阅读说明：本技术 脑瘫患儿爬行康复训练婴儿车 (Crawling rehabilitation training baby carriage for cerebral palsy child ) 是由 姜吉光 王楚超 张文杰 崔志伦 于 2019-08-20 设计创作，主要内容包括：本发明公开了一种脑瘫患儿爬行康复训练婴儿车,用于对脑瘫患儿的爬行姿势矫正和提供极其便利爬行康复训练。本发明包括婴儿车和爬行训练机构,爬行训练机构安放在婴儿车的婴儿篮中；所述爬行训练机构包括四肢运动机构、升降悬吊机构、适应性调节机构、动力系统及控制器,四肢运动机构固定在升降悬吊机构上,动力系统与四肢运动机构驱动连接,控制器同时与四肢运动机构及升降悬吊机构控制连接。四肢运动机构包括前手手臂爬行机构、后腿腿部爬行机构、动力转换机构,动力系统通过同步带与动力转换机构连接,将电机动力传递给动力转换机构,动力转换机构再将动力分别传递给前手手臂爬行机构和后腿腿部爬行机构。(The invention discloses a crawling rehabilitation training baby carriage for cerebral palsy children, which is used for correcting the crawling posture of the cerebral palsy children and providing extremely convenient crawling rehabilitation training. The crawling training device comprises a baby carriage and a crawling training mechanism, wherein the crawling training mechanism is arranged in a baby basket of the baby carriage; the crawling training mechanism comprises a four-limb movement mechanism, a lifting suspension mechanism, an adaptability adjusting mechanism, a power system and a controller, the four-limb movement mechanism is fixed on the lifting suspension mechanism, the power system is in driving connection with the four-limb movement mechanism, and the controller is in control connection with the four-limb movement mechanism and the lifting suspension mechanism. The four-limb movement mechanism comprises a forehand arm crawling mechanism, a hind leg crawling mechanism and a power conversion mechanism, a power system is connected with the power conversion mechanism through a synchronous belt, the power of a motor is transmitted to the power conversion mechanism, and the power conversion mechanism transmits the power to the forehand arm crawling mechanism and the hind leg crawling mechanism respectively.)

1. A crawling rehabilitation training baby carriage for cerebral palsy children is characterized by comprising a baby carriage and a crawling training mechanism, wherein the crawling training mechanism is arranged in a baby basket of the baby carriage; the crawling training mechanism comprises a four-limb movement mechanism, a lifting suspension mechanism, an adaptability adjusting mechanism, a power system and a controller, the four-limb movement mechanism is fixed on the lifting suspension mechanism, the power system is in driving connection with the four-limb movement mechanism, and the controller is in control connection with the four-limb movement mechanism and the lifting suspension mechanism;

the lifting suspension mechanism comprises a bottom plate, a ceiling lifting support, a hand-operated stepping motor and a ceiling opening and closing mechanism; the ceiling lifting support is fixed on the bottom plate, the hand-operated stepping motor is fixed on the bottom plate and is connected with the ceiling lifting support through a coupler, and the ceiling is connected above the ceiling lifting support through a ceiling opening and closing mechanism; the ceiling lifting mechanism comprises a connecting frame, a connecting rod lifting mechanism and a gear rack pair, and the top end of the connecting rod lifting mechanism is hinged with the connecting frame; the step motor drive shaft passes through the shaft coupling and is connected with rack and pinion mechanism drive, and the rack and pinion structure is connected with connecting rod elevating system bottom, and the ceiling comprises left baffle and the butt joint of right baffle, and the ceiling mechanism that opens and shuts includes tripod and the steering wheel of being connected with the tripod, through two sets of steering wheels of single chip microcomputer control, drives opening and shutting of baffle about two sets of tripods drive.

2. The crawling rehabilitation training baby carriage for the children with cerebral palsy patients as claimed in claim 1, wherein the four-limb movement mechanism comprises a front hand arm crawling mechanism, a rear leg and leg crawling mechanism and a power conversion mechanism; the front arm crawling mechanism comprises an arm fixing mechanism, a first cross slide rail and an arm driving mechanism, wherein the arm fixing mechanism is connected with the arm driving mechanism through the first cross slide rail, and the arm driving mechanism is connected with the power conversion mechanism through a synchronous belt; the rear leg crawling mechanism comprises a rear leg fixing mechanism, a second cross slide rail and a rear leg driving mechanism, the rear leg fixing mechanism is connected with the rear leg driving mechanism through the cross slide rail, and the rear leg driving mechanism is connected with the power conversion mechanism through a synchronous belt; the power system is connected with the power conversion mechanism through the synchronous belt, the power of the motor is transmitted to the power conversion mechanism, and the power conversion mechanism transmits the power to the forehand arm crawling mechanism and the hind leg crawling mechanism respectively.

3. The crawling rehabilitation training baby carriage for the cerebral palsy children as claimed in claim 2, wherein the arm fixing mechanism comprises an arm limiting sleeve fixed on a palm tray through a movable bolt, the palm tray is fixed on an arm adjusting slider, the arm adjusting slider is slidably connected to the top of a cross slide rail, the arm width is adjusted left and right according to the shoulder width of the children, the cross slide rail is fixed on a bottom plate of the lifting suspension mechanism, and the bottom end of the cross slide rail is connected with an arm driving mechanism;

the rear leg fixing mechanism comprises a rear leg limiting clamping sleeve, the rear leg limiting clamping sleeve is fixed on a rear leg adjusting slider, the rear leg adjusting slider is connected to the top of a second cross-shaped sliding rail in a sliding mode, the width of the legs is adjusted left and right according to the crotch width of a baby, the second cross-shaped sliding rail is fixed on a bottom plate of the lifting suspension mechanism, and the bottom end of the second cross-shaped sliding rail is connected with a rear leg driving mechanism.

4. The crawling rehabilitation training baby carriage for the cerebral palsy children as claimed in claim 2, wherein the arm driving mechanism is located below the bottom plate of the lifting suspension mechanism and comprises two sets of chebyshev link mechanisms and a synchronous belt transmission mechanism, a cross bar is arranged between the two sets of chebyshev link mechanisms, and the first cross slide rail is connected to the cross bar; synchronous belt drive mechanism include with power conversion mechanism passes through a band pulley that synchronous belt drive is connected, No. two band pulleys with a band pulley coaxial fixed, passes through No. three band pulleys that synchronous belt drive is connected with No. two band pulleys, and No. three band pulleys pass through the connecting axle and connect chebyshev link mechanism.

5. The crawling rehabilitation training baby carriage for the children with cerebral palsy patients according to claim 2, wherein the rear leg driving mechanism comprises a transmission mechanism and a cam link mechanism, the cam link mechanism comprises a fourth belt wheel, a cam, a V-shaped rod and a U-shaped groove mechanism, the fourth belt wheel is connected with the power conversion mechanism through a synchronous belt in a transmission mode, the cam is coaxially and fixedly connected with the fourth belt wheel, one end of the V-shaped rod is connected with the cam in a rolling mode through a roller, the other end of the V-shaped rod is hinged with the link mechanism, and the other end of the link mechanism is connected in a U-shaped groove of the U-shaped groove mechanism through a cross rod in a.

6. The infant crawling rehabilitation training stroller for cerebral palsy patients according to claim 2, wherein the power conversion mechanism comprises a driving shaft, a first driven shaft, a second driven shaft, a synchronous belt and a gear pair, a motor belt wheel is arranged on the motor, the motor belt wheel transmits power to the belt wheel on the driving shaft through the synchronous belt, the driving shaft is connected with the first driven shaft through the synchronous belt, the first driven shaft is connected with the second driven shaft through the gear pair, and the second driven shaft transmits power to the arm driving mechanism and the rear leg driving mechanism through the synchronous belt.

7. The crawling rehabilitation training baby carriage for the cerebral palsy infant as claimed in claim 1, wherein the adaptability adjusting mechanism comprises an abdomen support height adjusting belt and a lower jaw traction belt, the abdomen support height adjusting belt and the lower jaw traction belt are both hung below the connecting frame of the ceiling lifting mechanism, the abdomen support height adjusting belt is supported below the abdomen of the infant, and the lower jaw traction belt is used for supporting the head of the infant.

8. The crawling rehabilitation training baby carriage with cerebral palsy children as claimed in claim 1, wherein the controller comprises a control panel and a development board, the control panel is installed on a hand push rod of the baby carriage and used for controlling the whole device of the baby carriage, the development board is used for automatically controlling the controllable components, and the development board is used for controlling the hand-operated linear stepping motor and a steering engine of the ceiling opening and closing mechanism.

Technical Field

The invention relates to a baby carriage capable of helping cerebral palsy children to do crawling rehabilitation training.

Background

Cerebral palsy is one of common diseases of children, the cerebral palsy patients in China are far more than 600 million before several years, the incidence rate of newborns is about 1.5% -4%, and 4-5 million new cerebral palsy cases are increased every year. The aim of cerebral palsy rehabilitation is to improve the motor function of the patients as much as possible and prepare for the later systemic rehabilitation treatment, so that the effective crawling treatment of the infants is most important in the period of the infants, and an important foundation is laid for the later upright walking.

At present, no very good treatment scheme exists in China for a while, and in the aspect of rehabilitation training, the main method for crawling training of cerebral palsy children comprises three modes, namely traditional manual auxiliary training, simple mechanisms for assisting upper limbs and lower limbs and large-scale medical instruments. The doctor's staff training, staff's posture correction is difficult to guarantee accurately, and the training time is short, and the training cost is expensive, leads to the curative effect not obvious. The supplementary simple and easy mechanism of upper and lower limb mainly is the mobile device that some induced children crawled, installs the gyro wheel at mobile device's lower extreme promptly, lets children grasp mobile device's upper end, then pushes away the mobile device and crawl, and similar simple and easy mechanism can not the exact completion baby action of crawling, can not give the adjustment on the infant posture, and it can not be accomplished to some simple mechanisms to crawl the treatment training in the cerebral palsy infant, is unfavorable for promoting on a large scale. The large medical apparatus and the manual assistance have the biggest disadvantages that the treatment place is required to be in a hospital or a treatment center, the convenient rehabilitation service for the cerebral palsy patient cannot be provided, the training cost is high, and the maintenance cost of the medical apparatus is high.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a crawling rehabilitation training baby carriage for cerebral palsy children, which is mainly used for correcting crawling postures of cerebral palsy children and providing extremely convenient crawling rehabilitation training. The invention organically combines the baby carriage and the crawling training device, has the functions of the baby carriage, can crawl to realize the conversion of hospital treatment into autonomous treatment at any time and any place, reduces the treatment cost, prolongs the training time, has safe and effective structure, greatly saves time and money and lightens the economic burden of families of patients.

The purpose of the invention is realized by the following technical scheme:

a crawling rehabilitation training baby carriage for cerebral palsy children comprises a baby carriage and a crawling training mechanism, wherein the crawling training mechanism is arranged in a baby basket of the baby carriage; the crawling training mechanism comprises a four-limb movement mechanism, a lifting suspension mechanism, an adaptability adjusting mechanism, a power system and a controller, the four-limb movement mechanism is fixed on the lifting suspension mechanism, the power system is in driving connection with the four-limb movement mechanism, and the controller is in control connection with the four-limb movement mechanism and the lifting suspension mechanism.

The lifting suspension mechanism comprises a bottom plate, a ceiling lifting support, a hand-operated stepping motor and a ceiling opening and closing mechanism; the ceiling lifting support is fixed on the bottom plate, the hand-operated stepping motor is fixed on the bottom plate and is connected with the ceiling lifting support through the coupler, and the ceiling is connected above the ceiling lifting support through the ceiling opening and closing mechanism. The ceiling lifting mechanism comprises a connecting frame, a connecting rod lifting mechanism and a gear rack pair, and the top end of the connecting rod lifting mechanism is hinged with the connecting frame; the step motor drive shaft passes through the shaft coupling and is connected with rack and pinion mechanism drive, and the rack and pinion structure is connected with connecting rod elevating system bottom, and the ceiling comprises left baffle and the butt joint of right baffle, and the ceiling mechanism that opens and shuts includes tripod and the steering wheel of being connected with the tripod, through two sets of steering wheels of single chip microcomputer control, drives opening and shutting of baffle about two sets of tripods drive.

Furthermore, the four-limb movement mechanism comprises a front hand arm crawling mechanism, a rear leg and leg crawling mechanism and a power conversion mechanism; the front arm crawling mechanism comprises an arm fixing mechanism, a first cross slide rail and an arm driving mechanism, wherein the arm fixing mechanism is connected with the arm driving mechanism through the first cross slide rail, and the arm driving mechanism is connected with the power conversion mechanism through a synchronous belt; the rear leg crawling mechanism comprises a rear leg fixing mechanism, a second cross slide rail and a rear leg driving mechanism, the rear leg fixing mechanism is connected with the rear leg driving mechanism through the cross slide rail, and the rear leg driving mechanism is connected with the power conversion mechanism through a synchronous belt; the power system is connected with the power conversion mechanism through the synchronous belt, the power of the motor is transmitted to the power conversion mechanism, and the power conversion mechanism transmits the power to the forehand arm crawling mechanism and the hind leg crawling mechanism respectively.

Further, arm fixed establishment includes the arm stop collar, and the arm stop collar passes through movable bolt to be fixed on the palm tray, and the palm layer board is fixed on arm adjusting sliding block, and arm adjusting sliding block sliding connection is at a cross slide rail top, adjusts the arm width according to baby's shoulder width about going on, and a cross slide rail is fixed on the lift suspends mechanism bottom plate in midair, and an arm actuating mechanism is connected to cross slide rail bottom.

The rear leg fixing mechanism comprises a rear leg limiting clamping sleeve, the rear leg limiting clamping sleeve is fixed on a rear leg adjusting slider, the rear leg adjusting slider is connected to the top of a second cross-shaped sliding rail in a sliding mode, the width of the legs is adjusted left and right according to the crotch width of a baby, the second cross-shaped sliding rail is fixed on a bottom plate of the lifting suspension mechanism, and the bottom end of the second cross-shaped sliding rail is connected with a rear leg driving mechanism.

Furthermore, the arm driving mechanism is positioned below a bottom plate of the lifting suspension mechanism and comprises two groups of Chebyshev link mechanisms and a synchronous belt transmission mechanism, a cross rod is arranged between the two groups of Chebyshev link mechanisms, and the first cross slide rail is connected to the cross rod; synchronous belt drive mechanism include with power conversion mechanism passes through a band pulley that synchronous belt drive is connected, No. two band pulleys with a band pulley coaxial fixed, passes through No. three band pulleys that synchronous belt drive is connected with No. two band pulleys, and No. three band pulleys pass through the connecting axle and connect chebyshev link mechanism.

Furthermore, back leg actuating mechanism includes drive mechanism and cam link mechanism, and cam link mechanism includes No. four band pulleys, cam, V type pole, link mechanism, U type groove mechanism, No. four band pulleys with power conversion mechanism passes through synchronous belt drive and is connected, and the coaxial fixed connection of cam and No. four band pulleys, V type pole one end pass through roller and cam roll connection, and the V type pole other end is articulated with link mechanism, and the link mechanism other end passes through horizontal pole sliding connection in U type groove mechanism.

Further, the power conversion mechanism comprises a driving shaft, a driven shaft II, a synchronous belt and a gear pair, a motor belt wheel is arranged on the motor, the motor belt wheel transmits power to the belt wheel on the driving shaft through the synchronous belt, the driving shaft and the driven shaft I are connected through the synchronous belt, the driven shaft I and the driven shaft II are connected through the gear pair, and the driven shaft II transmits power to the arm driving mechanism and the rear leg driving mechanism through the synchronous belt.

Furthermore, the adaptability adjusting mechanism comprises an abdomen support height adjusting belt and a lower jaw traction belt, the abdomen support height adjusting belt and the lower jaw traction belt are hung below a connecting frame of the ceiling lifting mechanism, the abdomen support height adjusting belt is supported under the abdomen of the baby, and the lower jaw traction belt is used for supporting the head of the baby.

Further, the controller includes control panel, development board, and control panel installs on perambulator hand push rod for to the regulation and control of perambulator overall device, carry out automatic control to controllable part through the development board, the development board is used for controlling hand formula linear stepping motor and the ceiling steering wheel of opening and shutting the mechanism.

The invention has the following beneficial effects:

(1) the invention replaces the traditional manual auxiliary training, combines the rehabilitation training device with the baby carriage, is convenient to use, is not limited by time and space, saves a large amount of treatment cost, lightens the burden of a family, can meet the daily crawling exercise amount required by a doctor, provides possibility for the rehabilitation of the sick child and brings hope to the family; the cost performance is higher, can promote to ordinary hospital or community hospital, alleviates big hospital's pressure, and the patient of being convenient for carries out the rehabilitation training, has good application prospect.

(2) The infant lifting and suspending mechanism is designed, so that the crawling posture of the infant can be adjusted conveniently, and safety guarantee is provided for rehabilitation training.

(3) Be furnished with on-vehicle panel of controlling, effectively improve through man-machine interaction and control efficiency.

Drawings

FIG. 1 is a schematic diagram of an axle measuring structure of a crawling rehabilitation training baby for cerebral palsy children of the present invention;

FIG. 2 is a schematic view of a front view of a stroller in accordance with the present invention;

FIG. 3 is a schematic view of an axial structure of the infant basket according to the present invention;

FIG. 4 is a schematic diagram of an axis measuring structure of the crawling training mechanism;

FIG. 5 is a schematic view of the front view of the crawling training mechanism of the present invention;

FIG. 6 is a schematic structural view of a front arm mechanism according to the present invention;

FIG. 7 is a schematic structural view of the rear leg exercise mechanism of the present invention;

FIG. 8 is a schematic axial view of the power conversion mechanism of the present invention;

FIG. 9 is a schematic view of the power conversion mechanism of the present invention;

FIG. 10 is a schematic axial view of the power conversion mechanism of the present invention;

FIG. 11 is a schematic view of the ceiling lifting and suspending mechanism according to the present invention;

FIG. 12 is a partial view of the present invention in use;

FIG. 13 is an axial view of the internal structure of the present invention.

In the figure:

1-a control panel; 2, a hand push rod; 3-a folding mechanism; 4-a middle frame; 5-spring damper; 6-rear wheel; 7-a scaffold; 8-a storage basket; 9-front wheel spring; 10-front wheel; 11-bar; 12-a diverter; 13-a baby basket; 14-sunshade; 15-ceiling; 16-basket lifting frame; 17-a hand lever; 18-a housing; 19-a forehand arm crawling mechanism; 20-a power conversion mechanism; 21-rear leg and leg crawling mechanism; 22-arm adjusting slide block; 23-palm pallet; 24-arm stop collar; 25-a cross slide rail; 26-rear leg adjusting slide block; 27-rear leg part limiting jacket; 28-second cross slide rail; 29-a motor; 30-a battery; 32-a cross-bar; 34-a connecting rod; 35-connecting rod II; 36-a first belt wheel; 37-second pulley; 38-link No. three; a 40-fourth connecting rod; a No. 41-five connecting rod; 46-U-shaped groove mechanism; 47-six connecting rod; a number 48-seven connecting rod; 49-eighth connecting rod; 50-a rebound mechanism; a 51-V shaped rod; 53-cam; 54-number four pulley; 58-motor pulley; 59-driven shaft II; 60-driven shaft I; 61-driving shaft; 68-left baffle plate; 69-hand rocker; 70-hand-operated linear stepping motor; 71-nine connecting rods; 72-ten connecting rod; 73-rack bar; 77-gear; 82-a connecting frame; 84-tripod; 85-single chip microcomputer; 86-right spacer; 88-a steering engine; 91-a chin traction strap; 92-abdomen support height adjustment belt.

Detailed Description

The technical scheme of the invention is described in detail in the following with reference to the attached drawings:

as shown in fig. 1 to 3, a crawling rehabilitation training baby carriage for cerebral palsy patients comprises a baby carriage and a crawling training mechanism, wherein the crawling training mechanism is arranged in a baby basket 13 of the baby carriage. The crawling training mechanism comprises a four-limb movement mechanism, a lifting suspension mechanism, an adaptability adjusting mechanism, a power system and a controller. The lifting suspension mechanism is arranged in the baby basket 13, the four-limb movement mechanism is in driving connection with the four-limb movement mechanism, and the controller is in control connection with the four-limb movement mechanism and the lifting suspension mechanism at the same time.

As shown in fig. 11, the lifting suspension mechanism is mainly used to deploy the crawling training mechanism to provide crawling training for the infant patient. The lifting suspension mechanism comprises a bottom plate, a ceiling 15, a ceiling lifting support, a hand-operated stepping motor 70 and a ceiling opening and closing mechanism. The ceiling lifting support is fixed on the bottom plate, the hand-operated stepping motor is fixed on the bottom plate and is connected with the ceiling lifting support through the coupler, and the ceiling is connected above the ceiling lifting support through the ceiling opening and closing mechanism. The ceiling lifting mechanism comprises a connecting frame 82, a connecting rod lifting mechanism and a gear rack pair, the connecting rod lifting mechanism consists of connecting rod rods 71 and 72, and the top end of the connecting rod lifting mechanism is hinged with the connecting frame; the rack-and-pinion is composed of a gear 77 and a rack 73, a driving shaft of the stepping motor is in driving connection with a rack-and-pinion mechanism through a coupler, the rack-and-pinion mechanism is connected with the bottom end of the connecting rod lifting mechanism, the rotating motion of the stepping motor is converted into horizontal linear motion through the rack-and-pinion mechanism, and the horizontal motion is converted into vertical lifting motion through the connecting rod lifting mechanism. The hand lever 69 is connected to a hand linear stepping motor 70, and can be operated by hand operation when power is off. The ceiling 15 is formed by butt joint of the left partition plate 68 and the right partition plate 86, the ceiling opening and closing mechanism comprises a tripod 84 and steering engines 88 connected with the tripod, and the two groups of steering engines 88 are controlled by the single chip microcomputer 85 and are driven to open and close the left and right partition plates through the two groups of tripods. When the ceiling rises, the two sides of the ceiling are opened outwards, so that parents can place the baby into the abdomen support conveniently, and the ceiling is in an opened state when the sick baby performs crawling training, so that the parents can take care of the training condition of the baby.

The ceiling is made of PPS (polyphenylene sulfide) material, and has the advantages of hard texture, high crystallinity, good thermal stability, higher mechanical strength, excellent electrical property and the like, and can be used for sun-screening and ultraviolet-screening, and has better protection effect on infants.

As shown in fig. 4 and 5, the four-limb exercise mechanism includes a front-hand arm-climbing mechanism 19, a rear-leg-climbing mechanism 21, and a power conversion mechanism 20. The front arm crawling mechanism and the rear leg crawling mechanism are respectively connected to two ends of the power conversion mechanism, the power system is in driving connection with the power conversion mechanism through a synchronous belt, the power of the motor is transmitted to the power conversion mechanism 20, and the power conversion mechanism transmits the power to the front arm crawling mechanism and the rear leg crawling mechanism accurately.

Wherein, the front arm crawling mechanism comprises an arm fixing mechanism, a first cross slide rail 25 and an arm driving mechanism. The arm fixing mechanism is connected with the arm driving mechanism through a first cross slide rail.

As shown in fig. 5, the arm fixing mechanism includes an arm limiting sleeve 24, when the infant crawls for rehabilitation training, the arm limiting sleeve 24 is fixed on a palm tray 23 through a movable bolt, so as to fix the arm and the palm, the palm tray is fixed on an arm adjusting slider 22, the arm adjusting slider 22 is slidably connected to the top of a cross slide rail, so that the arm width can be adjusted left and right according to the shoulder width of the infant. The first cross slide rail is fixed on the bottom plate of the lifting suspension mechanism, the bottom end of the first cross slide rail is connected with the arm driving mechanism, and the first cross slide rail 25 can realize up-down left-right movement on a plane to complete the movement track of the baby crawling forehand mechanism.

As shown in fig. 6, the arm driving mechanism is located below the bottom plate of the lifting suspension mechanism and mainly comprises two sets of chebyshev link mechanisms and a synchronous belt transmission mechanism. The chebyshev linkage consists of rods 34, 35, 38, 40, 41, which are connected by rivets, and the two sets of chebyshev linkages are connected by cross bar 32. The synchronous belt transmission mechanism comprises a first belt wheel 36 connected with the power conversion mechanism through synchronous belt transmission, the first belt wheel 36 is coaxially and fixedly connected with a second belt wheel 37, the second belt wheel 37 is connected with a third belt wheel 42 through synchronous belt transmission, the third belt wheel 42 is connected with the Chebyshev link mechanism through a connecting shaft, the power conversion mechanism transmits the driving force of a motor to the first belt wheel 36 through a synchronous belt so as to drive the Chebyshev link mechanism to complete a bread-type track, a first cross slide rail 25 is connected to the cross rod 32 to simulate the process of lifting, moving forward and putting down of a baby crawling forehand, and other components are balance stress rods.

The rear leg crawling mechanism comprises a rear leg fixing mechanism, a second cross slide rail and a rear leg driving mechanism. The rear leg fixing mechanism is connected with the rear leg driving mechanism through a cross slide rail.

The rear leg fixing mechanism comprises a rear leg limiting clamping sleeve 27, the rear leg limiting clamping sleeve 27 is used for supporting the knees of a child, the rear leg limiting clamping sleeve 27 is fixed on a rear leg adjusting slide block 26, the leg width is adjusted left and right according to the crotch width of the child, the rear leg adjusting slide block 26 is slidably connected to the top of a second cross slide rail 28, the second cross slide rail is fixed on the bottom plate of the lifting suspension mechanism, and the bottom end of the second cross slide rail is connected with a rear leg driving mechanism. The second cross slide rail 28 can move up, down, left and right to complete the baby crawling rear leg movement.

As shown in fig. 7, the rear leg driving mechanism is mainly composed of a transmission mechanism and a cam link mechanism. The cam-link mechanism comprises a fourth belt wheel 54, a cam 53, a V-shaped rod 51, a link mechanism and a connecting piece 46, the fourth belt wheel 54 is connected with the power conversion mechanism through a synchronous belt in a transmission mode, the cam 53 is fixedly connected with the fourth belt wheel 54 in a coaxial mode, one end of the V-shaped rod 51 is connected with the cam 53 in a rolling mode through a roller, the other end of the V-shaped rod 51 is hinged with the link mechanism, and the other end of the link mechanism is connected into a U-shaped groove of the connecting piece through a cross. The power conversion mechanism transmits power to the fourth belt wheel 54, drives the cam 53 to rotate and pushes the V-shaped rod 51 to swing left and right through the roller, and the V-shaped rod 51 pushes the connecting rod mechanism consisting of the connecting rods 49, 48 and 47 to complete reciprocating swing motion to simulate the curvilinear motion of the knee joint of the hind leg of the infant which takes the hip joint as the center and circles to draw an arc. The V-shaped rod is provided with a spring rebounding mechanism 50.

As shown in fig. 8 to 10, the power conversion mechanism mainly includes a driving shaft 61, a first driven shaft 60, a second driven shaft 59, a timing belt and a gear pair, and accurately transmits power transmitted from a motor to the front arm crawling mechanism and the rear leg and leg crawling mechanism. The motor is provided with a motor belt wheel 58, the motor belt wheel 58 transmits power to a belt wheel on the driving shaft 61 through a synchronous belt, the driving shaft 61 is connected with the first driven shaft 60 through the synchronous belt, the first driven shaft 60 is connected with the second driven shaft 59 through a gear pair, the second driven shaft 59 transmits power to the arm driving mechanism and the rear leg driving mechanism through the synchronous belt, and the belt wheel 58 is a driving wheel on the motor.

As shown in fig. 12, the adaptive adjusting mechanism comprises an abdomen support height adjusting belt 92 and a lower jaw traction belt 91, wherein the abdomen support height adjusting belt and the lower jaw traction belt are both hung below the connecting frame of the ceiling lifting mechanism, the abdomen support height adjusting belt is supported under the abdomen of the infant, the height of the infant can be properly adjusted, and the lower jaw traction belt is used for supporting the head of the infant, helping the infant to practice the head raising action and helping the rehabilitation.

The power system comprises a motor 29 and a battery 30, a motor belt wheel is arranged on a motor driving shaft, and the motor belt wheel is in transmission connection with a power conversion mechanism driving shaft 61 of the power conversion mechanism through a synchronous belt.

The controller comprises a control panel and a development board. Control panel mainly used carries out automatic control to controllable part through the development board to the regulation and control of perambulator overall device, including the lift of ceiling and the opening and shutting of ceiling, realizes that automatic lift is automatic to be opened and shut, and panel display part shows the baby speed of crawling, and the baby crawls the mileage of marcing, has baby's forehand arm to crawl the pressure index of mechanism and back leg shank crawl the mechanism, still possesses the scram switch, can in time scram apparatus under any emergency. Three development boards are arranged on the whole baby carriage, one development board controls a hand-operated linear stepping motor, the other two development boards are used for controlling four steering engines for opening and closing the ceiling, the development boards are programmable controllers, the single chip microcomputer is small in size, high in integration level and good in reliability, is suitable for working in various environments, is strong in control capability, is rich in single chip microcomputer instructions, and can fully meet all requirements for baby carriage control.

The baby carriage comprises a baby basket 13, a storage basket 8, a support frame, a front wheel 10, a rear wheel 6 and a damping device. The support frame includes intermediate frame 4, support 7, whippletree 11, handspike 2, and baby's basket 13 is fixed with intermediate frame 4 through basket crane 16, is equipped with sunshade 14 on the baby's basket, and intermediate frame 4 is articulated with support 7, and handspike 2 passes through folding mechanism 3 and connects intermediate frame 4, and control panel 1 is fixed on handspike 2, and storage basket 8 is installed in baby's basket below, and front wheel 10 passes through steering gear 12 and connects in the intermediate frame bottom, and the rear wheel is installed in support 7 bottom. The damping means comprises a front wheel spring 9 and a spring damper 5 connected between the intermediate frame and the bracket.

The working principle of the invention is as follows:

the baby lying and rest part is separated from the crawling mechanism through a ceiling 15, wherein a control panel 1 is connected with a hand push rod 2 through bolts and nuts, a folding mechanism 3 can fold the baby carriage to save storage space, a middle frame 4 is used for supporting a baby basket to keep the baby basket horizontal, a spring damper 5 is a main baby carriage damping device and reduces jolt of the baby carriage in the pushing process, a rear wheel 6 is designed by adopting an anti-slip rubber skin, a support 7 is used for balancing stress of the rear wheel and a main support and supporting a secondary spring damper, a storage basket 8 is mainly used for storing sundries for a user, a front wheel spring 9 is also used for damping and is matched with the rear wheel damper, a front wheel 10 is connected with a front wheel spring, the injury of the sick children caused by road jolt is reduced to the maximum, a cross bar 11 is used for supporting a sundry frame 8 and keeping the stability of a large support, and a steering gear 12 is used for steering, the sunshade 14 is used for daily sunshade and wind shielding and can be folded. The basket crane 16 can go up and down to the height of baby basket 13 when pressing the middle circular button, and the hand lever 17 is used in the crawling training mechanism, and the shell 18 is internally provided with a power system which comprises a motor battery.

The left and right clapboards of the ceiling are closed at ordinary times, and the baby lies on the ceiling to rest. When the rehabilitation crawling training is needed, the ceiling lifting support is controlled through the control panel to enable the crawling training mechanism to rise, the steering engine is controlled to open the left partition plate and the right partition plate, arms and legs of a baby are fixed on the front arm crawling mechanism and the rear leg crawling mechanism respectively, the arm adjusting slide block and the rear leg adjusting slide block can be adjusted to meet the body shape of the baby, and the abdomen and the head of the baby are supported through the adaptive adjusting mechanism. The motor work, power passes through the hold-in range and transmits to power conversion mechanism, and the rethread hold-in range transmits respectively to arm actuating mechanism and back leg actuating mechanism, and then drives baby's arm and shank through the cross slide rail and carry out passive crawling motion, reaches the exercise purpose.