Walking aid for joint movement medical rehabilitation

Abstract

The invention discloses a walking aid for medical rehabilitation of joint movement, which relates to the technical field of medical equipment and specifically comprises a bottom frame, rollers, a support rod, an armrest seat, a limiting mechanism and a linkage mechanism. The number of the bottom frames is two, the two bottom frames are fixedly connected through the connecting frame, the rollers are arranged in two sets in the front-back direction, each set comprises two rollers and are arranged at the ends of the two bottom frames respectively, the number of the supporting rods is two, the supporting rods are fixedly installed at the upper ends of the two bottom frames respectively, and the length of the supporting rods is adjustable. The two armrest seats are arranged at the upper ends of the two supporting rods in a sliding mode respectively, the two limiting mechanisms are arranged on the sides, away from each other, of the two supporting rods respectively, and the two linkage mechanisms are arranged on the two supporting rods respectively.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly relates to a walking aid for joint sports medicine rehabilitation. Background Art

[0002] At present, the number of robotic devices in the field of rehabilitation medicine at home and abroad is gradually increasing. A walking aid is a type of rehabilitation medical device that can help patients with walking disabilities recover their ability to walk independently.

[0003] Although the existing walking aids have a simple structure and low cost, when the patient stands and rests, the device rollers cannot be limited, resulting in the patient being unable to relax the legs with the help of the walking aid, causing the patient's knee joints to be in a bearing state for a long time. Therefore, it will cause fatigue of the patient's knee joints and poor recovery effect. Moreover, when standing and resting, usually the patient needs to massage the knee joints with fingers to achieve the effect of relaxing muscles and reducing pain, which is very inconvenient for the patient.

[0004] Therefore, it is necessary to invent a walking aid for joint sports medicine rehabilitation to solve the above problems. Summary of the Invention

[0005] The present invention aims at the above problems and provides a walking aid for joint sports medicine rehabilitation, which solves the problems of inability to limit the rollers and inability to perform automatic massage.

[0006] The technical solution adopted by the present invention is as follows: It includes a chassis, rollers, support rods, armrest seats, a limiting mechanism and a linkage mechanism; there are two chassis, and the two chassis are fixedly connected by a connecting frame. The rollers are arranged in two groups in the front-back direction, with two in each group, and are respectively arranged at the ends of the two chassis. There are two support rods, which are respectively fixedly installed at the upper ends of the two chassis, and the length of the support rods is adjustable. There are two armrest seats, which are respectively slidably arranged at the upper ends of the two support rods. There are two limiting mechanisms, which are respectively arranged on the sides of the two support rods away from each other. There are two linkage mechanisms, which are respectively arranged on the two support rods.

[0007] Further, as a preference, the limiting mechanism includes an insertion pin, a brake rod, a return spring, a rectangular block and a hand-held rod; the insertion pin is slidably penetrated through the armrest seat, the upper end of the brake rod is fixed on the insertion pin, the return spring is connected between the armrest seat and the brake rod, the rectangular block is fixed at the lower end of the brake rod, a circular groove and a rectangular groove are sequentially opened inward at the center of the roller at the rear, the rectangular block is in movable contact with the inner wall of the circular groove, and the rectangular block is intermittently slidably arranged in the rectangular groove. The hand-held rod is fixed at the upper end of the brake rod and is located at the end away from the insertion pin.

[0008] Further, preferably, the limiting mechanism further includes an extension rod, a moving column and a rubber plug; the extension rod is fixed in the middle of the brake rod, the moving column is fixed on the extension rod, and the rubber plug is fixed at one end of the moving column away from the extension rod.

[0009] Further, preferably, the linkage mechanism includes a positioning sleeve, a connecting plate, a connecting cylinder, a sliding rod, a U-shaped frame, a clamping plate and a limiting shaft; the positioning sleeve is fixedly installed on the support rod, the connecting plate is fixed on the positioning sleeve, the connecting cylinder is fixedly arranged on the connecting plate, an air hole is formed in the side wall of the connecting cylinder close to the brake rod, the rubber plug is intermittently and movably in contact with the inner wall of the air hole, the sliding rod is hermetically and slidably arranged through the connecting cylinder, the U-shaped frame is hinged at one end of the sliding rod away from the connecting cylinder, sliding grooves are formed in the two side walls of the U-shaped frame, the clamping plate is slidably arranged between the two sliding grooves, a plurality of limiting holes are linearly formed in the side walls of the two sliding grooves, the limiting shaft is detachably arranged through the limiting holes, and the limiting shaft is located at the rear end of the clamping plate.

[0010] Further, preferably, the linkage mechanism further includes fixing blocks, hoses, sealing heads, racks, gears, rectangular shafts, threaded cylinders, articulated balls, connecting shafts and massage balls; there are two fixing blocks, which are respectively fixed at the lower ends of the two side walls of the U-shaped frame, communication holes are formed in the two side walls of the connecting cylinder, which are L-shaped and communicate with the inside of the connecting cylinder, L-shaped holes are formed in the two side walls of the U-shaped frame and in the two fixing blocks, the hoses are hermetically connected between the communication holes and the L-shaped holes, there are two sealing heads, which are respectively hermetically and slidably arranged in the two L-shaped holes, gear grooves are formed in the fixing blocks, the gears are sleeved and rotated on the inner walls of the gear grooves through connecting columns, there are two racks, which are respectively slidably arranged in the two L-shaped holes, and the gears are meshed with the racks, threaded holes are further formed in the fixing blocks, the rectangular shafts are fixed on the gears, the threaded cylinders are threadedly connected in the threaded holes, rectangular holes are formed in the threaded cylinders, the rectangular shafts are slidably arranged in the rectangular holes, spherical grooves are formed in the ends of the threaded cylinders away from the gears, the articulated balls are connected with the inner walls of the spherical grooves through torsion springs, and part of the articulated balls are rotatably arranged in the spherical grooves, the connecting shafts are fixed at the ends of the articulated balls away from the spherical grooves, and the massage balls are fixed at the ends of the connecting shafts away from the articulated balls.

[0011] Further, preferably, the linkage mechanism further includes ejector rods and damping springs; L-shaped lead-out holes are symmetrically formed in the two side walls of the U-shaped frame, one end of each of which communicates with the L-shaped hole above the sealing head, there are two ejector rods, which are respectively hermetically and slidably arranged through the two lead-out holes and are located at the ends away from the L-shaped holes, and there are two damping springs, which are connected between the ejector rods and the inner walls of the lead-out holes.

[0012] Advantages of the present invention: By using the limiting mechanism, when the patient is resting, the device can be prevented from moving randomly, so that the patient can use the hand support to reduce the stress on the legs, reduce the bearing time of the knees, and improve the recovery effect of the knee joints. By using the limiting mechanism and the linkage mechanism, when the patient is resting, the patient can perform cyclic local pressing actions on the knee joints through autonomous cyclic leg-lifting actions, further improving the recovery effect of the patient's knee joints.

[0013] In addition to the purposes, features, and advantages described above, the present invention has other purposes, features, and advantages. The present invention will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0015] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the limiting mechanism of the present invention; Figure 3 is a schematic diagram of the connection structure between a part of the limiting mechanism and the armrest seat of the present invention; Figure 4 is a schematic diagram of the connection structure between a part of the limiting mechanism and the roller of the present invention; Figure 5 is a schematic diagram of the structure of the linkage mechanism of the present invention; Figure 6 is a partial sectional view of the linkage mechanism of the present invention; Figure 7 is a side sectional view of the linkage mechanism of the present invention; Figure 8 is an enlarged view of part A of the present invention; Figure 9 is a sectional view of part B of the present invention.

[0016] Reference numerals: 1, chassis; 2, roller; 3, support rod; 4, armrest seat; 5, limiting mechanism; 6, linkage mechanism; 11, connecting frame; 51, insertion pin; 52, brake lever; 53, return spring; 54, rectangular block; 55, hand-held rod; 21, circular groove; 22, rectangular groove; 56, extension rod; 57, connecting plate; 58, rubber plug; 61, positioning sleeve; 62, connecting plate; 63, connecting cylinder; 64, slide bar; 65, U-shaped frame; 66, clamping plate; 67, limiting shaft; 631, air hole; 651, chute; 652, limiting hole; 71, fixing block; 72, hose; 73, sealing head; 74, rack; 75, gear; 76, rectangular shaft; 77, threaded cylinder; 78, articulated ball; 781, torsion spring; 79, connecting shaft; 80, massage ball; 82, L-shaped hole; 711, threaded hole; 771, rectangular hole; 772, spherical groove; 83, ejector rod; 84, damping spring; 712, lead-out hole; 632, communication hole. Detailed implementation mode

[0017] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 should not be construed as a limitation of the present invention.

[0019] Refer to Figures 1 to 9 , a walking aid for joint movement medical rehabilitation, including a chassis 1, rollers 2, support rods 3, armrest seats 4, a limiting mechanism 5 and a linkage mechanism 6; two chassis 1 are provided, and the two chassis 1 are fixedly connected by a connecting frame 11. Two groups of rollers 2 are arranged in the front-rear direction, with two in each group, and are respectively arranged at the ends of the two chassis 1. Two support rods 3 are provided, and are respectively fixedly installed at the upper ends of the two chassis 1, and the length of the support rods 3 is adjustable. Two armrest seats 4 are provided, and are respectively slidably arranged at the upper ends of the two support rods 3. Two limiting mechanisms 5 are provided, and are respectively arranged on the sides of the two support rods 3 away from each other. Two linkage mechanisms 6 are provided, and are respectively arranged on the two support rods 3.

[0020] As a preferred embodiment, the limiting mechanism 5 includes an insertion pin 51, a braking rod 52, a return spring 53, a rectangular clamping block 54 and a hand-held rod 55; the insertion pin 51 is slidably disposed through the armrest seat 4, the upper end of the braking rod 52 is fixed to the insertion pin 51, the return spring 53 is connected between the armrest seat 4 and the braking rod 52, the rectangular clamping block 54 is fixed to the lower end of the braking rod 52, a circular groove 21 and a rectangular groove 22 are sequentially formed inward from the center of the rear roller 2 at the rear end, the rectangular clamping block 54 is in movable contact with the inner wall of the circular groove 21, and the rectangular clamping block 54 is intermittently slidably disposed in the rectangular groove 22, and the hand-held rod 55 is fixed to the upper end of the braking rod 52 and located at one end away from the insertion pin 51.

[0021] Specifically, please refer to Figures 1 to 4 , when the patient walks normally, the hand holds the armrest seat 4 and applies a thrust, so that the device can move forward with the patient. When the patient needs to stand and rest, both hands pull the two hand-held rods 55 at the same time, thereby driving the two braking rods 52 to move towards each other. Therefore, when the two rear rollers 2 rotate to make the two rectangular grooves 22 coincide with the rectangular clamping blocks 54, the rectangular clamping blocks 54 will be inserted into the rectangular grooves 22. At this time, the rear rollers 2 are limited by the rectangular clamping blocks 54, so that the rollers 2 cannot roll forward and backward, so that the rollers 2 can stay stably, avoiding the device from moving randomly when the patient stands. That is to say, when the patient stands and the body generates a thrust on the armrest part, the roller 2 will not roll forward, so that the patient can support with the hand, reduce the force on the legs, and reduce the knee bearing time.

[0022] As a preferred embodiment, the limiting mechanism 5 further includes an extension rod 56, a moving column 57 and a rubber plug 58; the extension rod 56 is fixed to the middle of the braking rod 52, the moving column 57 is fixed to the extension rod 56, and the rubber plug 58 is fixed to the end of the moving column 57 away from the extension rod 56.

[0023] That is to say, when the braking rod 52 moves, it can drive the rubber plug head 58 to move synchronously.

[0024] As a preferred embodiment, the linkage mechanism 6 includes a positioning sleeve 61, a connecting plate 62, a connecting cylinder 63, a sliding rod 64, a U-shaped frame 65, a clamping plate 66 and a limiting shaft 67; the positioning sleeve 61 is fixedly installed on the support rod 3, the connecting plate 62 is fixed on the positioning sleeve 61, the connecting cylinder 63 is fixedly arranged on the connecting plate 62, an air hole 631 is formed in the side wall of the connecting cylinder 63 near one end of the brake rod 52, the rubber plug 58 is intermittently and movably in contact with the inner wall of the air hole 631, the sliding rod 64 is hermetically and slidably arranged through the connecting cylinder 63, the U-shaped frame 65 is hinged to the end of the sliding rod 64 away from the connecting cylinder 63, sliding grooves 651 are formed in both side walls of the U-shaped frame 65, the clamping plate 66 is slidably arranged between the two sliding grooves 651, a plurality of limiting holes 652 are linearly formed in the side walls of the two sliding grooves 651, the limiting shaft 67 is detachably arranged through the limiting holes 652, and the limiting shaft 67 is located at the rear end of the clamping plate 66.

[0025] Specifically, please refer to Figure 5 , when assisting a patient to walk, the patient moves the leg into the U-shaped frame 65, and then inserts the clamping plate 66 into the sliding groove 651. When the thigh above the patient's knee joint is completely limited between the clamping plate 66 and the U-shaped frame 65, the limiting shaft 67 is inserted into the limiting hole 652 closest to the clamping plate 66, so as to position the U-shaped frame 65 on the patient's thigh. After that, the U-shaped frame 65 can move synchronously with the patient's thigh.

[0026] In addition, when the patient walks normally, since the rubber plug 58 is not in contact with the air hole 631, the gas in the connecting cylinder 63 is kept in communication with the outside through the air hole 631. Therefore, no air pressure is generated in the connecting cylinder 63. That is to say, the patient's thigh can drive the sliding rod 64 to move arbitrarily in the connecting cylinder 63 without resistance.

[0027] As a preferred embodiment, the linkage mechanism 6 further includes fixing blocks 71, a hose 72, sealing heads 73, racks 74, gears 75, a rectangular shaft 76, a threaded cylinder 77, articulated balls 78, a connecting shaft 79 and massage balls 80; there are two fixing blocks 71, which are respectively fixed at the lower ends of the two side walls of the U-shaped frame 65. Communication holes 632 are formed in the two side walls of the connecting cylinder 63, which are L-shaped. The communication holes 632 communicate with the inside of the connecting cylinder 63. L-shaped holes 82 are formed in the two side walls of the U-shaped frame 65 and in the two fixing blocks 71. The hose 72 is hermetically connected between the communication holes 632 and the L-shaped holes 82. There are two sealing heads 73, which are respectively hermetically and slidably arranged in the two L-shaped holes 82. A gear groove is formed in the fixing block 71. The gear 75 is sleeved and rotated on the inner wall of the gear groove through a connecting column. There are two racks 74, which are respectively slidably arranged in the two L-shaped holes 82, and the gear 75 meshes with the racks 74. A threaded hole 711 is further formed in the fixing block 71. The rectangular shaft 76 is fixed on the gear 75. The threaded cylinder 77 is threadedly connected in the threaded hole 711. A rectangular hole 771 is formed in the threaded cylinder 77. The rectangular shaft 76 is slidably arranged in the rectangular hole 771. A spherical groove 772 is formed in the end of the threaded cylinder 77 away from the gear 75. The articulated ball 78 is connected to the inner wall of the spherical groove 772 through a torsion spring 781, and part of the articulated ball 78 is rotatably arranged in the spherical groove 772. The connecting shaft 79 is fixed at the end of the articulated ball 78 away from the spherical groove 772. The massage ball 80 is fixed at the end of the connecting shaft 79 away from the articulated ball 78.

[0028] In the above, when the threaded cylinder 77 rotates, the threaded cylinder 77 will drive the articulated ball 78 to rotate synchronously through the torsion spring 781.

[0029] Specifically, please refer to Figures 5 to 9 , when the patient is resting, by pulling the handheld rod 55 with the hand, the brake rod 52 can drive the rectangular block 54 and the rubber plug 58 to move inward simultaneously. Therefore, while being able to limit the rolling of the roller 2, the air hole 631 can also be blocked, making the inside of the connecting cylinder 63 in a closed state. Subsequently, the patient can perform massage on the knee joint of the patient through the cyclic leg-lifting action. The specific process is as follows: First, when the patient raises their thigh, it can drive the U-shaped frame 65 to rotate downward. At the same time, the U-shaped frame 65 will move forward a certain distance along with the patient's thigh, and the slide bar 64 will move into the connecting cylinder 63 by a certain distance. Therefore, the volume inside the connecting cylinder 63 decreases, generating air pressure. This air pressure can push the sealing head 73 downward, so that the rack 74 will move downward. Through the meshing of the rack 74 and the gear 75, the gear 75 will drive the rectangular shaft 76 to rotate. The rotation of the rectangular shaft 76 can act on the inner wall of the threaded cylinder 77, so that the rectangular shaft 76 can drive the threaded cylinder 77 to rotate. The threaded cylinder 77 is threadedly connected to the threaded hole 711, so that the threaded cylinder 77 can advance spirally, driving the articulated ball 78 to advance synchronously in a spiral until the massage ball 80 contacts both sides of the knee, realizing fixed-point pressing massage.

[0030] As a preferred embodiment, the linkage mechanism 6 further includes a top rod 83 and a damping spring 84; symmetrically arranged lead holes 712 are opened inside the two side walls of the U-shaped frame 65, both of which are L-shaped. One end of each lead hole is communicated with the L-shaped hole 82 above the sealing head 73. Two top rods 83 are arranged, respectively sealing and sliding through the two lead holes 712 and located at the end far from the L-shaped hole 82. Two damping springs 84 are arranged, and they are connected between the top rod 83 and the inner wall of the lead hole 712.

[0031] Specifically, in the above process, that is, when the massage ball 80 contacts both sides of the knee, since the connecting shaft 79 and the threaded cylinder 77 are in a directly opposite state at this time, the massage ball 80 cannot continue to advance; Subsequently, since the massage ball 80 is blocked by both sides of the knee and cannot advance spirally, that is to say, when the patient's thigh continues to rise, the threaded cylinder 77 cannot advance, resulting in the gear 75 being unable to rotate. Therefore, the rack 74 and the sealing head 73 cannot continue to move downward. However, the air pressure above the sealing head 73 continues to increase. When this air pressure is greater than the elastic force of the damping spring 84, the top rod 83 will move downward and touch the connecting shaft 79, so that the top rod 83 will push the connecting shaft 79 to tilt downward by a small angle. Therefore, a non-directly opposite state is formed between the connecting shaft 79 and the knee, that is, the directly opposite limiting relationship between the connecting shaft 79 and the knee is released. At this time, since there is not only the air pressure converted from the rise of the patient's thigh in the space above the sealing head 73, but also the air pressure converted from the restoring force of the damping spring 84, the total air pressure formed by these two can force the sealing head 73 to move downward, so that the threaded cylinder 77 can continue to advance spirally. When the threaded cylinder 77 advances spirally, it pushes the articulated ball 78 to gradually approach the knee, so that the deflection angle between the connecting shaft 79 and the threaded cylinder 77 gradually increases. Therefore, the massage ball 80 will perform a spiral motion in the plane, and the massage ball 80 can perform local pressing on both sides of the patient's knee, improving the recovery effect on the patient's knee joint.

[0032] In addition, before the massage ball 80 performs a spiral motion in the plane, the air pressure above the head 73 pushes the head 73 downward, reducing the air pressure in the lead-out hole 712. Therefore, the ejector rod 83 will move upward under the pulling force of the damping spring 84. That is to say, when the ejector rod 83 is aligned with the threaded barrel 77, it will complete a pressing and limit-release action on the massage ball 80 and then immediately move upward, thus avoiding interference of the ejector rod 83 during the movement of the massage ball 80.

[0033] Specifically, during implementation, first, the patient positions the thigh within the U-shaped frame 65 and then walks normally. When the patient needs to rest after walking a certain distance, the patient can lock the roller 2 by pulling the two hand-held rods 55 with both hands, avoiding random movement of the device during rest. The patient can support with the hands, reducing the leg force and the knee load duration. At the same time, the patient can cycle the leg-lifting method to perform local massage at the knee joint, thereby improving the recovery effect on the patient's knee joint.

[0034] It should be explained that after each leg-lifting and landing, each component in the linkage mechanism 6 will return to the initial state.

[0035] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A walking aid for joint sports medicine rehabilitation, characterized in that, It includes a chassis (1), roller wheels (2), support rods (3), armrest seats (4), a limiting mechanism (5) and a linkage mechanism (6); there are two chassis (1) configured, and the two chassis (1) are fixedly connected by a connecting frame (11). There are two groups of roller wheels (2) arranged in the front-back direction, with two in each group, and they are respectively arranged at the ends of the two chassis (1). There are two support rods (3), which are respectively fixedly installed at the upper ends of the two chassis (1), and the length of the support rods (3) is adjustable. There are two armrest seats (4), which are respectively slidably arranged at the upper ends of the two support rods (3). There are two limiting mechanisms (5), which are respectively arranged on the sides of the two support rods (3) away from each other. There are two linkage mechanisms (6), which are respectively arranged on the two support rods (3).

2. The walking aid for joint sports medicine rehabilitation according to claim 1, characterized in that, The limiting mechanism (5) includes an insertion pin (51), a brake rod (52), a return spring (53), a rectangular block (54) and a hand-held rod (55); the insertion pin (51) is slidably arranged through the armrest seat (4). The upper end of the brake rod (52) is fixed on the insertion pin (51). The return spring (53) is connected between the armrest seat (4) and the brake rod (52). The rectangular block (54) is fixed at the lower end of the brake rod (52). A circular groove (21) and a rectangular groove (22) are successively formed inward from the center of the roller wheel (2) at the rear. The rectangular block (54) is in movable contact with the inner wall of the circular groove (21), and the rectangular block (54) is intermittently slidably arranged in the rectangular groove (22). The hand-held rod (55) is fixed at the upper end of the brake rod (52) and is located at the end away from the insertion pin (51).

3. The walking aid for joint sports medicine rehabilitation according to claim 2, characterized in that, The limiting mechanism (5) further includes an extension rod (56), a moving column (57) and a rubber plug (58); the extension rod (56) is fixed in the middle of the brake rod (52). The moving column (57) is fixed on the extension rod (56). The rubber plug (58) is fixed at the end of the moving column (57) away from the extension rod (56).

4. A walking aid for joint sports medicine rehabilitation according to claim 3, characterized in that, The linkage mechanism (6) includes a positioning sleeve (61), a connecting plate (62), a connecting cylinder (63), a sliding rod (64), a U-shaped frame (65), a clamping plate (66) and a limiting shaft (67); the positioning sleeve (61) is fixedly installed on the support rod (3), the connecting plate (62) is fixed on the positioning sleeve (61), the connecting cylinder (63) is fixedly arranged on the connecting plate (62), an air hole (631) is formed in the side wall of one end of the connecting cylinder (63) close to the brake rod (52), the rubber plug (58) is in intermittent movable contact with the inner wall of the air hole (631), the sliding rod (64) is hermetically and slidably arranged through the connecting cylinder (63), the U-shaped frame (65) is hinged to the end of the sliding rod (64) far from the connecting cylinder (63), sliding grooves (651) are formed in the two side walls of the U-shaped frame (65), the clamping plate (66) is slidably arranged between the two sliding grooves (651), a plurality of limiting holes (652) are linearly formed in the side walls of the two sliding grooves (651), the limiting shaft (67) is detachably arranged through the limiting holes (652), and the limiting shaft (67) is located at the rear end of the clamping plate (66).

5. A walking aid for joint sports medicine rehabilitation according to claim 4, characterized in that, The linkage mechanism (6) further includes fixing blocks (71), a hose (72), a sealing head (73), a rack (74), a gear (75), a rectangular shaft (76), a threaded cylinder (77), a hinge ball (78), a connecting shaft (79), and a massage ball (80); there are two fixing blocks (71), which are respectively fixed at the lower ends of the two side walls of the U-shaped frame (65). Communication holes (632) are formed in the two side walls of the connecting cylinder (63), which are L-shaped and communicate with the inside of the connecting cylinder (63). L-shaped holes (82) are formed in the two side walls of the U-shaped frame (65) and in the two fixing blocks (71). The hose (72) is hermetically connected between the communication hole (632) and the L-shaped hole (82). There are two sealing heads (73), which are respectively hermetically and slidably arranged in the two L-shaped holes (82). A gear groove is formed in the fixing block (71). The gear (75) is rotatably sleeved on the inner wall of the gear groove through a connecting column. There are two racks (74), which are respectively slidably arranged in the two L-shaped holes (82), and the gear (75) meshes with the rack (74). A threaded hole (711) is further formed in the fixing block (71). The rectangular shaft (76) is fixed on the gear (75). The threaded cylinder (77) is threadedly connected to the threaded hole (711). A rectangular hole (771) is formed in the threaded cylinder (77). The rectangular shaft (76) is slidably arranged in the rectangular hole (771). A spherical groove (772) is formed in the end of the threaded cylinder (77) away from the gear (75). The hinge ball (78) is connected to the inner wall of the spherical groove (772) through a torsion spring (781), and part of the hinge ball (78) is rotatably arranged in the spherical groove (772). The connecting shaft (79) is fixed at the end of the hinge ball (78) away from the spherical groove (772). The massage ball (80) is fixed at the end of the connecting shaft (79) away from the hinge ball (78).

6. The walking aid for arthrokinematic medical rehabilitation according to claim 5, characterized in that, The linkage mechanism (6) further includes a push rod (83) and a damping spring (84); lead-out holes (712) are symmetrically formed in the two side walls of the U-shaped frame (65), both of which are L-shaped, and one end of each of them communicates with the L-shaped hole (82) above the sealing head (73). There are two push rods (83), which are respectively hermetically and slidably arranged through the two lead-out holes (712) and are located at the ends away from the L-shaped hole (82). There are two damping springs (84), which are connected between the push rod (83) and the inner wall of the lead-out hole (712).

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