A knee joint bionic rehabilitation nursing assisting device

Abstract

The present invention provides a knee joint bionic rehabilitation nursing assisting device, which belongs to the technical field of rehabilitation nursing equipment. It solves the problems of small application scope and single nursing method of existing knee joint nursing devices. It includes a walking frame and a bionic assisting mechanism. The rear side of the walking frame is provided with a walking chassis, the upper side of the walking frame is provided with a supporting assembly, and the end of the supporting assembly is provided with a strap mechanism. The bionic assisting mechanism includes a hip binding assembly, two knee joint binding assemblies and two ankle binding assemblies. The hip binding assembly is arranged on the lower side of the strap mechanism, and the two ankle binding assemblies are symmetrically arranged on the lower side of the hip binding assembly. The ankle binding assembly is arranged on the lower side of the corresponding knee joint binding assembly. Adjustment components are arranged between the hip binding assembly and the knee joint binding assembly and on the outer side of the knee joint binding assembly. The present invention has a stable center of gravity, is easy to wear, can adjust the knee joint load-bearing, and has various nursing methods, which can meet the walking rehabilitation training needs of patients with different degrees of illness.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation nursing equipment, and relates to a knee joint rehabilitation nursing device, in particular to a knee joint bionic rehabilitation nursing assisting device. Background Art

[0002] The knee joint is composed of the medial and lateral condyles of the femur, the medial and lateral condyles of the tibia, and the patella. It is the largest and most complex joint in the human body, with the highest chance of injury. It is a trochlear joint.

[0003] People who engage in heavy physical labor and intense jumping for a long time are prone to knee joint damage. The main symptoms include synovitis, cruciate ligament tear, meniscus injury, cartilage injury, etc. People whose knees are often exposed to cold stimulation are prone to chronic knee diseases, such as pigmented villonodular synovitis, chronic synovitis, etc.

[0004] There are currently two methods for treating the knee joint: one is conservative treatment, the principle of which is to apply external force to the knee joint to slowly pull apart the adhesion tissue, and through the metabolism of the tissue, slowly lengthen the shortened tendons and other tissues, thereby improving the flexion function; the other is surgical treatment, but conservative treatment is generally still required after surgical release.

[0005] Knee joint exercises are generally manual massages, which require applying external force to the affected limb for a long time, which is time-consuming, labor-intensive and inefficient. Mechanical assistance is generally used, which involves sitting exercises in the early stages and standing and walking exercises in the later stages, but the scope of application is small and the force applied to the knee joint cannot be adjusted according to different needs.

[0006] After searching, a Chinese patent document discloses a knee joint rehabilitation training device [Application number: 202210725449.9; Publication number: CN115040836A]. This rehabilitation training device includes: a base plate, a mounting frame is provided on the base plate, and a fixed seat is fixedly connected to the fixed seat, a recliner is fixedly connected to the fixed seat, and a training box is fixedly connected to the mounting frame; it also includes: an adjustment component, the adjustment component is used to adjust the training device, and is arranged in the training box; a resistance component, the resistance component is used to cooperate with the adjustment component to adjust the training resistance of the training device accordingly, and is arranged in the training box and connected to the adjustment component. This knee joint rehabilitation training device, by setting the adjustment component and the resistance component to cooperate with each other, although the crank length can be adjusted to perform rehabilitation training, but the method is single and cannot meet the requirements of bionic walking training.

[0007] Therefore, we propose a knee joint bionic rehabilitation nursing assist device. The device has a stable center of gravity, is easy to wear, can adjust the knee joint load-bearing capacity, has various nursing methods, and can meet the needs of patients with different degrees of illness for bionic walking rehabilitation training. Summary of the invention

[0008] The purpose of the present invention is to address the above-mentioned problems in the existing technology and to propose a knee joint bionic rehabilitation nursing assist device. The technical problem to be solved by the invention is: how to adjust the knee joint load-bearing system for patients with different degrees of illness and conduct stable bionic walking rehabilitation training.

[0009] The purpose of the present invention can be achieved by the following technical solutions:

[0010] A knee joint bionic rehabilitation nursing assisting device comprises a walking frame and a bionic assisting mechanism, wherein a walking chassis is arranged on the rear side of the walking frame, a battery and a main control box are arranged inside the walking chassis, the main control box is electrically connected to a handheld controller, a supporting assembly is arranged on the upper side of the walking frame, a shoulder strap mechanism is arranged at the end of the supporting assembly, and the bionic assisting mechanism comprises a hip binding assembly, two knee joint binding assemblies and two ankle binding assemblies, the hip binding assembly is arranged on the lower side of the shoulder strap mechanism, the two knee joint binding assemblies are symmetrically arranged on the lower side of the hip binding assembly, the two ankle binding assemblies are arranged on the lower side of the corresponding knee joint binding assemblies, and adjustment components are arranged between the hip binding assembly and the knee joint binding assembly and on the outer side of the knee joint binding assembly.

[0011] The working principle of the present invention is as follows: according to the patient's body shape, the angle of the support component is adjusted through a handheld controller, thereby adjusting the height of the shoulder strap mechanism. The shoulder strap mechanism is worn on the patient's back, the crotch binding component is worn on the patient's crotch, the two knee joint binding components are worn on the patient's knees, and the ankle binding component is worn on the patient's ankles. The patient holds the handheld controller in his hand and controls the walking speed, forward, backward or turning of the walking chassis according to the rehabilitation conditions of the knee joint. At the same time, the angle of the support component is adjusted to control the patient's lifting height, that is, to reduce the load on the knee joint or lift the patient. For seriously ill patients, the patient is lifted and the patient is suspended in the air, and the adjustment component is started to control the knee joint binding The component rotates relative to the hip binding component, and the adjusting component controls the rotation of the hip binding component, bionic simulation of walking, helping to drive the patient to simulate walking; for patients with more serious illnesses, the ankle binding component contacts the ground, and the supporting component lifts the patient but does not hang in the air, reducing the weight on the knees, and the adjusting component is activated to help drive the patient to walk; for patients with less serious illnesses, the patient actively applies force and does not activate the adjusting component; for patients who need weight-bearing exercise, weight can be added to the back of the strap mechanism for weight-bearing exercise, or the damping effect of the adjusting component can be activated to increase walking resistance for weight-bearing exercise; the latter two types of patients can be free from strength at any time, and the supporting component cooperates with the strap mechanism to prevent the patient from falling.

[0012] The walking bracket includes a fixed box, a fixed plate is provided inside the fixed box, a transverse adjustment motor is fixed on the upper end of the fixed plate, a battery and a main control box are fixed on the upper end of the fixed plate, the transverse adjustment motor is located between the battery and the main control box, a gear is rotatably provided at the middle part of the lower end of the fixed plate, a transmission gear pair is provided between the output shaft of the transverse adjustment motor and the rotating shaft of the gear, two symmetrical slide rails are fixed inside the fixed box, two slide seats are slidably provided on the slide rails, racks are fixed on the two diagonal slide seats, the two racks are meshed with the gears, an adjusting rod is fixed between the two opposite slide seats, the adjusting rod is slidably set on the fixed box, the end of the adjusting rod extends out of the fixed box, and a transverse rod is fixed on the end of the adjusting rod, universal wheels are fixed on the lower ends of the transverse rods, and the fixed box and the two transverse rods form a U-shaped structure.

[0013] With the above structure, the main control box controls the rotation of the output shaft of the transverse adjustment motor, and drives the gear to rotate through the transmission gear pair. The two racks are meshed with the gears, which drives the slide to slide in opposite directions or toward each other along the slide rail. An adjustment rod is fixed between the two opposite slides, which controls the adjustment rod to slide in opposite directions or toward each other along the fixed box. The adjustment rod drives the transverse rod on the same side to move synchronously, which is used to adjust the distance between the two transverse rods to ensure a more stable center of gravity. The fixed box and the two transverse rods form a U-shaped structure, and the patient walks inside the U-shaped structure.

[0014] The walking chassis includes a connecting plate, which is fixed on the rear side of the fixed box. An electric control machine and two symmetrical walking motors are fixed on the lower end of the connecting plate. The walking motors are electrically connected to the electric control machine. The electric control machine is located in the middle of the two walking motors. Walking wheels are fixed on the output shafts of the walking motors. The main control box is electrically connected to the electric control machine.

[0015] With the above structure, the main control box transmits signals to the electronic control machine, and the electronic control machine controls the travel motor to work independently. The output shaft of the travel motor drives the travel wheel to rotate, thereby controlling the travel speed, forward, backward or steering.

[0016] The support assembly includes a vertical pole, the lower end of the vertical pole is fixed to the upper end of the connecting plate, a handle is fixed on the vertical pole, a mounting seat is fixed on the end of the vertical pole, an articulated frame and a hinged frame are hinged on the mounting seat, the hinged frame is located on the outside of the hinged frame, outer covers are provided on the outside of the mounting seat and the hinged frame, an electric push rod is hinged between the hinged frame and the vertical pole, hinged seats are hinged at the ends of the hinged frame and the hinged frame, and horizontal axes are provided on both sides of the hinged seat.

[0017] With the above structure, the handle is convenient for pushing the device to move, and the electric push rod is extended and retracted, thereby driving the articulated frame to rotate around the mounting seat. The ends of the articulated frame and the hinged frame are hinged with a hinged seat, that is, the articulated frame and the hinged frame cooperate to drive the hinged seat to rise and fall, and the horizontal axis drives the shoulder strap mechanism to rise and fall, adjust the height of the shoulder strap mechanism, and control the lifting height of the patient, that is, reduce the load on the knee joint.

[0018] The shoulder strap mechanism includes a sliding plate and a back frame, the sliding plate is rotatably arranged on a horizontal axis, a sliding box is fixed to the rear side of the back frame, the sliding plate is slidably arranged inside the sliding box, a slider and a locking screw are screwed on the rear side of the sliding plate, a sliding hole is opened on the rear side of the sliding box, the slider is slidably arranged inside the sliding hole, a plurality of symmetrically arranged rear side buckle straps are arranged on the rear side of the back frame, a covering plate, a buffer bag and two symmetrical storage boxes are fixed to the front side of the back frame, the covering plate is located below the buffer bag, the storage boxes are located on the outside of the covering plate, symmetrical front side buckle straps are arranged on the outside of the covering plate, the front side buckle straps are arranged horizontally, two symmetrical shoulder straps are arranged on the buffer bag, and a tightening buckle strap is arranged between the shoulder straps.

[0019] With the above structure, the horizontal axis drives the sliding plate to rise and fall. According to the patient's body shape and the rehabilitation care needs of the knee joint, the depth of the sliding plate sliding into the sliding box is adjusted, and the locking screw is used to lock it. The sliding block is set inside the sliding hole to prevent the sliding plate from falling. The rear buckle strap can add weight (such as sandbags, etc.) as needed, or it is not locked with the locking screw. That is, the sliding plate always slides relatively inside the sliding box. When the patient walks by himself with or without weight, he can take off the force at any time, and the sliding block is blocked inside the sliding hole, and he will not fall down and can rest;

[0020] The patient's back is against the cushioning bag, the hands are passed through the shoulder straps, the buckle straps are tightened and locked in front of the chest, the patient's lower back is against the covering plate, the front buckle straps are tied around the abdomen, and the wearing is complete. The storage box is used to place items such as water cups and mobile phones.

[0021] The crotch binding assembly comprises a crotch main rod, which is fixed to the lower end of the back frame, the crotch main rod is U-shaped, and a crotch buckle strap is arranged on the front side of the crotch main rod.

[0022] With the above structure, the main rod of the crotch is U-shaped, which is convenient for wearing the device and resting on the crotch. The crotch buckle strap is worn on the patient's crotch, which is convenient for lifting the patient.

[0023] The knee joint binding assembly includes two upper rotating links, upper adjusting frames are fixed to the upper ends of the two upper rotating links, an upper sliding frame is slidably provided on the upper ends of the upper adjusting frames, an upper connecting short rod and an upper connecting long rod are fixed to the upper ends of the upper sliding frames, an upper adjusting binding ring is screwed between the upper connecting short rod and the upper connecting long rod, a reinforcing frame is fixed between the connecting short rod and the upper connecting long rod, the upper connecting long rod is hinged on the hip main rod, lower rotating links are hinged at the bottom of the two upper rotating links, lower adjusting frames are fixed to the lower ends of the two lower rotating links, a lower sliding frame is slidably provided on the lower ends of the lower adjusting frames, two symmetrical lower connecting rods are fixed to the lower ends of the lower sliding frames, a lower adjusting binding ring is screwed between the two lower connecting rods, and locking screws are provided on the upper sliding frame and the lower sliding frame.

[0024] With the above structure, the patient's legs pass through the reinforcement frame, the upper adjustment ring, the upper adjustment frame, the lower adjustment frame, the lower sliding frame and the lower adjustment ring in sequence. The upper adjustment ring is bound to the thigh, and the knee joint is located at the hinge of the upper rotating link and the lower rotating link. The lower adjustment ring is bound to the calf, and the upper adjustment ring and the lower adjustment ring are locked. The reinforcement frame, the upper sliding frame, the upper adjustment ring, the upper connecting short rod and the upper connecting long rod form an upper transverse moving part, the upper adjustment frame, the upper rotating link, the lower rotating link and the lower adjustment frame form a middle rotating part, and the lower sliding frame, the lower connecting rod and the lower adjustment ring form a lower transverse moving part. According to the knee joint rehabilitation needs, the relative positions of the upper sliding frame and the upper adjustment frame, as well as the relative positions of the lower adjustment frame and the lower sliding frame are adjusted laterally, that is, the positions of the upper transverse moving parts and the lower transverse moving parts relative to the middle rotating parts are adjusted, and the positions of the upper sliding frame and the lower sliding frame are locked with locking screws to avoid shaking during rotation of the knee joint. The flexion angle is accurate and the rehabilitation effect is better. The upper connecting long rod is hinged on the hip main rod, and the adjusting component drives the upper connecting long rod to rotate around the hip main rod, and drives the thigh to rotate around the hip joint while walking. The adjusting component drives the lower rotating connecting rod to rotate around the upper rotating connecting rod, and drives the calf to rotate around the knee joint while walking.

[0025] The adjusting component includes a fixed box and a steering wheel. The fixed box is fixed to the side of the hip main rod or the side of the outer rotating connecting rod. The internal rotation of the fixed box is provided with a driving gear and a reduction gear. The driving gear and the reduction gear are meshed. A machine cover and a damping motor are fixed to the outer side of the fixed box. The machine cover is located on the upper part of the damping motor. The damping motor is electrically connected to the main control box. The output shaft of the damping motor is transmission-connected to the rotating shaft of the driving gear. A synchronous gear is fixed on the rotating shaft of the driving gear. The steering wheel is transmission-connected to the rotating shaft of the upper connecting long rod or the rotating shaft of the lower rotating connecting rod. The synchronous gear is meshed with the steering wheel, and a wheel cover is provided on the outer side of the steering wheel.

[0026] With the above structure, the main control box controls the damping motor to start, the transmission shaft of the damping motor drives the driving gear to rotate, the driving gear and the reduction gear are meshed, driving the driving gear to rotate, thereby driving the synchronous gear to rotate, the synchronous gear is meshed with the steering wheel, thereby driving the steering wheel to rotate, the steering wheel drives the upper connecting long rod to rotate around the hip main rod or drives the lower rotating connecting rod to rotate around the upper rotating connecting rod, the engine cover and the wheel cover play a protective role, the tooth diameter of the driving gear is smaller than the reduction gear, and the tooth diameter of the synchronous gear is smaller than the steering wheel, which is used to reduce the output.

[0027] The ankle binding assembly includes a calf clamp, which is rotatably arranged between two lower connecting rods, a calf strap is arranged on the front side of the calf clamp, a shoe mold is hinged at the lower end of the calf clamp, and adjustment strips are arranged on the upper and rear sides of the shoe mold. The shoe mold is made of hard rubber.

[0028] With the above structure, the calf strap and the calf holder are matched and worn on the patient's calf. The patient's feet are placed on the shoe mold after wearing shoes. The shoes are locked by adjusting the clip strip. It has the function of lifting the legs and feet to avoid the knee joint being suspended and pulled. The patient's ankle is located at the hinge of the calf holder and the shoe mold. The shoe mold is made of hard rubber to buffer and unload force.

[0029] Compared with the existing technology, this knee joint bionic rehabilitation nursing assisting device has the following advantages:

[0030] The walking frame can be adjusted according to the patient's body shape, so that the patient can walk inside the walking frame to ensure a more stable center of gravity. The walking speed, forward, backward or turning can be controlled through the cooperation of the walking frame and the walking chassis.

[0031] The strap mechanism cooperates with the crotch binding component to stabilize the patient, and cooperates with the support component to adjust the lifting and lowering, so as to adjust the load-bearing of the knee joint and meet the walking rehabilitation training needs of patients with different degrees of illness;

[0032] The hip binding component and the knee joint binding component cooperate with each other through the adjustment component to drive the thigh to rotate around the hip joint for walking; the knee joint binding component cooperates with the adjustment component to drive the calf to rotate around the knee joint for walking;

[0033] The knee binding component cooperates with the ankle binding component to simulate foot walking, and also has the function of lifting legs and feet to avoid the knee joint being suspended in the air and stretched;

[0034] The knee joint binding assembly is composed of three parts. The reinforcement frame, upper sliding frame, upper adjustment binding ring, upper connecting short rod and upper connecting long rod form the upper transverse moving part. The upper adjustment frame, upper rotating connecting rod, lower rotating connecting rod and lower adjustment frame form the middle rotating part. The lower sliding frame, lower connecting rod and lower adjustment binding ring form the lower transverse moving part. According to the patient's knee joint rehabilitation needs, the relative positions of the upper sliding frame and the upper adjustment frame and the lower adjustment frame and the lower sliding frame are adjusted laterally, that is, the positions of the upper transverse moving part and the lower transverse moving part relative to the middle rotating part are adjusted, and the positions of the upper sliding frame and the lower sliding frame are locked with locking screws to avoid shaking during rotation of the knee joint and achieve better rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a front view structural schematic diagram of the present invention.

[0036] Figure 2 It is a three-dimensional structural schematic diagram of the present invention.

[0037] Figure 3 It is a three-dimensional structural schematic diagram of the walking chassis in the present invention.

[0038] Figure 4It is a partial structural schematic diagram of the walking support in the present invention.

[0039] Figure 5 It is a schematic diagram of the three-dimensional structure of the support assembly in the present invention.

[0040] Figure 6 It is a three-dimensional structural schematic diagram of the shoulder strap mechanism in the present invention.

[0041] Figure 7 It is a schematic diagram of the three-dimensional structure of the bionic power-assisting mechanism in the present invention.

[0042] Figure 8 It is a schematic diagram of the three-dimensional structure of the crotch binding component in the present invention.

[0043] Fig. 9 yes Figure 8 Schematic diagram of the enlarged structure at point A in the middle.

[0044] Fig.10 It is a front view structural schematic diagram of the crotch binding component in the present invention.

[0045] Fig.11 It is a schematic diagram of the three-dimensional structure of the knee joint binding component in the present invention.

[0046] Fig.12 It is a schematic diagram of the three-dimensional structure of the ankle binding component in the present invention.

[0047] In the figure, 1, walking bracket; 2, walking chassis; 3, supporting assembly; 4, shoulder strap mechanism; 5, handheld controller; 6, bionic power-assisting mechanism; 7, universal wheel; 8, lateral shift rod; 9, connecting plate; 10, electric control machine; 11, walking motor; 12, walking wheel; 13, adjusting rod; 14, fixing box; 15, battery; 16, lateral adjustment motor; 17, transmission gear pair; 18, main control box; 19, slide rail; 20, slide seat; 21, rack; 22, gear; 23, vertical pole; 24, handle; 25, electric push rod; 26, mounting seat; 27, articulated frame; 28, hinged frame; 29, hinged seat; 30, horizontal axis; 31, sliding plate; 32, sliding box; 33, rear side buckle strap; 34, back frame; 35, storage box; 36, covering plate; 37, front side buckle strap; 38 , buffer bag; 39, tightening buckle strap; 40, shoulder strap; 41, hip binding assembly; 42, knee joint binding assembly; 43, ankle binding assembly; 44, hip main rod; 45, crotch buckle strap; 46, engine cover; 47, damping motor; 48, driving gear; 49, reduction gear; 50, synchronous gear; 51, wheel cover; 52, steering wheel; 53, upper connecting long rod; 54, reinforcement frame; 55, upper sliding frame; 56, upper adjustment frame; 57, upper rotating connecting rod; 58, lower rotating connecting rod; 59, lower adjustment frame; 60, lower sliding frame; 61, lower connecting rod; 62, lower adjustment binding ring; 63, upper adjustment binding ring; 64, upper connecting short rod; 65, adjustment component; 66, calf holder; 67, calf strap; 68, adjustment card strip; 69, shoe mold; 70, upper connecting long rod. DETAILED DESCRIPTION

[0048] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0049] like Figure 1-Figure 12 As shown, the present knee joint bionic rehabilitation nursing assisting device comprises a walking frame 1 and a bionic assisting mechanism 6, a walking chassis 2 is arranged at the rear side of the walking frame 1, a battery 15 and a main control box 18 are arranged inside the walking chassis 2, the main control box 18 is electrically connected to a handheld controller 5, a supporting assembly 3 is arranged at the upper side of the walking frame 1, a shoulder strap mechanism 4 is arranged at the end of the supporting assembly 3, the bionic assisting mechanism 6 comprises a crotch binding assembly 41, two knee joint binding assemblies 42 and two ankle binding assemblies 43, the crotch binding assembly 41 is arranged at the lower side of the shoulder strap mechanism 4, the two knee joint binding assemblies 42 are symmetrically arranged at the lower side of the crotch binding assembly 41, the two ankle binding assemblies 43 are arranged at the lower side of the corresponding knee joint binding assemblies 42, and an adjusting component 65 is arranged between the crotch binding assembly 41 and the knee joint binding assembly 42 and on the outer side of the knee joint binding assembly 42;

[0050] According to the patient's body shape, the angle of the support component 3 is adjusted through the handheld controller 5, so as to adjust the height of the shoulder strap mechanism 4. The shoulder strap mechanism 4 is worn on the patient's back, the hip binding component 41 is worn on the patient's hip, the two knee joint binding components 42 are worn on the patient's knees, and the ankle binding component 43 is worn on the patient's ankles. The patient holds the handheld controller 5 in his hand and controls the walking speed, forward, backward or turning of the walking chassis 2 according to the rehabilitation conditions of the knee joint. At the same time, the angle of the support component 3 is adjusted to control the patient's lifting height, that is, to reduce the load on the knee joint or lift the patient. For seriously ill patients, the patient is lifted and suspended in the air, and the adjustment component 65 is started to control the knee joint binding component 42 relative to the hip joint. The hip binding assembly 41 rotates, and the adjusting component 65 controls the rotation of the crotch binding assembly 41, bionic simulation of walking, and assisting the patient to simulate walking; for patients with more serious diseases, the ankle binding assembly 43 contacts the ground, and the supporting assembly 3 lifts the patient but does not hang in the air, reducing the weight on the knees, and the adjusting component 65 is activated to assist the patient to walk; for patients with less serious diseases, the patients actively apply force and the adjusting component 65 is not activated; for patients who need weight-bearing exercise, weight can be added to the rear side of the shoulder strap mechanism 4 to perform weight-bearing exercise, or the damping effect of the adjusting component 65 can be activated to increase walking resistance and perform weight-bearing exercise; the latter two types of patients can be free of strength at any time, and the supporting assembly 3 cooperates with the shoulder strap mechanism 4 to prevent the patients from falling.

[0051] The walking bracket 1 includes a fixed box 14, a fixed plate is provided inside the fixed box 14, a horizontal adjustment motor 16 is fixed on the upper end of the fixed plate, a battery 15 and a main control box 18 are fixed on the upper end of the fixed plate, the horizontal adjustment motor 16 is located between the battery 15 and the main control box 18, a gear 22 is rotatably provided in the middle of the lower end of the fixed plate, a transmission gear pair 17 is provided between the output shaft of the horizontal adjustment motor 16 and the rotating shaft of the gear 22, two symmetrical slide rails 19 are fixed inside the fixed box 14, two slide seats 20 are slidably provided on the slide rails 19, racks 21 are fixed on the two diagonal slide seats 20, the two racks 21 are meshed with the gear 22, an adjusting rod 13 is fixed between the two opposite slide seats 20, the adjusting rod 13 is slidably provided on the fixed box 14, and the end of the adjusting rod 13 extends out of the fixed box 14, and a transverse rod 8 is fixed to the end of the adjusting rod 13, and a universal wheel 7 is fixed to the lower end of the transverse rod 8. The fixed box 14 and the two transverse rods 8 form a U-shaped structure; the main control box 18 controls the output shaft of the transverse adjustment motor 16 to rotate, and drives the gear 22 to rotate through the transmission gear pair 17. The two racks 21 are engaged with the gear 22, that is, the slide 20 is driven to slide oppositely or toward each other along the slide rail 1. An adjusting rod 13 is fixed between the two opposite slides 20, that is, the adjusting rod 13 is controlled to slide oppositely or toward each other along the fixed box 14. The adjusting rod 13 drives the transverse rod 8 on the same side to move synchronously, which is used to adjust the distance between the two transverse rods 8 to ensure that the center of gravity is more stable. The fixed box 14 and the two transverse rods 8 form a U-shaped structure, and the patient walks inside the U-shaped structure.

[0052] The walking chassis 2 includes a connecting plate 9, which is fixed on the rear side of the fixed box 14. An electric control machine 10 and two symmetrical walking motors 11 are fixed at the lower end of the connecting plate 9. The walking motors 11 are electrically connected to the electric control machine 10. The electric control machine 10 is located in the middle of the two walking motors 11. Walking wheels 12 are fixed on the output shafts of the walking motors 11. The main control box 18 is electrically connected to the electric control machine 10; the main control box 18 transmits signals to the electric control machine 10, and the electric control machine 10 controls the walking motors 11 to work independently. The output shaft of the walking motor 11 drives the walking wheels 12 to rotate to control the walking speed, forward, backward or turning.

[0053] The support assembly 3 includes a vertical rod 23, the lower end of the vertical rod 23 is fixed to the upper end of the connecting plate 9, a handle 24 is fixed to the vertical rod 23, a mounting seat 26 is fixed to the end of the vertical rod 23, an articulated frame 27 and an articulated frame 28 are hinged on the mounting seat 26, the articulated frame 27 is located on the outer side of the articulated frame 28, and the outer sides of the mounting seat 26 and the articulated frame 27 are both provided with outer covers, an electric push rod 25 is hinged between the articulated frame 28 and the vertical rod 23, and the ends of the articulated frame 27 and the articulated frame 28 are hingedly connected. The hinge seat 29 and the transverse axis 30 are arranged on both sides of the hinge seat 29; the handle 24 is convenient for pushing the device to move, and the electric push rod 25 is extended and retracted, thereby driving the hinge frame 27 to rotate around the mounting seat 26, and the ends of the hinge frame 27 and the hinged frame 28 are hinged with the hinge seat 29, that is, the hinge frame 27 and the hinged frame 28 cooperate to drive the hinge seat 29 to rise and fall, and the transverse axis 30 drives the shoulder strap mechanism 4 to rise and fall, adjusts the height of the shoulder strap mechanism 4, and controls the lifting height of the patient, that is, reduces the load on the knee joint.

[0054] The shoulder strap mechanism 4 includes a sliding plate 31 and a back frame 34. The sliding plate 31 is rotatably arranged on the horizontal axis 30. A sliding box 32 is fixed to the rear side of the back frame 34. The sliding plate 31 is slidably arranged inside the sliding box 32. A slider and a locking screw are screwed to the rear side of the sliding plate 31. A sliding hole is opened on the rear side of the sliding box 32. The slider is slidably arranged inside the sliding hole. A plurality of symmetrically arranged rear side buckle straps 33 are arranged on the rear side of the back frame 34. A covering plate 36, a buffer bag 38 and two symmetrical storage boxes 35 are fixed to the front side of the back frame 34. The covering plate 36 is located below the buffer bag 38. The storage boxes 35 are located on the outside of the covering plate 36. The outside of the covering plate 36 is provided with symmetrical front side buckle straps 37. The buckle strap 37 is arranged horizontally, and two symmetrical shoulder straps 40 are arranged on the buffer bag 38, and a tightening buckle strap 39 is arranged between the shoulder straps 40; the horizontal axis 30 drives the sliding plate 31 to rise and fall, and the depth of the sliding plate 31 sliding into the sliding box 32 is adjusted according to the patient's body shape and the rehabilitation care needs of the knee joint, and the slider is locked with a locking screw. The slider is slidably arranged inside the sliding hole to prevent the sliding plate 31 from falling off, and the rear buckle strap 33 can be added with a load (such as a sandbag, etc.) as needed, or it is not locked with a locking screw, that is, the sliding plate 31 always slides relatively inside the sliding box 32. When the patient walks by himself with or without a load, he can take off the force at any time, and the slider is blocked inside the sliding hole, and he will not fall down, and he can take a rest;

[0055] The patient's back is against the cushion bag 38, the hands are passed through the shoulder straps 40, the buckle straps 39 are tightened and locked in front of the chest, the patient's lower back is against the covering plate 36, and the front buckle straps 37 are tied around the abdomen. The wearing is complete, and the storage box 35 is used to place items such as water cups and mobile phones.

[0056] The hip binding assembly 41 includes a hip main rod 44, which is fixed to the lower end of the back frame 34, and the hip main rod 44 is U-shaped. The front side of the hip main rod 44 is provided with a crotch buckle strap 45; the hip main rod 44 is U-shaped, which is convenient for wearing the device and resting on the hips. The crotch buckle strap 45 is worn on the patient's crotch to facilitate lifting the patient.

[0057] The knee joint binding assembly 42 includes two upper rotating links 57, the upper ends of the two upper rotating links 57 are fixed with upper adjustment frames 56, the upper ends of the upper adjustment frames 56 are slidably provided with upper sliding frames 55, the upper ends of the upper sliding frames 55 are fixed with upper connecting short rods 64 and upper connecting long rods 70, an upper adjusting binding ring 63 is screwed between the upper connecting short rods 64 and the upper connecting long rods 70, a reinforcing frame 54 is fixed between the connecting short rods 64 and the upper connecting long rods 70, the upper connecting long rods 70 are hinged on the hip main rod 44, and lower rotating links 58 are hinged at the bottom of the two upper rotating links 57. A lower adjustment frame 59 is fixed to the lower end of the rod 58, and a lower sliding frame 60 is slidably provided at the lower end of the lower adjustment frame 59. Two symmetrical lower connecting rods 61 are fixed to the lower end of the lower sliding frame 60, and a lower adjustment binding ring 62 is screwed between the two lower connecting rods 61. Locking screws are provided on the upper sliding frame 55 and the lower sliding frame 60; the patient's legs pass through the reinforcement frame 54, the upper adjustment binding ring 63, the upper adjustment frame 56, the lower adjustment frame 59, the lower sliding frame 60 and the lower adjustment binding ring 62 in sequence, the upper adjustment binding ring 63 is bound to the thigh, and the knee joint is located at the hinge of the upper rotating link 57 and the lower rotating link 58 The lower adjustment ring 62 is bound to the calf, the upper adjustment ring 63 and the lower adjustment ring 62 are locked, the reinforcement frame 54, the upper sliding frame 55, the upper adjustment ring 63, the upper connecting short rod 64 and the upper connecting long rod 70 form an upper transverse moving part, the upper adjustment frame 56, the upper rotating connecting rod 57, the lower rotating connecting rod 58 and the lower adjustment frame 59 form a middle rotating part, the lower sliding frame 60, the lower connecting rod 61, and the lower adjustment ring 62 form a lower transverse moving part, and the relative positions of the upper sliding frame 55 and the upper adjustment frame 56 and the lower adjustment frame 59 are adjusted laterally according to the patient's knee joint rehabilitation needs. The relative position of the upper and lower sliding frames 60, that is, adjusting the positions of the upper and lower transverse moving parts relative to the middle rotating parts, and locking the positions of the upper and lower sliding frames 55 and 60 with locking screws to avoid shaking of the knee joint during rotation, with precise flexion angle and better rehabilitation effect. The upper connecting rod 70 is hinged on the hip main rod 44, and the adjusting component 65 drives the upper connecting rod 70 to rotate around the hip main rod 44, driving the thigh to rotate around the hip joint for walking, and the adjusting component 65 drives the lower rotating link 58 to rotate around the upper rotating link 57, driving the calf to rotate around the knee joint for walking.

[0058] The adjusting component 65 includes a fixed box 53 and a steering wheel 52. The fixed box 53 is fixed to the side of the crotch main rod 44 or the side of the rotating connecting rod 57 on the outside. The internal rotation of the fixed box 53 is provided with a driving gear 48 and a reduction gear 49. The driving gear 48 and the reduction gear 49 are meshed. The outer side of the fixed box 53 is fixed with a cover 46 and a damping motor 47. The cover 46 is located on the upper part of the damping motor 47. The damping motor 47 is electrically connected to the main control box 18. The output shaft of the damping motor 47 is connected to the rotating shaft of the driving gear 48. A synchronous gear 50 is fixed on the rotating shaft of the driving gear 48. The steering wheel 52 is connected to the rotating shaft of the upper connecting rod 70 or the rotating shaft of the lower rotating connecting rod 58. The synchronous gear 50 is connected to the The steering wheel 52 is engaged, and a wheel cover 51 is provided on the outer side of the steering wheel 52; the main control box 18 controls the damping motor 47 to start, and the conveying shaft of the damping motor 47 drives the driving gear 48 to rotate, and the driving gear 48 and the reduction gear 49 are engaged, driving the driving gear 48 to rotate, thereby driving the synchronous gear 50 to rotate, and the synchronous gear 50 is engaged with the steering wheel 52, thereby driving the steering wheel 52 to rotate, and the steering wheel 52 drives the upper connecting long rod 70 to rotate around the hip main rod 44 or drives the lower rotating connecting rod 58 to rotate around the upper rotating connecting rod 57. The machine cover 46 and the wheel cover 51 play a protective role. The tooth diameter of the driving gear 48 is smaller than the reduction gear 49, and the tooth diameter of the synchronous gear 50 is smaller than the steering wheel 52, which is used to reduce the output.

[0059] The ankle binding assembly 43 includes a calf holder 66, which is rotatably arranged between the two lower connecting rods 61, a calf strap 67 is arranged on the front side of the calf holder 66, a shoe mold 69 is hinged at the lower end of the calf holder 66, and an adjustment strip 68 is arranged on the upper and rear sides of the shoe mold 69, and the shoe mold 69 is made of hard rubber; the calf strap 67 cooperates with the calf holder 66 and is worn on the patient's calf. After the patient puts on the shoes, the patient's feet are placed on the shoe mold 69, and the shoes are locked by adjusting the strip 68, which has the function of lifting the legs and feet to avoid the knee joint being suspended and pulled. The patient's ankle is located at the hinge of the calf holder 66 and the shoe mold 69, and the shoe mold 69 is made of hard rubber to buffer and unload force.

[0060] Working principle of the present invention:

[0061] According to the patient's body shape, the handheld controller 5 transmits a signal to the main control box 18, and the main control box 18 controls the output shaft of the lateral adjustment motor 16 to rotate, and drives the gear 22 to rotate through the transmission gear pair 17, and the two racks 21 are meshed with the gear 22, that is, driving the slide 20 to slide oppositely or toward each other along the slide rail 1, and an adjustment rod 13 is fixed between the two opposite slides 20, that is, controlling the adjustment rod 13 to slide oppositely or toward each other along the fixed box 14, and the adjustment rod 13 drives the lateral movement rod 8 on the same side to move synchronously, which is used to adjust the distance between the two lateral movement rods 8 to ensure that the center of gravity is more stable, and the fixed box 14 and the two lateral movement rods 8 form a U-shaped structure, so that the patient can walk inside the U-shaped structure;

[0062] The angle of the support assembly 3 is adjusted by the handheld controller 5, and a signal is transmitted to the main control box 18 by the handheld controller 5. The main control box 18 controls the extension and retraction of the electric push rod 25, thereby driving the articulated frame 27 to rotate around the mounting seat 26. The ends of the articulated frame 27 and the articulated frame 28 are hinged with a hinge seat 29, that is, the articulated frame 27 and the articulated frame 28 cooperate to drive the hinge seat 29 to rise and fall, and the horizontal axis 30 drives the shoulder strap mechanism 4 to rise and fall, and adjusts the height of the shoulder strap mechanism 4 to control the lifting height of the patient, that is, to reduce the weight of the knee joint. The patient's back is against the buffer bag 38, and both hands pass through the shoulder strap 40, tighten the buckle belt 39 to lock it in front of the chest, and the patient's lower back is against the covering plate 36. The front buckle strap 37 is tied to the abdomen, and the wearing is completed. The storage box 35 is used to place items such as water cups and mobile phones. The horizontal axis 30 drives the sliding plate 31 to rise and fall. According to the patient's body shape and the rehabilitation care needs of the knee joint, the depth of the sliding plate 31 sliding into the sliding box 32 is adjusted and locked with a locking screw;

[0063] The crotch main rod 44 is against the crotch, the crotch buckle strap 45 is worn on the patient's crotch, and the patient's legs pass through the reinforcement frame 54, the upper adjustment ring 63, the upper adjustment frame 56, the lower adjustment frame 59, the lower sliding frame 60 and the lower adjustment ring 62 in sequence. The upper adjustment ring 63 is bound to the thigh, and the knee joint is located at the hinge of the upper rotating link 57 and the lower rotating link 58. The lower adjustment ring 62 is bound to the calf, and the upper adjustment ring 63 and the lower adjustment ring 62 are locked. According to the patient's knee joint rehabilitation needs, the relative positions of the upper sliding frame 55 and the upper adjustment frame 56 and the relative positions of the lower adjustment frame 59 and the lower sliding frame 60 are adjusted laterally, and the positions of the upper sliding frame 55 and the lower sliding frame 60 are locked with locking screws. The calf strap 67 and the calf clamp seat 66 are matched and worn on the patient's calf. After the patient's feet are put on shoes, they are placed on the shoe mold 69. The shoes are locked by adjusting the clamp strip 68, and the patient's ankle is located at the hinge of the calf clamp seat 66 and the shoe mold 69.

[0064] The patient holds the handheld controller 5 and controls the main control box 18 to transmit signals to the electronic control machine 10 according to the rehabilitation conditions of the knee joint. The electronic control machine 10 controls the walking motor 11 to work independently. The output shaft of the walking motor 11 drives the walking wheel 12 to rotate to control the walking speed, forward, backward or steering.

[0065] For patients with serious illnesses, the angle of the support assembly 3 is adjusted through the handheld controller 5 to lift the patient so that the patient is suspended in the air, and the adjustment component 65 is started. The main control box 18 controls the damping motor 47 to start, and the conveying shaft of the damping motor 47 drives the driving gear 48 to rotate. The driving gear 48 and the reduction gear 49 are meshed, driving the driving gear 48 to rotate, thereby driving the synchronous gear 50 to rotate, and the synchronous gear 50 is meshed with the steering wheel 52, thereby driving the steering wheel 52 to rotate, and the steering wheel 52 drives the upper connecting long rod 70 to rotate around the crotch main rod 44, driving the thigh to rotate around the hip joint to walk, and at the same time, the steering wheel 52 drives the lower rotating link 58 to rotate around the upper rotating link 57, driving the calf to rotate around the knee joint to walk, bionic simulated walking, and power driving the patient to simulate walking;

[0066] For patients with more serious diseases, the angle of the support component 3 is adjusted by the handheld controller 5, the shoe mold 69 contacts the ground, the support component 3 lifts the patient but does not hang in the air, and the knee load is reduced. The adjustment component 65 is activated to assist the patient in walking, and the walking chassis 2 drives the device to rotate synchronously;

[0067] The locking screw is unlocked, the sliding plate 31 slides inside the sliding box 32, and the slider slides inside the sliding hole to prevent the sliding plate 31 from falling. The rear buckle strap 33 can be loaded with weight (such as a sandbag, etc.) as needed;

[0068] For patients with less severe diseases, the patients can actively apply force without activating the adjustment component 65, and the walking chassis 2 drives the device to rotate synchronously;

[0069] For patients who need weight-bearing exercise, weight can be added to the rear side of the strap mechanism 4, and the rear buckle strap 33 can add weight (such as sandbags, etc.) as needed, or the damping effect of the adjustment component 65 can be activated to increase walking resistance and perform weight-bearing exercise;

[0070] The latter two types of patients can be relieved at any time, the slider is blocked inside the slide hole, and the support component 3 cooperates with the shoulder strap mechanism 4 to prevent the patient from falling or take a rest.

[0071] In summary, the walking support 1 can be adjusted according to the patient's body shape, so that the patient can walk inside the walking support 1 to ensure a more stable center of gravity. The walking speed, forward, backward or turning can be controlled by the cooperation between the walking support 1 and the walking chassis 2;

[0072] The strap mechanism 4 cooperates with the crotch binding component 41 to stably bind the patient, and cooperates with the support component 3 to adjust the lifting and lowering, so as to adjust the load bearing of the knee joint and meet the walking rehabilitation training needs of patients with different disease degrees;

[0073] The hip binding assembly 41 and the knee joint binding assembly 42 cooperate with the adjustment component 65 to drive the thigh to rotate around the hip joint for walking; the knee joint binding assembly 42 cooperates with the adjustment component 65 to drive the calf to rotate around the knee joint for walking;

[0074] The knee joint binding component 42 cooperates with the ankle binding component 43 to achieve simulated foot walking, and also has the function of lifting the legs and feet to avoid the knee joint being suspended in the air and being stretched;

[0075] The knee joint binding assembly 42 is divided into three parts. The reinforcement frame 54, the upper sliding frame 55, the upper adjustment binding ring 63, the upper connecting short rod 64 and the upper connecting long rod 70 form the upper transverse moving part, the upper adjustment frame 56, the upper rotating link 57, the lower rotating link 58 and the lower adjustment frame 59 form the middle rotating part, and the lower sliding frame 60, the lower connecting rod 61 and the lower adjustment binding ring 62 form the lower transverse moving part. According to the patient's knee joint rehabilitation needs, the relative positions of the upper sliding frame 55 and the upper adjustment frame 56 and the relative positions of the lower adjustment frame 59 and the lower sliding frame 60 are adjusted laterally, that is, the positions of the upper transverse moving part and the lower transverse moving part relative to the middle rotating part are adjusted, and the positions of the upper sliding frame 55 and the lower sliding frame 60 are locked with locking screws to avoid shaking during rotation of the knee joint and achieve better rehabilitation effects.

[0076] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A knee joint bionic rehabilitation nursing assisting device, comprising a walking frame (1) and a bionic assisting mechanism (6), characterized in that: A walking chassis (2) is provided at the rear side of the walking support (1), a storage battery (15) and a main control box (18) are provided inside the walking chassis (2), and the main control box (18) is electrically connected to a handheld controller (5). A support assembly (3) is provided at the upper side of the walking support (1), and a shoulder strap mechanism (4) is provided at the end of the support assembly (3). The bionic power-assisting mechanism (6) comprises a hip binding assembly (41), two knee joint binding assemblies (42) and two ankle binding assemblies (43), the hip binding assembly (41) is arranged at the lower side of the shoulder strap mechanism (4), the two knee joint binding assemblies (42) are symmetrically arranged at the lower side of the hip binding assembly (41), and the two ankle binding assemblies (43) are arranged at the lower side of the corresponding knee joint binding assemblies (42), and an adjustment component (65) is provided between the hip binding assembly (41) and the knee joint binding assembly (42) and on the outer side of the knee joint binding assembly (42); The walking support (1) comprises a fixing box (14), a fixing plate is provided inside the fixing box (14), a horizontal adjustment motor (16) is fixed on the upper end of the fixing plate, a storage battery (15) and a main control box (18) are fixed on the upper end of the fixing plate, the horizontal adjustment motor (16) is located between the storage battery (15) and the main control box (18), a gear (22) is rotatably provided at the middle part of the lower end of the fixing plate, a transmission gear pair (17) is provided between the output shaft of the horizontal adjustment motor (16) and the rotating shaft of the gear (22), two symmetrical slide rails (19) are fixed inside the fixing box (14), and the slide rails ( 19) are slidably provided with two slide seats (20), two diagonal slide seats (20) are fixed with racks (21), the two racks (21) are meshed with gears (22), an adjustment rod (13) is fixed between the two opposite slide seats (20), the adjustment rod (13) is slidably provided on a fixed box (14), the end of the adjustment rod (13) extends out of the fixed box (14), and a transverse rod (8) is fixed to the end of the adjustment rod (13), and a universal wheel (7) is fixed to the lower end of the transverse rod (8), and the fixed box (14) and the two transverse rods (8) form a U-shaped structure; The walking chassis (2) comprises a connecting plate (9), the connecting plate (9) being fixed to the rear side of a fixing box (14), an electric control machine (10) and two symmetrical walking motors (11) being fixed to the lower end of the connecting plate (9), the walking motors (11) being electrically connected to the electric control machine (10), the electric control machine (10) being located in the middle of the two walking motors (11), walking wheels (12) being fixed to the output shafts of the walking motors (11), and a main control box (18) being electrically connected to the electric control machine (10); The support assembly (3) comprises a vertical rod (23), the lower end of the vertical rod (23) is fixed to the upper end of the connecting plate (9), a handle (24) is fixed to the vertical rod (23), a mounting seat (26) is fixed to the end of the vertical rod (23), an articulated frame (27) and a hinged frame (28) are hingedly connected to the mounting seat (26), the hinged frame (27) is located outside the hinged frame (28), the mounting seat (26) and the hinged frame (27) are both provided with outer covers on the outside, an electric push rod (25) is hingedly connected between the hinged frame (28) and the vertical rod (23), the ends of the articulated frame (27) and the hinged frame (28) are hingedly connected with a hinged seat (29), and a horizontal axis (30) is provided on both sides of the hinged seat (29); The shoulder strap mechanism (4) comprises a sliding plate (31) and a back frame (34), wherein the sliding plate (31) is rotatably arranged on a transverse axis (30), a sliding box (32) is fixed to the rear side of the back frame (34), the sliding plate (31) is slidably arranged inside the sliding box (32), a slider and a locking screw are screwed to the rear side of the sliding plate (31), a sliding hole is opened on the rear side of the sliding box (32), the slider is slidably arranged inside the sliding hole, and a plurality of rear buckle straps (33) are symmetrically arranged on the rear side of the back frame (34). ), a covering plate (36), a buffer bag (38) and two symmetrical storage boxes (35) are fixed to the front side of the back frame (34), the covering plate (36) is located below the buffer bag (38), the storage boxes (35) are located on the outside of the covering plate (36), symmetrical front buckle straps (37) are provided on the outside of the covering plate (36), the front buckle straps (37) are arranged horizontally, two symmetrical shoulder straps (40) are provided on the buffer bag (38), and a tightening buckle strap (39) is provided between the shoulder straps (40); The crotch binding assembly (41) comprises a crotch main rod (44), the crotch main rod (44) is fixed to the lower end of the back frame (34), the crotch main rod (44) is U-shaped, and a crotch buckle strap (45) is provided on the front side of the crotch main rod (44); The knee joint binding assembly (42) comprises two upper rotating connecting rods (57), the upper ends of the two upper rotating connecting rods (57) are fixed with an upper adjustment frame (56), the upper end of the upper adjustment frame (56) is slidably provided with an upper sliding frame (55), the upper end of the upper sliding frame (55) is fixed with an upper connecting short rod (64) and an upper connecting long rod (70), an upper adjusting binding ring (63) is screwed between the upper connecting short rod (64) and the upper connecting long rod (70), a reinforcing frame (54) is fixed between the connecting short rod (64) and the upper connecting long rod (70), and the upper connecting rod (64) is fixed with a reinforcing frame (54). The extension rod (70) is hinged on the hip main rod (44), and lower rotating links (58) are hinged below the two upper rotating links (57). Lower adjustment frames (59) are fixed at the lower ends of the two lower rotating links (58). A lower sliding frame (60) is slidably provided at the lower end of the lower adjusting frame (59). Two symmetrical lower connecting rods (61) are fixed at the lower end of the lower sliding frame (60). A lower adjusting binding ring (62) is screwed between the two lower connecting rods (61), and locking screws are provided on the upper sliding frame (55) and the lower sliding frame (60).

2. A knee joint bionic rehabilitation nursing assisting device according to claim 1, characterized in that: The adjusting component (65) comprises a fixed box (53) and a steering wheel (52). The fixed box (53) is fixed to the side of the crotch main rod (44) or the side of the upper rotating connecting rod (57) on the outside. The fixed box (53) is internally provided with a driving gear (48) and a reduction gear (49). The driving gear (48) and the reduction gear (49) are meshed. The outside of the fixed box (53) is fixed with a machine cover (46) and a damping motor (47). The machine cover (46) is located at the damping motor. At the upper part of the machine (47), the damping motor (47) is electrically connected to the main control box (18), the output shaft of the damping motor (47) is transmission-connected to the rotating shaft of the driving gear (48), a synchronous gear (50) is fixed on the rotating shaft of the driving gear (48), the steering wheel (52) is transmission-connected to the rotating shaft of the upper connecting rod (70) or the rotating shaft of the lower rotating connecting rod (58), the synchronous gear (50) is meshed with the steering wheel (52), and a wheel cover (51) is provided on the outer side of the steering wheel (52).

3. A knee joint bionic rehabilitation nursing assisting device according to claim 2, characterized in that: The ankle binding assembly (43) comprises a calf clamp (66), the calf clamp (66) being rotatably disposed between two lower connecting rods (61), a calf clamping belt (67) being disposed on the front side of the calf clamp (66), a shoe mold (69) being hingedly connected to the lower end of the calf clamp (66), an adjustment clamping strip (68) being disposed on the upper side and the rear side of the shoe mold (69), and the shoe mold (69) being made of hard rubber.

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