Walking aid for gait rehabilitation training

Abstract

The invention relates to the technical field of walking rehabilitation training devices, in particular to a gait rehabilitation training walking aid device which comprises a base and a plurality of supports connected to the top of the base, the tops of the supports are provided with supporting assemblies capable of adjusting the front-back direction and the height, and the supporting assemblies are used for supporting the arms of a patient; the support is provided with two traction assemblies used for pulling the legs of a patient to move. The bottom of each traction assembly is movably connected with a foot assembly used for fixing the feet of a patient, and each foot assembly is provided with a massage assembly used for massaging the patient. The support is further provided with a control assembly used for driving the traction assembly and the massage assembly at the same time. According to the rehabilitation device, rehabilitation can be conducted, the feet of a patient can be massaged, the comfort degree during rehabilitation training is improved, meanwhile, the rehabilitation device is suitable for patients with different heights and different arm lengths, and practicability is good.

Description

Technical Field

[0001] The present invention relates to the technical field of walking rehabilitation training devices, and in particular to a gait rehabilitation training walking aid device. Background Art

[0002] Cerebral small vessel disease (CSVD) is a type of brain disease caused by small vessel lesions (such as arteriosclerosis, microinfarction, microbleeding, etc.), which mainly affect the perforating arteries, arterioles, capillaries and venules of the brain. Cerebral small vessel disease is one of the important causes of cognitive decline, gait abnormality, decreased ability to live daily life and increased risk of stroke.

[0003] Patients with cerebral small vessel disease often have abnormal gait, such as slow walking speed, shortened stride length, unstable gait, etc. These abnormal gaits not only affect the patient's daily living ability, but may also lead to serious consequences such as falls. Therefore, rehabilitation training for gait abnormalities is crucial for patients with cerebral small vessel disease. Through rehabilitation training, the patient's gait can be improved, the walking ability can be improved, the risk of falling can be reduced, and the patient's quality of life can be improved.

[0004] The patent number: CN 114732682 A discloses a passive walking auxiliary rehabilitation training device, including a mobile frame, an upper body support frame and a walker, the main body of the mobile frame is a U-shaped rod, and a number of universal wheels are installed on the U-shaped rod; the two sides of the mobile frame are fixedly connected to the support rods of the upper body support frame, and the upper ends of the support rods are fixedly connected to the support plate; the front side of the upper body support frame is provided with a walker, the lower end of the walker is fixedly connected to the mobile frame through a straight connecting rod, and the rear side of the walker is fixedly connected to the upper body support frame through a curved connecting rod. The mobile frame of the present invention is equipped with a number of universal wheels, which can move to various directions with the movement of the patient; the upper body support frame is fixedly installed on the mobile frame, which is used to support the weight of the upper body, reduce the pressure on the legs, facilitate rehabilitation training, and assist the patient to stand and prevent falling; the walker can alternately pull the patient's calf to assist the patient in completing the stepping action; the pulling has multiple gears of adjustment and a wide range of applications; a switch is set on the handle, and one-button start and stop is convenient and safe.

[0005] However, the passive walking assisted rehabilitation training device still has the following problems during use: 1. The handle of the passive walking assisted rehabilitation training device is fixed. When the height difference of the patients is too large, the arm length of the patients is also very different. Patients with longer arms are prone to feel discomfort when grasping the handle and when their arms are supported by the support plate, and the practicality is low; 2. When the patient uses the passive walking assisted rehabilitation training device, the feet can only be bound with a strap device. Due to the large range of motion of the patient's feet during rehabilitation training, the strap device is easy to fall off the patient's feet, and the rehabilitation efficiency is low; 3. Cerebral small vessel disease may cause damage to brain tissue, affect nerve conduction, and then affect the sensation and motor function of the lower limbs. If the damaged nerves have not fully recovered, the patient's feet are prone to pain during rehabilitation training. However, the passive walking assisted rehabilitation training device does not have a structure to relieve the patient's foot pain, and the comfort level is low. Summary of the invention

[0006] In view of the above-mentioned problems, the present invention aims to provide a gait rehabilitation training walking aid device, so as to at least solve the problem that the passive walking auxiliary rehabilitation training device in the prior art has low comfort and poor practicality.

[0007] The main idea of ​​the technical solution adopted by the present invention is: A gait rehabilitation training walking aid device is designed, comprising: a control device, a traction device, a support device and a massage device; the control device realizes that a motor drives the traction device and can also realize linkage with the massage device. After the control device is turned on, the traction device can drive the patient's feet to move in a circular trajectory, so that the rehabilitation training simulates the state of human walking; while the traction device drives the patient to move, it drives the massage device to massage the patient's feet, which can relieve the pain felt by the patient during rehabilitation training due to the damaged nerves not fully recovered, and improve the patient's comfort during rehabilitation training; at the same time, the front and rear height of the support device can be adjusted to meet the needs of patients with different heights and arm lengths.

[0008] In order to achieve the above object, the technical solution adopted by the present invention to solve the technical problem is: A gait rehabilitation training walking aid device comprises: a base and a plurality of brackets connected to the top of the base, wherein the top of the bracket is provided with a support component that can be adjusted in front and back and in height, and the support component is used to support the patient's arm; The support is provided with two sets of traction components for pulling the patient's legs to move; The bottom of each traction assembly is movably connected to a foot assembly for fixing the patient's foot, and a massage assembly for massaging the patient is arranged on the foot assembly; The bracket is also provided with a control component for simultaneously driving the traction component and the massage component.

[0009] Further, the control assembly includes: a fixed box, a rotating shaft disposed in the fixed box, a first rotating disk, and a second rotating disk; The fixing box is connected to the bracket, and the rotating shaft is rotatably connected in the fixing box; The first rotating disk and the second rotating disk are respectively connected to two ends of the rotating shaft.

[0010] Furthermore, the control assembly also includes: a transmission belt, a first gear, a second gear and a second motor; The second gear is sleeved on the rotating shaft; The first gear is connected to the output shaft of the second motor; The transmission belt meshing sleeve is arranged outside the first gear and the second gear.

[0011] Furthermore, each traction assembly includes: a first connecting rod, a second connecting rod and a fixing ring; The fixing ring is connected to the corresponding foot components through the second connecting rod; One end of the first connecting rod is connected to the foot assembly, and the other end is eccentrically connected to the first rotating disk or the second rotating disk corresponding to each other, and the connection points of the two first connecting rods and the first rotating disk and the second rotating disk are staggered by 180 degrees; The fixing ring is connected to the bracket.

[0012] Furthermore, the foot component includes: an ankle protective cover and a shoe cover, and the shoe cover is connected to the bottom of the ankle protective cover.

[0013] Further, the massage assembly includes: a first massage assembly for massaging the ankle and a second massage assembly for massaging the foot; The first massage component is located in the ankle protection cover, and the second massage component is located in the shoe cover; A third connecting rod is movably connected between the first massage component and the second massage component.

[0014] Further, the two first massage components include: two first massage blocks and two first sliding blocks; Two first sliding blocks are slidably connected to two sides of the ankle protective cover; The two first massage blocks are arranged in the ankle protection sleeve and are respectively connected to the two first sliding blocks, and the two first massage blocks are connected.

[0015] Further, the second massage assembly includes: two second massage blocks and two second sliding blocks; Two second massage blocks are slidably connected to two sides of the outer side of the shoe cover; Two second massage blocks are arranged in the shoe cover and are respectively connected to the two second massage blocks; The third connecting rod is movably connected between the first sliding block and the corresponding second sliding block.

[0016] Furthermore, a movable rod for adjusting the height of the support assembly is movably provided in the bracket; The support assembly includes: a fixing member and a supporting member; The fixing member and the supporting member are respectively connected to the top of the corresponding movable rod, and the fixing member is slidably connected to the supporting member.

[0017] Furthermore, handles are provided on both sides of the top of the fixing member; Two supporting cushions are arranged on both sides of the top end of the supporting member.

[0018] Compared with the prior art, the present invention has the following advantages: 1. The present invention sets a control component so that one motor drives various parts to run simultaneously, and can drive the traction component and the massage component at the same time, thereby reducing costs; by setting the traction component, the patient's state during rehabilitation training is consistent with the walking state of the human body, thereby improving rehabilitation efficiency; by setting the massage component, the pain felt by the patient during rehabilitation training due to the fact that the damaged nerves of the patient have not yet fully recovered can be alleviated, thereby improving the patient's comfort during rehabilitation training.

[0019] 2. The present invention sets a control component, so that the second motor can start and drive the traction component to move, and the traction component can realize the linkage of the massage component, which has a simple structure and reduces the cost.

[0020] 3. The present invention provides a traction assembly so that the foot assembly respectively connected to the two first connecting rods presents a circular motion trajectory when moving, thereby making the rehabilitation training conform to the state of the human body when walking.

[0021] 4. The present invention prevents the device from falling off the patient's body by providing a foot component, thereby avoiding the device from falling off due to the large range of motion of the patient's feet during rehabilitation training, thereby improving rehabilitation efficiency and enhancing safety.

[0022] 5. The present invention can massage both sides of the soles of the patient's feet and both sides of the ankles by providing a massage component, thereby alleviating the pain felt by the patient during rehabilitation training due to the damaged nerves not yet fully recovered, and improving the patient's comfort during rehabilitation training.

[0023] 6. The present invention provides a support component with adjustable height and a fixing member and a support member with adjustable relative distances, so that patients with different heights and different arm lengths can use the rehabilitation device, thereby improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a front structural schematic diagram of a gait rehabilitation training walking aid device proposed by the present invention; Figure 2 This is a schematic diagram of the back structure of a gait rehabilitation training walking aid device proposed by the present invention; Figure 3 A schematic diagram of the connection between the control component and the traction component proposed in the present invention; Figure 4 A schematic diagram of the structure of the control component proposed by the present invention; Figure 5 This is a schematic diagram of the connection between the traction assembly and the foot assembly proposed by the present invention; Figure 6 This is a schematic diagram of the structure of the shoe cover proposed by the present invention; Figure 7 This is a schematic diagram of the structure of the ankle protection sleeve proposed by the present invention; Figure 8 This is a schematic diagram of the structure of the massage component proposed by the present invention; Fig. 9 A schematic diagram of the structure of the support assembly proposed by the present invention; Fig.10 The present invention proposes Fig. 9 AA section diagram in; Fig.11 A schematic diagram of the structure of the support proposed by the present invention; Fig.12 A schematic diagram of the internal structure of the bracket proposed for the invention; Fig.13 Proposed for invention Fig.12 A partial enlarged view of part A.

[0025] The above drawings include the following reference numerals: 10. Base; 11. Bracket; 12. Stabilizing ring; 13. First motor; 14. Coupling; 15. Screw; 16. Active rod; 161. Thread; 20. Universal wheel; 30. Rotating shaft; 31. Transmission belt; 32. First gear; 33. Second gear; 34. Second motor; 35. First turntable; 351. First eccentric piece; 36. Second turntable; 361. Second eccentric piece; 37. First connecting rod; 38. Fixing box; 40. Fixing ring; 41. Second connecting rod; 4 2. First fixing member; 43. Fourth connecting rod; 44. Second fixing member; 50. Ankle protection cover; 51. Shoe cover; 52. First slide groove; 53. Buckle; 54. Second slide groove; 60. First massage block; 61. Massage beads; 62. First slider; 63. Second massage block; 64. Second slider; 65. Third connecting rod; 70. Fixing member; 71. Support member; 72. First mounting block; 73. Second mounting block; 74. Support cushion; 75. Handle; 76. Third slider. DETAILED DESCRIPTION

[0026] 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.

[0027] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 a limitation on the present invention. Example 1

[0028] like Figure 1 and Figure 2 As shown, the present application discloses a gait rehabilitation training walking aid device, comprising: a base 10 and six brackets 11 connected to the top of the base 10, such as Fig.11 As shown, six brackets 11 are provided with stabilizing rings 12 to enhance the stability of the device, a plurality of universal wheels 20 are connected to the bottom of the base 10, and a support assembly that can be adjusted forward and backward and in height is provided on the top of the bracket 11, and the support assembly is used to support the patient's arm; a traction assembly for pulling the patient's leg movement is provided on the bracket 11; a foot assembly for fixing the patient's foot is provided at the bottom of the traction assembly, and a massage assembly for massaging the patient is provided on the foot assembly; a control assembly for simultaneously driving the traction assembly and the massage assembly is also provided on the bracket 11.

[0029] Furthermore, if Figure 3 As shown, the control component includes: a fixed box 38 and a rotating shaft 30, a first turntable 35 and a second turntable 36 arranged in the fixed box 38; the fixed box 38 is connected to the bracket 11, a baffle is arranged in the middle of the fixed box 38, a through hole is arranged in the middle of the baffle, and the rotating shaft 30 is rotatably connected in the through hole; the first turntable 35 and the second turntable 36 are respectively fixedly connected to the two ends of the rotating shaft 30, that is, when the rotating shaft 30 rotates, the first turntable 35 and the second turntable 36 rotate at the same time.

[0030] Furthermore, if Figure 4As shown, the control component also includes: a transmission belt 31, a first gear 32, a second gear 33 and a second motor 34; the center of the second gear 33 is sleeved on the rotating shaft 30 and fixed; the first gear 32 is connected to the output shaft of the second motor 34; the two ends of the transmission belt 31 are respectively engaged with the first gear 32 and the second gear 33; after the second motor 34 is started, it drives the first gear 32 to rotate, and the first gear 32 drives the transmission belt 31 to start transmission, thereby realizing the rotation of the second gear 33. Since the second gear 33 is fixedly connected to the rotating shaft 30, the rotating shaft 30 starts to rotate, and when the rotating shaft 30 rotates, it drives the first turntable 35 and the second turntable 36 at both ends to rotate simultaneously.

[0031] Furthermore, if Figure 5 As shown, the traction assembly includes: two first connecting rods 37, two second connecting rods 41 and two fixing rings 40; one end of the two first connecting rods 37 is respectively connected to the eccentric points of the outer rings of the first rotating disk 35 and the second rotating disk 36, and the two eccentric points are 180 degrees, and the other ends of the two first connecting rods 37 are movably connected to the foot assembly; a first fixing member 42 is arranged on the two fixing rings 40, and the first fixing member 42 is rotatably connected to the fourth connecting rod 43, and the fourth connecting rod 43 is rotatably connected to the second fixing member 44, so that the fixing ring 40 is rotatably connected to the bracket 11; one end of the two second connecting rods 41 is respectively rotatably connected to the two fixing rings 40, and the other end is movably connected to the foot assembly; the first rotating disk 35 and the second rotating disk 36 are respectively fixed with a first eccentric member 351 and a second eccentric member 361, so that the connection points of the two first connecting rods 37 and the first rotating disk 35 and the second rotating disk 36 are in a straight line, and are easy to install, so that the foot assembly respectively connected to the two first connecting rods 37 presents a circular trajectory when it is active, so that the rehabilitation training conforms to the state of human body when walking; Furthermore, if Figure 6 and Figure 7 As shown, the foot assembly includes: an ankle protective cover 50 and a shoe cover 51. The shoe cover 51 is connected to the bottom of the ankle protective cover 50. The ankle protective cover 50 is provided with a buckle 53 for the patient to wear.

[0032] Furthermore, if Figure 8As shown, the first massage component includes: two first massage blocks 60 and two first sliders 62; first slide grooves 52 are provided on both sides of the ankle protection sleeve 50, and the two first sliders 62 are respectively slidably connected in the two first slide grooves 52; the two first massage blocks 60 are arranged in the ankle protection sleeve 50 and are connected with the two first sliders 62 respectively, and the front ends of the two first massage blocks 60 are connected as a whole, and massage beads 61 are also provided on the first massage blocks 60; the two first connecting rods 37 are respectively rotatably connected to the two first sliders 62 on the outside of the legs, and the two first connecting rods 37 are respectively rotatably connected to the ankle protection sleeve 50. When the second motor 34 is started, it drives the first gear 32 to rotate, and the first gear 32 drives the transmission belt 31 to start transmission, thereby realizing the rotation of the second gear 33. Since the second gear 33 is fixedly connected to the rotating shaft 30, the rotating shaft 30 starts to rotate. When the rotating shaft 30 rotates, it drives the first rotating disk 35 and the second rotating disk 36 at both ends to rotate simultaneously. At this time, the first connecting rod 37 connected to the first rotating disk 35 and the second rotating disk 36 respectively will also drive the ankle protection sleeve 50 to move in a circular trajectory. Since the second connecting rod 41 is slidably connected to the ankle protection sleeve 50, as the distance between the ankle protection sleeve 50 and the fixed ring 40 changes during movement, the second connecting rod 41 will drive the first sliding block 62 to slide up and down in the first sliding groove 52. At the same time, the outer first massage block 60 connected thereto also slides up and down, thereby driving the inner first massage block 60 and the first sliding block 62 to slide up and down. Finally, the first massage blocks 60 on both sides slide up and down to perform local massage on the patient's ankle part, relieve the pain felt during rehabilitation training due to the fact that the damaged nerves of the patient have not yet fully recovered, and improve the comfort of the patient during rehabilitation training.

[0033] Furthermore, if Fig. 9 and Fig.10 As shown, the support assembly includes: a fixing member 70 and a supporting member 71; the bottom of the fixing member 70 and the supporting member 71 are both fixed with the movable rod 16, as shown in FIG. Fig.12 and Fig.13As shown, the movable rod 16 is sleeved in the bracket 11, and a first motor 13 is provided at the bottom of the bracket 11, and a coupling 14 is connected to the first motor 13, and a screw rod 15 is connected to the coupling 14. A thread 161 matching the screw rod 15 is provided in the movable rod 16, and the screw rod 15 is placed in the movable rod 16. As the first motor 13 is turned on, the screw rod 15 is driven to rotate, thereby adjusting the distance between the movable rod 16 and the support base 10, and finally adjusting the height of the fixing member 70 and the support member 71. The first motor 13 set at the bottom of each bracket 11 is turned on by a button to realize synchronous movement, ensuring the height of the fixing member 70 and the support member 71 Always keep it level; a first mounting block 72 is provided on the fixing member 70, a notch is provided in the first mounting block 72, a second mounting block 73 is provided on the support member 71, and the second mounting block 73 is slidably connected in the notch of the first mounting block 72 to adjust the distance between the fixing member 70 and the support member 71, a sliding groove is provided at the bottom of the support member 71 and a third slider 76 is slidably connected thereto, and two movable rods 16 are connected to the bottom of the third slider 76 to avoid the distance between the fixing member 70 and the support member 71 being unable to be adjusted due to the fixed connection of the movable rod 16 thereto, so as to meet the needs of patients with different arm lengths when using it and improve practicality.

[0034] Furthermore, handles 75 are provided on both sides of the top of the fixing member 70, and two support cushions 74 are provided on both sides of the top of the supporting member 71. During rehabilitation training, the patient holds the handles 75 and places the arms on the support cushions 74, thereby improving the patient's comfort. Example 2

[0035] According to Example 1, in order to further massage both sides of the sole of the patient's foot and further relieve the patient's pain, the massage component also includes a second massage component, which includes: two second massage blocks 63 and two second sliders 64; second slide grooves 54 are provided on both sides of the shoe cover 51, and the two second massage blocks 63 are slidably connected to the outer sides of the shoe cover 51 through the second slide grooves 54; the two second massage blocks 63 are arranged in the shoe cover and are respectively connected to the two second massage blocks 63; a third connecting rod 65 is movably connected between the first slider 62 and the second slider 64, and when the second motor 34 is started, the first gear 32 is driven to rotate, and the first gear 32 drives the transmission belt 31 to start transmission, thereby realizing the rotation of the second gear 33. Since the second gear 33 is fixedly connected to the rotating shaft 30, the rotating shaft 30 starts to rotate, and the rotating shaft 30 drives the two ends when the rotating shaft 30 rotates. The first rotating disk 35 and the second rotating disk 36 rotate at the same time, and the first connecting rod 37 connected to the first rotating disk 35 and the second rotating disk 36 respectively will also drive the ankle protective sleeve 50 to move in a circular trajectory. Since the second connecting rod 41 is slidably connected to the ankle protective sleeve 50, as the distance between the ankle protective sleeve 50 and the fixed ring 40 changes during movement, the second connecting rod 41 will drive the first sliding block 62 to slide up and down in the first sliding groove 52, and at the same time, the outer first massage block 60 connected thereto also slides up and down, thereby driving the inner first massage block 60 and the first sliding block 62 to slide up and down, so as to realize the up and down sliding of the bilateral first massage block 60. At the same time, since the first sliding block 62 is rotatably connected to the third connecting rod 65, when the first sliding block 62 moves up and down, the third connecting rod 65 drives the second sliding block 64 to move forward and backward, so as to massage both sides of the sole of the patient.

[0036] The gait rehabilitation training walking aid device provided in the present invention performs the following specific operations during the rehabilitation training process: The patient opens the buckle 53, places the foot in the shoe cover 51 and fastens the ankle protection cover 50 through the buckle 53, then fastens the fixing ring 40 to the thigh, places the arm on the supporting cushion 74 and holds the palm of the hand on the handle 75, then turns on the second motor 34, the second motor 34 drives the first gear 32 to rotate, the first gear 32 drives the transmission belt 31 to start transmission, thereby realizing the rotation of the second gear 33, since the second gear 33 is fixedly connected to the rotating shaft 30, the rotating shaft 30 starts to rotate, and when the rotating shaft 30 rotates, it drives the first rotating disk 35 and the second rotating disk 36 at both ends to rotate simultaneously, at this time, the first connecting rod 37 respectively connected to the first rotating disk 35 and the second rotating disk 36 will also drive the foot The wrist protection sleeve 50 moves in a circular track. Since the second connecting rod 41 is slidably connected to the ankle protection sleeve 50, as the distance between the ankle protection sleeve 50 and the fixing ring 40 changes during movement, the second connecting rod 41 drives the first slider 62 to slide up and down in the first sliding groove 52, and at the same time, the outer first massage block 60 connected thereto also slides up and down, thereby driving the inner first massage block 60 and the first slider 62 to slide up and down, so that the bilateral first massage block 60 slides up and down. At the same time, since the first slider 62 is rotatably connected to the third connecting rod 65, when the first slider 62 moves up and down, the third connecting rod 65 drives the second slider 64 to move forward and backward, so as to massage both sides of the sole and ankle of the patient; If the recovery speed needs to be adjusted, it can be achieved by adjusting the speed of the second motor 34; If the height of the support assembly needs to be adjusted to accommodate patients of different heights: turn on the first motor 13 to drive the screw rod 15 to rotate, thereby adjusting the distance between the movable rod 16 and the support base 10, and finally adjusting the height of the fixing member 70 and the supporting member 71. The first motor 13 provided at the bottom of each bracket 11 is turned on by a button to achieve synchronous movement, ensuring that the height of the fixing member 70 and the supporting member 71 is always kept level; If it is necessary to adjust the distance between the fixing member 70 and the supporting member 71 to accommodate patients with different arm lengths: slide the second mounting block 73 in the slot of the first mounting block 72 to a suitable position to adjust the distance between the fixing member 70 and the supporting member 71 .

[0037] The above description of the embodiments is to facilitate the understanding and application of the present invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to the above embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention should be within the scope of protection of the present invention.

Claims

1. A gait rehabilitation training walking aid device, comprising: A base (10) and a plurality of brackets (11) connected to the top of the base (10), characterized in that a support component that can be adjusted in front and back and in height is provided on the top of the bracket (11), and the support component is used to support the patient's arm; The support (11) is provided with two sets of traction components for activating the patient's leg movements; The bottom of each group of the traction components is movably connected to a foot component for fixing the patient's foot, and the foot component is provided with a massage component for massaging the patient; The bracket (11) is also provided with a control component for simultaneously driving the traction component and the massage component.

2. The gait rehabilitation training walking aid device according to claim 1, characterized in that: The control assembly comprises: a fixed box (38), a rotating shaft (30) arranged in the fixed box (38), a first rotating disk (35), and a second rotating disk (36); The fixing box (38) is connected to the bracket (11), and the rotating shaft (30) is rotatably connected inside the fixing box (38); The first rotating disk (35) and the second rotating disk (36) are respectively connected to two ends of the rotating shaft (30).

3. A gait rehabilitation training walking aid device according to claim 2, characterized in that: The control assembly further comprises: a transmission belt (31), a first gear (32), a second gear (33) and a second motor (34); The second gear (33) is sleeved on the rotating shaft (30); The first gear (32) is connected to the output shaft of the second motor (34); The transmission belt (31) is meshingly sleeved outside the first gear (32) and the second gear (33).

4. The gait rehabilitation training walking aid device according to claim 2, characterized in that: Each group of the traction components comprises: a first connecting rod (37), a second connecting rod (41) and a fixing ring (40); The fixing ring (40) is connected to the corresponding foot components via the second connecting rod (41); One end of the first connecting rod (37) is connected to the foot assembly, and the other end is eccentrically connected to the first rotating disk (35) or the second rotating disk (36) corresponding to each other, and the connection points of the two first connecting rods (37) with the first rotating disk (35) and the second rotating disk (36) are offset by 180 degrees; The fixing ring (40) is connected to the bracket (11).

5. The gait rehabilitation training walking aid device according to claim 1, characterized in that: The foot component comprises: an ankle protection cover (50) and a shoe cover (51), wherein the shoe cover (51) is connected to the bottom of the ankle protection cover (50).

6. The gait rehabilitation training walking aid device according to claim 5, characterized in that: The massage assembly includes: a first massage assembly for massaging the ankle and a second massage assembly for massaging the foot; The first massage component is located in the ankle protection cover (50), and the second massage component is located in the shoe cover (51); A third connecting rod (65) is movably connected between the first massage component and the second massage component.

7. The gait rehabilitation training walking aid device according to claim 6, characterized in that: The two first massage components include: two first massage blocks (60) and two first sliding blocks (62); The two first sliding blocks (62) are slidably connected to two outer sides of the ankle protective sleeve (50); The two first massage blocks (60) are arranged in the ankle protection sleeve (50) and are respectively connected to the two first sliding blocks (62); the two first massage blocks (60) are connected.

8. The gait rehabilitation training walking aid device according to claim 7, characterized in that: The second massage component comprises: two second massage blocks (63) and two second sliding blocks (64); The two second massage blocks (63) are slidably connected to two outer sides of the shoe cover (51); The two second massage blocks (63) are arranged in the shoe cover (51) and are respectively connected to the two second massage blocks (63); A third connecting rod (65) is movably connected between the first sliding block (62) and the corresponding second sliding block (64).

9. The gait rehabilitation training walking aid device according to claim 1, characterized in that: A movable rod (16) for adjusting the height of the support assembly is movably provided in the bracket (11); The support assembly comprises: a fixing member (70) and a support member (71); The fixing member (70) and the supporting member (71) are respectively connected to the top of the corresponding movable rod (16), and the fixing member (70) is slidably connected to the supporting member (71).

10. The gait rehabilitation training walking aid device according to claim 2, characterized in that: Handles (75) are provided on both sides of the top end of the fixing member (70); Two supporting cushions (74) are arranged on both sides of the top end of the supporting member (71).

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