Intelligent auxiliary walking device for spinal cord injury rehabilitation

Abstract

The invention discloses an intelligent walking assisting device for spinal cord injury rehabilitation, and belongs to the technical field of walking assisting. Comprising a movable supporting and protecting device, an intelligent walking device, a motion amplitude adjusting device, an intelligent control system and an auxiliary device, wherein the intelligent walking device is used for intelligently walking the lower limbs of a patient; the motion amplitude adjusting device is used for intelligently adjusting the intelligent walking amplitude of the lower limbs of the patient; according to the intelligent walking assisting device for spinal cord injury rehabilitation, structural innovation is conducted on a walking robot, the intelligent walking assisting device for spinal cord injury rehabilitation can assist walking of a spinal cord injury patient, and the walking amplitude of the spinal cord injury patient can be automatically adjusted; adjustment is carried out according to the recovery condition of a patient and the walking range needing to be trained, so that the effect that each patient with spinal cord injury can carry out walking rehabilitation training is achieved, and the training of the minimum range can be slowly improved to the walking training of the maximum auxiliary range.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted walking, and in particular to an intelligent assisted walking device for rehabilitation of spinal cord injury. Background Art

[0002] Spinal cord injury can lead to partial or complete loss of limb motor function below the plane of injury. Patients may experience symptoms such as paralysis, muscle weakness, and muscle atrophy. For example, cervical spinal cord injury may lead to quadriplegia, and thoracic spinal cord injury may lead to lower limb paralysis. This makes it difficult for patients to perform basic movements such as walking, standing, and grasping objects in daily life. The senses below the injury plane may be reduced or disappear, including touch, pain, temperature, etc. Patients may not be able to perceive external stimuli and are easily injured without knowing it. For example, patients may be burned or scratched without knowing it, and their ability to take care of themselves in daily life is limited: patients with spinal cord injury need help from others in daily life activities such as dressing, washing, eating, and going to the toilet. This not only affects the self-esteem of patients, but also brings a heavy burden to the family.

[0003] For some serious spinal cord injuries, such as fracture compression of the spinal cord, spinal cord hemorrhage, etc., surgical treatment may be required. The purpose of the surgery is to relieve the compression of the spinal cord, stabilize the spine, and prevent further damage. During the rehabilitation process of patients with spinal cord injuries, exercise training, massage, physical therapy, etc. can be used to help patients restore the motor and sensory functions of their limbs. Physical therapists will develop personalized rehabilitation plans based on the specific conditions of the patients, including joint range of motion training, muscle strength training, balance training, walking training, etc. Therefore, this device provides an intelligent assisted walking device for spinal cord injury rehabilitation. Summary of the invention

[0004] The embodiment of the present invention provides an intelligent auxiliary walking device for spinal cord injury rehabilitation to solve the above-mentioned technical problems.

[0005] The embodiment of the present invention adopts the following technical scheme: including a mobile support and protection device for assisting the movement of patients, an intelligent walking device for intelligent walking movements of the patient's lower limbs and having an exercise function, a motion amplitude adjustment device for intelligently adjusting the intelligent walking amplitude of the patient's lower limbs, an intelligent control system for real-time monitoring of the patient's physical health and having touch adjustment and voice dialogue functions, and an auxiliary device for patients to rest and sit, the intelligent walking device includes a driving mechanism and a walking mechanism, the driving mechanism is arranged on the mobile support and protection device, the mobile support and protection device is in the shape of an equilateral trapezoid, two walking mechanisms are provided, the two walking mechanisms are symmetrically arranged and are driven to operate with the driving mechanism, two motion amplitude adjustment devices are provided, the two motion amplitude adjustment devices can adjust the corresponding walking mechanism rotation eccentric size to play a role in changing the motion amplitude, the auxiliary device is arranged on the inner side of the driving mechanism, and the intelligent control system is arranged on the outer side of the driving mechanism.

[0006] Furthermore, the mobile support protection device mechanism includes a hand rail, a first support rod, an arm placement pad, a support plate and a second support rod, wherein two support plates are provided, and the two support plates are symmetrical and both are horizontally arranged, the hand rail is arranged in an arc shape and the lower ends are respectively connected to the upper ends in front of the two support plates, the first support rod is provided with two, and the two first support rods are symmetrically arranged and respectively connected to the two sides of the hand rail, the placement pad is provided with two, and the two placement pads are respectively symmetrically arranged on the hand rail and above the corresponding support plates, the second support rod is provided with two, and the two second support rods are symmetrically arranged, and the two second support rods are respectively arranged on the rear sides of the corresponding support plates, and a Mecanum wheel with a self-locking function is provided at the bottom of the two first support rods and the two second support rods, and several of the Mecanum wheels are placed on the ground, and the two first support rods and the two second support rods are retractable length adjustment rods and have a locking function.

[0007] Furthermore, the driving mechanism includes a driving shell, a dual-axis motor, a driving frame, a driving plate and a driving shaft. There are two driving plates, and the two driving plates are symmetrically arranged. The two driving plates are respectively arranged at the inner ends of the corresponding support plates. A storage space is formed between the two driving plates and the corresponding support plates. The driving shell is located between the two driving plates and is fixedly connected. The dual-axis motor is fixedly arranged inside the driving shell. There are two driving frames, and the two driving frames are symmetrically arranged and located inside the driving shell. There are two driving shafts, and the two driving shafts are respectively connected to the two output ends of the dual-axis motor and respectively pass through the corresponding driving frames and the corresponding driving plates and are located in the corresponding storage spaces. The two driving shafts are rotatably connected to the corresponding driving frames, and the two driving shafts are rotatably connected to the corresponding driving plates.

[0008] Furthermore, the two walking mechanisms each include a rotating assembly and a walking assembly, the rotating assembly is arranged on the driving mechanism, and the walking assembly is arranged on the rotating assembly.

[0009] Furthermore, the two rotating components each include a rotating disk, a rotating column, a rotating shaft, a spring sheet and a limiting protrusion, the rotating disk is arranged on the corresponding driving shaft and located in the corresponding storage space, the rotating disk is provided with an adjusting groove, the adjusting groove has a plurality of limiting holes symmetrically and equidistantly arranged inside, a limiting baffle is provided on each side of the plurality of limiting holes and the limiting baffles are all made of rubber, the rotating column is located in the adjusting groove and is slidingly fitted, the rotating shaft is arranged at the end of the rotating column, a notch is provided inside the rotating column, the middle part of the spring sheet is fixedly connected to the middle part of the notch, two limiting protrusions are provided, the two limiting protrusions are symmetrically arranged at the outer sides of the two ends of the spring sheet, the spring sheet is arranged in a V-shape, the two limiting protrusions are located in the corresponding limiting holes and are in an adapted state; the plurality of limiting baffles serve to block the position of the rotating disk.

[0010] Furthermore, the orientation angles of the rotating disks in the two rotating assemblies are different. Taking the adjustment grooves on the rotating disks as a reference, the orientation angles of the two rotating disks differ by 180 degrees.

[0011] Furthermore, the two walking assemblies each include a thigh arm rod, an angle matching rod, a rotating shaft, a matching plate, a first thigh walking rod, a second thigh walking rod, a calf walking plate, a calf walking rod, a walking base plate and a leg restraint, one end of the thigh arm rod is sleeved on the corresponding rotating shaft and is rotatably connected, one end of the angle matching rod is also sleeved on the corresponding rotating shaft and is rotatably connected, the rotating shaft is arranged on the outer side of the corresponding support plate, the matching plate is arranged in a triangular shape, the obtuse angle of the matching plate is sleeved on the rotating shaft and is rotatably connected, the other end of the thigh arm rod is rotatably connected to the upper corner of the matching plate and the upper end uses the obtuse angle of the matching plate as a reference, the upper end of the first thigh walking rod is rotatably connected to the rotating shaft, the upper end of the second thigh walking rod is rotatably connected to the other corner of the matching plate, the angle matching rod The other end of the degree matching rod is rotatably connected to the first thigh walking rod and is located at one-third of the length of the first thigh walking rod with the upper end of the first thigh walking rod as a reference. The upper ends of the calf walking board are rotatably connected to the lower ends of the first thigh walking rod and the second thigh walking rod. The upper end of the calf walking rod is rotatably connected to the first thigh walking rod and is located at four-fifths of the length of the first thigh walking rod with the upper end of the first thigh walking rod as a reference. The upper end of the walking base plate is rotatably connected to the lower end of the calf walking board, and the lower end of the calf walking rod is rotatably connected to the rotating base plate. Two leg restraints are provided, and the two leg restraints are respectively located on the inner side of the upper end of the calf walking board and the inner side of the upper end of the walking base plate. Both leg restraints are restraint bandages and are connected by Velcro.

[0012] Furthermore, the two motion amplitude adjustment devices each include an adjustment frame, a multi-section telescopic electric cylinder, an adjustment rod and an adjustment block. The adjustment frame is arranged on the inner side of the corresponding driving plate, the multi-section telescopic electric cylinder is arranged in the adjustment frame, the adjustment rod is arranged on the output end of the multi-section telescopic electric cylinder, the adjustment block is arranged at the upper end of the adjustment rod, the adjustment block is arranged downward, and two adjustment slots are symmetrically provided at the lower end of the adjustment block, and the two adjustment slots are in a matching state with the corresponding rotating shaft.

[0013] Furthermore, the auxiliary device includes an auxiliary baffle, an auxiliary block, an auxiliary shaft and an auxiliary cushion. The auxiliary baffle is arranged at the bottom end of the inner side of the driving shell. Two auxiliary blocks are provided. The two auxiliary blocks are symmetrically arranged and located beside the placement baffle. The placement shaft is arranged on the two auxiliary blocks. The lower end of the auxiliary cushion is sleeved on the auxiliary shaft and a torsion spring is provided at the connection between the two. The initial state of the auxiliary cushion is placed against the inner side of the driving shell. When the auxiliary cushion is horizontally arranged after rotation, it will be blocked by the auxiliary baffle.

[0014] Furthermore, the intelligent control system includes a sensor chip for leg monitoring, a medical device adapted for electrical connection to the sensor chip, a display screen and a battery for displaying the data after monitoring. Several of the leg restraints are provided with storage slots inside, and several of the sensor chips are provided. Several of the sensor chips can be placed in corresponding storage slots and electrically connected to the medical device, and finally the required monitoring data are displayed on the display screen. The display screen is provided with an intelligent dialogue function and a control system. The driving mechanism and the two motion amplitude adjustment devices are electrically connected to the control system. The display screen can control the start and stop of the driving mechanism and the two motion amplitude adjustment devices through touch screen selection or language dialogue. The driving mechanism, the two motion amplitude adjustment devices, the medical device and the display screen are all powered by batteries.

[0015] At least one of the above technical solutions adopted in the embodiments of the present invention can achieve the following beneficial effects:

[0016] First, when a spinal cord injury patient is unable to achieve walking rehabilitation training or wants to perform leg exercise training first, the patient's legs can be subjected to swinging simulated walking training. First, the lengths of the two first support rods and the two second support rods are adjusted so that the distance between the two walking base plates and the ground is about 40cm to 50cm. Then, the patient's buttocks sit on the auxiliary seat cushion, and the patient's legs are wrapped and fixed by corresponding leg restraints, so that the patient's head is in a suspended state without contact with the ground. At this time, the corresponding calf walking board and the corresponding walking base plate are started by the dual-axis motor to swing, thereby driving the patient's legs to swing. The swinging motion process is the same as the swinging motion of a person's walking legs, thereby driving the patient's legs to swing simulated walking exercises, which can also have the effect of exercising the patient's legs. Good blood circulation can provide sufficient oxygen and nutrients to the leg muscles and tissues, promote the body's recovery and repair, and for people with cardiovascular diseases, moderate leg exercises can help them improve heart function, lower blood pressure and cholesterol levels, and improve physical health.

[0017] Secondly, when performing walking rehabilitation work on patients with more serious spinal cord injuries, since these patients cannot stand or walk normally, the auxiliary cushion can be lifted up and the patient's buttocks can be allowed to sit or rest on the auxiliary cushion. At this time, a support point is provided for the patient's lower body, thereby providing assistance for walking rehabilitation for patients with more serious spinal cord injuries and achieving the effect of facilitating rehabilitation treatment. Therefore, this device can be used for assisted walking training for patients with different degrees of spinal cord injuries.

[0018] Thirdly, when the movement amplitude needs to be adjusted and reduced, firstly, the corresponding rotating disk is driven to rotate by the operation of the dual-axis motor, and the corresponding adjusting groove on the rotating disk is used as a reference to rotate to a state flush with the horizontal, and the dual-axis motor can stop running. At this time, the operation of the multi-section telescopic electric cylinder drives the adjusting rod to move downward, and the downward movement of the adjusting rod drives the adjusting block to move downward. When the upward adjusting slot at the lower end of the adjusting block moves to a position lower than the rotating axis, the dual-axis motor runs again to drive the rotating disk to rotate ninety degrees, so that the adjusting groove on the rotating disk changes from a horizontal state to a vertical downward state, and the dual-axis motor The operation can be stopped. At this time, the adjustment block is driven to move upward by the operation of the multi-section telescopic electric cylinder again. The movement of the adjustment block at this time will contact the rotating shaft through the adjusting slot and drive the rotating shaft to move upward, thereby driving the rotating shaft to move upward in the adjusting groove to change the eccentric position of the rotating shaft on the rotating disk, so that the rotating shaft and the axis of the rotating disk are closer. Therefore, in the subsequent rotation of the rotating disk, the eccentric rotation amplitude of the rotating shaft will be reduced. Similarly, the corresponding walking mechanism movement amplitude is also reduced, thereby realizing the ability to reduce the movement amplitude. Adjustment operation.

[0019] Fourthly, when the movement amplitude is adjusted and increased, it is only necessary to drive the adjustment groove on the rotating disk to a vertical downward state through the operation of the dual-axis motor, and drive the adjustment block to move downward through the operation of the multi-section telescopic electric cylinder. At this time, the movement of the adjustment block will contact the rotating shaft through the adjustment slot and push the rotating shaft to move downward, thereby driving the rotating shaft to move downward in the adjustment groove to change the eccentric position of the rotating shaft on the rotating disk, so that the rotating shaft and the axis of the rotating disk are gradually separated. Therefore, in the subsequent rotation of the rotating disk, the eccentric rotation amplitude of the rotating shaft will increase. Similarly, the corresponding walking mechanism movement amplitude will also increase, so that the movement amplitude can be increased and adjusted, so that the device can be adjusted according to the patient's recovery condition and the walking amplitude required for training, so as to achieve the effect of allowing every patient after spinal cord injury to perform walking rehabilitation training, and can gradually increase from the minimum amplitude training to the maximum auxiliary amplitude walking training. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 3It is a schematic diagram of the three-dimensional structure of the mobile support protection device in the present invention;

[0024] Figure 4 It is a schematic diagram of the local structure in the present invention Figure 1 ;

[0025] Figure 5 It is a schematic diagram of the local structure in the present invention Figure 2 ;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the intelligent walking device in the present invention;

[0027] Figure 7 It is a three-dimensional structural schematic diagram of the walking assembly and the motion range adjustment device in the present invention;

[0028] Figure 8 It is a three-dimensional structural schematic diagram of the walking mechanism in the present invention;

[0029] Fig. 9 It is a schematic diagram of the exploded structure of the rotating assembly in the present invention;

[0030] Fig.10 It is a schematic diagram of the state structure of the rotating assembly and the motion amplitude adjustment device in the present invention;

[0031] Fig.11 It is a schematic diagram of the three-dimensional structure of the auxiliary device in the present invention;

[0032] Fig.12 for Figure 6 Enlarged view of point A in the middle;

[0033] Fig.13 for Figure 7 Enlarged view of point B in the middle;

[0034] Fig.14 for Fig. 9 Enlarged view of center C.

[0035] Reference numerals

[0036] Mobile support protection device 1, hand rail 11, first support rod 12, arm rest pad 13, support plate 14, second support rod 15, intelligent walking device 2, drive mechanism 21, drive shell 211, dual-axis motor 212, drive frame 213, drive plate 214, drive shaft 215, storage space 216, walking mechanism 22, rotating assembly 23, rotating disk 231, rotating column 232, rotating shaft 233, spring piece 234, limiting protrusion 235, adjusting groove 236, limiting hole 237, limiting baffle 238, walking assembly 24, thigh Arm 241, angle matching rod 242, rotating shaft 243, matching plate 244, first thigh walking rod 245, second thigh walking rod 246, calf walking board 247, calf walking rod 248, walking base plate 249, leg restraint 25, motion range adjustment device 3, adjustment frame 31, multi-section telescopic electric cylinder 32, adjustment rod 33, adjustment block 34, adjustment slot 35, auxiliary device 4, auxiliary baffle 41, auxiliary block 42, auxiliary shaft 43, auxiliary seat cushion 44, intelligent control system 5, medical equipment 51, battery 52, display screen 53. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0039] The embodiment of the present invention provides an intelligent auxiliary walking device for spinal cord injury rehabilitation, including a mobile support and protection device 1 for assisting the movement of patients, an intelligent walking device 2 for intelligent walking movement of the patient's lower limbs and having an exercise function, a motion amplitude adjustment device 3 for intelligently adjusting the intelligent walking amplitude of the patient's lower limbs, an intelligent control system 5 for real-time monitoring of the patient's physical health and having touch adjustment and voice dialogue functions, and an auxiliary device 4 for the patient to sit and rest, the intelligent walking device 2 includes a driving mechanism 21 and a walking mechanism 22, the driving mechanism 21 is arranged on the mobile support and protection device 1, the mobile support and protection device 1 is in the shape of an equilateral trapezoid, the walking mechanism 22 is provided with two, the two walking mechanisms 22 are symmetrically arranged and both are driven and operated with the driving mechanism 21, the motion amplitude adjustment device 3 is provided with two, the two motion amplitude adjustment devices 3 can adjust the corresponding walking mechanism 22 to rotate the eccentric size to play a role in changing the motion amplitude, the auxiliary device 4 is arranged on the inner side of the driving mechanism 21, and the intelligent control system 5 is arranged on the outer side of the driving mechanism 21;

[0040] This device innovates the structure of walking robots in the existing technology and designs an intelligent assisted walking device for spinal cord injury rehabilitation. It can assist spinal cord injury patients in walking and can automatically adjust the walking amplitude of spinal cord injury patients. It can adjust the walking amplitude according to the patient's recovery condition and the required training, so as to achieve the effect of allowing every spinal cord injury patient to undergo walking rehabilitation training, and can gradually increase from the minimum amplitude training to the maximum assisted amplitude walking training.

[0041] Preferably, the mobile support protection device 1 mechanism includes a hand rail 11, a first support rod 12, an arm placement pad 13, a support plate 14 and a second support rod 15, wherein two support plates 14 are provided, and the two support plates 14 are symmetrical and both are arranged horizontally, the hand rail 11 is arranged in an arc shape and the lower ends are respectively connected to the upper ends in front of the two support plates 14, the first support rod 12 is provided with two, and the two first support rods 12 are symmetrically arranged and respectively connected to the two sides of the hand rail 11, and the placement pads are provided with two, and the two placement pads are respectively arranged on the upper ends of the two support plates 14. The said second support rod 15 is arranged on the handrail 11 and above the corresponding support plate 14, two second support rods 15 are provided, the two second support rods 15 are symmetrically arranged, and the two second support rods 15 are respectively arranged on the side behind the corresponding support plate 14, and the bottom of the two first support rods 12 and the two second support rods 15 are each provided with a Mecanum wheel with a self-locking function, and the plurality of Mecanum wheels are placed on the ground, and the two first support rods 12 and the two second support rods 15 are both retractable length adjustment rods 33 and have a locking function;

[0042] When a spinal cord injury patient is unable to achieve walking rehabilitation training or wants to perform leg exercise training exercises first, the patient's legs can be subjected to swinging simulated walking training. First, the lengths of the two first support rods 12 and the two second support rods 15 are adjusted so that the distance between the two walking base plates 249 and the ground is about 40 cm to 50 cm. Then, the patient's buttocks sit on the auxiliary seat cushion 44, and the patient's legs are wrapped and fixed through the corresponding leg restraints 25, so that the patient's head is in a suspended state without contact with the ground. At this time, the dual-axis motor 212 is started to drive the The corresponding calf walking board 247 and the corresponding walking bottom board 249 perform swinging motion, thereby driving the patient's legs to perform swinging motion. The swinging motion process is the same as the swinging motion of the legs of a person walking, thereby driving the patient's legs to perform swinging simulation walking exercise, which can also have the effect of exercising the patient's legs. For the elderly, the enhancement of leg muscle strength is particularly important. It can help them maintain the ability to live independently and reduce the risk of falling and injury caused by muscle weakness. Leg exercises can promote the activities of joints such as hip joints, knee joints and ankle joints, and increase the flexibility of joints. For example, when performing leg extension and bending exercises, the muscles and ligaments around the joints are stretched, thereby increasing the range of motion of the joints. Good joint flexibility helps to reduce the occurrence of joint pain and injury and improve the body's athletic ability. For people who sit for a long time or lack exercise, the leg joints may become stiff. This situation can be improved through proper leg exercises, making the joints more flexible and free. Leg exercises can promote blood circulation in the lower limbs and enhance the heart's blood supply capacity. When doing leg exercises, the contraction and relaxation of muscles will promote blood flow in blood vessels, which helps prevent diseases such as varicose veins and thrombosis in the lower limbs. At the same time, good blood circulation can provide sufficient oxygen and nutrients to the leg muscles and tissues, promote the body's recovery and repair. For people with cardiovascular diseases, moderate leg exercises can help them improve heart function, lower blood pressure and cholesterol levels, and improve physical health.

[0043] Preferably, the driving mechanism 21 includes a driving shell 211, a dual-axis motor 212, a driving frame 213, a driving plate 214 and a driving shaft 215. The driving plates 214 are provided with two, and the two driving plates 214 are symmetrically arranged. The two driving plates 214 are respectively arranged at the inner ends of the corresponding support plates 14, and a storage space 216 is formed between the two driving plates 214 and the corresponding support plates 14. The driving shell 211 is located between the two driving plates 214 and is fixedly connected. The dual-axis motor 212 is fixedly arranged inside the driving shell 211. The driving frame 213 has Two, the two drive frames 213 are symmetrically arranged and located inside the drive housing 211, the two drive shafts 215 are provided, the two drive shafts 215 are respectively connected to the two output ends of the dual-axis motor 212 and respectively pass through the corresponding drive frames 213 and the corresponding drive plates 214 and are located in the corresponding storage spaces 216, the two drive shafts 215 are rotationally connected to the corresponding drive frames 213, the two drive shafts 215 are rotationally connected to the corresponding drive plates 214, the two walking mechanisms 22 each include a rotating assembly 23 and a walking assembly 24, the rotating assembly 23 is arranged on the driving On the mechanism 21, the walking component 24 is arranged on the rotating component 23, and the two rotating components 23 each include a rotating disk 231, a rotating column 232, a rotating shaft 233, a spring 234 and a limiting protrusion 235. The rotating disk 231 is arranged on the corresponding driving shaft 215 and is located in the corresponding storage space 216. The rotating disk 231 is provided with an adjustment groove 236, and the adjusting groove 236 is symmetrically and equidistantly arranged with a plurality of limiting holes 237. A limiting baffle 238 is provided on the side of the plurality of limiting holes 237, and the limiting baffle 238 is made of rubber. The rotating column 232 is located in the adjusting groove 236 and is slidably matched. The rotating shaft 233 is arranged at the end of the rotating column 232. A notch is arranged inside the rotating column 232. The middle part of the spring piece 234 is fixedly connected to the middle part of the notch. Two limiting protrusions 235 are provided. The two limiting protrusions 235 are symmetrically arranged at the outer sides of the two ends of the spring piece 234. The spring piece 234 is arranged in a V shape. The two limiting protrusions 235 are located in the corresponding limiting holes 237 and are in an adapted state. The plurality of limiting baffles 238 play a role in blocking the position of the rotating disk 231.

[0044] Because there are two limiting protrusions 235 respectively located in the corresponding limiting holes 237 and the cooperation between the spring piece 234 and the limiting baffle 238, when the rotating disk 231 rotates to drive the rotating shaft 233 to perform eccentric movement, the rotating shaft 233 is in a left-right swinging state to perform eccentric rotation. Therefore, the two limiting protrusions 235 on the rotating shaft 233 are always located in the corresponding limiting holes 237, and the multi-section telescopic electric cylinder 32 drives the adjustment block 34 to push the thrust of the linear motion on the rotating shaft 233. Therefore, the two limiting protrusions 235 on the rotating shaft 233 will disengage from the corresponding limiting holes 237 and move to the next corresponding limiting hole 237. The spring piece 234 and the limiting baffle 238 are in a state of cooperation that cannot block the linear motion of the rotating shaft 233, and can only block the linear motion that cannot be formed during the limiting swinging process, thereby facilitating the normal operation of the device.

[0045] Preferably, the orientation angles of the rotating disks 231 in the two rotating components 23 are different. Taking the adjustment groove 236 on the rotating disk 231 as a reference, the orientation angle difference of the two rotating disks 231 is set to 180 degrees.

[0046] When performing walking rehabilitation work on patients with more serious spinal cord injuries, since the patients with spinal cord injuries cannot stand or walk normally, the auxiliary seat cushion 44 can be lifted down and the patient's buttocks can be sat on or rested on the auxiliary seat cushion 44. At this time, a support point is provided for the patient's lower body, thereby providing assistance for walking rehabilitation for patients with more serious spinal cord injuries and achieving the effect of facilitating rehabilitation treatment. Therefore, the present device can be used for assisted walking training for patients with different degrees of spinal cord injuries.

[0047] Preferably, the two walking components 24 each include a thigh arm rod 241, an angle matching rod 242, a rotating shaft 243, a matching plate 244, a first thigh walking rod 245, a second thigh walking rod 246, a calf walking plate 247, a calf walking rod 248, a walking base plate 249 and a leg restraint 25, one end of the thigh arm rod 241 is sleeved on the corresponding rotating shaft 233 and is rotatably connected, and one end of the angle matching rod 242 is also sleeved on the corresponding rotating shaft 233 and is rotatably connected. The rotating shaft 243 is arranged on the outer side of the corresponding support plate 14, and the matching plate 244 is arranged in a triangular shape. The obtuse angle of the matching plate 244 is sleeved on the rotating shaft and is rotatably connected. The other end of the thigh arm rod 241 is rotatably connected to the upper corner of the matching plate 244 and the upper end uses the obtuse angle of the matching plate 244 as a reference. The upper end of the first thigh walking rod 245 is rotatably connected to the rotating shaft 243, and the upper end of the second thigh walking rod 246 is rotatably connected to the matching plate 24 4, the other end of the angle matching rod 242 is rotatably connected to the first thigh walking rod 245 and is located at one-third of the length of the first thigh walking rod 245 with the upper end of the first thigh walking rod 245 as a reference. The upper ends of the calf walking boards 247 are rotatably connected to the first thigh walking rod 245 and the lower ends of the second thigh walking rod 246. The upper end of the calf walking rod 248 is rotatably connected to the first thigh walking rod and is located at four-fifths of the length of the first thigh walking rod 245 with the upper end of the first thigh walking rod 245 as a reference. The upper end of the walking base plate 249 is rotatably connected to the lower end of the calf walking board 247, and the lower end of the calf walking board 248 is rotatably connected to the rotating base plate. Two leg restraints 25 are provided, and the two leg restraints 25 are respectively located on the inner side of the upper end of the calf walking board 247 and the inner side of the upper end of the walking base plate 249. Both of the leg restraints 25 are restraint bandages and are connected by Velcro.

[0048] When a spinal cord injury patient needs assisted walking rehabilitation training, the device can be moved to the required assisted walking position and the patient can be supported into the device for assisted walking training. First, the thighs and calves of the patient's two legs are wrapped and connected and fixed through a plurality of leg restraints 25 to make the patient's legs form the same state as the corresponding calf walking board 247, so that the patient's legs can follow the movement range of the walking component 24 to achieve assisted walking training. Then, the patient puts his hands on the corresponding handrails 11 and puts his arms on the corresponding arm resting pads 13 to provide a support point for the patient himself. It can better facilitate the patient's walking rehabilitation training and can also have a training effect on the patient's arm. Then, the patient can start the device by himself through the voice dialogue mode with the display screen 53, or he can start the device by others operating on the display screen 53. After the device is started, the dual-axis motor 212 starts to drive the two driving shafts 215 on the output end of the dual-axis motor 212 to rotate, and the rotation of the two driving shafts 215 drives the corresponding rotating disks 231 to rotate, and the rotation of the two rotating disks 231 drives the corresponding rotating shafts 233 to perform eccentric movement, and the eccentric movement of the two rotating shafts 233 drives the corresponding thigh arm rods 241 and the corresponding The angle matching rod 242 moves synchronously, and the movement of the two thigh arm rods 241 drives the corresponding matching plate 244 to move, the movement of the two angle matching rods 242 drives the corresponding first thigh walking rod 245 to move, the movement of the two matching plates 244 drives the corresponding second thigh walking rod 246 to move, the movement of the two first thigh walking rods 245 and the movement of the two second thigh walking rods 246 will drive the corresponding calf walking plate 247 to perform a certain range of placement movement, and will also drive the corresponding calf walking rod 248 synchronously, and finally drive the corresponding walking bottom plate 249 to perform a certain range of placement movement, and the patient's two thighs and The calf is wrapped and connected and fixed by a plurality of leg restraints 25 for corresponding restraint and fixation, so the two legs of the patient will move synchronously through the placement movement of the corresponding calf walking board 247, and the placement movement state is roughly the same as the movement amplitude of the leg walking placement movement of the person, so as to realize the patient's assisted walking rehabilitation operation. The rotation disks 231 in the two rotating components 23 have different orientation angles. The adjustment grooves 236 on the rotation disks 231 are used as references. The orientation angles of the two rotation disks 231 are set 180 degrees apart. Therefore, the two legs of the patient swing forward and backward in the same way as the normal walking of the person.

[0049] The device facilitates patients to perform assisted walking operations, and the effects obtained are as follows:

[0050] 1. Physical Function

[0051] Improve muscle strength

[0052] Walking training can stimulate the leg, hip and core muscles, exercise them and gradually increase their strength. For example, when using a walker or rehabilitation robot to assist walking, the patient needs to use force to support the body weight and push the body forward, which will cause the lower limb muscles to continuously contract and relax, improving muscle endurance and explosive power.

[0053] Strong muscles help improve body stability and balance, reduce the risk of falling, and provide basic strength support for patients to carry out other daily activities.

[0054] Improve joint mobility

[0055] During walking, multiple joints, such as the hip, knee, and ankle, move in coordination, helping to maintain and improve the range of motion of these joints. For example, when walking, the flexion and extension of the hip joint, the flexion and extension of the knee joint, and the dorsiflexion and plantar flexion of the ankle joint can prevent joint stiffness and contracture.

[0056] For patients with spinal cord injury, maintaining good joint mobility is crucial to preventing complications such as joint deformities and muscle atrophy.

[0057] Improve blood circulation

[0058] Walking training can promote blood circulation in the lower limbs and reduce the risk of blood congestion and thrombosis. When the patient walks, the contraction and relaxation of the leg muscles act as a "muscle pump" to push blood back to the heart.

[0059] Good blood circulation helps to provide nutrients to the damaged spinal cord tissue and promote nerve regeneration and repair. At the same time, it can also reduce the occurrence of complications such as lower limb edema and pressure sores.

[0060] 2. Psychological and emotional aspects

[0061] Enhance self-confidence

[0062] Successful walking training can help patients feel their own progress and ability to improve, thus enhancing their self-confidence. For people with spinal cord injury, regaining the ability to walk is a major achievement that will make them feel hopeful about their future.

[0063] Increased self-confidence helps patients to actively face the challenges in the rehabilitation process, participate more actively in other rehabilitation training programs, and improve the overall rehabilitation effect.

[0064] Reduce depression and anxiety

[0065] Spinal cord injury often brings great psychological pressure to patients, leading to emotional problems such as depression and anxiety. Walking training can distract patients and free them from negative emotions.

[0066] At the same time, physical activity can promote the secretion of neurotransmitters such as endorphins in the brain, which have the effect of relieving pain, reducing stress and improving mood. Through walking training, patients can experience both physical and psychological relaxation, which helps to alleviate symptoms of depression and anxiety.

[0067] 3. Social interaction and quality of life

[0068] Increased independence

[0069] The recovery of walking ability can make patients more independent in daily life and reduce their dependence on others. They can complete some basic activities by themselves, such as going to the bathroom, taking a bath, dressing, etc., and improve their ability to take care of themselves.

[0070] Increased independence helps patients reintegrate into society, participate in work, study and social activities, and resume normal life order.

[0071] Promote social interaction

[0072] Patients who can walk can communicate and interact with others more conveniently and expand their social circles. They can participate in social occasions such as outdoor activities and gatherings and maintain good relationships with family, friends and colleagues.

[0073] Increased social interaction can make patients feel cared for and supported by others, reduce loneliness and isolation, and improve quality of life.

[0074] In summary, rehabilitation walking training after spinal cord injury has an important positive impact on the patient's physical function, psychological emotions and social life quality. During the rehabilitation process, an individualized walking training plan should be formulated according to the patient's specific situation and carried out under the guidance of professional rehabilitation personnel to ensure the safety and effectiveness of the training.

[0075] Preferably, the two motion amplitude adjustment devices 3 each include an adjustment frame 31, a multi-section telescopic electric cylinder 32, an adjustment rod 33 and an adjustment block 34, the adjustment frame 31 is arranged on the inner side of the corresponding driving plate 214, the multi-section telescopic electric cylinder 32 is arranged in the adjustment frame 31, the adjustment rod 33 is arranged on the output end of the multi-section telescopic electric cylinder 32, the adjustment block 34 is arranged at the upper end of the adjustment rod 33, the adjustment block 34 is arranged downward, and the lower end of the adjustment block 34 is symmetrically provided with two adjustment slots 35, and the two adjustment slots 35 are in a matching state with the corresponding rotating shaft 233;

[0076] Because each patient's physical condition after spinal cord injury recovers differently, the present device can be adjusted according to the patient's recovery condition and the walking range required for training, so as to achieve the effect of allowing every patient after spinal cord injury to undergo walking rehabilitation training, and to gradually improve from the minimum range training to the maximum auxiliary range walking training, and finally achieve such a therapeutic effect that the patient can walk independently. When it is necessary to adjust the patient's walking range, it is only necessary to adjust the eccentric length of the corresponding rotating shaft 233 on the corresponding rotating disk 231, and adjust the swinging motion range of the corresponding calf walking board 247 and the corresponding walking bottom board 249. If it is necessary to reduce the motion range, firstly, the corresponding rotating disk 231 is driven to rotate by the operation of the dual-axis motor 212, and the corresponding rotating disk is rotated to a horizontal state with the adjustment groove 236 on the corresponding rotating disk as a reference. Fig.10 In the state shown, the dual-axis motor 212 can stop running. At this time, the operation of the multi-section telescopic electric cylinder 32 drives the adjusting rod 33 to move downward, and the downward movement of the adjusting rod 33 drives the adjusting block 34 to move downward. When the upward adjustment slot 35 at the lower end of the adjusting block 34 moves to a position lower than the rotating shaft 233, the dual-axis motor 212 runs again to drive the rotating disk 231 to rotate ninety degrees, so that the adjustment groove 236 on the rotating disk 231 changes from a horizontal state to a vertical downward state, and the dual-axis motor 212 can stop running. At this time, the multi-section telescopic electric cylinder 32 is operated again to drive the adjusting block 34 to move upward , and the movement of the adjustment block 34 at this time will contact the rotating shaft 233 through the adjustment slot 35 and drive the rotating shaft 233 to move upward, thereby driving the rotating shaft 233 to move upward in the adjustment groove 236 to change the eccentric position of the rotating shaft 233 on the rotating disk 231, so that the rotating shaft 233 is closer to the axis of the rotating disk 231. Therefore, during the subsequent rotation of the rotating disk 231, the eccentric rotation amplitude of the rotating shaft 233 will be reduced. Similarly, the corresponding movement amplitude of the walking mechanism 22 is also reduced, thereby achieving the ability to reduce the movement amplitude.

[0077] When the movement amplitude is adjusted to increase, it is only necessary to drive the adjustment groove 236 on the rotating disk 231 to be in a vertical downward state through the operation of the dual-axis motor 212. Fig.13As shown, the multi-section telescopic electric cylinder 32 drives the adjustment block 34 to move downward, and the movement of the adjustment block 34 at this time will contact the rotating shaft 233 through the adjusting slot 35 and push the rotating shaft 233 to move downward, thereby driving the rotating shaft 233 to move downward in the adjusting groove 236 to change the eccentric position of the rotating shaft 233 on the rotating disk 231, so that the rotating shaft 233 and the axis of the rotating disk 231 gradually move away from each other. Therefore, in the subsequent rotation of the rotating disk 231, the eccentric rotation amplitude of the rotating shaft 233 will increase. Similarly, the corresponding movement amplitude of the walking mechanism 22 will also increase, so that the movement amplitude can be increased and adjusted, so that the device can be adjusted according to the patient's recovery condition and the walking amplitude required for training, so as to achieve the effect of allowing every patient after spinal cord injury to perform walking rehabilitation training, and to be able to gradually increase from the minimum amplitude training to the maximum auxiliary amplitude walking training.

[0078] Preferably, the auxiliary device 4 includes an auxiliary baffle 41, an auxiliary block 42, an auxiliary shaft 43 and an auxiliary cushion 44, the auxiliary baffle 41 is arranged at the bottom end of the inner side of the driving shell 211, two auxiliary blocks 42 are provided, the two auxiliary blocks 42 are symmetrically arranged and located beside the placement baffle, the placement shaft is arranged on the two auxiliary blocks 42, the lower end of the auxiliary cushion 44 is sleeved on the auxiliary shaft 43 and a torsion spring is provided at the connection between the two, the initial state of the auxiliary cushion 44 is placed against the inner side of the driving shell 211, and the auxiliary cushion 44 will be blocked by the auxiliary baffle 41 when it is horizontally arranged after rotation, and the intelligent control system 5 includes a sensor chip for leg monitoring, a medical device 51 for electrically connecting the sensor chip to a compatible one, and a sensor chip for leg monitoring. The display screen 53 and the battery 52 for displaying the data after monitoring, a plurality of the leg restraints 25 are provided with storage slots inside, a plurality of the sensor chips are provided, and the plurality of the sensor chips can be placed in the corresponding storage slots and electrically connected to the medical device 51, and finally the required monitoring data are displayed through the display screen 53, the display screen 53 is provided with an intelligent dialogue function and a control system, the driving mechanism 21 and the two motion amplitude adjustment devices 3 are electrically connected to the control system, the display screen 53 can control the start and stop of the driving mechanism 21 and the two motion amplitude adjustment devices 3 through touch screen selection or language dialogue, and the driving mechanism 21, the two motion amplitude adjustment devices 3, the medical device 51 and the display screen 53 are all powered by the battery 52;

[0079] There are many types of medical chips used for leg monitoring, detection or inspection in this device, refer to the following:

[0080] 1. Pressure sensor chip

[0081] In leg rehabilitation or certain disease monitoring, a chip with an integrated pressure sensor can be used to monitor the pressure distribution in the leg. For example, it can be used to evaluate the pressure distribution in the feet of diabetic patients to prevent the occurrence of foot ulcers. This chip can be placed in an insole or a special leg support device to monitor the pressure changes in different parts in real time.

[0082] 2. Motion sensor chip

[0083] Accelerometer and gyroscope chips: can detect the movement status of the legs, such as acceleration, angular velocity, etc. This is useful for evaluating leg motor function, monitoring movement progress during rehabilitation, and detecting abnormal movement patterns such as tremors. For example, in rehabilitation treatment, doctors can adjust treatment plans and improve rehabilitation effects by analyzing these data.

[0084] Strain sensor chip: can detect the strain of leg muscles or bones. For example, in sports training, the contraction degree and force output of leg muscles can be monitored to help rehabilitation personnel optimize training plans; in the diagnosis of certain diseases, such as fractures or muscle injuries, strain sensors can provide information about the degree of injury.

[0085] 3. Bioelectric sensor chip

[0086] Myoelectric sensor chip: can detect the electrical activity of leg muscles. By collecting the myoelectric signals generated by leg muscles during contraction and relaxation, it can evaluate muscle function, diagnose neuromuscular diseases, and monitor muscle recovery during rehabilitation. For example, in prosthetic control, myoelectric sensors can control the movement of prostheses based on the patient's muscle activity.

[0087] ECG sensor chip: Although it is mainly used to detect the electrical activity of the heart, it can also be used to monitor the legs in some cases. For example, in some cardiovascular diseases, blood circulation in the legs may be affected. By detecting changes in ECG signals in the legs, the blood supply to the legs can be indirectly evaluated.

[0088] It should be noted that the application of these chips in leg monitoring is still in the stage of continuous development and improvement, and usually needs to be used in conjunction with other devices and systems to achieve more accurate and comprehensive monitoring and diagnosis. At the same time, the use of medical chips needs to strictly follow medical regulations and safety standards to ensure their accuracy, reliability and safety.

[0089] After the sensor chip described above is placed in the corresponding leg restraint 25 or pasted on the corresponding leg position of the patient, the patient can monitor the required data through the corresponding medical device 51 during assisted walking, and display the data through the display screen 53, laying a strong foundation for subsequent better leg treatment.

[0090] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. An intelligent walking assistance device for spinal cord injury rehabilitation, characterized in that: It comprises a mobile support and protection device (1) for assisting the movement of a patient; An intelligent walking device for performing intelligent walking exercises on the patient's lower limbs and having an exercise function (2); A motion range adjustment device (3) for intelligently adjusting the range of motion of a patient's lower limbs; Assistive devices for patients to sit and rest (4); An intelligent control system (5) for real-time monitoring of a patient's health and having touch adjustment and voice dialogue functions; The intelligent walking device (2) comprises a driving mechanism (21) and a walking mechanism (22); the driving mechanism (21) is arranged on a mobile support and protection device (1); the mobile support and protection device (1) is in the shape of an equilateral trapezoid; two walking mechanisms (22) are provided; the two walking mechanisms (22) are symmetrically arranged and both are driven by the driving mechanism (21); two movement amplitude adjustment devices (3) are provided; the two movement amplitude adjustment devices (3) can adjust the eccentric size of the corresponding walking mechanism (22) to change the movement amplitude; the auxiliary device (4) is arranged on the inner side of the driving mechanism (21); and the intelligent control system (5) is arranged on the outer side of the driving mechanism (21).

2. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 1, characterized in that: The mobile support protection device (1) comprises a hand support bar (11), a first support bar (12), an arm placement pad (13), a support plate (14) and a second support bar (15), wherein two support plates (14) are provided, and the two support plates (14) are symmetrical and both are arranged horizontally, the hand support bar (11) is arranged in an arc shape and the lower ends are respectively connected to the upper ends in front of the two support plates (14), the first support bar (12) is provided with two, the two first support bars (12) are symmetrically arranged and respectively connected to the two sides of the hand support bar (11), and the placement pads are provided with two, and the two placement pads are respectively arranged on the front side of the hand support bar (11). The invention relates to a handrail (11) and a support plate (14) on which the second support rods (15) are arranged. The two second support rods (15) are symmetrically arranged. The two second support rods (15) are arranged on the sides behind the corresponding support plate (14). A Mecanum wheel with a self-locking function is arranged at the bottom of each of the two first support rods (12) and the two second support rods (15). The plurality of Mecanum wheels are placed on the ground. The two first support rods (12) and the two second support rods (15) are telescopic length adjustment rods (33) and have a locking function.

3. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 2, characterized in that: The driving mechanism (21) comprises a driving shell (211), a dual-axis motor (212), a driving frame (213), a driving plate (214) and a driving shaft (215); two driving plates (214) are provided, and the two driving plates (214) are symmetrically arranged. The two driving plates (214) are respectively arranged at the inner side ends of the corresponding support plates (14); a storage space (216) is formed between the two driving plates (214) and the corresponding support plates (14); the driving shell (211) is located between the two driving plates (214) and is fixedly connected; the dual-axis motor (212) is fixedly arranged Inside the drive housing (211), two drive frames (213) are provided, the two drive frames (213) are symmetrically arranged and located inside the drive housing (211), two drive shafts (215) are provided, the two drive shafts (215) are respectively connected to the two output ends of the dual-axis motor (212) and respectively pass through the corresponding drive frames (213) and the corresponding drive plates (214) and are located in the corresponding storage spaces (216), the two drive shafts (215) are rotationally connected to the corresponding drive frames (213), and the two drive shafts (215) are rotationally connected to the corresponding drive plates (214).

4. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 3, characterized in that: The two walking mechanisms (22) each comprise a rotating assembly (23) and a walking assembly (24); the rotating assembly (23) is arranged on the driving mechanism (21), and the walking assembly (24) is arranged on the rotating assembly (23).

5. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 4, characterized in that: The two rotating components (23) each comprise a rotating disk (231), a rotating column (232), a rotating shaft (233), a spring sheet (234) and a limiting protrusion (235); the rotating disk (231) is arranged on the corresponding driving shaft (215) and is located in the corresponding storage space (216); an adjusting groove (236) is provided on the rotating disk (231); a plurality of limiting holes (237) are symmetrically and equidistantly arranged inside the adjusting groove (236); a limiting baffle (238) is provided on the side of each of the limiting holes (237), and the limiting baffle (238) is made of rubber; the rotating column (232) is located The adjusting groove (236) is arranged in a sliding fit, the rotating shaft (233) is arranged at the end of the rotating column (232), a notch is arranged inside the rotating column (232), the middle part of the spring sheet (234) is fixedly connected to the middle part of the notch, two limiting protrusions (235) are provided, the two limiting protrusions (235) are symmetrically arranged at the outer sides of the two ends of the spring sheet (234), the spring sheet (234) is arranged in a V shape, the two limiting protrusions (235) are located in the corresponding limiting holes (237) and are in an adapted state; a plurality of limiting baffles (238) play a role in blocking the position of the rotating disk (231).

6. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 5, characterized in that: The orientation angles of the rotating disks (231) in the two rotating assemblies (23) are different. Taking the adjustment groove (236) on the rotating disk (231) as a reference, the orientation angle difference of the two rotating disks (231) is set to 180 degrees.

7. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 6, characterized in that: The two walking assemblies (24) each comprise a thigh arm rod (241), an angle matching rod (242), a rotating shaft (243), a matching plate (244), a first thigh walking rod (245), a second thigh walking rod (246), a calf walking plate (247), a calf walking rod (248), a walking base plate (249) and a leg restraint (25), one end of the thigh arm rod (241) is sleeved on the corresponding rotating shaft (233) and is rotatably connected, and one end of the angle matching rod (242) is also sleeved on the corresponding rotating shaft (233). ) and is rotatably connected, the rotating shaft (243) is arranged on the outer side of the corresponding support plate (14), the matching plate (244) is arranged in a triangular shape, the obtuse angle of the matching plate (244) is sleeved on the rotating shaft and is rotatably connected, the other end of the thigh arm rod (241) is rotatably connected to the upper end corner of the matching plate (244) and the upper end uses the obtuse angle of the matching plate (244) as a reference, the upper end of the first thigh walking rod (245) is rotatably connected to the rotating shaft (243), and the upper end of the second thigh walking rod (246) is rotatably connected to the matching plate (244). At another corner of the joint plate (244), the other end of the angle matching rod (242) is rotatably connected to the first thigh walking rod (245) and is located at a length position of one-third of the first thigh walking rod (245) with the upper end of the first thigh walking rod (245) as a reference. The upper ends of the calf walking plates (247) are rotatably connected to the lower ends of the first thigh walking rod (245) and the second thigh walking rod (246). The upper ends of the calf walking rods (248) are rotatably connected to the first thigh walking rod and are located at a length position of one-third of the first thigh walking rod (245) with the upper end of the first thigh walking rod (245) as a reference. ) The upper end is a reference object located at four-fifths of the length of the first thigh walking rod (245), the upper end of the walking base plate (249) is rotatably connected to the lower end of the calf walking plate 2 (47), and the lower end of the calf walking rod (248) is rotatably connected to the rotating base plate. There are two leg restraints (25), and the two leg restraints (25) are respectively located on the inner side of the upper end of the calf walking plate (247) and the inner side of the upper end of the walking base plate (249). The two leg restraints (25) are both restraint bandages and are connected by Velcro.

8. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 5, characterized in that: The two motion amplitude adjustment devices (3) each comprise an adjustment frame (31), a multi-section telescopic electric cylinder (32), an adjustment rod (33) and an adjustment block (34); the adjustment frame (31) is arranged on the inner side of a corresponding driving plate (214); the multi-section telescopic electric cylinder (32) is arranged in the adjustment frame (31); the adjustment rod (33) is arranged on the output end of the multi-section telescopic electric cylinder (32); the adjustment block (34) is arranged on the upper end of the adjustment rod (33); the adjustment block (34) is arranged downward; and two adjustment slots (35) are symmetrically arranged at the lower end of the adjustment block (34); the two adjustment slots (35) are both in a matching state with the corresponding rotating shaft (233).

9. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 3, characterized in that: The auxiliary device (4) comprises an auxiliary baffle (41), an auxiliary block (42), an auxiliary shaft (43) and an auxiliary cushion (44); the auxiliary baffle (41) is arranged at the bottom end of the inner side of the driving shell (211); two auxiliary blocks (42) are provided, the two auxiliary blocks (42) are symmetrically arranged and located beside the placement baffle; the placement shaft is arranged on the two auxiliary blocks (42); the lower end of the auxiliary cushion (44) is sleeved on the auxiliary shaft (43) and a torsion spring is arranged at the connection between the two; the initial state of the auxiliary cushion (44) is to lean against the inner side of the driving shell (211); when the auxiliary cushion (44) is arranged horizontally after rotation, it will be blocked by the auxiliary baffle (41).

10. The intelligent walking assistance device for spinal cord injury rehabilitation according to claim 7, characterized in that: The intelligent control system (5) comprises a sensor chip for leg monitoring, a medical device (51) adapted for electrical connection to the sensor chip, a display screen (53) for displaying data after monitoring, and a battery (52). A plurality of the leg restraints (25) are provided with storage slots inside. A plurality of the sensor chips are provided. The plurality of sensor chips can be placed in corresponding storage slots and electrically connected to the medical device (51), and finally the required monitoring data is displayed on the display screen (53). The display screen (53) is provided with an intelligent dialogue function and a control system. The drive mechanism (21) and the two motion amplitude adjustment devices (3) are electrically connected to the control system. The display screen (53) can control the start and stop of the drive mechanism (21) and the two motion amplitude adjustment devices (3) through touch screen selection or language dialogue. The drive mechanism (21), the two motion amplitude adjustment devices (3), the medical device (51) and the display screen (53) are all powered by the battery (52).

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