Mobility aids and equipment

Abstract

The present application provides a walking aid device and walking aid equipment, the walking aid device includes a main frame and a supporting mechanism, the supporting mechanism includes a mounting column and a supporting frame, the mounting column is fixedly connected to the main frame, the supporting frame is mounted on the mounting column, the position of the supporting frame in the length direction of the mounting column is adjustable, and the supporting frame is used for detachable connection with a mechanical exoskeleton. The above-mentioned walking aid device can be matched with mechanical exoskeletons of different sizes, so that patients with different body sizes can share the above-mentioned walking aid device, and the walking aid equipment is a whole composed of a mechanical exoskeleton and a walking aid device. After the patient wears the mechanical exoskeleton, the mechanical exoskeleton can be started to push the walking aid device to move together, so as to facilitate the patient to perform rehabilitation training in a real walking manner. Since the supporting frame can share part of the weight of the patient's body and the mechanical exoskeleton, the burden of the patient's walking on the ground is reduced, which is conducive to improving the rehabilitation effect.

Description

Technical Field

[0001] The present application relates to the technical field of walking aids for rehabilitation treatment, and in particular to a walking aid and walking aid equipment. Background Art

[0002] At present, mechanical exoskeleton devices can be used for rehabilitation treatment to help patients regain their ability to walk, such as hemiplegic patients. Usually, patients can use crutches for auxiliary support after wearing mechanical exoskeletons. Patients need to use their upper limb strength to use crutches to support the weight of themselves and the mechanical exoskeleton device. Crutches need to be customized according to the patient's body size, and the scope of application is very limited. Summary of the invention

[0003] An embodiment of the present application provides a walking aid device, which includes a main frame and a supporting mechanism, wherein the supporting mechanism includes a mounting column and a supporting frame, wherein the mounting column is fixedly connected to the main frame, and the supporting frame is mounted on the mounting column, wherein the position of the supporting frame in the length direction of the mounting column is adjustable, and the supporting frame is used for detachably connecting to a mechanical exoskeleton.

[0004] An embodiment of the present application further provides a walking aid device, which includes the walking aid device as described above, and further includes a mechanical exoskeleton, and the mechanical exoskeleton is detachably connected to the support frame.

[0005] The embodiments of the present application provide a walking aid device and a walking aid equipment, which utilize a support frame to be detachably connected to a mechanical exoskeleton, so that the support frame supports the mechanical exoskeleton to share the load of the mechanical exoskeleton, and the position of the support frame in the length direction of the mounting column is adjustable, so that a wide range of height adjustment can be achieved, so that the support frame can be matched with exoskeleton equipment of different sizes, and has a wide range of applicability, so that patients of different body sizes can share the above-mentioned walking aid device; the walking aid equipment is a whole composed of a mechanical exoskeleton and a walking aid device, and after the patient wears the mechanical exoskeleton, the mechanical exoskeleton can be started to push the walking aid device to move together, so that the patient can perform rehabilitation training in a real walking way, and because the support frame can share part of the weight of the patient's body and the mechanical exoskeleton, the burden of the patient's walking on the ground is reduced, which is beneficial to improving the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0007] Figure 1 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 1 ;

[0008] Figure 2 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 1 ;

[0009] Figure 3 yes Figure 2 The enlarged schematic diagram of point A in the middle;

[0010] Figure 4 yes Figure 2 The enlarged schematic diagram of point B in the middle;

[0011] Figure 5 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 2 ;

[0012] Figure 6 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 2 ;

[0013] Figure 7 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 3 ;

[0014] Figure 8 yes Figure 6 The enlarged schematic diagram of the center C;

[0015] Fig. 9 yes Figure 7 The enlarged schematic diagram of point D in the middle;

[0016] Fig.10 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 4 ;

[0017] Fig.11 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 5 ;

[0018] Fig.12 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 6 ;

[0019] Fig.13 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 7 ;

[0020] Fig.14 yes Fig.13 The enlarged schematic diagram of point E in the middle;

[0021] Fig.15 yes Fig.13 The enlarged schematic diagram of F in the middle;

[0022] Fig.16 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 8 ;

[0023] Fig.17 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 9 ;

[0024] Fig.18 This is a schematic diagram of the structure of the walking aid provided in the embodiment of the present application. Figure 10 . DETAILED DESCRIPTION

[0025] See also Figure 1 The embodiment of the present application provides a walking aid device 200, which includes a walking aid device 100 and a mechanical exoskeleton 300. The walking aid device 100 includes a main frame 10 and a support mechanism 20. The support mechanism 20 includes a mounting column 21 and a support frame 22. The mounting column 21 is fixedly connected to the main frame 10. The support frame 22 is mounted on the mounting column 21, and the position of the support frame 22 in the length direction of the mounting column 21 is adjustable. The support frame 22 is used to be detachably connected to the mechanical exoskeleton 300.

[0026] The support frame 22 is detachably connected to the mechanical exoskeleton 300, so that the support frame 22 supports the mechanical exoskeleton 300 to share the weight of the mechanical exoskeleton 300, and the position of the support frame 22 in the length direction of the mounting column 21 is adjustable, so that a wide range of height adjustment can be achieved, so that the support frame 22 can cooperate with mechanical exoskeletons 300 of different sizes, and has a wide range of application, so that patients with different body sizes can share the above-mentioned walking aid 100. The walking aid device 200 is a whole composed of the mechanical exoskeleton 300 and the walking aid 100. After the patient wears the mechanical exoskeleton 300, the mechanical exoskeleton 300 can be started to push the walking aid 100 to move together, so that the patient can perform rehabilitation training in a real walking manner. Since the support frame 22 can share part of the weight of the patient's body and the mechanical exoskeleton 300, the burden of the patient's walking on the ground is reduced, which is conducive to improving the rehabilitation effect.

[0027] It is understandable that the mechanical exoskeleton 300 device includes a waist support frame 301, a leg flexion and extension mechanism 302 rotatably connected to the waist support frame 301, and a foot support mechanism 303 rotatably connected to the leg flexion and extension mechanism 302. The waist support frame 301 is detachably connected to the support frame 22, so that the walking aid 100 supports the waist support frame 301 through the support frame 22, which can reduce the patient's weight, facilitate the patient's rehabilitation walking training, and improve the rehabilitation effect. In other embodiments, the support frame 22 can also be detachably connected to other parts of the mechanical exoskeleton 300.

[0028] See also Figure 1 In this embodiment, the walking aid device 100 includes a plurality of walking wheels 30. The plurality of walking wheels 30 are installed on the side of the main frame 10 away from the mounting column 21. The main frame 10 and the supporting mechanism 20 can slide relative to the bottom surface along with the walking wheels 30. The main frame 10 includes two connecting rods 11 arranged opposite to each other and a bearing member 12 fixedly connecting the two connecting rods 11. The bearing member 12 can be fixedly connected to the two connecting rods 11 by welding, screw connection or snap connection. The number of the bearing members 12 can be two, and the two bearing members 12 are arranged side by side and fixedly connected to the two connecting rods 11. The mounting column 21 is fixed to the bearing member 12. Each of the connecting rods 11 is mounted with the walking wheels 30 at both ends, so as to facilitate the movement of the walking aid device 100. When the patient undergoes rehabilitation walking treatment, the support frame 22 can be used to detachably connect the mechanical exoskeleton 300, so that the mechanical exoskeleton 300 and the walking aid 100 form a whole. After the patient wears the mechanical exoskeleton 300, the mechanical exoskeleton 300 can be started to push the walking aid 100 to move together, thereby facilitating the patient to perform rehabilitation training in a real walking manner. Since the support frame 22 can share part of the weight of the patient's body and the mechanical exoskeleton 300, the burden of the patient's walking on the ground is reduced, which is conducive to improving the rehabilitation effect.

[0029] See also Figure 2 , the support mechanism 20 also includes a fixed frame 23. The fixed frame 23 includes a fixed plate 231 and a mounting plate 232 arranged relative to the fixed plate 231, and two side frames 233 arranged relatively. The two side frames 233 are respectively fixedly connected to the fixed plate 231 and the mounting plate 232, so that the two side frames 233, the fixed plate 231 and the mounting plate 232 form a rectangular frame with a stable structure. The fixed plate 231 is fixedly connected to the two bearing members 12. One end of the mounting column 21 is fixedly connected to the fixed plate 231, and the other end is fixedly connected to the mounting plate 232, so that the mounting column 21 is firmly fixed between the fixed plate 231 and the mounting plate 232, so that the mounting column 21 can stably bear the load brought by the support frame 22 and the mechanical exoskeleton 300.

[0030] See also Figure 3 and Figure 4The fixing frame 23 further includes a first mounting seat 234 fixed to the fixing plate 231 and a second mounting seat 235 fixed to the mounting plate 232. The first mounting seat 234 is provided with a first positioning hole 2341, and the second mounting seat 235 is provided with a second positioning hole 2351. The first positioning hole 2341 and the second positioning hole 2351 are coaxially arranged. The extension direction of the first positioning hole 2341 and the extension direction of the second positioning hole 2351 are respectively perpendicular to the fixing plate 231 and the mounting plate 232. The first positioning hole 2341 and the second positioning hole 2351 are respectively positioned and matched with the two ends of the mounting column 21 to ensure that the mounting column 21 is perpendicular to the fixing plate 231 and the mounting plate 232. The depth of the first positioning hole 2341 is greater than the thickness of the fixing plate 231, and the depth of the second positioning hole 2351 is greater than the thickness of the mounting plate 232, which is conducive to increasing the matching area between the mounting column 21 and the first mounting seat 234 and the second mounting seat 235. The first mounting seat 234 is also provided with a first screw hole 2342 connected to the first positioning hole 2341. The axial direction of the first screw hole 2342 is perpendicular to the axial direction of the first positioning hole 2341. After one end of the mounting post 21 extends into the first positioning hole 2341, the mounting post 21 can be locked by installing a screw in the first screw hole 2342. The second mounting seat 235 is also provided with a second screw hole 2352 connected to the second positioning hole 2351. The axial direction of the second screw hole 2352 is perpendicular to the axial direction of the second positioning hole 2351. The end of the mounting post 21 away from the first mounting seat 234 extends into the second positioning hole 2351, and the mounting post 21 can be locked by installing a screw in the second screw hole 2352. In addition, the first mounting seat 234 and the second mounting seat 235 are detachably connected to the fixing plate 231 and the mounting plate 232 respectively by screw connection, which is convenient for disassembly maintenance and replacement of parts.

[0031] See also Figure 5, the support frame 22 includes a sliding support member 221 and an exoskeleton mounting member 222 fixedly connected to the sliding support member 221. The sliding support member 221 is mounted on the mounting column 21. The position of the sliding support member 221 in the length direction of the mounting column 21 is adjustable. The exoskeleton mounting member 222 is detachably connected to the mechanical exoskeleton 300. The exoskeleton mounting member 222 can adjust its position along with the sliding support member 221 in the length direction of the mounting column 21, so that the exoskeleton mounting member 222 is close to or away from the main frame 10, thereby adjusting the installation height of the exoskeleton, so that it can be suitable for mechanical exoskeletons 300 of different sizes and meet the use requirements of patients of different heights. In this embodiment, the sliding support member 221 can slide relative to the mounting column 21, and then adjust its position in the length direction of the mounting column 21.

[0032] See also Figure 5 , the support frame 22 includes two exoskeleton mounting parts 222. The two exoskeleton mounting parts 222 are fixed on opposite sides of the sliding support part 221, and the relative direction of the two exoskeleton mounting parts 222 is perpendicular to the length direction of the mounting column 21. The two exoskeleton mounting parts 222 are detachably connected to the mechanical exoskeleton 300. By detachably connecting the mechanical exoskeleton 300 with the two exoskeleton mounting parts 222, the support frame 22 can maintain the balance of the mechanical exoskeleton 300 in the horizontal direction, and avoid the incorrect support direction of the mechanical exoskeleton 300 by the support frame 22, which causes the patient's walking posture to be deformed. The mechanical exoskeleton 300 is supported by the two exoskeleton mounting parts 222, and the two exoskeleton mounting parts 222 can share the weight of the mechanical exoskeleton 300 and the human body. The walking aid device 100 also includes a support plate 40. The support plate 40 is detachably connected to the two exoskeleton mounting parts 222 by screw connection. The support plate 40 stabilizes the two support frames 22 to prevent the two support frames 22 from dangling and shaking. The middle part of the support plate 40 is detachably connected to the waist support frame 301 of the mechanical exoskeleton 300.

[0033] See also Figure 6 and Figure 7The exoskeleton mounting member 222 includes a support arm 2221, a first mounting member 2222, and a second mounting member 2228. The first mounting member 2222 and the second mounting member 2228 are respectively fixed to the two ends of the support arm 2221. The first mounting member 2222 is detachably connected to the sliding support member 221 by screws. The second mounting member 2228 is detachably connected to the mechanical exoskeleton 300 by screws. The distance between the second mounting member 2228 and the main frame 10 in the length direction of the mounting column 21 is greater than the distance between the first mounting member 2222 and the main frame 10 in the length direction of the mounting column 21, that is, there is a height difference between the second mounting member 2228 and the first mounting member 2222. The second mounting member 2228 can be supported and fixed to a higher position (such as the waist) on the mechanical exoskeleton 300, while the second mounting member 2228 is relatively low in height, which is conducive to lowering the center of gravity and reducing the torque of the support frame 22 acting on the mounting column 21, so that the support mechanism 20 can stably support the mechanical exoskeleton 300. In this embodiment, the number of the support arms 2221 can be two, and the two support arms 2221 are arranged side by side along the installation length direction. Of course, the number of the support arms 2221 can also be greater than or less than two, which is not limited here.

[0034] See also Figure 8The first mounting member 2222 includes a first clamping plate 2223 and a second clamping plate 2224 arranged relative to the first clamping plate 2223, and a connecting plate 2225 fixedly connecting the first clamping plate 2223 and the second clamping plate 2224. The first clamping plate 2223 and the second clamping plate 2224 are parallel to the mounting column 21, and the first clamping plate 2223 and the second clamping plate 2224 are fixed to opposite sides of the sliding support member 221 by screw connection, so as to apply a clamping and locking force to the sliding support member 221, and increase the contact area between the first mounting member 2222 and the sliding support member 221, so that the sliding support member 221 is stably connected to the exoskeleton mounting member 222, and the exoskeleton mounting member 222 is prevented from shaking relative to the sliding support member 221, resulting in unstable support of the mechanical exoskeleton 300 by the support frame 22, which affects the stability of the patient wearing the mechanical exoskeleton 300 and walking on the ground. The connecting plate 2225 includes a first fixing portion 2226 and a second fixing portion 2227 fixedly connected to the first fixing portion 2226. The first fixing portion 2226 is located on the side of the side frame 233 away from the sliding support member 221, and is fixedly connected to the first clamping plate 2223 and the second clamping plate 2224. The second fixing portion 2227 is staggered from the side frame 233. The first clamping plate 2223 is adjacent to the second fixing portion 2227 relative to the second clamping plate 2224. The first clamping plate 2223 and the second fixing portion 2227 are arranged at a right angle. One end of the support arm 2221 extends between the first clamping plate 2223 and the second fixing portion 2227, the end of the support arm 2221 contacts and is fixedly connected to the first clamping plate 2223, and the support arm 2221 partially overlaps and is fixedly connected to the second fixing portion 2227, thereby ensuring that the support arm 2221 is stable relative to the first mounting member 2222.

[0035] See also Fig. 9The second mounting member 2228 includes a first fixed side plate 2229 and a second fixed side plate 2230 fixedly connected to the first fixed side plate 2229. The first fixed side plate 2229 and the second fixed side plate 2230 are arranged at a right angle. The first fixed side plate 2229 contacts and is fixedly connected to the end of the support arm 2221 away from the first mounting member 2222, and the second fixed side plate 2230 partially overlaps and is fixedly connected to the support arm 2221, thereby ensuring that the support arm 2221 is stable relative to the second mounting member 2228. A reinforcing rib 2231 is formed between the first fixed side plate 2229 and the second fixed side plate 2230 to improve the structural strength of the second mounting member 2228. The first fixed side plates 2229 of the two second mounting members 2228 are fitted with the support plate 40, and the first fixed side plates 2229 of the two second mounting members 2228 are fixedly connected to the support plate 40 by screw connection.

[0036] See also Fig.10 Furthermore, the sliding support member 221 is slidably connected to the mounting column 21, and the support mechanism 20 also includes a driving component 24, one end of which is fixedly connected to the main frame 10 to drive the sliding support member 221 to adjust its position in the length direction of the mounting column 21.

[0037] See also Fig.11 In this embodiment, the sliding support member 221 includes a connecting body 2211 and a first sliding sleeve 2212 fixedly connected to the connecting body 2211. The connecting body 2211 is provided with a first mounting through hole 2213 for the mounting column 21 to pass through, and the diameter of the first mounting through hole 2213 is greater than the diameter of the mounting column 21. The first sliding sleeve 2212 can be fixedly connected to the connecting body 2211 by screws, the first sliding sleeve 2212 is positioned and matched with the first mounting through hole 2213, the first sliding sleeve 2212 is provided with a sliding hole that is slidably matched with the mounting column 21, and the mounting column 21 can slide and guide the connecting body 2211 through the first sliding sleeve 2212; and the depth of the first mounting through hole 2213 is greater than the depth of the sliding hole of the first sliding sleeve 2212, and only the first mounting through hole 2213 needs to be roughly processed, and the sliding hole of the first sliding sleeve 2212 needs to be finely processed, which is conducive to reducing the processing difficulty and workload. The sliding support member 221 includes two first sliding sleeves 2212, which are respectively positioned at the two ends of the first mounting through hole 2213. The two first sliding sleeves 2212 slide in cooperation with the mounting column 21 to ensure that the sliding support member 221 slides smoothly in a straight line relative to the mounting column 21.

[0038] See also Fig.12 , the support mechanism 20 includes two mounting columns 21. The two mounting columns 21 are fixed between the fixing plate 231 and the mounting plate 232. The two mounting columns 21 are arranged side by side. The sliding support member 221 includes two connecting bodies 2211 arranged opposite to each other, and a connecting member 400 fixedly connecting the two connecting bodies 2211. The two connecting bodies 2211 are respectively slidably connected to the two mounting columns 21 via the first sliding sleeve 2212, so that the two mounting columns 21 respectively guide the two connecting bodies 2211 for sliding. The two connecting bodies 2211 are respectively fixedly connected to the two exoskeleton mounting parts 222, and the driving assembly 24 can drive the two connecting bodies 2211 to drive the two exoskeleton mounting parts 222 to slide synchronously.

[0039] See also Fig.13 In this embodiment, the support mechanism 20 further includes a transmission assembly 25, and the transmission assembly 25 is connected between the sliding support member 221 and the driving assembly 24. The transmission assembly 25 can transmit the driving force of the driving assembly 24 to the sliding support member 221, so that the driving assembly 24 can apply the driving force to the sliding support member 221 through the transmission assembly 25. In other embodiments, the driving assembly 24 can directly drive the sliding support member 221.

[0040] See also Fig.13 and Fig.14The transmission assembly 25 includes a pushing member 251 and an elastic member 252. The pushing member 251 is located between the sliding support member 221 and the main frame 10 and is slidably connected to the mounting column 21. The elastic member 252 elastically connects the pushing member 251 and the sliding support member 221. The driving assembly 24 applies a driving force to the sliding support member 221 via the pushing member 251 and the elastic member 252. The mechanical exoskeleton 300 is supported by the support frame 22. After the patient wears the mechanical exoskeleton 300, due to the weight of the patient and the mechanical exoskeleton 300, the sliding support member 221 is fixed relative to the mechanical exoskeleton 300. The driving component 24 can drive the pushing member 251 to approach or move away from the sliding support member 221, thereby adjusting the elastic deformation of the elastic member 252, so that the driving component 24 can apply different degrees of support force to the sliding support member 221 through the pushing member 251 and the elastic member 252, thereby achieving different degrees of weight loss effects and achieving the effect of adjustable training intensity. On the other hand, since the pushing member 251 is connected to the sliding support member 221 through the elastic member 252, that is, there is no rigid contact between the pushing member 251 and the sliding support member 221, when the patient wears the mechanical exoskeleton 300 for rehabilitation walking, the elastic member 252 can elastically buffer the load fluctuation of the support frame 22, can elastically adapt to the patient's walking posture, and reduce the patient's discomfort. In this embodiment, the elastic member 252 is a rectangular spring, and the elastic member 252 is sleeved on the mounting column 21. In other embodiments, the elastic member 252 may also be other forms of elastic bodies, such as elastic rubber.

[0041] See also Fig.14The pushing member 251 includes a pushing body 2511 and a second sliding sleeve 2512 fixedly connected to the pushing body 2511. The pushing body 2511 is provided with a second mounting through hole 2513 for the mounting post 21 to pass through. The second sliding sleeve 2512 is positioned and matched with the second mounting through hole 2513. The second sliding sleeve 2512 can be fixedly connected to the pushing body 2511 by a screw. The second sliding sleeve 2512 is provided with a sliding hole that is slidably matched with the mounting post 21, so that the mounting post 21 can slide and guide the pushing body 2511 through the second sliding sleeve 2512. The pushing body 2511 is provided with two second mounting through holes 2513. The pushing member 251 also includes two second sliding sleeves 2512 that are positioned and matched with the two second mounting through holes 2513 respectively. The two mounting posts 21 pass through the two second mounting through holes 2513 respectively and slide and match with the two sliding sleeves. The depth of the sliding hole of the second sliding sleeve 2512 is greater than the depth of the second mounting through hole 2513 , so as to reduce the volume of the pushing body 2511 while ensuring the sliding matching area between the pushing member 251 and the mounting column 21 .

[0042] See also Fig.13 and Fig.15 Further, the fixed frame 23 includes a guide member 236 fixedly connected to the mounting plate 232, the mounting plate 232 is fixed to the end of the mounting column 21 away from the main frame 10, the transmission assembly 25 also includes a transmission rod 253, the transmission rod 253 passes through the guide member 236 and is fixedly connected to the pusher 251, the transmission rod 253 is parallel to the length direction of the mounting column 21, the guide member 236 guides the transmission rod 253 for sliding, and the driving assembly 24 drives and connects the transmission rod 253. In this embodiment, the transmission rod 253 is a linear optical axis. The guide member 236 can be a linear bearing. The guide member 236 is provided with a guide hole 2361 that is slidably matched with the transmission rod 253. The axial direction of the guide hole 2361 is parallel to the length direction of the mounting column 21. The guide member 236 guides the transmission rod 253 for sliding movement through the guide hole 2361 , thereby ensuring that the transmission rod 253 slides relative to the guide member 236 in a direction parallel to the length of the mounting column 21 , thereby preventing the transmission rod 253 from getting stuck midway when adjusting its position in the length direction of the mounting column 21 .

[0043] See also Fig.16Furthermore, the driving assembly 24 includes a driving member 241 and a telescopic push rod 242, the driving member 241 is fixedly connected to the main frame 10, one end of the telescopic push rod 242 is fixedly connected to the transmission rod 253, and the other end is slidably connected to the driving member 241, the telescopic push rod 242 is parallel to the transmission rod 253, and the driving member 241 can drive the telescopic push rod 242 to extend or retract, and drive the transmission rod 253 to slide relative to the guide member 236.

[0044] In this embodiment, the transmission assembly 25 further includes a transmission plate 254. The transmission plate 254 is fixed to the end of the transmission rod 253 away from the pusher 251. The transmission plate 254 has a large arrangement area, and the ends of the two transmission rods 253 can be fixed on the transmission plate 254. The telescopic push rod 242 is fixed to the transmission plate 254 at one end away from the driving member 241. Then the telescopic push rod 242 can simultaneously drive the two transmission rods 253 to slide synchronously relative to the guide member 236 through the transmission plate 254, so that the transmission structure is simple and efficient. The transmission assembly 25 further includes two first fixing seats 255 and a second fixing seat 256 fixed on the transmission plate 254. The first fixing seat 255 and the second fixing seat 256 can be fixedly connected to the transmission plate 254 by screw connection. Both of the two first fixing seats 255 are provided with a mounting through hole and a screw hole connected to the mounting through hole. One end of the transmission rod 253 is positioned and matched with the installation through hole, and a screw can be installed in the screw hole to lock the transmission rod 253. The second fixing seat 256 is provided with two fixing clamps, and one end of the telescopic push rod 242 can be locked between the two fixing clamps by a pin.

[0045] The driving member 241 may be a linear drive motor, and the driving member 241 may drive the telescopic push rod 242 to perform a linear telescopic motion. By controlling the driving member 241 to apply a driving force to the sliding support member 221 via the transmission assembly 25 in an electrically controlled manner, it is helpful to save manpower and the adjustment process is more convenient. In other embodiments, the driving assembly 24 may also be a non-electric structure, such as driving the transmission rod 253 to slide relative to the guide member 236 through a screw nut pair structure or a pulley combination structure.

[0046] See also Fig.17 Furthermore, the support mechanism 20 also includes an armrest 26 fixedly connected to the transmission rod 253, the armrest 26 is fixed to the end of the transmission rod 253 away from the pushing member 251, the armrest 26 is located on the side of the support frame 22 away from the main frame 10, and the armrest 26 can slide relative to the guide member 236 with the transmission rod 253 to approach or move away from the main frame 10.

[0047] In this embodiment, the armrest 26 is used to provide a place for the patient to grasp and use leverage. When the patient wears the mechanical exoskeleton 300, he can grasp the armrest 26 to push the walking aid 100 forward together, so that the walking aid 100 can not only support the waist support 33 of the mechanical exoskeleton 300 to reduce the weight of the patient's lower limbs, but also provide a place for the patient's upper limbs to use leverage, so that the burden on the patient's upper and lower limbs is reduced, and the patient's whole body burden is small during rehabilitation walking treatment, which is conducive to motivating the patient to increase the rehabilitation training time and improve the rehabilitation effect.

[0048] Since the armrest 26 and the pushing member 251 are respectively fixed at the two ends of the transmission rod 253, that is, the driving assembly 24 can drive the transmission rod 253 to drive the armrest 26 and the pushing member 251 to slide synchronously relative to the mounting column 21, and the pushing member 251 can push the sliding support member 221 to slide relative to the mounting column 21 to adjust the installation height of the exoskeleton mounting member 222, that is, the armrest 26 and the exoskeleton mounting member 222 can adjust the installation height synchronously, thereby simultaneously meeting the support needs of patients of different heights in terms of upper limbs and lower limbs.

[0049] The armrest 26 is provided with a fixed portion 261 and two armrest portions 262 arranged opposite to each other. The fixed portion 261 is fixedly connected to the transmission rod 253. The two armrest portions 262 are fixed on opposite sides of the fixed portion 261. A first entrance and exit 263 relative to the fixed portion 261 is formed between the two armrest portions 262, that is, the armrest 26 is in a semi-ring shape. The two armrest portions 262 can be grasped by the left and right hands of the patient, so that the patient can maintain the balance of the body. Medical staff can provide assistance to the patient's upper limbs through the first entrance and exit 263. A second entrance and exit 13 relative to the bearing member 12 is formed between the two connecting rods 11, that is, the main frame 10 is in a semi-ring shape. Medical staff can help the patient's lower limbs wear or take off the mechanical exoskeleton 300 through the second entrance and exit 13. The second entrance 13 and the first entrance 263 face the same side, so that the walking aid 100 as a whole forms a semi-open structure. When the patient puts on or takes off the mechanical exoskeleton 300, medical staff can assist the patient's upper and lower limbs through the first entrance 263 and the second entrance 13, and the patient does not need to turn around, making the putting on process relatively simple; and the support frame 22 supports the mechanical exoskeleton 300, which can save the physical strength of medical staff.

[0050] See also Fig.18Further, the walking aid device 100 includes two steering wheels 31 and a steering mechanism 50, the steering mechanism 50 includes two first connecting rods 51, a second connecting rod 52 and a pushing assembly 53, the two steering wheels 31 are each provided with a rotating shaft 32 rotatably connected to the main frame 10, the two steering wheels 31 are arranged at intervals, the two first connecting rods 51 are respectively fixedly connected to the two steering wheels 31, the first connecting rod 51 is perpendicular to the rotating shaft 32, the two ends of the second connecting rod 52 are respectively rotatably connected to the two first connecting rods 51, and are respectively spaced from the two rotating shafts 32, the pushing assembly 53 is fixedly connected to the main frame 10, and the pushing assembly 53 drives the second connecting rod 52 to slide relative to the rotating shaft 32 in a direction perpendicular to the rotating shaft 32, so as to drive the first connecting rod 51 and the steering wheel 31 to rotate around the rotating shaft 32.

[0051] In this embodiment, the steering wheel 31 includes a bracket 33 and a roller body 34. The bracket 33 is provided with the rotating shaft 32 and a mounting frame 35 fixedly connected to the rotating shaft 32. The roller body 34 is rotatably connected to the mounting frame 35. The axial direction of the rotating shaft of the roller body 34 rotatably connected to the mounting frame 35 is perpendicular to the axial direction of the rotating shaft 32. The two connecting rods 11 are both provided with a rotating shaft 32 bearing at the end adjacent to the bearing 12. One end of the rotating shaft 32 is rotatably matched with the rotating shaft 32 bearing, and the other end is fixedly connected to the first connecting rod 51. The first connecting rod 51 is perpendicular to the rotating shaft 32, so as to facilitate the steering wheel 31 to be turned through the first connecting rod 51. The two ends of the second connecting rod 52 are respectively hinged to the two first connecting rods 51. The pushing assembly 53 includes a driving body 531, a steering push rod 532 and a steering connecting member 533. The driving body 531 is fixedly connected to the bearing 12 of the main frame 10. The steering push rod 532 is slidably connected to the driving body 531 in a telescopic manner. The steering connector 533 is connected between the steering push rod 532 and the second connecting rod 52. The steering connector 533 is provided with a fixed connecting portion 534 and a rotating connecting portion 535 fixedly connected to the fixed connecting portion 534. The fixed connecting portion 534 is fixedly connected to the second connecting rod 52. The rotating connecting portion 535 is rotatably connected to the end of the steering push rod 532 away from the driving body 531. The driving body 531 can drive the steering push rod 532 to extend or retract, and then drive the second connecting rod 52 to slide in a direction perpendicular to the rotating shaft 32 through the steering connector 533, so as to drive the first connecting rod 51 and the steering wheel 31 to rotate around the rotating shaft 32, thereby realizing the steering effect of the linkage of the left and right wheels. In other embodiments, the steering wheel 31 can be replaced by a universal wheel.

[0052] In this embodiment, the driving body 531 can be a linear drive motor, and the driving body can be controlled to work by electronic control. The walking aid 100 can be equipped with a control handle electrically connected to the driving body 531 on the handrail 26, so that the medical staff or the patient himself can control the driving body to drive the second connecting rod 52 to complete the steering action through the control handle. The medical staff can also remotely control the driving body 531 to drive the second connecting rod 52 to complete the steering action through a wireless remote controller. In other embodiments, the driving body 531 is a non-electrically controlled structure. The driving body 531 can be a manual connecting rod structure, and the driving body 531 is provided with a manual control part, and the patient can control the manual control part by his own strength to control the second connecting rod 52 to complete the steering action.

[0053] The embodiment of the present application provides a walking aid device and a walking aid equipment, wherein the support frame is detachably connected to the lumbar support frame 301, so that the support frame supports the lumbar support frame 301 to share the weight of the exoskeleton device, and the position of the support frame in the length direction of the mounting column is adjustable, so that a wide range of height adjustment can be achieved, so that the support frame can be matched with exoskeleton devices of different sizes, and has a wide range of applicability, so that patients of different body sizes can share the above-mentioned walking aid device; the walking aid equipment is a whole composed of a mechanical exoskeleton and a walking aid device. After the patient wears the mechanical exoskeleton, the mechanical exoskeleton can be started to push the walking aid device to move together, so that the patient can perform rehabilitation training in a real walking way, and because the support frame can share part of the weight of the patient's body and the mechanical exoskeleton, the burden of the patient's walking on the ground is reduced, which is conducive to improving the rehabilitation effect.

[0054] In summary, although the present application has been disclosed as above with a preferred embodiment, the preferred embodiment is not intended to limit the present application. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be based on the scope defined in the claims.

Claims

1. A walking aid, characterized in that: The walking aid device comprises a main frame and a supporting mechanism, wherein the supporting mechanism comprises a mounting column and a supporting frame, wherein the mounting column is fixedly connected to the main frame, and the supporting frame is mounted on the mounting column, wherein the position of the supporting frame in the length direction of the mounting column is adjustable, and the supporting frame is used for detachably connecting with the mechanical exoskeleton; The support frame includes a sliding support member slidably connected to the mounting column and an exoskeleton mounting member fixedly connected to the sliding support member, the exoskeleton mounting member is detachably connected to the mechanical exoskeleton, the support mechanism also includes a driving component, one end of the driving component is fixedly connected to the main frame, and the other end is connected to the sliding support member to drive the sliding support member to adjust the position in the length direction of the mounting column, wherein the exoskeleton mounting member includes a support arm, a first mounting member and a second mounting member, the first mounting member and the second mounting member are respectively fixed to the two ends of the support arm, there is a height difference between the second mounting member and the first mounting member, the second mounting member is relatively low in height, which is conducive to lowering the center of gravity and reducing the torque applied by the support frame to the mounting column; The support mechanism also includes a transmission component, which includes a pushing member and an elastic member. The pushing member is located between the sliding support member and the main frame and is slidably connected to the mounting column. The elastic member elastically connects the pushing member and the sliding support member. The driving component applies a driving force to the sliding support member via the pushing member and the elastic member. The driving component 4 can drive the pushing member to move closer to or away from the sliding support member, thereby adjusting the elastic deformation of the elastic member, so that the driving component 4 can apply different degrees of supporting force to the sliding support member via the pushing member and the elastic member.

2. The walking aid device according to claim 1, characterized in that: The support mechanism also includes a fixed frame, which includes a mounting plate and a guide member fixedly connected to the mounting plate, the mounting plate is fixed to one end of the mounting column away from the main frame, the transmission assembly also includes a transmission rod, the transmission rod passes through the guide member and is fixedly connected to the pushing member, the transmission rod is parallel to the length direction of the mounting column, the guide member slides and guides the transmission rod, and the drive assembly drives and connects the transmission rod.

3. The walking aid device according to claim 2, characterized in that: The driving assembly includes a driving member and a telescopic push rod, the driving member is fixedly connected to the main frame, one end of the telescopic push rod is fixedly connected to the transmission rod, and the other end is slidably connected to the driving member, the telescopic push rod is parallel to the transmission rod, and the driving member can drive the telescopic push rod to extend or retract, and drive the transmission rod to slide relative to the guide member.

4. The walking aid device according to claim 2, characterized in that: The support mechanism also includes an armrest fixedly connected to the transmission rod, the armrest is fixed to one end of the transmission rod away from the pushing member, the armrest is located on the side of the support frame away from the main frame, and the armrest slides relative to the guide member with the transmission rod to approach or move away from the main frame; the armrest is provided with a fixed portion and two armrest portions arranged opposite to each other, the fixed portion is fixedly connected to the transmission rod, the two armrest portions are fixed on two opposite sides of the fixed portion, and a first entrance and exit relative to the fixed portion is formed between the two armrest portions.

5. The walking aid device according to claim 4, characterized in that: The main frame includes two connecting rods arranged opposite to each other, and a bearing member fixedly connecting the two connecting rods, a second entrance and exit relative to the bearing member is formed between the two connecting rods, and the bearing member is fixed to one end of the mounting column.

6. The walking aid device according to any one of claims 1 to 5, characterized in that: The walking aid device includes two steering wheels and a steering mechanism, the steering mechanism includes two first connecting rods, a second connecting rod and a pushing assembly, the two steering wheels are each provided with a rotating shaft rotatably connected to the main frame, the two steering wheels are spaced apart, the two first connecting rods are respectively fixedly connected to the two steering wheels, the first connecting rod is perpendicular to the rotating shaft, the two ends of the second connecting rod are respectively rotatably connected to the two first connecting rods and are spaced apart from the two rotating shafts, the pushing assembly is fixedly connected to the main frame, and the pushing assembly drives the second connecting rod to slide relative to the rotating shaft in a direction perpendicular to the rotating shaft, so as to drive the first connecting rod and the steering wheel to rotate around the rotating shaft.

7. A walking aid, characterized in that: The walking aid device comprises the walking aid apparatus according to any one of claims 1 to 6, and the walking aid device further comprises a mechanical exoskeleton, and the mechanical exoskeleton is detachably connected to the support frame.

8. The walking aid device according to claim 7, characterized in that: The mechanical exoskeleton device includes a waist support frame, a leg flexion and extension mechanism rotatably connected to the waist, and a foot support mechanism rotatably connected to the leg flexion and extension mechanism. The waist support frame is detachably connected to the support frame.

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