Gamification child lower limb walking rehabilitation robot

Abstract

The invention discloses a gamified child lower limb walking rehabilitation robot, and relates to the field of child lower limb rehabilitation, the gamified child lower limb walking rehabilitation robot comprises a U-shaped frame, the bottom of the U-shaped frame is connected with supporting legs, the inner walls of the left and right sides of the U-shaped frame are connected with connecting frames, and the sides, away from the inner walls of the U-shaped frame, of the connecting frames are connected with upper flexion and extension auxiliary mechanisms; the bottom of the upper flexion and extension auxiliary mechanism is connected with an upper leg sleeve, and the bottom of the upper leg sleeve is connected with a lower flexion and extension auxiliary mechanism. By arranging the supporting mechanism, the standing feet can be supported on the left side, the right side and the rear side of the lower leg sleeve through three supporting rods in the process that a child walks by lifting up one foot, auxiliary supporting is conducted on walking of the child, and the stability of walking training is kept; by arranging the inertial sensor and the display screen, the human body motion trail collected by the inertial sensor can be fused into the game virtual character, and the interestingness of walking rehabilitation training of children is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of children's lower limb rehabilitation, and in particular to a gamified children's lower limb walking rehabilitation robot. Background Art

[0002] Children's lower limb walking rehabilitation robot refers to a device used to assist children in walking rehabilitation training. Through the training of the rehabilitation robot system, it can help patients relearn or improve walking skills, enhance muscle strength, improve balance and coordination, promote blood circulation, and reduce the risk of complications. Early intervention walking rehabilitation training can also accelerate the patient's recovery process and help them achieve better recovery effects in a shorter time.

[0003] Existing walking rehabilitation robots usually have a frame to support the patient's body, and a pulley is installed at the bottom of the frame to enable the frame to move with the patient's walking. During the walking training process, children walk slowly with both legs. When one leg is lifted, the other leg supports the patient's entire body gravity for a longer time. Under the influence of pain, the legs are prone to tilting and the body falling. However, at this time, the frame will slip through the pulley and cannot provide stable support for the patient, affecting the child's normal walking training. Summary of the invention

[0004] The purpose of the present invention is to provide a gamified children's lower limb walking rehabilitation robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a gamified child lower limb walking rehabilitation robot, comprising a C-shaped frame, the bottom of the C-shaped frame is connected to a support leg, the inner walls on both sides of the left and right sides of the C-shaped frame are connected to a connecting frame, the side of the connecting frame away from the inner wall of the C-shaped frame is connected to an upper flexion and extension auxiliary mechanism, the bottom of the upper flexion and extension auxiliary mechanism is connected to an upper leg sleeve, the bottom of the upper leg sleeve is connected to a lower flexion and extension auxiliary mechanism, the bottom of the lower flexion and extension auxiliary mechanism is connected to a lower leg sleeve, the outer side wall of the lower leg sleeve is installed with a supporting mechanism, and a protective mechanism is installed inside the C-shaped frame between the two connecting frames;

[0006] The supporting mechanism includes a fixed seat, a slot is provided inside the fixed seat, sliding grooves are provided on the inner walls on both sides of the slot, the bottom of the slot is inclined to form a slope, a support rod is provided inside the slot, a pin is penetrated through the top of the support rod, a torsion spring is sleeved on the outer side of the pin, a pressure block is movably inserted in the slot above the support rod, a movable plate is connected to one side of the pressure block, side ears are vertically connected to both sides of the pressure block, a fixed plate is connected to the upper surface of the fixed seat, and an electric push rod is installed through the fixed plate.

[0007] Preferably, there are three slots and three support rods, which are distributed on the left and right sides and the rear side of the fixed seat. Both ends of the pin shaft are inserted into the slide groove to form a sliding connection with the slide groove. The top of the support rod is rotatably connected to the pin shaft. The inclination angle of the slope is 120°. When the three support rods extend out of the slots, they are guided by the slope to contact the ground in an inclined state. The inclination angle of the support rod is consistent with the inclination angle of the slope.

[0008] Preferably, there are two side ears, which are symmetrically arranged relative to the pressure block, the bottom of the side ear is sleeved on the outside of the pin shaft and forms a movable connection with the pin shaft, and the sides of the two side ears that are away from each other are in contact with the inner wall of the slot.

[0009] Preferably, the movable plate and the fixed plate are both in the shape of arc plates, the inner side wall of the movable plate is connected to three pressing blocks, and the upper surface of the movable plate is connected to the telescopic end of the electric push rod.

[0010] Preferably, the upper flexion and extension auxiliary mechanism and the lower flexion and extension auxiliary mechanism both include an auxiliary seat, an upper connecting block is connected to the top of the auxiliary seat, a rotating plate is installed inside the auxiliary seat, a rotating shaft is arranged through the middle of the rotating plate, one side of the rotating shaft passes through the side wall of the auxiliary seat and is connected to a driving motor, a through slot is provided at the bottom of the auxiliary seat, a lower connecting block is connected to the bottom of the rotating plate, a first pressure sensor is installed on the front inner wall of the through slot, and a second pressure sensor is installed on the rear inner wall of the through slot.

[0011] Preferably, the rotating plate is circular, the top of the lower connecting block passes through a through slot and is connected to the rotating plate, the rotating plate is rotatably connected to the auxiliary seat via a rotating shaft, and the lower connecting block slides back and forth in the through slot.

[0012] Preferably, the top of the upper connecting block in the upper flexion and extension assisting mechanism is connected to the connecting frame, the bottom of the lower connecting block in the upper flexion and extension assisting mechanism is connected to the upper leg sleeve, the top of the upper connecting block in the lower flexion and extension assisting mechanism is connected to the upper leg sleeve, and the bottom of the lower connecting block in the lower flexion and extension assisting mechanism is connected to the lower leg sleeve.

[0013] Preferably, the protective mechanism includes a protective pad installed on the front inner wall of the U-shaped frame, the left and right sides of the protective pad are connected with connecting belts, the left and right inner walls of the U-shaped frame are connected with fixing belts, buckles are connected between the connecting belts and the fixing belts, the protective pad is narrow in front and wide in the back, the protective pad passes through the patient's crotch and is connected to the fixing belt via the connecting belt, and the connecting belt is plugged into the fixing belt via the buckle.

[0014] Preferably, the front side walls of the upper leg cover and the lower leg cover are connected with straps, the two ends of the upper leg cover and the lower leg cover are connected by the straps, the front side walls of the upper leg cover and the lower leg cover are installed with inertial sensors, the front inner wall of the C-shaped frame is installed with a controller, the upper surface of the C-shaped frame is installed with a bracket, the upper surface of the bracket is installed with a display screen, and the upper surface of the C-shaped frame is installed with armrests at the edges near both sides.

[0015] Preferably, the first pressure sensor and the second pressure sensor are both electrically connected to the controller via a circuit, the number of the inertial sensors is three, and they are respectively located on the front side wall of the top of the upper leg cover and the front side walls of the top and bottom of the lower leg cover, and the inertial sensors are electrically connected to the controller via a circuit.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This gamified children's lower limb walking rehabilitation robot is equipped with a supporting mechanism. The electric push rod is extended to push the movable plate downward. The movable plate drives the pressure block to move downward in the slot. The pressure block pushes the pin shaft to move downward in the slide groove through the side ear. The pin shaft drives the support rod to move downward in the slot. The bottom of the support rod is guided by the slope surface to rotate relative to the pin shaft and extend from the slot in an inclined state until the bottom of the support rod touches the ground. When the child lifts one foot to walk, the three support rods are used to support the standing foot on the left and right sides and the back of the lower leg sleeve, so as to provide auxiliary support for the child's walking and maintain the stability of walking training.

[0018] 2. This gamified children's lower limb walking rehabilitation robot is equipped with inertial sensors and display screens. When children do walking training, they wear the upper leg sleeves and lower leg sleeves on their legs through straps. The six inertial sensors are respectively located on the thighs, calves and insteps of the children's legs. When the children are walking, the inertial sensors detect the motion data of multiple positions of the children's legs and transmit the detected data to the controller. The controller receives the data and uses a virtual character to display the motion trajectory of the human body on the display screen, combines the virtual character background with the game scene, makes the virtual character in the display screen move according to the motion trajectory of the human body, integrates the motion trajectory of the human body into the virtual character of the game, and increases the fun of children's walking rehabilitation training.

[0019] 3. This gamified children's lower limb walking rehabilitation robot is equipped with an upper flexion and extension auxiliary mechanism and a lower flexion and extension auxiliary mechanism. When a child walks with bent legs, the thigh is bent relative to the hip bone and the calf is bent relative to the thigh. At this time, the calf sleeve and the thigh sleeve drive the connecting block to move in the through groove, canceling the squeezing effect on the first pressure sensor. At this time, the pressure value on the first pressure sensor drops sharply and transmits a signal to the controller. The controller controls the drive motor to start, so that the drive motor drives the rotating shaft to rotate, and the rotating shaft drives the rotating plate to rotate in the auxiliary seat. The rotating plate pulls the lower leg sleeve to bend relative to the upper leg sleeve through the lower connecting block, and pulls the upper leg sleeve to bend relative to the connecting frame until the lower connecting block squeezes the second pressure sensor in the through groove. When the leg is straightened, the drive motor flips and pushes the lower leg sleeve to straighten relative to the upper leg sleeve, and pushes the upper leg sleeve to straighten relative to the connecting frame, thereby achieving the effect of automatically pushing and pulling the child's bent legs and extended legs. In the early stage of rehabilitation training, it can assist the child's legs in passive flexion and extension.

[0020] 4. This gamified children's lower limb walking rehabilitation robot is equipped with a protective mechanism. The protective pad is passed through the child's crotch and backwards, and the connecting belts on the left and right sides of the protective pad are connected to the fixing belts through buckles. The child's buttocks do not touch the protective pad during walking. Once the child's legs cannot support the body to move down while walking, the protective pad will hold the child's body and provide emergency protection for the child's crotch. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall side structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the overall side cutaway structure of the present invention;

[0023] Figure 3 It is a schematic diagram of the connection structure between the upper leg cover and the lower leg cover of the present invention;

[0024] Figure 4 It is a schematic diagram of the side cutaway structure of the lower leg cover of the present invention;

[0025] Figure 5 It is a schematic diagram of the supporting state structure of the supporting mechanism of the present invention;

[0026] Figure 6 It is a schematic diagram of the connection structure between the pressing block and the supporting rod of the present invention;

[0027] Figure 7 It is a schematic diagram of the side section structure of the lower flexion and extension auxiliary mechanism of the present invention;

[0028] Figure 8 It is a front cutaway structural schematic diagram of the lower flexion and extension auxiliary mechanism of the present invention.

[0029] In the figure: 1, U-shaped frame; 2, supporting leg; 3, connecting frame; 4, upper flexion and extension auxiliary mechanism; 5, upper leg cover; 6, lower flexion and extension auxiliary mechanism; 61, auxiliary seat; 62, upper connecting block; 63, rotating plate; 64, rotating shaft; 65, driving motor; 66, through slot; 67, lower connecting block; 68, first pressure sensor; 69, second pressure sensor; 7, lower leg cover; 8, supporting mechanism; 81, fixing seat; 82, slot; 83. Slide; 84. Slope; 85. Support rod; 86. Pin; 87. Torsion spring; 88. Pressure block; 89. Movable plate; 810. Side ear; 811. Fixed plate; 812. Electric push rod; 9. Protection mechanism; 91. Protection pad; 92. Connecting belt; 93. Fixed belt; 94. Buckle; 10. Strap; 11. Inertial sensor; 12. Controller; 13. Bracket; 14. Display screen; 15. Handrail. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0031] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] like Figures 1 to 8As shown, the gamified child lower limb walking rehabilitation robot of this embodiment includes a C-shaped frame 1, which is C-shaped and has an opening facing backwards, so that children can enter the inner side of the C-shaped frame 1. The bottom of the C-shaped frame 1 is connected with a support leg 2, and a pulley is installed at the bottom of the support leg 2, so that the C-shaped frame 1 can be driven to move when the child walks. The inner walls on both sides of the C-shaped frame 1 are connected with a connecting frame 3, and the side of the connecting frame 3 away from the inner wall of the C-shaped frame 1 is connected with an upper flexion and extension auxiliary mechanism 4, which is used to connect an upper leg sleeve 5 and the connecting frame 3, and the upper leg sleeve 5 is connected to the bottom of the upper flexion and extension auxiliary mechanism 4, and the lower leg sleeve 5 is connected to the bottom of the upper leg sleeve 5. The lower flexion and extension auxiliary mechanism 6 is used to connect the upper leg sleeve 5 and the lower leg sleeve 7, and the lower flexion and extension auxiliary mechanism 6 is connected to the lower leg sleeve 7. The outer wall of the lower leg sleeve 7 is installed with a supporting mechanism 8, which is used to assist in supporting the leg on which the child stands when walking, and a protective mechanism 9 is installed inside the C-shaped frame 1 between the two connecting frames 3 for emergency protection of children;

[0034] The support mechanism 8 includes a fixed seat 81, which is installed on the outer wall of the lower leg sleeve 7. A slot 82 is provided inside the fixed seat 81. Slide grooves 83 are provided on the inner walls on both sides of the slot 82. The outer diameter of the pin 86 matches the width of the slide groove 83. The bottom of the slot 82 is inclined to form a slope 84. A support rod 85 is provided inside the slot 82. A pin 86 is provided on the top of the support rod 85. A torsion spring 87 is sleeved on the outer side of the pin 86. When the support rod 85 is in a vertical state, the torsion spring 87 is in a normal tension state. When the support rod 85 is extended and tilted, the torsion spring 87 generates a torque force. When the electric push rod 812 is retracted, the torsion spring 87 generates a torque force. After the support rod 85 is retracted and pulled upward, the torque force of the torsion spring 87 drives the support rod 85 to rotate to an upright state and be stored in the slot 82. A pressure block 88 is movably inserted into the slot 82 above the support rod 85. A movable plate 89 is connected to one side of the pressure block 88. Side ears 810 are vertically connected to the two sides of the pressure block 88. The pressure block 88 is connected to the pin 86 through the side ears 810. A fixed plate 811 is connected to the upper surface of the fixed seat 81. An electric push rod 812 is installed through the fixed plate 811. There are two electric push rods 812, and the actual model of the electric push rod 812 is selected according to the lifting stroke of the movable plate 89.

[0035] The support rods 85 are connected to the support rails 83 to prevent the support rails 85 from falling out of the slots 82. The top of the support rods 85 is ...

[0036] Furthermore, there are two side ears 810, which are symmetrically arranged relative to the pressure block 88. The side ears 810 are located on both sides of the support rod 85 and are inserted into the slot 82 together with the support rod 85. The bottom of the side ears 810 is sleeved on the outside of the pin shaft 86 and forms a movable connection with the pin shaft 86. The sides of the two side ears 810 that are away from each other are in contact with the inner wall of the slot 82. When the pressure block 88 moves downward in the slot 82, the pressure block 88 pushes the pin shaft 86 to move downward in the slide groove 83 through the side ears 810, and the pin shaft 86 drives the support rod 85 to move downward in the slot 82.

[0037] Furthermore, the movable plate 89 and the fixed plate 811 are both arc-shaped plates, the inner wall of the movable plate 89 is connected to the three pressure blocks 88, and the upper surface of the movable plate 89 is connected to the telescopic end of the electric push rod 812. The movable plate 89 is pushed downward by the extension of the electric push rod 812, and the movable plate 89 drives the three pressure blocks 88 to move downward in the slot 82. The pressure blocks 88 squeeze the three support rods 85 to extend at the same time, and the electric push rod 812 on one leg is only started when the other leg is bent.

[0038] Furthermore, the upper flexion and extension assisting mechanism 4 and the lower flexion and extension assisting mechanism 6 both include an assisting seat 61, an upper connecting block 62 is connected to the top of the assisting seat 61, a rotating plate 63 is installed inside the assisting seat 61, a rotating shaft 64 is arranged through the middle of the rotating plate 63, one side of the rotating shaft 64 passes through the side wall of the assisting seat 61 and is connected to a driving motor 65, the driving motor 65 is installed on the side wall of the assisting seat 61, the shaft end of the driving motor 65 is connected to the rotating shaft 64, and the driving motor 65 is a motor with a forward and reverse circuit for assisting leg flexion and extension, a through slot 66 is provided at the bottom of the assisting seat 61, a lower connecting block 67 is connected to the bottom of the rotating plate 63, a first pressure sensor 68 is installed on the front inner wall of the through slot 66, and a second pressure sensor 69 is installed on the rear inner wall of the through slot 66, the first pressure sensor 68 and the second pressure sensor 69 will transmit signals to the controller 12 when they sense pressure squeezing and pressure sudden reduction, so as to sense the active flexion and extension of the child's legs and realize the intelligent start of the upper flexion and extension assisting mechanism 4 and the lower flexion and extension assisting mechanism 6.

[0039] Furthermore, the rotating plate 63 is circular, and the top of the lower connecting block 67 passes through the through slot 66 and is connected to the rotating plate 63. The rotating plate 63 is rotatably connected to the auxiliary seat 61 via the rotating shaft 64. The lower connecting block 67 slides back and forth in the through slot 66. The driving motor 65 drives the rotating shaft 64 to rotate, and the rotating shaft 64 drives the rotating plate 63 to rotate in the auxiliary seat 61. The rotating plate 63 drives the lower connecting block 67 to rotate in the through slot 66, providing a push-pull auxiliary force for the flexion and extension of the children's legs. In the early stage of rehabilitation training, it can assist the children's legs in passive flexion and extension.

[0040] Furthermore, the top of the upper connecting block 62 in the upper flexion and extension assisting mechanism 4 is connected to the connecting frame 3, the bottom of the lower connecting block 67 in the upper flexion and extension assisting mechanism 4 is connected to the upper leg sleeve 5, the connecting frame 3 simulates the human hip bone to position the upper part of the upper flexion and extension assisting mechanism 4, the top of the upper connecting block 62 in the lower flexion and extension assisting mechanism 6 is connected to the upper leg sleeve 5, and the bottom of the lower connecting block 67 in the lower flexion and extension assisting mechanism 6 is connected to the lower leg sleeve 7. When the child walks, the lower leg sleeve 7 is driven to bend relative to the upper leg sleeve 5, and the upper leg sleeve 5 is driven to bend relative to the connecting frame 3.

[0041] Furthermore, the protective mechanism 9 includes a protective pad 91 installed on the front inner wall of the U-shaped frame 1, and connecting belts 92 are connected to the left and right sides of the protective pad 91, and fixing belts 93 are connected to the inner walls of the left and right sides of the U-shaped frame 1, and buckles 94 are connected between the connecting belts 92 and the fixing belts 93. The protective pad 91 is narrow in front and wide in the back. The protective pad 91 passes through the patient's crotch and is connected to the fixing belt 93 through the connecting belt 92. The connecting belt 92 is plugged into the fixing belt 93 through the buckle 94. By passing the protective pad 91 through the child's crotch backwards, the connecting belts 92 on the left and right sides of the protective pad 91 are connected to the fixing belt 93 through the buckle 94. The child's buttocks do not contact the protective pad 91 during walking. Once the child's legs cannot support the body to move down while walking, the protective pad 91 will hold the child's body to provide emergency protection for the child's crotch.

[0042] Furthermore, the front walls of the upper leg cover 5 and the lower leg cover 7 are connected with a strap 10, one end of the strap 10 is fixed to the front walls of the upper leg cover 5 and the lower leg cover 7, and the other side of the strap 10 is attached by Velcro, the Velcro includes a fur surface and a hook surface, the hook surface is installed on the inner wall of the strap 10, and the fur surface is fixed on the front walls of the thigh cover and the calf cover, the two ends of the upper leg cover 5 and the lower leg cover 7 are connected by the strap 10, the front walls of the upper leg cover 5 and the lower leg cover 7 are installed with an inertial sensor 11, the front inner wall of the U-shaped frame 1 is installed with a controller 12, the upper surface of the U-shaped frame 1 is installed with a bracket 13, the upper surface of the bracket 13 is installed with a display screen 14, the display screen 14 is electrically connected to the controller 12 through a circuit, and the upper surface of the U-shaped frame 1 is installed with handrails 15 near the edges of both sides for supporting children with both hands when walking.

[0043] Furthermore, the first pressure sensor 68 and the second pressure sensor 69 are electrically connected to the controller 12 through the circuit. There are three inertial sensors 11, which are respectively located on the top front side wall of the upper leg cover 5 and the top and bottom front side walls of the lower leg cover 7. The inertial sensors 11 are electrically connected to the controller 12 through the circuit. The six inertial sensors 11 are respectively located at the thighs, calves and insteps of the children's legs. When the child is walking, the inertial sensor 11 detects motion data of multiple positions of the child's legs and transmits the detected data to the controller 12. The controller 12 receives the data and uses a virtual character to display the motion trajectory of the human body on the display screen 14, and combines the virtual character background with the game scene, so that the virtual character in the display screen 14 moves according to the motion trajectory of the human body.

[0044] The method of use of this embodiment is as follows: when the user actually uses the lower limb walking rehabilitation robot to assist children in lower limb rehabilitation, first the child enters the inner side of the U-shaped frame 1 from the rear side of the U-shaped frame 1, places the child's legs in front of the thigh sleeves and calf sleeves, and uses the straps 10 to stick the thigh sleeves and calf sleeves on the child's thighs and calves, then passes the protective pad 91 through the child's crotch to the back, and connects the connecting belts 92 on the left and right sides of the protective pad 91 with the fixing belt 93 through the buckles 94, then the child holds the handrails 15 with both hands, lifts one leg and starts walking, the thigh of this leg is bent relative to the hip bone, the calf is bent relative to the thigh, and the thigh and calf simultaneously drive the thigh sleeve and the calf sleeve to move, so that the calf sleeve and the thigh sleeve can move backwards. The leg sleeve drives the connecting block to move in the through groove 66, canceling the squeezing effect on the first pressure sensor 68. At this time, the pressure value on the first pressure sensor 68 drops sharply and transmits a signal to the controller 12. The controller 12 controls the drive motor 65 to start, so that the drive motor 65 drives the rotating shaft 64 to rotate, and the rotating shaft 64 drives the rotating plate 63 to rotate in the auxiliary seat 61. The rotating plate 63 pulls the lower leg sleeve 7 to bend relative to the upper leg sleeve 5 through the lower connecting block 67, and pulls the upper leg sleeve 5 to bend relative to the connecting frame 3, until the lower connecting block 67 squeezes the second pressure sensor 69 in the through groove 66. The second pressure sensor 69 transmits a signal to the controller 12, and the controller 12 controls the drive motor 65 to stop. When the leg is straightened, the second pressure sensor The pressure value on the device 69 decreases suddenly and transmits a signal to the controller 12. The controller 12 controls the drive motor 65 to start, so that the drive motor 65 reverses and pushes the lower leg sleeve 7 to straighten relative to the upper leg sleeve 5, and pushes the upper leg sleeve 5 to straighten relative to the connecting frame 3. At the same time, the electric push rod 812 on the calf sleeve of one leg falling on the bottom surface extends, and the electric push rod 812 extends and pushes the movable plate 89 to move downward. The movable plate 89 drives the pressure block 88 to move downward in the slot 82. The pressure block 88 pushes the pin 86 to move downward in the slide groove 83 through the side ear 810. The pin 86 drives the support rod 85 to move downward in the slot 82. The bottom of the support rod 85 is guided by the slope 84 to rotate relative to the pin 86, and extends out of the slot 82 in an inclined state until the support rod 85 is The bottom of the rod 85 contacts the ground, and three support rods 85 support the standing foot on the left and right sides and the back of the lower leg sleeve 7 to maintain the stability of walking training. During the walking process of the child's legs, six inertial sensors 11 are respectively located at the thighs, calves and insteps of the child's legs to detect the movement data of the child's legs. The inertial sensor 11 transmits the detected movement data to the controller 12. The controller 12 receives the data and uses a virtual character to display the movement trajectory of the human body on the display screen 14, and combines the virtual character background with the game scene, so that the virtual character in the display screen 14 moves according to the movement trajectory of the human body. The children can watch from the display screen 14, which increases the fun of the children's walking rehabilitation training.

[0045] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gamified child lower limb walking rehabilitation robot, comprising a U-shaped frame (1), characterized in that: The bottom of the C-shaped frame (1) is connected to a support foot (2); the inner walls on the left and right sides of the C-shaped frame (1) are both connected to a connecting frame (3); the side of the connecting frame (3) away from the inner wall of the C-shaped frame (1) is connected to an upper flexion and extension auxiliary mechanism (4); the bottom of the upper flexion and extension auxiliary mechanism (4) is connected to an upper leg sleeve (5); the bottom of the upper leg sleeve (5) is connected to a lower flexion and extension auxiliary mechanism (6); the bottom of the lower flexion and extension auxiliary mechanism (6) is connected to a lower leg sleeve (7); the outer side wall of the lower leg sleeve (7) is installed with a supporting mechanism (8); and a protective mechanism (9) is installed inside the C-shaped frame (1) between the two connecting frames (3); The support mechanism (8) comprises a fixed seat (81), a slot (82) is provided inside the fixed seat (81), and sliding grooves (83) are provided on both inner walls of the slot (82), and the bottom of the slot (82) is inclined to form a slope (84), a support rod (85) is provided inside the slot (82), a pin shaft (86) is provided through the top of the support rod (85), and a torsion spring (87) is sleeved on the outer side of the pin shaft (86), a pressure block (88) is movably inserted inside the slot (82) above the support rod (85), a movable plate (89) is connected to one side of the pressure block (88), and side ears (810) are vertically connected to both sides of the pressure block (88), and a fixed plate (811) is connected to the upper surface of the fixed seat (81), and an electric push rod (812) is installed through the fixed plate (811).

2. The gamified children's lower limb walking rehabilitation robot according to claim 1, characterized in that: The number of the slots (82) and the support rods (85) are both three, and they are distributed on the left and right sides and the rear side of the fixing seat (81). The two ends of the pin shaft (86) are inserted into the inside of the slide groove (83) to form a sliding connection with the slide groove (83). The top of the support rod (85) is rotatably connected with the pin shaft (86). The inclination angle of the slope surface (84) is 120°. When the three support rods (85) extend out of the slots (82), they are guided by the slope surface (84) to contact the ground in an inclined state. The inclination angle of the support rod (85) is consistent with the inclination angle of the slope surface (84).

3. The gamified children's lower limb walking rehabilitation robot according to claim 1, characterized in that: There are two side ears (810) and they are symmetrically arranged relative to the pressure block (88). The bottom of the side ears (810) is sleeved on the outside of the pin shaft (86) and is movably connected to the pin shaft (86). The sides of the two side ears (810) that are away from each other are in contact with the inner wall of the slot (82).

4. The gamified children's lower limb walking rehabilitation robot according to claim 1, characterized in that: The movable plate (89) and the fixed plate (811) are both in the shape of arc plates. The inner side wall of the movable plate (89) is connected to three pressing blocks (88), and the upper surface of the movable plate (89) is connected to the telescopic end of the electric push rod (812).

5. The gamified children's lower limb walking rehabilitation robot according to claim 1, characterized in that: The upper flexion and extension auxiliary mechanism (4) and the lower flexion and extension auxiliary mechanism (6) both comprise an auxiliary seat (61), the top of the auxiliary seat (61) is connected to an upper connecting block (62), a rotating plate (63) is installed inside the auxiliary seat (61), a rotating shaft (64) is provided through the middle of the rotating plate (63), one side of the rotating shaft (64) passes through the side wall of the auxiliary seat (61) and is connected to a driving motor (65), a through slot (66) is provided at the bottom of the auxiliary seat (61), a lower connecting block (67) is connected to the bottom of the rotating plate (63), a first pressure sensor (68) is installed on the front inner wall of the through slot (66), and a second pressure sensor (69) is installed on the rear inner wall of the through slot (66).

6. The gamified children's lower limb walking rehabilitation robot according to claim 5, characterized in that: The rotating plate (63) is circular in shape, the top of the lower connecting block (67) passes through the through slot (66) and is connected to the rotating plate (63), the rotating plate (63) is rotatably connected to the auxiliary seat (61) via the rotating shaft (64), and the lower connecting block (67) slides back and forth in the through slot (66).

7. The gamified children's lower limb walking rehabilitation robot according to claim 5, characterized in that: The top of the upper connecting block (62) in the upper flexion and extension auxiliary mechanism (4) is connected to the connecting frame (3), the bottom of the lower connecting block (67) in the upper flexion and extension auxiliary mechanism (4) is connected to the upper leg sleeve (5), the top of the upper connecting block (62) in the lower flexion and extension auxiliary mechanism (6) is connected to the upper leg sleeve (5), and the bottom of the lower connecting block (67) in the lower flexion and extension auxiliary mechanism (6) is connected to the lower leg sleeve (7).

8. The gamified children's lower limb walking rehabilitation robot according to claim 1, characterized in that: The protection mechanism (9) comprises a protection pad (91) mounted on the front inner wall of the U-shaped frame (1); the left and right sides of the protection pad (91) are connected to connecting belts (92); the left and right inner walls of the U-shaped frame (1) are connected to fixing belts (93); a buckle (94) is connected between the connecting belt (92) and the fixing belt (93); the protection pad (91) is narrow in front and wide in the back; the protection pad (91) passes through the crotch of the patient and is connected to the fixing belt (93) via the connecting belt (92); the connecting belt (92) is plugged into the fixing belt (93) via the buckle (94).

9. The gamified children's lower limb walking rehabilitation robot according to claim 5, characterized in that: The front side walls of the upper leg cover (5) and the lower leg cover (7) are both connected with a strap (10), the two ends of the upper leg cover (5) and the lower leg cover (7) are connected by the strap (10), the front side walls of the upper leg cover (5) and the lower leg cover (7) are both installed with an inertial sensor (11), the front inner wall of the U-shaped frame (1) is installed with a controller (12), the upper surface of the U-shaped frame (1) is installed with a bracket (13), the upper surface of the bracket (13) is installed with a display screen (14), and the upper surface of the U-shaped frame (1) is installed with handrails (15) near the edges of both sides.

10. The gamified children's lower limb walking rehabilitation robot according to claim 9, characterized in that: The first pressure sensor (68) and the second pressure sensor (69) are both electrically connected to the controller (12) via a circuit. The number of the inertial sensors (11) is three and they are located respectively on the top front side wall of the upper leg cover (5) and the top and bottom front side walls of the lower leg cover (7). The inertial sensors (11) are electrically connected to the controller (12) via a circuit.

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