Lower limb walking aid exercise device

Abstract

The invention provides a lower limb walking-assisting exercise device, and relates to the technical field of medical instruments, and the lower limb walking-assisting exercise device comprises: a support frame, the bottom of which is provided with a plurality of driving wheels; the supporting device is used for supporting the axilla of the patient; the back pushing device is used for applying pushing force to the back of the patient; the leg pushing device is used for applying pushing force to the two legs of the patient in turn; the control device is used for controlling the driving wheels to rotate; the supporting device, the back pushing device and the leg pushing device are sequentially arranged on the supporting frame from top to bottom. The device provides power for walking of the patient with hemiplegic lower limbs, assists the patient in stepping, gives consideration to the balance of the patient, and facilitates recovery of the physiological movement function of the lower limbs of the patient.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a lower limb assisted walking exercise device. Background Art

[0002] After a stroke, the neurological function of the patient is damaged, resulting in the loss of control of the lower-level central regulation of the brain, affecting the normal motor signal conduction of the brain, and abnormal movements mainly manifested by lower limb dysfunction, such as asymmetrical circumduction gait, decreased balance ability, etc., seriously affecting the patient's walking ability and quality of daily life. Usually, after the patient's condition is stable, early rehabilitation exercises need to be carried out immediately. By assisting the contraction of the patient's lower limb muscles, the damaged neurons in the brain are stimulated to restore the brain's nerve control over the muscles, so as to improve the hemiplegia condition.

[0003] The traditional one-on-one rehabilitation training has low efficiency, and the rehabilitation effect is affected by various factors such as the level and energy of the rehabilitation physician. Moreover, the number of rehabilitation physicians far cannot meet the market demand. In home rehabilitation training, for the exercise of the patient's lower limb knee joint and hip joint, the stability of the trunk cannot be guaranteed, and it is easy to cause the patient to fall during exercise, which to a certain extent limits the recovery of the physiological motor function of the lower limbs. At present, there are also machines for assisting lower limb training on the market. Most of them are expensive and are mostly used for moving joints. The exercise of gait adjustment and independent walking for patients is mostly not in place, and the lower limb rehabilitation effect is poor. Summary of the Invention

[0004] In order to improve the problem of poor rehabilitation training effect for stroke patients with lower limb hemiplegia, this application provides a lower limb assisted walking exercise device.

[0005] The lower limb assisted walking exercise device provided by this application adopts the following technical solutions: The lower limb assisted walking exercise device includes: A support frame with multiple driving wheels provided at the bottom; A support device for supporting the patient's armpit; A back-pushing device for applying a thrust to the patient's back; A leg-pushing device for alternately applying a thrust to the patient's two legs; and A control device for controlling the rotation of the driving wheels; The support device, the back-pushing device, and the leg-pushing device are arranged on the support frame from high to low in sequence.

[0006] Further, it further includes a rehabilitation vest worn on the upper body of the patient, a left leg band worn on the patient's left leg, and a right leg band worn on the patient's right leg. On the sides of the rehabilitation vest, left leg band, and right leg band close to the patient's back, there are respectively a back magnetic block, a left leg magnetic block, and a right leg magnetic block. The back pushing device pushes the back magnetic block through magnetic force, and the leg pushing device alternately pushes the left leg magnetic block and the right leg magnetic block through magnetic force.

[0007] Further, the support frame includes a bottom bracket, a top bracket, a connecting rod, and a connecting plate, all of which are U-shaped. The bottom bracket and the top bracket are arranged in the same direction and are both arranged horizontally. The two ends of the bottom bracket and the top bracket are connected by vertically arranged connecting rods, and the middle parts are connected by a connecting plate. The control device is arranged on the connecting plate.

[0008] Further, a first sliding frame and a second sliding frame are arranged between the bottom bracket and the top bracket in a liftable manner. The support device and the back pushing device are arranged on the first sliding frame, and the leg pushing device is arranged on the second sliding frame.

[0009] Further, the back pushing device includes a back pushing magnetic block and a mounting connecting rod. One end of the mounting connecting rod is connected to the first sliding frame, and the other end is connected to the back pushing magnetic block. The magnetic poles of the back pushing magnetic block and the back magnetic block on the sides close to each other are opposite.

[0010] Further, there are two groups of the support devices, which respectively correspond to the left armpit and the right armpit of the patient; The support device includes a support rod, a connecting belt, an angle adjustment component, and a lift fine adjustment component. The support rod is used to support the patient from below the armpit of the patient; one end of the connecting belt is connected to the first end of the support rod, and the other end bypasses the patient's shoulder and is connected to the second end of the support rod; the angle adjustment component is used to adjust the angle of the support rod; the lift fine adjustment component is used to drive the support rod to lift relative to the first sliding frame.

[0011] Further, the angle adjustment component includes: A first connecting rod, whose first end is rotatably connected to the bottom of the support rod, and the rotation axis is along the vertical direction; A second connecting rod, whose first end is hinged to the second end of the first connecting rod, and its hinge axis is along the horizontal direction; A lifting plate, which is arranged on the first sliding frame in a liftable manner through the lift fine adjustment component. The second end of the second connecting rod is rotatably connected to the lifting plate, and the rotation axis is along the vertical direction; An angle adjustment drive, which is arranged between the first connecting rod and the second connecting rod and is used to control the included angle between the first connecting rod and the second connecting rod.

[0012] Furthermore, the angle adjustment drive includes a third link, a fourth link, and a locking bolt. The third link is hinged to the side wall of the first link, and the fourth link is hinged to the side wall of the second link. The fourth link is tubular, and one end of the third link away from the first link is slidably disposed inside the fourth link. A plurality of locking holes are equidistantly arranged along the length of the third link. The locking bolt is threadedly connected to the fourth link. By inserting the locking bolt into different locking holes, the included angle between the first link and the second link can be changed.

[0013] Furthermore, the lifting fine adjustment assembly includes a mounting plate, a guide rod, and a driving screw. The mounting plate is fixedly connected to the first sliding frame through the guide rod. The lifting plate is sleeved on the guide rod and slides along the guide rod. The driving screw is rotatably connected to the mounting plate and threadedly connected to the lifting plate.

[0014] Furthermore, the leg pushing device includes a left leg pushing magnet, a third electric push rod, a right leg pushing magnet, and a fourth electric push rod. The left leg pushing magnet and the left leg magnet have opposite magnetic poles on the sides close to each other. The right leg pushing magnet and the right leg magnet have opposite magnetic poles on the sides close to each other. The third electric push rod and the fourth electric push rod are both arranged on the second sliding frame. The third electric push rod is used to drive the left leg pushing magnet to move closer to or away from the left leg magnet, and the fourth electric push rod is used to drive the right leg pushing magnet to move closer to or away from the right leg magnet. The control device is electrically connected to both the third electric push rod and the fourth electric push rod.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: 1. The armpit of the patient is supported by the supporting device, so that the patient's body is in a semi-free state. The driving wheel drives the supporting frame to move, and cooperates with the back pushing device to ensure the normal forward movement of the patient's body, avoiding the patient being dragged forward in an inclined posture. The leg pushing device alternately applies thrust to the patient's two legs to assist the patient in taking steps and taking into account the balance of the patient, thereby facilitating the recovery of the physiological movement function of the patient's lower limbs and improving the lower limb rehabilitation effect. And the control device can control the rotation speed of the driving wheel and can adjust the forward speed according to the patient's physical condition to adapt to the lower limb assisting exercise of patients with different degrees of symptoms. 2. The back pushing device and the leg pushing device both push the patient's legs and back through magnetic force, without contact mechanical stimulation, avoiding the risk of secondary injuries such as pressure sores and abrasions caused by the direct connection between the traditional rehabilitation device and the limbs. And if the back pushing magnet, the left leg magnet, and the right leg magnet are set as electromagnets, the thrust magnitude can be changed in real time by adjusting the magnetic field strength, realizing a smooth transition from low load to high load, which is suitable for the needs of different rehabilitation stages.

[0016] 3. By arranging the support device and the back-pushing device on the first sliding frame, arranging the leg-pushing device on the second sliding frame, and arranging the first and second sliding frames to be lifted and lowered on the support frame, the heights of the leg-pushing device, the back-pushing device and the support device can be adjusted to adapt to patients of different heights, thereby improving the flexibility of the device. 4. By arranging the support rod and the connecting belt, and adjusting the angle and height of the support rod through the angle adjustment component and the lifting fine adjustment component, the support rod and the connecting belt can support the patient at a more comfortable angle and can adapt to patients of different body types, further improving the flexibility of the device. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic diagram of the usage state of the embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the structure of the support frame of the embodiment of the present application.

[0020] Figure 3 It is a schematic diagram of the overall structure of the embodiment of the present application.

[0021] Figure 4 It is a schematic diagram of the overall structure of the support device, the back-pushing device and the leg-pushing device of the embodiment of the present application.

[0022] Figure 5 It is Figure 4 a schematic diagram of another perspective.

[0023] Figure 6 It is a schematic diagram of the structure of the support device of the embodiment of the present application.

[0024] Reference signs: 1, support frame; 11, drive wheel; 12, bottom support; 13, top support; 14, connecting rod; 15, connecting plate; 16, first sliding frame; 17, second sliding frame; 18, first electric push rod; 19, second electric push rod; 2, support device; 21, support rod; 22, connecting belt; 23, angle adjustment assembly; 231, first connecting rod; 232, second connecting rod; 233, lifting plate; 234, third connecting rod; 235, fourth connecting rod; 236, locking hole; 237, locking bolt; 24, lifting fine adjustment assembly; 241, mounting plate; 242, guide rod; 243, drive screw; 244, drive handle; 3, back pushing device; 31, back pushing magnet; 32, mounting connecting rod; 4, leg pushing device; 41, left leg pushing magnet; 42, third electric push rod; 43, right leg pushing magnet; 44, fourth electric push rod; 5, control device; 51, electric control box; 52, control panel; 6, rehabilitation vest; 61, back magnet; 7, left leg bandage; 71, left leg magnet; 8, right leg bandage; 81, right leg magnet. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] An embodiment of the present application discloses a lower limb walking assistance exercise device. Refer to Figure 1 , the lower limb walking assistance exercise device includes: A support frame 1, provided with a plurality of drive wheels 11 at the bottom, and the drive wheels 11 are driven by a drive motor and a reduction mechanism, which is a relatively conventional existing means and will not be elaborated here; A support device 2, used for supporting the axilla of a patient; A back pushing device 3, used for applying a thrust to the back of a patient; A leg pushing device 4, used for alternately applying a thrust to the two legs of a patient; and A control device 5, used for controlling the rotation of the drive wheels 11; The support device 2, the back pushing device 3, and the leg pushing device 4 are sequentially arranged on the support frame 1 from high to low.

[0027] The axilla of the patient is supported by the support device 2, so that the patient's body is in a semi-free state. The driving wheel 11 drives the support frame 1 to move, and cooperates with the back-pushing device 3 to ensure the normal forward movement of the patient's body, avoiding the patient being dragged forward in an inclined posture. The leg-pushing device 4 alternately applies thrust to the patient's two legs to assist the patient in taking steps and coordinates with the support device 2 and the back-pushing device 3 to balance the patient, thus facilitating the recovery of the physiological movement function of the patient's lower limbs. And the control device 5 can control the rotation speed of the driving wheel 11 and can adjust the forward speed according to the patient's physical condition to adapt to the lower limb assisted walking exercises of patients with different degrees of symptoms.

[0028] Specifically, referring to Figure 2 , the support frame 1 includes a bottom support 12, a top support 13, a connecting rod 14 and a connecting plate 15. Both the bottom support 12 and the top support 13 are U-shaped and are arranged horizontally with the openings facing the same direction. There are two connecting rods 14 which are arranged between the bottom support 12 and the top support 13. The two connecting rods 14 are respectively fixed at both ends of the U-shaped bottom support 12 and the top support 13. The connecting plate 15 connects the outer sides of the middles of the U-shaped bottom support 12 and the top support 13.

[0029] Among them, in order to improve the flexible adaptability of the device, a sliding frame one 16 and a sliding frame two 17 are arranged between the bottom support 12 and the top in a liftable manner. The sliding frame one 16, the sliding frame two 17, the bottom support 12 and the top support 13 are U-shaped with the same size and shape, are all arranged horizontally, and the openings are all in the same direction. The overall U-shaped structure design of the support frame 1 is convenient for the patient to move inside while having sufficient stability.

[0030] And, the sliding frame one 16 is connected to the sliding frame two 17 through a first electric push rod 18, and the sliding frame two 17 is connected to the bottom support 12 through a second electric push rod 19. The first electric push rod 18 and the second electric push rod 19 can also be replaced by other telescopic devices such as hydraulic cylinders. The support device 2 and the back-pushing device 3 are both installed on the sliding frame one 16, and the leg-pushing device 4 is installed on the sliding frame two 17. Cooperating with the lifting of the sliding frame one 16 and the sliding frame two 17, the heights of the leg-pushing device 4, the back-pushing device 3 and the support device 2 can be adjusted to adapt to patients of different heights and further improve the flexibility of the device.

[0031] Since traditional lower limb assisted walking exercise devices usually directly connect the driving mechanism to the patient's limbs, it is easy to cause secondary injuries such as pressure sores and abrasions. This device uses the principle of like magnetic poles repelling each other as the power to assist in pushing the patient forward, effectively solving this problem.

[0032] Specifically, referring to Figure 3, the device further includes a rehabilitation vest 6 worn on the upper body of the patient, a left leg bandage 7 worn on the patient's left leg, and a right leg bandage 8 worn on the patient's right leg. The rehabilitation vest 6 adopts a zippered wearing method, and both the left leg bandage 7 and the right leg bandage 8 adopt a wearing method with two straps cooperating with Velcro. On the side of the rehabilitation vest 6, the left leg bandage 7, and the right leg bandage 8 close to the patient's back, there are respectively a back magnetic block 61, a left leg magnetic block 71, and a right leg magnetic block 81. The back magnetic block 61, the left leg magnetic block 71, and the right leg magnetic block 81 are all permanent magnets. The back pushing device 3 pushes the back magnetic block 61 through magnetic force, and the leg pushing device 4 alternately pushes the left leg magnetic block 71 and the right leg magnetic block 81 through magnetic force, so as to realize non-contact leg advancement for lower limb hemiplegic patients and improve the comfort of the patients.

[0033] Among them, as Figure 4 and Figure 5 shown, the back pushing device 3 includes a back pushing magnetic block 31 and a mounting link 32. One end of the mounting link 32 is fixed on the sliding frame 16 by bolts, and the back pushing magnetic block 31 is fixedly connected to the other end of the mounting link 32 by bolts. By designing the length of the mounting link 32, the distance between the back pushing magnetic block 31 and the back magnetic block 61 is controlled to control the thrust of the back pushing device 3.

[0034] Thus, when the control device 5 controls the driving wheel 11 to drive the support frame 1 to move forward, the back pushing magnetic block 31 moves forward synchronously, applying a magnetic thrust to the patient's back, applying force in a non-contact manner, reducing the forward lean amplitude of the patient's body when moving forward, and assisting the patient to maintain body balance.

[0035] On the other hand, as Figure 5 shown, the leg pushing device 4 includes a left leg pushing magnetic block 41, a third electric push rod 42, a right leg pushing magnetic block 43, and a fourth electric push rod 44. Both the left leg pushing magnetic block 41 and the right leg pushing magnetic block 43 are permanent magnets. The magnetic poles of the side of the left leg pushing magnetic block 41 close to the left leg magnetic block 71 are opposite, and the magnetic poles of the side of the right leg pushing magnetic block 43 close to the right leg magnetic block 81 are opposite. Both the third electric push rod 42 and the fourth electric push rod 44 are fixed on the top surface of the sliding frame 17 by a mounting plate 241. One end of the third electric push rod 42 is fixedly connected to the sliding frame 17, and the other end is fixedly connected to the left leg pushing magnetic block 41; one end of the fourth electric push rod 44 is fixedly connected to the sliding frame 17, and the other end is fixedly connected to the right leg pushing magnetic block 43. The control device 5 is electrically connected to both the third electric push rod 42 and the fourth electric push rod 44. By controlling the telescoping of the third electric push rod 42 and the fourth electric push rod 44, it is possible to control the left leg pushing magnetic block 41 to move closer to or away from the left leg magnetic block 71, or control the right leg pushing magnetic block 43 to move closer to or away from the right leg magnetic block 81. As an alternative embodiment, the third electric push rod 42 and the fourth electric push rod 44 Thus, when the support frame 1 moves, the support device 2 and the back-pushing device 3 assist in maintaining the balance of the patient's body. The third electric push rod and the fourth electric push rod alternately push the left leg-pushing magnet block 41 and the right leg-pushing magnet block 43 to extend or retract, so as to realize the alternate stepping of the patient's left and right legs. The alternate speed is adjusted by the control device 5 in cooperation with the rotation speed of the driving wheel 11, so as to control the stepping frequency of the patient to adapt to different forward speeds.

[0036] Moreover, in another embodiment, the back-pushing magnet block 31, the left leg-pushing magnet block 41 and the right leg-pushing magnet block 43 can all be set as electromagnets, and the thrust magnitude can be changed in real time by adjusting the magnetic field intensity, so as to realize a smooth transition from low load to high load, which is suitable for the needs of different rehabilitation stages.

[0037] On the other hand, referring to Figure 6 , the support device 2 includes a support rod 21, a connecting belt 22, an angle adjustment component 23 and a lifting fine adjustment component 24. The support rod 21 is a round rod and is used to support the patient under the armpits of the patient; one end of the connecting belt 22 is connected to the first end of the support rod 21, and the other end bypasses the patient's shoulder and is connected to the second end of the support rod 21. The connecting belt 22 is set in two sections, and the two sections of the connecting belt 22 are adhered by Velcro to adapt to patients of different body types. As an alternative embodiment, a saddle-shaped support pad can be provided on the support rod 21 to improve the comfort level of the patient.

[0038] The angle adjustment component 23 can adjust the angle of the support rod 21, and the lifting fine adjustment component 24 can drive the support rod 21 to lift relative to the sliding frame 16, so that the support rod 21 can support the patient at the best angle and height, further improving the comfort level of the patient.

[0039] Specifically, the angle adjustment component 23 includes a first connecting rod 231, a second connecting rod 232, a lifting plate 233 and an angle adjustment drive. The support rod 21, the first connecting rod 231 and the second connecting rod 232 are connected in sequence. Among them, the first end of the first connecting rod 231 is rotatably connected to the bottom of the support rod 21, and the rotation axis is along the vertical direction; the first end of the second connecting rod 232 is hinged to the second end of the first connecting rod 231, and its hinge axis is arranged horizontally and perpendicular to the second connecting rod 232; the lifting plate 233 is arranged below the sliding frame in a liftable manner; the second end of the second connecting rod 232 is rotatably connected to the lifting plate 233, and the rotation axis is along the vertical direction; the angle adjustment drive is arranged between the first connecting rod 231 and the second connecting rod 232 to lock the first connecting rod 231 and the second connecting rod 232 at different angles to control the included angle between the first connecting rod 231 and the second connecting rod 232.

[0040] Thus, the first link 231 and the second link 232 are locked at different angles by the angle adjustment drive, and the second link 232 is swung relative to the lifting plate 233, so that the support rod 21 is supported under the armpit of the patient at an appropriate angle. The support rod 21 is rotatably connected to the first link 231, so that the support rod 21 can always be in contact with and support the armpit of the patient. The lifting fine adjustment assembly 24 controls the lifting of the lifting plate 233, so that the support plate can be lifted and fine adjusted in a small range, and the support rod 21 can support the patient at a height suitable for the patient's height.

[0041] The angle adjustment drive includes a third link 234, a fourth link 235 and a locking bolt 237. Among them, the third link 234 is hinged to the side wall of the first link 231, the fourth link 235 is hinged to the side wall of the second link 232. The third link 234 is cylindrical, the fourth link 235 is cylindrical. One end of the third link 234 away from the first link 231 is slidably disposed inside the fourth link 235. A plurality of locking holes 236 are equidistantly arranged along the axial direction of the third link 234. The inner diameter of the locking hole 236 is the same as the outer diameter of the locking bolt 237. The locking bolt 237 is threadedly connected to the fourth link 235. By inserting the locking bolt 237 into different locking holes 236, the included angle between the first link 231 and the second link 232 is changed.

[0042] Thus, by sliding the third link 234 and the fourth link 235, and then locking the third link 234 and the fourth link 235 by the cooperation of the locking bolt 237 and the locking hole 236, the angle of the support rod 21 is adjusted.

[0043] The lifting fine adjustment assembly 24 includes a mounting plate 241, a guide rod 242 and a driving screw 243. The mounting plate 241 is fixed below the first sliding frame 16 by two guide rods 242 arranged in the vertical direction; the lifting plate 233 is located between the mounting plate 241 and the first sliding frame 16 and passes through the guide rod 242; the driving screw 243 is rotatably connected to the mounting plate 241 and threadedly connected to the lifting plate 233, and the bottom end of the driving screw 243 passes through and protrudes from the bottom surface of the mounting plate 241, and a driving handle 244 is fixedly arranged.

[0044] Thus, by rotating the driving handle 244, the driving screw 243 is driven by the thread engagement to drive the lifting plate 233 to lift, so as to realize the lifting of the support rod 21. Adjusting the lifting of the support rod 21 by the way of thread engagement has higher precision and is more conducive to adjusting the optimal height of the support rod 21 to improve the comfort of the patient.

[0045] In this embodiment, the angle adjustment assembly 23 and the lifting fine adjustment assembly 24 are both set to be manually driven, with lower costs and simpler control. As an alternative embodiment, the angle adjustment assembly 23 and the lifting fine adjustment assembly 24 can also be set to be electrically controlled. Although the degree of automation is high, it requires a more complex electrical control structure and numerical control design, resulting in higher costs.

[0046] It should be noted that the control device 5 controls the drive wheel 11, the first electric push rod 18, the second electric push rod 19, the third electric push rod, and the fourth electric push rod of the device by setting a processor, a power module, and a control panel 52. As Figure 2 shown, the processor and the power module are both placed in the electric control box 51, and the control panel 52 is a touch screen controller. The power module supplies power to each electrical component; the processor transmits signals to each electrical component; the control panel 52 can set the operating parameters of each electrical component. For example, by setting the rotation speed of the drive wheel 11, the traveling speed of the support frame 1 can be controlled; by setting the telescopic amounts of the first electric push rod 18 and the second electric push rod 19, the heights of the backrest device 3, the support device 2, and the leg push device 4 can be controlled to adapt to patients of different heights; by controlling the alternating telescopic frequency and amplitude of the third electric push rod and the fourth electric push rod, the stepping frequency and amplitude of the patient can be adjusted to adapt to the walking speed.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lower limb walking training device, characterized in that: include: A support frame with a plurality of driving wheels at the bottom; A supporting device, used for supporting the patient's armpit; A back pushing device, used to apply pushing force to the patient's back; A leg-pushing device, used to apply pushing force to the patient's two legs in turn; as well as A control device, used for controlling the rotation of the driving wheel; The supporting device, the back pushing device and the leg pushing device are arranged on the supporting frame in sequence from high to low.

2. The lower limb walking training device according to claim 1, characterized in that: It also includes a rehabilitation vest worn on the patient's upper body, a left leggings worn on the patient's left leg, and a right leggings worn on the patient's right leg. The rehabilitation vest, the left leggings, and the right leggings are respectively provided with back magnetic blocks, left leg magnetic blocks, and right leg magnetic blocks on the side close to the patient's back. The back pushing device pushes the back magnetic blocks through magnetic force, and the leg pushing device pushes the left leg magnetic blocks and the right leg magnetic blocks alternately through magnetic force.

3. The lower limb walking training device according to claim 2, characterized in that: The support frame includes a U-shaped bottom bracket, a top bracket, a connecting rod and a connecting plate. The bottom bracket and the top bracket are arranged in the same direction and are both arranged in the horizontal direction. The two ends of the bottom bracket and the top bracket are connected by a vertically arranged connecting rod, and the middle part is connected by a connecting plate. The control device is arranged on the connecting plate.

4. The lower limb walking training device according to claim 3, characterized in that: A sliding frame 1 and a sliding frame 2 are arranged between the bottom bracket and the top bracket so as to be liftable. The supporting device and the back-pushing device are arranged on the sliding frame 1, and the leg-pushing device is arranged on the sliding frame 2.

5. The lower limb walking training device according to claim 4, characterized in that: The push-back device comprises a push-back magnetic block and a mounting connecting rod, one end of the mounting connecting rod is connected to a sliding frame, and the other end is connected to the push-back magnetic block, and the magnetic poles of the push-back magnetic block and the back magnetic block on one side close to each other are opposite.

6. The lower limb walking training device according to claim 4, characterized in that: The support device is provided with two groups corresponding to the left axilla and the right axilla of the patient respectively; The support device includes a support rod, a connecting belt, an angle adjustment assembly and a lifting and fine-tuning assembly. The support rod is used to support the patient from below the patient's armpit; one end of the connecting belt is connected to the first end of the support rod, and the other end passes around the patient's shoulder and is connected to the second end of the support rod; the angle adjustment assembly is used to adjust the angle of the support rod; and the lifting and fine-tuning assembly is used to drive the support rod to rise and fall relative to the sliding frame.

7. The lower limb walking training device according to claim 6, characterized in that: The angle adjustment component comprises: A first connecting rod, a first end of which is rotatably connected to the bottom of the supporting rod, and a rotation axis is along the vertical direction; A second connecting rod, a first end of which is hinged to the second end of the first connecting rod, and a hinge axis thereof is along a horizontal direction; The lifting plate is lifted and lowered on the sliding frame 1 through a lifting and fine-tuning assembly, the second end of the second connecting rod is rotatably connected to the lifting plate, and the rotation axis is along the vertical direction; The angle adjustment drive is arranged between the first connecting rod and the second connecting rod, and is used to control the angle between the first connecting rod and the second connecting rod.

8. The lower limb walking training device according to claim 7, characterized in that: The angle adjustment drive comprises a third connecting rod, a fourth connecting rod and a locking bolt, wherein the third connecting rod is hinged to the side wall of the first connecting rod, the fourth connecting rod is hinged to the side wall of the second connecting rod, the fourth connecting rod is cylindrical, and one end of the third connecting rod away from the first connecting rod is slidably arranged inside the fourth connecting rod; The third connecting rod is provided with a plurality of locking holes at equal intervals along its length, and the locking bolt is threadedly connected to the fourth connecting rod. The angle between the first connecting rod and the second connecting rod can be changed by inserting the locking bolt into different locking holes.

9. The lower limb walking training device according to claim 7, characterized in that: The lifting and fine-tuning assembly includes a mounting plate, a guide rod and a driving screw. The mounting plate is fixedly connected to a sliding frame through the guide rod. The lifting plate is inserted into the guide rod and slides along the guide rod. The driving screw is rotationally connected to the mounting plate and is threadedly connected to the lifting plate.

10. The lower limb walking training device according to claim 9, characterized in that: The leg-pushing device includes a left-side leg-pushing magnet, a third electric push rod, a right-side leg-pushing magnet and a fourth electric push rod. The left-side leg-pushing magnet and the left leg magnet have opposite magnetic poles on one side close to each other, and the right-side leg-pushing magnet and the right leg magnet have opposite magnetic poles on one side close to each other. The third electric push rod and the fourth electric push rod are both arranged on the sliding frame 2. The third electric push rod is used to drive the left-side leg-pushing magnet to move closer to or away from the left leg magnet, and the fourth electric push rod is used to drive the right-side leg-pushing magnet to move closer to or away from the right leg magnet. The control device is electrically connected to the third electric push rod and the fourth electric push rod.

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