TWI599386B - Walking training machine - Google Patents

Description

Walking training machine

The present invention relates to a walking exercise machine, and more particularly to a walking training machine that can accurately simulate a gait movement during walking.

Walking must rely on the coordination of the body's nerves, muscles and bones to achieve the effect of pushing the body forward. If you want to walk stably, you need to have sufficient attention, muscle strength and proper movement control ability, but for the elderly. For people, due to the decline of bodily functions, it is prone to walking disorders, and in severe cases, even frequent falls, which affects physical health and daily life.

In order to assist the elderly in rehabilitation training, for example, the walking exercise device disclosed in JP2002325860 achieves the leg training effect by alternately moving the first leg mounting device and the second leg mounting device before and after, as disclosed in JP2001309993. The sports machine drives the pedal back and forth in a track sliding manner. As for the multi-function gait rehabilitation exerciser disclosed in CN105167959, the pedal is used to move the pedal back and forth, and the pedal is used to rotate the pedal. However, the aforementioned patents do not allow the pedal to indeed exhibit a trajectory of movement while walking, so the training effect that can actually be achieved is limited.

The main object of the present invention is to provide a walking training machine which can effectively simulate the gait trajectory of the user while walking, thereby improving the rehabilitation training effect.

In order to achieve the above object, the walking exercise machine of the present invention comprises a linear transmission unit and two opposite pedal units. The linear transmission unit has a support base, a driving source, a two-screw and a two-drive platform. The driving source is disposed on the support base, and the two screws are substantially parallel to the support base and connected to the driving source. The platforms are respectively screwed to the corresponding screws, so that the two transmission platforms can generate a front-to-back reciprocating displacement by the driving source and the driving of the two screws. Each of the pedal units has a pedal seat, a rotating shaft and a pedal. The pedal seat has a base, a top seat and a plurality of uprights. The bottom surface of the base is disposed on one of the linear transmission units, so that the The pedal seat can be synchronously moved along the driving platform, and the pillars are spaced apart from the top surface of the base, and the top seat is sleeved up and down on the top end of each of the pillars, and the rotating shaft is rotatably disposed on the top seat. And the axis of the rotating shaft is perpendicular to the axial direction of each of the columns, and the pedal is disposed on the rotating shaft, so that the pedal can be pivoted relative to the pedal seat by the rotating shaft.

As can be seen from the above, in addition to the linear movement of the pedal in the front-rear direction through the connection between the pedal seat and the transmission platform, the pedal can be transmitted through the upper and lower displacement of the seat of the pedal seat and itself relative to the pedal. The pivot of the seat cooperates with the movement of the user's foot when walking, so that the gait trajectory of the user while walking can be effectively simulated, thereby achieving the purpose of improving the rehabilitation training effect.

More preferably, the top seat of the pedal seat has a vertical movement distance of less than 5 cm with respect to the base of the pedal seat, and the rotation angle of the pedal relative to the pedal seat is within 10 degrees.

More preferably, the walking training machine further has a lifting unit, the lifting unit has a fixing base, a platform base, a lifting base and a lifting actuator, wherein the lifting seat is supported by The platform base is connected to the bottom of the support base of the linear transmission unit, and the rear end of the platform base is supported on the ground, and the front and rear ends of the lift base are respectively pivotally connected to the front end of the fixed base The lift actuator is disposed between the front end of the lift base and the front end of the platform base with the front end of the platform base. Thereby, the lift base can use the lift actuator to raise the platform base together with the linear transmission unit by a predetermined angle, thereby exhibiting the effect of walking on the slope. In addition, the lifting unit further has a receiving actuator disposed between the fixing base and the platform base and spaced apart from the lifting actuator by a predetermined distance, mainly for The rear end of the platform base is lifted off the ground to achieve the storage effect.

More preferably, each of the pedal units further has a first cushioning component and a second cushioning component. The first cushioning component is disposed between the top of the pedal seat and the base for buffering the upper and lower displacement of the top seat. The second cushioning element is disposed between the base of the pedal seat and the pedal for providing a cushioning effect when the pedal is rotated.

The detailed construction, features, assembly or use of the walking exercise machine provided by the present invention will be described in the detailed description of the subsequent embodiments. However, it should be understood by those of ordinary skill in the art that the present invention is not limited by the scope of the invention.

Referring first to FIG. 1, the walking exercise machine 10 of the present invention includes a linear transmission unit 20 and two pedal units 30.

As shown in FIG. 2, the linear transmission unit 20 has a support base 21, a drive source 22, two screws 23, and two transmission platforms 24. The driving source 22 is disposed on the top surface of the support base 21, and the two screws 23 are disposed substantially parallel to each other on the top surface of the support base 21 and respectively connected to the driving source 22, so that the two screws 23 can be rotated by the driving of the driving source 22, The transmission platforms 24 are respectively screwed to the corresponding screws 23, so that the two transmission platforms 24 can generate a front-to-back reciprocating displacement by the rotation of the two screws 23.

As shown in FIG. 3, each pedal unit 30 has a pedal seat 31, four first cushioning members 35, a rotating shaft 36, a pedal 37, and a second cushioning member 38, wherein:

The pedal base 31 has a base 32, two top seats 33 and four uprights 34. The bottom surface of the base 32 is assembled on the top surface of the drive platform 24 of the linear transmission unit 20, and the uprights 34 are spaced apart from the top surface of the base 32. The seat 33 is sleeved on the top of the two uprights 34. Thereby, the pedal base 31 can be moved synchronously with the transmission platform 24 assembled by itself, and the top seat 33 of the pedal seat 31 can generate an upper and lower displacement as shown in FIG. 6 with respect to the base 32 of the pedal seat 31, in this embodiment. The upper and lower moving distance of the top seat 33 relative to the base 32 is within 5 cm.

The first cushioning member 35 is disposed between the top of the pedal seat 31 and the bases 31 and 32 for providing a cushioning effect of the upper and lower seats 33 as shown in FIG. In the present embodiment, the first cushioning member 35 is a set of elastic members disposed on the uprights 34 and abutting against the top of the pedal seat 31 and between the bases 31 and 32.

The rotating shaft 36 is rotatably disposed between the two seats 33 of the pedal seat 31, and the axial direction of the rotating shaft 36 is perpendicular to the axial direction of the column 34.

The pedal 37 is assembled to the rotating shaft 36 so that the pedal 37 can be pivoted as shown in Fig. 6 by the rotating shaft 36 with respect to the pedal base 31. In the present embodiment, the angle of rotation of the pedal 37 with respect to the pedal base 31 is within 10 degrees.

The second cushioning member 38 is disposed between the base 32 of the pedal base 31 and the pedal 37 for providing the pedal 37 with a cushioning effect when rotated as shown in FIG. In this embodiment, the second cushioning member 38 is a fluid pressure cylinder and has a cylinder 381 and a piston rod 382 axially displaceably disposed on the cylinder 381. One end of the cylinder 381 is pivotally disposed on the pedal 37. One end of the piston rod 382 is located in the cylinder 381, and the other end of the piston rod 382 is located outside the cylinder 381 and is pivotally disposed on the base 32 of the pedal seat 31.

As can be seen from the above structure, as shown in the second, third and fifth figures, the pedal 37 provided by the present invention can perform the horizontal sliding of the front and rear in addition to the connection between the pedal base 31 and the transmission platform 24, As shown in Fig. 6, during the movement of the pedal 37, the upper and lower displacement of the top seat 33 of the pedal seat 31 and the pivoting of the pedal 37 itself relative to the pedal base 31 are used to cooperate with the user's foot while walking. The resulting motion changes can effectively simulate the gait trajectory of the user while walking, thereby achieving the purpose of improving the rehabilitation training effect.

On the other hand, in order to simulate the effect of walking on the slope, the present invention further provides a lifting unit 40. As shown in FIG. 4, the lifting unit 40 has a fixing base 41, a platform base 42, and a lifting base. 43 and a lift actuator 44, wherein: the fixing base 41 is supported on the ground; the platform base 42 is assembled on the bottom surface of the support base 21 of the linear transmission unit 20, and the rear end of the platform base 42 is supported on the ground, Yang The two ends of the lifting base 43 are respectively pivotally connected to the front end of the fixing base 41 and the front end of the platform base 42. The top end of the lifting actuator 44 pivots the front end of the platform base 42 by a vertical rod 45, and rises up. The bottom end of the actuator 44 is pivotally disposed at the front end of the lift base 43. Thereby, as shown in FIGS. 7 and 8, the lift actuator 44 pushes up the front end of the platform base 42 through the upright 45 after starting, so that the front end of the platform base 42 is lifted up, on the platform. During the upward lifting of the front end of the base 42 , on the one hand, the rear end of the lift base 43 is pulled, so that the rear end of the lift base 43 is lifted up synchronously, and on the other hand, together with the linear transmission unit 20 and the pedal unit 30 A tilt angle is generated with respect to the ground until the lift angle actuator 44 is closed to adjust to the proper angle. In this way, the pedal 37 provided by the present invention can not only produce a horizontal sliding with a gradient in the front-rear direction (as shown in FIG. 7), but also can further transmit the upper and lower displacement of the top seat 33 of the pedal seat 31 and the pedal 37 itself. The movement of the pedal of the pedal 31 is matched with the movement of the user's foot when walking on the slope (as shown in Fig. 8).

In addition, the lifting unit 40 further has a handrail frame 46 for the user to support. The bottom end of the armrest frame 46 is disposed on the fixing base 41. The top of the armrest frame 46 is provided with a human-machine interface 50, so that the user can linearly The transmission unit 20 performs operations such as setting training time, adjusting the running speed and adjusting the length of the step, and the like, and can also be used to display physiological information related to the walking distance, the heartbeat speed, and the calorie consumption.

Further, as shown in FIGS. 7 and 9, the present invention further provides a housing actuator 60 which is provided in the fixing base 41 and the platform base 42 in order to reduce the volume and save the space when not in use. There is a predetermined distance between the lift actuators 44 and the lift actuators 44. Thereby, the storage actuator 60 pushes up the platform base 42 after starting, causes the rear end of the platform base 42 to leave the ground, and moves together with the linear transmission unit 20 and the pedal unit 30 during the lifting process, thereby achieving Storage effect.

In summary, the walking exercise machine 10 of the present invention can exhibit four different modes of linear sliding, linear walking, slope sliding, and slope walking to accurately simulate the gait change of the user under different conditions, and is additionally provided on the pedal. The first and second cushioning members 35 and 38 prevent the ankle from being injured and have a storage function to increase the convenience of storage.

10‧‧‧ walking training machine
20‧‧‧Linear drive unit
21‧‧‧ Support
22‧‧‧ drive source
23‧‧‧ screw
24‧‧‧Drive platform
30‧‧‧ pedal unit
31‧‧‧ pedal seat
32‧‧‧Base
33‧‧‧ top seat
34‧‧‧ column
35‧‧‧First cushioning element
36‧‧‧Rotary axis
37‧‧‧ pedal
38‧‧‧Second cushioning element
381‧‧‧Cylinder block
382‧‧‧ piston rod
40‧‧‧ Lifting unit
41‧‧‧ Fixed seat
42‧‧‧ platform base
43‧‧‧Lifting base
44‧‧‧Lift actuator
45‧‧‧ pole
46‧‧‧Handrail
50‧‧‧Human Machine Interface
60‧‧‧Accommodation actuator

Fig. 1 is a perspective view showing the appearance of a walking exercise machine of the present invention. Fig. 2 is a perspective view showing the appearance of a linear transmission unit provided by the walking exercise machine of the present invention. Fig. 3 is a perspective view showing the appearance of a pedal unit provided by the walking exercise machine of the present invention. Fig. 4 is a perspective view showing the appearance of a lift unit provided by the walking exercise machine of the present invention. Fig. 5 is a side view of the walking exercise machine of the present invention sliding in a horizontal straight line. Fig. 6 is a side view showing the walking training machine of the present invention in a horizontal straight walking state. Figure 7 is a side elevational view of the walking exercise machine of the present invention sliding on a slope. Figure 8 is a side view of the walking exercise machine of the present invention in a state of walking on a slope. Fig. 9 is a perspective view showing the appearance of the walking exercise machine of the present invention in a stowed state.

10‧‧‧ walking training machine

20‧‧‧Linear drive unit

30‧‧‧ pedal unit

40‧‧‧ Lifting unit

41‧‧‧ Fixed seat

42‧‧‧ platform base

43‧‧‧Lifting base

44‧‧‧Lift actuator

45‧‧‧ pole

46‧‧‧Handrail

50‧‧‧Human Machine Interface

Claims (10)

A walking training machine includes: a linear transmission unit having a support base, a driving source, a two-screw and a two-drive platform, wherein the driving source is disposed on the support base, and the two screws are substantially parallel to the support base And connecting the driving source, the two transmission platforms are respectively screwed on the corresponding screws, so that the two transmission platforms can generate a front-to-back reciprocating displacement by driving the driving source and the two screws; and The pedal unit has a pedal seat, a rotating shaft and a pedal. The pedal seat has a base, a top seat and a plurality of columns. The bottom surface of the base is disposed on one of the linear transmission units. The column is spaced apart from the top surface of the base, the top seat is sleeved up and down on the top end of each of the columns, the rotating shaft is rotatably disposed on the top seat, and the axis of the rotating shaft is perpendicular to each of the columns In the axial direction, the pedal is disposed on the rotating shaft such that the pedal can be pivoted relative to the pedal seat by the rotating shaft. The walking training machine according to claim 1, wherein the movement distance of the top seat of the pedal seat relative to the base of the pedal seat is within 5 cm. The walking exercise machine of claim 1, wherein the pedal is rotated within 10 degrees with respect to the pedal base. The walking exercise machine of claim 1, further comprising a lift unit having a fixed base, a platform base, a lift base and a lift actuator, wherein the lift base is used for Supported on a ground, the platform base is received at the bottom of the support base of the linear transmission unit, the rear end of the platform base is supported on the ground, and the front and rear ends of the lift base are respectively pivotally connected to the fixed The front end of the seat and the front end of the platform base, the lift actuator is disposed between the front end of the lift base and the front end of the platform base. The walking training machine of claim 4, wherein the lifting unit further comprises a receiving actuator disposed between the fixing base and the platform base and with the lifting actuator There is a predetermined distance apart. The walking training machine of claim 4, wherein the lifting unit further has a handrail frame, and the bottom end of the armrest frame is disposed at the fixing seat. The walking training machine of claim 1, wherein each of the pedal units further has a first cushioning component disposed between the top of the pedal base and the base for providing up and down displacement of the top seat. Buffering effect. The walking training machine of claim 7, wherein the first cushioning element is a set of elastic members disposed on the column and abutting against the top of the pedal seat and the base. The walking training machine of claim 1, wherein each of the pedal units further has a second cushioning element disposed between the base of the pedal base and the pedal for providing rotation of the pedal Buffering effect. The walking training machine according to claim 9, wherein the second cushioning member is a fluid pressure cylinder and has a cylinder and a piston rod axially displaceably disposed on the cylinder, and one end of the cylinder is pivoted In the pedal, one end of the piston rod is located in the cylinder body, and the other end of the piston rod is located outside the cylinder and is pivotally mounted on the base of the pedal seat.