, a lower moving seat, 507, a moving guide rail, 508, an upper moving seat, 509, a push plate and 510, a Z-direction lifting platform;

6, a cross sliding table, 601, a first motor, 602, an X-direction screw nut pair, 603, an X-direction sliding rail, 604, an X-direction moving platform, 605, a second motor, 606, a Y-direction screw nut pair, 607, a Y-direction sliding rail and 608, a Y-direction moving platform;

7 is a rack, 701 is a pedestal, 702 is a protective cover, 7021 is a lower sealing box, 7022 is a flexible connection, 7023 is an organ cover, 703 is an electric box, 704 is a columnar rack, 705 is an armrest seat, and 7051 is an upper toothholder;

8, a handrail, 801, a multi-layer holding rod, 802, a locking button, 803, a telescopic rod and 804, a lower tooth seat;

9 is a handle, 901 is a handle, 902 is an elastic rope, 903 is a fixed seat;

and 10 is an emergency stop switch.

And 11, the touch screen all-in-one machine.

Detailed Description

The utility model is described in detail below with reference to the figures and specific embodiments.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

To distinguish differences between the human body coordinate system, i.e. the cartesian coordinate system x, y, z axes and their directions x, y, z and said numbered designations, the lower case x, y, z denote coordinate axes or coordinate directions, while the upper case X, Y, Z is used only in the definition of designations, e.g. the YZ plane meshes with the gear 301.

Examples

Referring to fig. 3 and 13, and fig. 1, 2 and 4 in combination, the present embodiment provides a multi-dimensional human body dynamic balance training system, which is characterized by comprising: a cross sliding table 6, a lifting mechanism 5, a left-right rotating mechanism 4, a front-back rotating mechanism 3, a horizontal rotating mechanism 2, a pedal plate 1 and a frame 7,

the frame 7 comprises a pedestal 701, the cross sliding table 6 is arranged on the pedestal 701, and the lifting mechanism 5, the left-right rotating mechanism 4, the front-back rotating mechanism 3, the horizontal rotating mechanism 2 and the pedal plate 1 are sequentially connected upwards and are arranged on the cross sliding table 6;

the flat rotating mechanism 2, the front and back rotating mechanism 3, the left and right rotating mechanism 4, the lifting mechanism 5 and the cross sliding table 6 are core driving mechanisms for providing dynamic balance training with 0-6 degrees of freedom,

the cross sliding table 6 provides x-direction movement and y-direction movement for the lifting mechanism 5 and the upper structure thereof,

the lifting mechanism 5 provides the left-right rotating mechanism 4 and the upper structure thereof with the up-down lifting motion in the z direction,

the left-right rotating mechanism 4 provides the front-back rotating mechanism 3 and the upper structure thereof with movement along the directions of x, y and z axes and rotation around the y axis, the rotation around the y axis means to realize left-right swinging,

the front and back rotating mechanism 3 provides the movement along the directions of the axes x, y and z and the rotation around the axes y and x for the flat rotating mechanism 2 and the upper structure thereof, namely, the front and back swing is realized,

the horizontal rotation mechanism 2 provides the pedal 1 and the upper structure thereof with movement along the directions of the axes x, y and z and rotation around the axes y, x and z,

the pedal 1 is used for supporting a human body, and the pedal 1 is driven by a horizontal rotation mechanism 2, a front-back rotation mechanism 3, a left-right rotation mechanism 4, a lifting mechanism 5 and a cross sliding table 6, so that the spatial movement with 0-6 degrees of freedom or the combined movement with multiple degrees of freedom can be realized;

the x, y and z axes are three coordinate axes of a cartesian coordinate system, the coordinate axis directions are also three directions of a human body reference coordinate system, the x direction is the x axis direction, which is short for the left and right directions of the human body, the y direction is the front and back directions of the human body, the z direction is the up and down directions of the human body, the x direction and the y direction are two directions vertical to the horizontal plane, and the z direction is the direction vertical to the horizontal plane where the x and the y are located.

Referring to fig. 5, and fig. 3 and 4 in cooperation, in the present embodiment, the cross slide table 6 includes an X-direction moving platform 604 and a Y-direction moving platform 608;

an X-direction moving platform 604 is arranged on an X-direction sliding rail 603 and can relatively slide and translate, and the X-direction moving platform 604 is driven by a first motor 601 through a coupler to move left and right on the X-direction sliding rail 603; the horizontal translation movement in the left-right direction, namely the x direction of the coronary axis, is provided for human body training.

The Y-direction moving platform 608 is mounted on the Y-direction sliding rail 607 and can relatively slide and translate, and the Y-direction moving platform 608 is driven by a second motor 605 through a coupler to drive the Y-direction feed screw nut pair 606 to move back and forth on the Y-direction sliding rail 607; the Y-direction moving platform 608 provides a front-to-back translational motion, i.e., in the Y-direction of the sagittal axis, for human training.

The X-direction moving platform 604 and the Y-direction moving platform 608 are crossed, the moving directions of the two are perpendicular to each other, the X-direction moving platform 604 is located above the Y-direction moving platform 608, and the X-direction slide rail 603 and the first motor 601 of the X-direction moving platform 604 are fixed on the upper surface of the Y-direction moving platform 608, so that the X-direction moving platform 604 can move together with the Y-direction moving platform 608.

Referring to fig. 3 and fig. 13, in this embodiment, the bottom of the cross slide 6 is fixedly mounted in the pedestal 701 of the frame 7 through a Y-direction slide rail 607, and the second motor 605 of the cross slide 6 is also fixed on the pedestal 701.

Referring to fig. 6, fig. 3, fig. 4, and fig. 5, in this embodiment, the lifting mechanism 5 includes a lower fixing base 504, a lower moving base 506, a moving guide 507, an upper fixing base 501, an upper moving base 508, an X-shaped hinge frame 505, and a Z-direction lifting platform 510;

the moving guide rails 507 are provided with an upper pair and a lower pair, the lower moving seat 506 is connected with the moving guide rail 507 below in a sliding manner and can move in a sliding manner relative to the moving guide rail 507, and the upper moving seat 508 is connected with the moving guide rail 507 above in a sliding manner and can move in a sliding manner relative to the moving guide rail 507;

the Z-direction lifting platform 510 is arranged above the X-direction hinge frame 505, the third motor 502 drives the Z-direction screw-nut pair 503 through a coupler, the middle of the push plate 509 is fixed with a nut of the Z-direction screw-nut pair 503, and two ends of the push plate 509 are fixed with the lower moving seat 506, so that the push plate 509 can be further driven and the lower moving seat 506 can be pushed to slide left and right, and finally the X-direction hinge frame 505 is driven to deform, so that the Z-direction lifting platform 510 can lift up and down relative to the cross sliding table 6, and thus vertical direction, namely vertical axis Z-axis direction lifting motion is provided for human body training;

the lower fixing seat 504, the moving guide 507 below the lower fixing seat 504 and the third motor 502 of the lifting mechanism 5 are all fixed on the X-direction moving platform 604 on the upper surface of the cross sliding table 6, so that the lifting mechanism 5 can move along with the X-direction moving platform 604, and the Z-direction lifting platform 510 of the lifting mechanism 5 can move along the directions of the X axis, the y axis and the Z axis.

Referring to fig. 7a, 7b, and 7c, and referring to fig. 3, 4, and 6, in the present embodiment, the left-right rotating mechanism 4 includes an XZ surface motor base 404, a fourth motor 405, an XZ surface meshing gear 406, an XZ surface rotating shaft 403, an XZ surface bearing base 402, a support 401, and an XZ surface rotating platform 407;

the fourth motor 405 is installed on an XZ plane motor base 404, the fourth motor 405 drives the XZ plane meshing gear 406 to move through a coupler, and drives the XZ plane rotating shaft 403 fixedly connected with the XZ plane meshing gear 406 to move, so that the XZ plane rotating platform 407 fixedly connected with the XZ plane rotating shaft 403 is driven to swing left and right, namely to rotate in an XZ plane, namely to swing in a coronal plane of a human body;

the XZ plane bearing block 402 and the XZ plane motor base 404 of the left-right rotating mechanism 4 are mounted on the upper surface of the lifting mechanism 5 and fixedly connected with the Z-direction lifting platform 510, so that the left-right rotating mechanism 4 can lift along with the lifting and lowering of the Z-direction lifting platform 510, and the XZ plane rotating platform 407 of the left-right rotating mechanism 4 can move along the directions of the x axis, the y axis and the Z axis and rotate around the y axis.

The fourth motor 405 is connected with one gear of the XZ surface engaging gear 406 through a coupling, the XZ surface rotating shaft 403 is fixed with the other gear of the XZ surface engaging gear 406, the support 401 is further fixed on the XZ surface rotating shaft 403, and the XZ surface rotating platform 407 is fixed on the support 401.

In addition, in this embodiment, the two sides of the lower portion of the support 401 are both provided with a convex foot 4011, and the convex foot 4011 is matched with an adjustable foot (not shown) with adjustable height, so as to limit the swing range of the support 401, that is, limit the range of the left and right swing angles of the XZ plane rotation platform 407. When the adjustable support leg is adjusted to be high, the swing range of the support 401 is reduced, otherwise, the swing range is increased, so that the height of the adjustable support leg is adopted to control or limit the range of the left and right swing angles of the XZ plane rotating platform 407.

Referring to fig. 8, referring to fig. 3, 4 and 7a, in the present embodiment, the front-back rotating mechanism 3 has a similar structure to the left-right rotating mechanism 4, and the front-back rotating mechanism 3 includes a YZ plane motor base 304, a fifth motor 305, a YZ plane meshing gear 301, a YZ plane rotating shaft 303, a YZ plane bearing base 302 and a YZ plane rotating platform 306;

the fifth motor 305 is installed on the YZ plane motor base 304, the fifth motor 305 drives the YZ plane meshing gear 301 to move through the coupler, and drives the YZ plane rotating shaft 403 fixedly connected to the YZ plane meshing gear 301 to move, so as to drive the YZ plane rotating platform 306 fixedly connected to the YZ plane rotating shaft 403 to swing back and forth, namely to rotate in the YZ plane, namely to swing in the sagittal plane of a human body;

the YZ plane bearing block 302 and the YZ plane motor block 304 of the front and rear rotating mechanism 3 are mounted on the upper surface of the left and right rotating mechanism 4 and fixedly connected with the XZ plane rotating platform 407, so that the front and rear rotating mechanism 3 can swing along with the left and right swing of the XZ plane rotating platform 407, and finally the YZ plane rotating platform 306 of the front and rear rotating mechanism 3 can obtain the movement along the directions of the x, y and z axes and the rotation around the y axis and the x axis;

a flat rotating base hole 3062 is formed in the center of the YZ plane rotating platform 306, the flat rotating base hole 3062 is fixedly connected with the flat rotating mechanism 2, a flat rotating shaft hole 3061 is formed in the eccentric position of the YZ plane rotating platform 306, and the flat rotating shaft hole 3061 is connected with the flat rotating mechanism 2 in a matched mode, so that the flat rotating mechanism 2 is installed on the YZ plane rotating platform 306 and can perform flat rotating motion along with the YZ plane rotating platform 306, namely rotating motion around the Z axis.

Referring to fig. 9, with reference to fig. 3, 4, and 8, in this embodiment, the flat rotation mechanism 2 includes a bull eye bearing 201, a bull gear 202, a flat rotation seat 203, a pinion gear 206, a sixth motor 204, and a pinion shaft 205, the flat rotation seat 203 is installed at the center of the bull gear 202, a force sensor installation hole 2021 is formed in the bull gear 202, the bull eye bearing 201 is supported on the lower surface of the bull gear 202, the bull gear 202 and the pinion gear 206 are a pair of meshing gears, the sixth motor 204 is fixedly connected to the pinion shaft 205 through a coupling, and the pinion shaft 205 is fixedly connected to the pinion gear 206, so that the sixth motor 204 can drive the bull gear 202 to rotate flat and rotate, i.e., to rotate in the xy plane or around the z axis, i.e., to move flat and rotate in the horizontal plane of the human body, by driving the pinion gear 206.

The flat rotating base 203 is fixed on a flat rotating base hole 3062 of the Z-plane rotating platform 306, so that the rotating center of the large gear 202 of the flat rotating mechanism 2 is matched with the central axis of the YZ-plane rotating platform 306; the pinion shaft 205 of the horizontal rotation mechanism 2 passes through and is rotatably connected in the horizontal rotation shaft hole 3061 at the eccentric position of the YZ plane rotating platform 306, and the axial center distance between the horizontal rotation base hole 3062 and the horizontal rotation shaft hole 3061 is equal to the gear meshing center distance between the big gear 202 and the small gear 206. After connection, the flat-turning mechanism 2 is installed on the YZ plane rotating platform 306, the flat-turning mechanism 2 can swing back and forth along with the YZ plane rotating platform 306 of the front-back rotating mechanism 3, and finally the large gear 202 of the flat-turning mechanism 2 can move along the directions of the x axis, the y axis and the z axis and rotate around the y axis, the x axis and the z axis.

In addition, a force sensor mounting hole 2021 provided on the large gear 202 is used for connecting the pedal 1.

Referring to fig. 10, with reference to fig. 3, 4, and 9, in this embodiment, the pedal 1 includes a pedal 101 and a plurality of force sensors 102 disposed under the pedal 101, the force sensors 102 are uniformly distributed in the circumferential direction and used for detecting the position of the center of gravity of a human body standing on the pedal 101, the pedal 101 is connected to a large gear 202 through the force sensors 102, and the lower end of the force sensor 102 is mounted on a force sensor mounting hole 2021 of the horizontal rotation mechanism 2.

The pedal 1 can obtain the movement along the directions of the axes x, y and z and the rotation around the axes x, y and z with 6 degrees of freedom.

Referring to fig. 3 and 13, and referring to fig. 1, 2 and 4 in combination, in the present embodiment, the rack 7 includes a pedestal 701, a protective cover 702, an electrical box 703, a column frame 704 and an armrest 705, the end of the armrest 705 is provided with an upper dental seat 7051,

the protective cover 702 is provided between the pedestal 701 and the footrest 1; the column frame 704 and the electrical box 703 are fixed to the pedestal 701,

the handrail 8 and the handle 9 are both arranged on the upper part of the columnar frame 704, and the handrail 8 is movably connected with the handrail seat 705;

the touch screen integrated machine 11 is arranged at the top of the columnar frame 704;

the emergency stop switch 10 is disposed at the top end of the column frame 704.

Referring to fig. 11 and 13, and referring to fig. 1 and 3 in combination, in this embodiment, the armrest 8 includes two sets of multi-layer holding rods 801, locking buttons 802, telescopic rods 803, and lower tooth holders 804,

the multi-layer holding rod 801 is arranged at one end of the telescopic rod 803, the telescopic rod 803 can be contracted in length, and the expansion length of the telescopic rod 803 can be locked through the locking button 802;

an upper tooth holder 7051 is arranged on the armrest seat 705 of the rack 7, and the lower tooth holder 804 and the upper tooth holder 7051 of the rack 7 are matched up and down to form lockable connection;

by adjusting the length of the telescopic rod 803 and the turning direction of the lower dental base 804, the opening angle and the front and back positions of the multilayer holding rod 801 which is symmetrical left and right can be adjusted to meet the holding requirements of different patients.

The arm rests 8 provide additional support for the handler, prevent the patient from falling, or assist in the handler's exercise therapy.

Referring to fig. 12, with reference to fig. 1, 3, and 13, in this embodiment, the handle 9 includes a fixing seat 903, an elastic rope 902, and a handle 901, which are connected in sequence, where the length of the elastic rope 902 is adjustable, and the elastic rope 902 may be an elastic elongated elastic rope or a non-elastic rope.

The handle 9 provides support stability or assistance to the trainer.

Referring to fig. 13 and 14, in the present embodiment, the protective cover 702 includes a lower enclosure 7021, a flexible connection 7022, and an organ cover 7023, which are connected in sequence.

In this embodiment, the control and acquisition circuit board disposed inside the electrical box 703 can control the first motor to the sixth motor, acquire the signal of the force sensor 102, communicate with the touch screen all-in-one machine 11, and perform interactive virtual game training.

In this embodiment, the force sensor 102, in cooperation with the electrical box 703 and the touch screen all-in-one machine 11, can record the gravity center movement trajectory to evaluate the balance ability of the tester.

In this embodiment, the multi-dimensional human dynamic balance training system constitutes a 6-degree-of-freedom motion mechanism that rotates around the x, y, and z axes and moves along the x, y, and z axes, and can realize the motion of the pedal 1 in the space with 0-6 degrees of freedom or the combined motion with multiple degrees of freedom by independently controlling each degree of freedom.

The dynamic balance training motion mode capable of realizing 0-6 degrees of freedom in summary is as follows:

the number of degrees of freedom is 1, all the first to sixth motors do not move at the moment, the static balance training is performed when a human body stands on the pedal 1, but the standing plane can be a horizontal plane or an inclined plane. Controlling the fourth to sixth motors to enable the pedal 101 to be placed horizontally, and performing static balance training under the horizontal plane; if the fourth to sixth motors are controlled to tilt the pedal 101 in all directions, the static balance training under the inclined plane is performed.

The 1 degree of freedom is 6 training modes, namely movement along x, y and z axes, left-right movement, front-back movement and up-down movement, or rotation around x, y and z axes, rotation in coronal plane, rotation in sagittal plane and rotation in horizontal plane.

There are 15 training patterns in 2 degrees of freedom, which are: (1) two-dimensional movement: the movement in the xy plane, the yz plane and the xz plane, namely the movement of the center of gravity of the human body in the horizontal plane, the movement in the sagittal plane and the two-dimensional movement in the coronal plane; (2) or two-dimensional rotation: rotation around x + y, x + z, y + z axes simultaneously; (3) move along axis + rotate around axis: x-direction movement + x-axis rotation, x-direction movement + y-axis rotation, x-direction movement + z-axis rotation, y-direction movement + x-axis rotation, y-direction movement + y-axis rotation, y-direction movement + z-axis rotation, z-direction movement + x-axis rotation, z-direction movement + y-axis rotation, and z-direction movement + z-axis rotation.

Half motor motion, half do not move when 3 degrees of freedom, there are 20 kinds of training modes this moment, respectively: x-direction movement + x-axis rotation + y-axis rotation, x-direction movement + x-axis rotation + z-axis rotation, x-direction movement + y-axis rotation + z-axis rotation, y-direction movement + x-axis rotation + y-axis rotation, y-direction movement + x-axis rotation + z-axis rotation, y-direction movement + y-axis rotation + z-axis rotation, z-direction movement + x-axis rotation + y-axis rotation, z-direction movement + x-axis rotation + z-axis rotation, z-direction movement + y-axis rotation + z-axis rotation; the X-direction movement + the Y-direction movement + the X-axis rotation, the X-direction movement + the Y-axis rotation, the X-direction movement + the Y-direction movement + the Z-direction rotation, the X-direction movement + the X-axis rotation + the Y-axis rotation + the Z-direction movement, the X-direction movement + the Z-direction movement, the X-axis rotation + the Y-direction movement + the Z-direction movement, the Y-axis rotation + the Y-direction movement + the Z-direction movement, and the Z-axis rotation + the Y-direction movement + the Z-direction movement; x-direction movement + y-direction movement + z-direction movement, x-axis rotation + y-axis rotation + z-axis rotation.

4 motors are selected from 6 first to sixth motors to control the motion in 4 degrees of freedom, and at the moment, 15 training modes are provided: x, y and z directions move + x axis rotation, x, y and z directions move + y axis rotation, and x, y and z directions move + z axis rotation; the x-direction movement + x, y and z-axis rotation, the y-direction movement + x, y and z-axis rotation, and the z-direction movement + x, y and z-axis rotation; the movement in the x and y directions is + x and y axis rotation, the movement in the x and y directions is + x and z axis rotation, the movement in the x and y directions is + y and z axis rotation, the movement in the x and z directions is + x and y axis rotation, the movement in the x and z directions is + x and z axis rotation, the movement in the x and z directions is + x and y axis rotation, the movement in the y and z directions is + x and z axis rotation, and the movement in the y and z directions is + y and z axis rotation.

When the degree of freedom is 5, only one of the first to the sixth motors is still, and at the moment, 6 training modes are provided: the x, y and z directions move + x and y axes rotation, the x, y and z directions move + x and z axes rotation, and the x, y and z directions move + y and z axes rotation; the x and y directions move + x, y and z axis rotation, the x and z directions move + x, y and z axis rotation, and the y and z directions move + x, y and z axis rotation.

Only 1 training mode is available when the degree of freedom is 6, namely, the first to the sixth motors all move, and at the moment, the human body can do the motion with the degree of freedom of space 6.

The utility model adopts the modular design, is easy to assemble, disassemble, assemble and maintain, and is more economical and practical. The utility model can realize the dynamic balance training of 0-6 degrees of freedom of human body, or control the cost to disassemble and freely combine 6 parts of the core driving mechanism, can meet the training requirements of various human body balance functions according to different people, enhance the core muscle force of the body, improve the vestibular sensation, improve the reaction speed and the like, has wide application range, can be used for the rehabilitation of patients, can be used for the training of athletes, or simulate various operating environments, can formulate a personalized training scheme according to the requirements of trainees, adjust the training difficulty in time, better adapt to different trainees and different rehabilitation stages to adjust the treatment scheme caused by the difference of the balance ability, improve the rehabilitation efficiency and effectively improve the balance ability. The following is merely illustrative of its individual applications:

the left-right swinging of the body can be simulated, the fourth motor 405 controls the left-right swinging mechanism 4 to swing left and right, and other motors are not moved.

The human body can be simulated to fall down from the front right/back left when standing, at the moment, the left-right rotating mechanism 4 is controlled by the fourth motor 405 to swing, and the front-back rotating mechanism 3 is controlled by the fifth motor 305 to swing simultaneously.

The riding of the elevator can be simulated, and the lifting of the lifting mechanism 5 is controlled by the third motor 502.

The human body can be simulated to slide forwards/backwards, at this time, the fifth motor 305 controls the front-back rotating mechanism 3 to swing, and the second motor 605 controls the Y-direction moving platform 608 of the cross sliding table 6 to move forwards and backwards in an accelerating way.

In addition, the seat and the armrest are arranged on the pedal 101 of the pedal plate 1, and the automobile steering wheel is arranged on the column-shaped frame 704 of the frame 7, so that various road conditions of automobile driving conditions can be simulated.

The embodiments described above are intended to facilitate the understanding and use of the utility model by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (10)

1. A multi-dimensional human dynamic balance training system, comprising: a cross sliding table (6), a lifting mechanism (5), a left and right rotating mechanism (4), a front and back rotating mechanism (3), a horizontal rotating mechanism (2), a pedal plate (1) and a frame (7),

the machine frame (7) comprises a pedestal (701), the cross sliding table (6) is arranged on the pedestal (701), and the lifting mechanism (5), the left-right rotating mechanism (4), the front-back rotating mechanism (3), the horizontal rotating mechanism (2) and the pedal plate (1) are sequentially connected upwards and are arranged on the cross sliding table (6);

the flat rotating mechanism (2), the front and back rotating mechanism (3), the left and right rotating mechanism (4), the lifting mechanism (5) and the cross sliding table (6) are core driving mechanisms for providing dynamic balance training with 0-6 degrees of freedom,

the cross sliding table (6) provides x-direction movement and y-direction movement for the lifting mechanism (5) and the upper structure thereof,

the lifting mechanism (5) provides the left-right rotating mechanism (4) and the upper structure thereof with the up-down lifting motion in the z direction,

the left-right rotating mechanism (4) provides rotation around the y axis for the front-back rotating mechanism (3) and the upper structure thereof, namely, the left-right swinging is realized,

the front and back rotating mechanism (3) provides rotation around an x axis for the horizontal rotation mechanism (2) and the upper structure thereof, namely, the front and back swing is realized,

the horizontal rotation mechanism (2) provides rotation motion in an xy plane for the pedal (1), namely the horizontal rotation mechanism (2) provides rotation around a z axis for the pedal (1),

the pedal (1) is used for supporting a human body, and the pedal (1) is driven by a horizontal rotation mechanism (2), a front and back rotation mechanism (3), a left and right rotation mechanism (4), a lifting mechanism (5) and a cross sliding table (6) and can realize the motion with 0-6 degrees of freedom in space or the combined motion with a plurality of degrees of freedom;

the x, y and z axes are three coordinate axes of a cartesian coordinate system, the coordinate axis directions are also three directions of a human body reference coordinate system, the x direction is the x axis direction, which is short for the left and right directions of the human body, the y direction is the front and back directions of the human body, the z direction is the up and down directions of the human body, the x direction and the y direction are two directions vertical to the horizontal plane, and the z direction is the direction vertical to the horizontal plane where the x and the y are located.

2. The multi-dimensional human body dynamic balance training system of claim 1, wherein the cross slide (6) comprises an X-direction moving platform (604) and a Y-direction moving platform (608);

the X-direction moving platform (604) is arranged on the X-direction sliding rail (603) and can relatively slide and translate, and the X-direction moving platform (604) is driven by a first motor (601) through a coupler to move left and right on the X-direction sliding rail (603) through an X-direction screw nut pair (602);

the Y-direction moving platform (608) is arranged on the Y-direction sliding rail (607) and can relatively slide and translate, and the Y-direction moving platform (608) is driven by a second motor (605) through a coupler to drive the Y-direction screw nut pair (606) to move back and forth on the Y-direction sliding rail (607);

the X-direction moving platform (604) and the Y-direction moving platform (608) are crossed, the moving directions of the X-direction moving platform and the Y-direction moving platform are perpendicular to each other, the X-direction moving platform (604) is located above the Y-direction moving platform (608), and an X-direction sliding rail (603) and a first motor (601) of the X-direction moving platform (604) are fixed on the upper surface of the Y-direction moving platform (608).

3. The multi-dimensional human body dynamic balance training system according to claim 1, wherein the lifting mechanism (5) comprises a lower fixed seat (504), a lower moving seat (506), a moving guide rail (507), an upper fixed seat (501), an upper moving seat (508), an X-shaped hinge frame (505) and a Z-direction lifting platform (510);

the moving guide rails (507) are provided with an upper pair and a lower pair, a lower moving seat (506) is in sliding connection with the moving guide rail (507) below, and an upper moving seat (508) is in sliding connection with the moving guide rail (507) above;

the Z-direction lifting platform (510) is driven by a third motor (502) through a coupler to drive a Z-direction screw nut pair (503) to drive a push plate (509) so as to further push a lower moving seat (506) to slide left and right, and finally an X-shaped hinge frame (505) is driven to deform so that the Z-direction lifting platform (510) is lifted up and down;

and a lower fixed seat (504) of the lifting mechanism (5) and a movable guide rail (507) below are fixed on the cross sliding table (6).

4. The multi-dimensional human body dynamic balance training system according to claim 1, wherein the left and right rotating mechanism (4) comprises an XZ plane motor base (404), a fourth motor (405), an XZ plane meshing gear (406), an XZ plane rotating shaft (403), an XZ plane bearing base (402), a support (401) and an XZ plane rotating platform (407);

the fourth motor (405) is installed on an XZ surface motor base (404), the fourth motor (405) drives the XZ surface meshing gear (406) to move through a coupler, and drives an XZ surface rotating shaft (403) fixedly connected with the XZ surface meshing gear (406) to move, so that an XZ surface rotating platform (407) fixedly connected with the XZ surface rotating shaft (403) is driven to swing left and right;

and an XZ surface bearing seat (402) and an XZ surface motor seat (404) of the left-right rotating mechanism (4) are arranged on the upper surface of the lifting mechanism (5) and are fixedly connected with a Z-direction lifting platform (510).

5. The multi-dimensional human body dynamic balance training system as claimed in claim 4, wherein two sides of the lower part of the support (401) are provided with a convex foot (4011), and the convex foot (4011) is matched with the adjustable support foot to limit the swing range of the support (401), namely the range of the left and right swing angles of the XZ plane rotating platform (407).

6. The multi-dimensional human body dynamic balance training system according to claim 1, wherein the front and rear rotating mechanism (3) comprises a YZ plane motor base (304), a fifth motor (305), a YZ plane meshing gear (301), a YZ plane rotating shaft (303), a YZ plane bearing base (302) and a YZ plane rotating platform (306);

the fifth motor (305) is arranged on a YZ plane motor base (304), the fifth motor (305) drives the YZ plane meshing gear (301) to move through a coupler, and drives a YZ plane rotating shaft (303) fixedly connected with the YZ plane meshing gear (301) to move, so that a YZ plane rotating platform (306) fixedly connected with the YZ plane rotating shaft (303) can be driven to swing back and forth;

a YZ plane bearing seat (302) and a YZ plane motor seat (304) of the front and rear rotating mechanism (3) are arranged on the upper surface of the left and right rotating mechanism (4) and are fixedly connected with an XZ plane rotating platform (407), so that the front and rear rotating mechanism (3) can swing along with the left and right swinging of the XZ plane rotating platform (407);

a horizontal rotating base hole (3062) is formed in the center of the YZ plane rotating platform (306), the horizontal rotating base hole (3062) is fixedly connected with the horizontal rotating mechanism (2), a horizontal rotating shaft hole (3061) is formed in the eccentric position of the YZ plane rotating platform (306), and the horizontal rotating shaft hole (3061) is connected with the horizontal rotating mechanism (2) in a matched mode, so that the horizontal rotating mechanism (2) is installed on the YZ plane rotating platform (306) and can swing back and forth along with the YZ plane rotating platform (306).

7. The multi-dimensional human body dynamic balance training system of claim 1, wherein the horizontal rotation mechanism (2) comprises a bull's eye bearing (201), a bull gear (202), a horizontal rotation seat (203), a pinion (206), a sixth motor (204), and a pinion shaft (205),

the utility model discloses a gear wheel, including gear wheel (202), bull gear (202), pinion shaft (205), gear wheel (202) center is equipped with flat spiral seat (203), and bull gear (202) middle part is equipped with force sensor mounting hole (2021), bull gear bearing (201) support is at bull gear (202) lower surface, bull gear (202) with pinion (206) are a pair of meshing gear, and sixth motor (204) pass through the shaft coupling and are fixed continuous with pinion shaft (205), and pinion shaft (205) are fixed continuous with pinion (206) again.

8. The multidimensional human body dynamic balance training system according to claim 7, wherein the pedal (1) comprises a pedal (101) and a plurality of force sensors (102) arranged below the pedal (101), the force sensors (102) are circumferentially and uniformly distributed, the pedal (101) is connected with the bull gear (202) through the force sensors (102), and the lower end of the force sensors (102) is arranged on a force sensor mounting hole (2021) of the horizontal rotation mechanism (2).

9. The multi-dimensional human body dynamic balance training system of claim 1, wherein the frame (7) comprises a pedestal (701), a protective cover (702), an electric box (703), a column frame (704), and a handrail seat (705),

the protective cover (702) is arranged between the pedestal (701) and the pedal plate (1); the column frame (704) and the electric box (703) are fixed on the pedestal (701),

the handrail (8) and the handle (9) are both arranged on the upper part of the columnar frame (704), and the handrail (8) is movably connected with the handrail seat (705);

the touch screen integrated machine (11) is arranged at the top of the columnar frame (704);

the emergency stop switch (10) is arranged at the top end of the columnar frame (704).

10. The multi-dimensional human body dynamic balance training system according to claim 1, wherein the multi-dimensional human body dynamic balance training system constitutes a 6-degree-of-freedom motion mechanism which rotates around the x, y and z axes in space and moves along the x, y and z axes, and the motion of the pedal (1) in the space with 0-6 degrees of freedom or the combined motion of multiple degrees of freedom can be realized by independently controlling each degree of freedom.

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