Supporting mechanism and walking aid

Abstract

The invention provides a supporting mechanism and a walking aid, and relates to the technical field of rehabilitation equipment, and the supporting mechanism comprises a first binding assembly, an adapter seat and a connecting seat; the first binding assembly is in sliding fit with the adapter base in the X direction, a first buffer assembly is arranged between the first binding assembly and the adapter base, and the first buffer assembly is configured to apply resistance to the first binding assembly when the first binding assembly slides in the direction away from the adapter base; the adapter seat is in running fit with the connecting seat around the Z direction, a second buffer assembly is arranged between the connecting seat and the adapter seat, and the second buffer assembly is configured to apply resistance for preventing the adapter seat from rotating to the adapter seat. The supporting mechanism provided by the invention has a better fitting degree with a human body, and generation of abnormal motion postures is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to a support mechanism and a walking aid. Background Technology

[0003] Current walking aids are equipped with a support mechanism that can support the weight of the exoskeleton robot during wear. When the patient switches between sitting and standing positions, the support mechanism can also work with the rotating seat cushion to support the patient's lower back and hips respectively. The support mechanism is connected to a floating mechanism. Although the floating mechanism can absorb the weight of the support mechanism and the exoskeleton robot in the Z-axis, reducing the burden on the patient, floating only in the Z-axis cannot guarantee the fit between the device and the human body during training, which can easily lead to abnormal movement postures. Summary of the Invention

[0004] The purpose of this invention is to provide a support mechanism that provides a better fit to the human body and effectively reduces abnormal movement postures. Additionally, a walking aid including the aforementioned support mechanism is provided.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a support mechanism, including a first binding component, an adapter, and a connecting base; The first binding component slides in cooperation with the adapter along the X direction. A first buffer component is provided between the first binding component and the adapter. The first buffer component is configured to apply resistance to the first binding component when the first binding component slides away from the adapter. The adapter is rotatably engaged with the connecting seat in the Z direction. A second buffer assembly is provided between the connecting seat and the adapter, and the second buffer assembly is configured to apply resistance to the adapter to prevent its rotation.

[0006] In an optional implementation, the first buffer component is further configured to detect the force applied to the adapter when the first binding component slides relative to the adapter. The first buffer assembly includes a first force sensor and a tension spring. The first force sensor is mounted on the adapter, and one end of the tension spring is connected to the first force sensor and the other end is connected to the first binding assembly.

[0007] In an optional embodiment, the second buffer assembly includes a guide shaft, a first elastic element, a second elastic element, and a joint bearing; The guide shaft is connected to the connecting seat, and the guide shaft extends along the Y direction; The adapter is equipped with the spherical bearing, which is sleeved on the guide shaft and has a gap between it and the guide shaft. The adapter is provided with a first elastic element between one side of the adapter and the connecting seat along the Y direction, and the adapter is provided with a second elastic element between the other side of the adapter and the connecting seat along the Y direction.

[0008] In an optional embodiment, the support mechanism further includes a locking member movably connected to the connecting seat, and the adapter seat is provided with a limiting structure that cooperates with the locking member; The locking member has a locked state that cooperates with the limiting structure and prevents the adapter from rotating relative to the connecting seat, and the locking member also has an unlocked state that cancels the cooperation with the limiting structure and cancels the prevention of the adapter from rotating relative to the connecting seat.

[0009] In a second aspect, the present invention provides a walking aid, including a lifting frame and a support mechanism as described in any of the foregoing embodiments, wherein the connecting seat is connected to the lifting frame.

[0010] In an optional embodiment, the walker further includes a suspension mechanism connected to the lifting frame, the suspension mechanism being configured to provide an upward pulling force to the user.

[0011] In an optional embodiment, the suspension mechanism includes a housing, a driver, a rope, a second binding assembly, and a second force sensor; The housing is connected to the lifting frame, the drive is mounted on the housing, and a steering assembly is provided inside the housing; One end of the rope is connected to the drive, and the other end passes through the steering assembly and is connected to the second binding assembly via the second force sensor.

[0012] In an optional embodiment, the walking aid further includes a controller, with the suspension mechanism and the first buffer assembly both connected to the controller. The controller is configured to control the working state of the suspension mechanism based on the tension detected by the suspension mechanism itself, and is also configured to control the walking state of the lifting frame based on the tension detected by the first buffer assembly itself.

[0013] In an optional embodiment, the walker further includes a handrail connected to the lifting frame, the handrail having a handle and the handle having a heart rate monitor.

[0014] In an optional embodiment, the handle is further provided with a remote control stick, which is configured to at least control the movement state of the lifting frame.

[0015] The support mechanism and walking aid provided by this invention can produce the following beneficial effects: When the support mechanism provided by the first aspect of the present invention is used, the first binding component can be bound to the human body. Due to the sliding cooperation between the first binding component and the adapter seat in the X direction and the setting of the first buffer component, the first binding component is allowed to follow the human body's movements in the X direction in a timely manner during training. At the same time, due to the rotational cooperation between the adapter seat and the connecting seat in the Z direction and the setting of the second buffer component, the first binding component is allowed to rotate in the Z direction to follow the human body, ensuring a better fit between the support mechanism and the human body and effectively reducing the occurrence of abnormal movement postures.

[0016] The walking aid provided in the second aspect of the present invention has the support mechanism provided in the first aspect of the present invention, and thus has all the beneficial effects of the support mechanism provided in the first aspect of the present invention. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A top view of the support mechanism provided in an embodiment of the present invention; Figure 2 for Figure 1 AA section diagram; Figure 3 for Figure 2 A magnified view of part B; Figure 4 A three-dimensional structural diagram of the support mechanism provided in an embodiment of the present invention. Figure 1 ; Figure 5 for Figure 4 A magnified view of a portion at point C; Figure 6 A three-dimensional structural diagram of the support mechanism provided in an embodiment of the present invention. Figure 2 ; Figure 7 A top view of a portion of the support mechanism provided in an embodiment of the present invention; Figure 8 A three-dimensional structural diagram of the walking aid provided in an embodiment of the present invention; Figure 9 A side view of the walking aid provided in an embodiment of the present invention supporting a user in a seated position; Figure 10 A side view of the walking aid provided in an embodiment of the present invention supporting a user in a standing position; Figure 11 A side view of the suspension mechanism provided in an embodiment of the present invention; Figure 12 This is a front view of the suspension mechanism provided in an embodiment of the present invention; Figure 13 for Figure 12 DD cross-sectional view; Figure 14 A cross-sectional view of a walking aid component structure provided in an embodiment of the present invention; Figure 15 A three-dimensional structural diagram of the handle provided in an embodiment of the present invention.

[0019] Icons: 1-First binding assembly; 11-First strap; 12-Back pad; 13-Sliding shaft; 131-Limiting block; 2-Adapter; 21-Limiting structure; 22-Housing; 23-Sliding block; 24-Guide block; 3-Connecting seat; 31-Connecting plate; 311-First pressure block; 312-Second pressure block; 32-Upper end cover; 33-Lower end cover; 34-Connecting post; 35-Shaft; 4-First buffer assembly; 41- 42-Force sensor; 5-Tension spring; 6-Second buffer assembly; 7-Guide shaft; 8-First elastic element; 9-Second elastic element; 10-Joint bearing; 11-Locking element; 12-Lifting frame; 13-Suspension mechanism; 14-Housing shell; 15-Driver; 16-Rope; 27-Second binding assembly; 28-Second force sensor; 39-Steering assembly; 40-Handrail; 51-Handle; 62-Heart rate monitor; 73-Remote control stick. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] A first aspect of the present invention provides a support mechanism, such as... Figures 1 to 5 As shown, it includes a first binding assembly 1, an adapter 2, and a connecting base 3; The first binding component 1 slides in conjunction with the adapter 2 along the X direction. A first buffer component 4 is provided between the first binding component 1 and the adapter 2. The first buffer component 4 is configured to apply resistance to the first binding component 1 when the first binding component 1 slides away from the adapter 2. The adapter 2 rotates and engages with the connecting seat 3 around the Z direction. A second buffer assembly 5 is provided between the connecting seat 3 and the adapter 2. The second buffer assembly 5 is configured to apply resistance to the adapter 2 to prevent its rotation.

[0025] It is understandable that the X-axis is parallel to the horizontal plane, and the Z-axis is perpendicular to the horizontal plane.

[0026] When the support mechanism provided in the first aspect of the present invention is used, the first binding component 1 can be bound to the human body. Due to the sliding engagement of the first binding component 1 with the adapter 2 in the X direction and the setting of the first buffer component 4, the first binding component 1 is allowed to follow the human body's movements in the X direction in a timely manner during training. At the same time, due to the rotational engagement of the adapter 2 with the connecting seat 3 in the Z direction and the setting of the second buffer component 5, the first binding component 1 is allowed to rotate with the human body in the Z direction, ensuring a better fit between the support mechanism and the human body and effectively reducing the generation of abnormal movement postures.

[0027] The structure of the first binding component 1 is described in detail below: In alternative implementations, such as Figure 4 and Figure 6As shown, the first binding assembly 1 includes a first binding strap 11, a back pad 12, and a sliding shaft 13; the first binding strap 11 is connected to the back pad 12, and the first binding strap 11 can be bound to the abdomen of the human body, and the back pad 12 abuts against the back of the human body, so that it adjusts its position with the human body during the user's walking and turning; the sliding shaft 13 is connected to the back of the back pad 12, which is the side of the back pad 12 that is away from the user when in use, and the sliding shaft 13 can slide and cooperate with the adapter 2 in the X direction.

[0028] Specifically, the sliding shaft 13 can be configured as one, and the cross-section of the sliding shaft 13 can be a rectangle, ellipse, triangle or other shape that can restrict the rotation of the sliding shaft 13 relative to the adapter 2.

[0029] Of course, the sliding shaft 13 can also be configured as two, three, four, etc. For example... Figure 6 As shown, there are two sliding shafts 13, which are arranged parallel to each other along the Y direction and both extend along the X direction. In this case, the cross-section of the sliding shaft 13 can be circular.

[0030] It is understandable that the Y direction is perpendicular to the X direction and parallel to the horizontal plane.

[0031] In addition, such as Figure 6 As shown, the end of the sliding shaft 13 away from the back soft bag 12 is provided with a limiting block 131 to prevent the sliding shaft 13 from coming off the adapter 2. When the sliding shaft 13 moves outward to the limit position relative to the adapter 2, the end face of the limiting block 131 can abut against the adapter 2.

[0032] The structure of the first buffer component 4 is described in detail below: The first buffer component 4 not only prevents the sliding shaft 13 from sliding too fast relative to the adapter 2, ensuring that the adapter 2 can follow the movement of the first binding component 1, but also serves as a force detection component.

[0033] In alternative implementations, such as Figure 3 As shown, the first buffer assembly 4 is also configured to detect the force applied to the adapter 2 when the first binding assembly 1 slides relative to the adapter 2; the first buffer assembly 4 includes a first force sensor 41 and a tension spring 42, the first force sensor 41 is mounted on the adapter 2, one end of the tension spring 42 is connected to the first force sensor 41, and the other end is connected to the first binding assembly 1.

[0034] When a user performs rehabilitation training, the first binding component 1 slides relative to the adapter 2 in the X direction as the user moves. At this time, the tension spring 42 deforms due to the force applied, transmitting the force generated by this deformation to the first force sensor 41. The first force sensor 41 converts the detected force signal into an electrical signal, which can also be transmitted to the controller. The controller determines the user's movement trend based on this force signal and controls the hub motor to drive the rollers at the bottom of the device to perform corresponding actions, thereby ensuring that the device moves in sync with the user and reducing the user's walking resistance.

[0035] The aforementioned tension spring 42 not only has the function of force transmission, but also provides a buffering effect for the sliding process through its elastic properties, so as to avoid impact or damage between the first binding component 1 and the adapter seat 2 due to excessive instantaneous force.

[0036] In the above embodiments, the first buffer assembly 4 achieves the dual functions of buffering and force detection through the synergistic effect of the first force sensor 41 and the tension spring 42, thereby improving safety and comfort in use.

[0037] Specifically, one end of the tension spring 42 can be connected to the back pad 12 in the first binding assembly 1, such as... Figure 6 As shown, when there are two sliding shafts 13, the tension spring 42 is located between the two sliding shafts 13 along the Y direction to ensure that the tension spring 42 is subjected to force smoothly.

[0038] The structure of adapter 2 is described in detail below: like Figure 3 and Figure 6 As shown, the adapter 2 includes a housing 22 and a sliding block 23; the housing 22 rotates and engages with the connecting seat 3 around the Z direction, and a guide block 24 is provided inside the housing 22. The sliding shaft 13 passes through the guide block 24 and slides and engages with the guide block 24 along the X direction; the sliding block 23 is connected to the end of the housing 22 away from the first binding assembly 1 by screws or other connecting parts, and a second buffer assembly 5 is provided between the sliding block 23 and the connecting seat 3.

[0039] In addition, the first force sensor 41 can be installed inside the housing 22, one end of the tension spring 42 extends into the housing 22 and is connected to the first force sensor 41, and the other end extends out of the housing 22 and is connected to the back soft bag 12.

[0040] The structure of connector 3 is described in detail below: like Figure 6 and Figure 7As shown, the connecting seat 3 includes a connecting plate 31, an upper end cover 32, a lower end cover 33, a connecting post 34, and a shaft 35. The connecting plate 31 is arranged perpendicular to the X direction. The upper end cover 32 and the lower end cover 33 are arranged opposite each other along the Z direction and are both connected to the connecting plate 31. The connecting post 34 and the shaft 35 are both connected between the upper end cover 32 and the lower end cover 33. The housing 22 and the shaft 35 are rotated together by bearings.

[0041] The upper end cover 32 and the lower end cover 33 can be connected by welding, screws, or other methods.

[0042] Two connecting posts 34 can be configured to ensure a secure connection between the upper end cover 32 and the lower end cover 33. The shaft 35 can be located between the two connecting posts 34. One end of the shaft 35 can be connected to the upper end cover 32 by screws or other connectors, and the other end can be connected to the lower end cover 33 by screws or other connectors.

[0043] In alternative implementations, such as Figure 3 As shown, the support mechanism also includes a locking member 6 that is movably connected to the connecting seat 3. The adapter seat 2 is provided with a limiting structure 21 that cooperates with the locking member 6. The locking member 6 has a locked state that cooperates with the limiting structure 21 and prevents the adapter seat 2 from rotating relative to the connecting seat 3. The locking member 6 also has an unlocked state that cancels the cooperation with the limiting structure 21 and cancels the prevention of the adapter seat 2 from rotating relative to the connecting seat 3.

[0044] For patients with poor lower limb functional control, when using the above-mentioned support mechanism, the locking member 6 can be switched to the locked state to prevent the adapter 2 from rotating relative to the connecting seat 3, so that the first binding component 1 can play a better role in limiting and supporting the user and assisting the user in rehabilitation training.

[0045] The locking component 6 can be in the form of a pin, buckle, bolt or elastic locking tongue, etc. One end of it is movably connected to the connecting seat 3 by sliding, rotating or elastic connection, and the other end can extend into or out of the limiting area of ​​the limiting structure 21.

[0046] The limiting structure 21 can be configured as a limiting groove, limiting hole, limiting recess or limiting tooth, etc., and is arranged on the outer periphery or side of the adapter 2.

[0047] Specifically, the locking element 6 can be a screw, and the limiting structure 21 can be a limiting hole. The user can rotate the screw in the forward direction to make the screw extend into the limiting hole, at which time the locking element 6 is in the locked state. Alternatively, the user can rotate the screw in the reverse direction to make the screw extend out of the limiting hole, at which time the locking element 6 is in the unlocked state.

[0048] In alternative implementations, such as Figure 3As shown, the locking member 6 is movably engaged with the upper end cover 32, and the limiting structure 21 is provided on the top surface of the housing 22 to facilitate user operation.

[0049] The structure of the second buffer component 5 is described in detail below: In alternative implementations, such as Figure 3 and Figure 5 As shown, the second buffer assembly 5 includes a guide shaft 51, a first elastic element 52, a second elastic element 53, and a spherical bearing 54. Specifically, the guide shaft 51 is fixedly connected to the connecting plate 31 and extends along the Y direction. The sliding block 23 in the adapter 2 is equipped with the spherical bearing 54, which is sleeved on the outside of the guide shaft 51. The inner ring of the spherical bearing 54 is clearance-fitted with the guide shaft 51. The clearance can compensate for the change in distance between the axis of the guide shaft 51 and the sliding block 23 during the rotation of the adapter 2, thereby allowing the adapter 2 to rotate relative to the connecting seat 3 around the Z-axis within a certain range.

[0050] Furthermore, to achieve buffered control of the rotational motion, a first elastic element 52 and a second elastic element 53 are respectively provided on both sides of the adapter 2 along the Y direction. Specifically, as follows... Figure 5 As shown, the first elastic element 52 is disposed between one side of the adapter 2 along the Y direction and the first pressure block 311 on the connecting plate 31, and the second elastic element 53 is disposed between the other side of the adapter 2 along the Y direction and the second pressure block 312 on the connecting plate 31.

[0051] The first elastic element 52 and the second elastic element 53 can be made of helical springs, rubber pads or other elastic materials. The configuration is such that when the sliding block 23 rotates relative to the guide shaft 51 around the Z-axis, the elastic element on one side is compressed while the pressure on the other side is released, thereby forming a damping effect on the rotation.

[0052] Preferably, the first elastic element 52 and the second elastic element 53 are helical springs, both of which are sleeved on the outside of the guide shaft 51.

[0053] Through the above structural design, the second buffer component 5 can effectively buffer the externally applied rotational torque during the use of the support mechanism, so that the support mechanism can more naturally adapt to the wearer's changes in movement posture, avoiding discomfort or movement restriction caused by rigid connection, thereby improving wearing comfort and usage safety.

[0054] A second aspect of the present invention provides a walking aid, such as Figures 8 to 10 As shown, the walking aid provided in the second aspect of the present invention includes a lifting frame 7 and the aforementioned support mechanism, with the connecting seat 3 connected to the lifting frame 7.

[0055] The walking aid provided in the second aspect of the present invention has the support mechanism provided in the first aspect of the present invention, and thus has all the beneficial effects of the support mechanism provided in the first aspect of the present invention.

[0056] It should be noted that, as Figure 9 and Figure 10 As shown, the lifting frame 7 can drive the support mechanism to move along the Z-axis, thereby supporting users in both sitting and standing positions. The lifting frame 7 has rollers at its bottom and an internal mechanism that floats along the Z-axis. The lifting frame 7 can directly adopt existing publicly available structures; that is, the improvement of the walking aid provided in the above embodiment does not lie in the lifting frame 7. For the sake of brevity, its structure will not be described in detail here.

[0057] In alternative implementations, such as Figures 8 to 10 As shown, the walker also includes a suspension mechanism 8 connected to the lifting frame 7, the suspension mechanism 8 being configured to provide the user with an upward pulling force.

[0058] The aforementioned suspension mechanism 8 can provide appropriate upward pulling force when the user performs actions such as walking, standing up, and squatting, reducing the weight load on the user's lower limbs, assisting them in completing rehabilitation training actions, while reducing the risk of falls or loss of posture, and improving the safety and effectiveness of training.

[0059] In alternative implementations, such as Figures 11 to 13 As shown, the suspension mechanism 8 includes a housing 81, a driver 82, a rope 83, and a second binding assembly 84.

[0060] The outer shell 81 can be bent into an L-shape, with one end connected to the lifting frame 7 and the other end extending directly above the user.

[0061] The driver 82 is installed inside or outside the housing 81, and can be an electric linear actuator, an electric motor, or a servo motor. When an electric linear actuator or other linear actuator is used, the rope 83 can be dragged by the Z-axis movement of the electric linear actuator's power output end. When an electric motor or other rotary actuator is used, the output end of the driver is connected to a reel for controlling the winding and unwinding of the rope 83, thereby applying an upward pulling force to the user.

[0062] One end of the rope 83 can be fixedly connected to the output end of the driver 82 via a buckle, and the other end passes through the steering assembly 86 disposed inside the housing 81 and is connected to the second binding assembly 84. The second binding assembly 84 is preferably a flexible binding structure that can be worn on the user's lower limbs or torso, such as a waist binding, thigh binding, or pelvic support belt, and can be designed according to the usage requirements to ensure effective transmission of tension.

[0063] The steering component 86 includes at least one guide pulley or roller structure for changing the extension direction of the rope 83 so that it can be smoothly guided to the user's binding position.

[0064] Specifically, the steering assembly 86 includes a first roller and a second roller. The first roller is located at the bend of the housing 81, and the second roller is located at the cable outlet of the housing 81.

[0065] In alternative implementations, such as Figures 11 to 13 As shown, a second force sensor 85 is provided between the rope 83 and the second binding assembly 84. This second force sensor 85 is used to detect the tension on the rope 83 in real time, so as to realize automatic adjustment of the weight reduction range.

[0066] The second force sensor 85 can be a strain gauge sensor or a tension / compression sensor, and it can be installed by connecting it in series between the rope 83 and the second binding assembly 84, or by indirectly measuring the tension through a mechanical structure.

[0067] The suspension mechanism 8 provided in the above embodiment controls the extension and retraction of the rope 83 through the driver 82. Combined with the feedback mechanism of the second force sensor 85, it can adjust the applied upward pulling force in real time according to the user's movement state, thereby effectively assisting the user to complete walking, standing and other actions, and improving the comfort and safety of using the walking aid.

[0068] In an optional embodiment, the walking aid further includes a controller, with the suspension mechanism 8 connected to the controller. The controller is configured to control the operating state of the suspension mechanism 8 based on the tension detected by the suspension mechanism 8 itself. For example, after the user wears the suspension mechanism 8, a weight reduction ratio can be set. When the second force sensor 85 detects that the tension on the rope 83 is less than a set threshold, the controller controls the driver 82 to pull the rope 83 up, increasing the weight reduction ratio; when the detected tension is greater than the set threshold, the controller controls the driver 82 to lower the rope 83, decreasing the weight reduction ratio.

[0069] In an optional implementation, the first buffer component 4 can be connected to a controller, which is further configured to control the walking state of the lifting frame 7 based on the tension detected by the first buffer component. For example, when the first force sensor 41 detects that the tension applied by the first restraint component 1 in the X direction exceeds a preset range, the controller determines that the user may be accelerating, decelerating, or turning. At this time, by controlling the hub motor to operate, the rollers are matched with the user's movement rhythm to avoid discomfort or imbalance caused by the walker's delayed response.

[0070] In alternative implementations, such as Figure 14 and Figure 15As shown, the walker also includes a handrail 9 connected to the lifting frame 7, and the handrail 9 has a handle 91.

[0071] Handle 91 can be used to control the direction of the equipment. The patient can turn the device independently by operating handle 91. The turning radius is small and it can adapt to most narrow spaces. Pressing handle 91 at the same time can control the movement of the lifting frame 7, allowing the patient to sit or stand, rest or train at any time. The stool supports the patient's body at all times during the sitting-standing process.

[0072] In an optional embodiment, the handle 91 is provided with a remote control stick 93 electrically connected to the controller, the remote control stick 93 being configured to at least control the operating state of the lifting frame 7.

[0073] The remote control stick 93 can be rotated or pressed relative to the handle 91 in multiple directions, such as up and down, left and right, diagonal, and reset. The bottom of the remote control stick 93 is equipped with a signal output section for converting operation commands into electrical signals.

[0074] In alternative implementations, such as Figure 15 As shown, the handle 91 is equipped with a heart rate monitor 92. The heart rate monitor 92 can monitor the user's heart rate data in real time. The heart rate monitor 92 can be a contact sensor, such as a photoelectric or capacitive sensor, installed on the surface or inside the grip area of ​​the handle 91. When the user grips the handle 91, it collects pulse signals through contact with the skin and converts them into heart rate data.

[0075] Specifically, the heart rate monitor 92 can be ring-shaped and mounted on the grip area surface of the handle 91, so as to make full contact with the user's hand.

[0076] The heart rate monitor 92 can be electrically connected to the controller to transmit the collected heart rate data. The controller determines the user's physical condition based on the heart rate data and can trigger an alarm or automatically adjust the walking aid's operating mode when the heart rate exceeds a set threshold, such as reducing walking speed, increasing support, or prompting the user to rest.

[0077] It should be noted that the other parts of the handrail 9 can directly adopt the existing publicly available structure. To save space, the other structures will not be described in detail here.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A support mechanism, characterized by, The support mechanism comprises a first binding assembly (1), an adapter seat (2) and a connecting seat (3); The first binding assembly (1) is in sliding fit with the adapter seat (2) along the X direction, and a first buffer assembly (4) is arranged between the first binding assembly (1) and the adapter seat (2), and the first buffer assembly (4) is configured to apply resistance to the first binding assembly (1) when the first binding assembly (1) slides away from the adapter seat (2). The adapter seat (2) is in rotating fit with the connecting seat (3) around the Z direction, and a second buffer assembly (5) is arranged between the connecting seat (3) and the adapter seat (2), and the second buffer assembly (5) is configured to apply resistance to the adapter seat (2) to prevent the adapter seat (2) from rotating.

2. The support mechanism of claim 1, wherein The first buffer assembly (4) is further configured to detect the force applied to the adapter seat (2) when the first binding assembly (1) slides relative to the adapter seat (2). The first buffer assembly (4) comprises a first force sensor (41) and a tension spring (42), the first force sensor (41) is mounted on the adapter seat (2), one end of the tension spring (42) is connected with the first force sensor (41), and the other end of the tension spring (42) is connected with the first binding assembly (1).

3. The support mechanism of claim 1, wherein, The second buffer assembly (5) comprises a guide shaft (51), a first elastic member (52), a second elastic member (53) and a joint bearing (54). The guide shaft (51) is connected with the connecting seat (3), and the guide shaft (51) extends along the Y direction. The adapter seat (2) is mounted with the joint bearing (54), and the joint bearing (54) is sleeved on the guide shaft (51) and has a gap between the guide shaft (51). The first elastic member (52) is arranged between one side of the adapter seat (2) along the Y direction and the connecting seat (3), and the second elastic member (53) is arranged between the other side of the adapter seat (2) along the Y direction and the connecting seat (3).

4. The support mechanism of claim 1, wherein The support mechanism further comprises a locking member (6) movably connected with the connecting seat (3), and the adapter seat (2) is provided with a limiting structure (21) matched with the locking member (6). The locking member (6) has a locking state matched with the limiting structure (21) and preventing the adapter seat (2) from rotating relative to the connecting seat (3), and the locking member (6) also has an unlocking state not matched with the limiting structure (21) and not preventing the adapter seat (2) from rotating relative to the connecting seat (3).

5. A walking aid, characterized in that The walking aid further comprises a lifting frame (7) and the support mechanism as claimed in any one of claims 1-4, and the connecting seat (3) is connected with the lifting frame (7).

6. The walking aid of claim 5, wherein, The walking aid further comprises a suspension mechanism (8) connected with the lifting frame (7), and the suspension mechanism (8) is configured to apply upward tension to the user.

7. The walking aid of claim 6, characterized in that The suspension mechanism (8) comprises a housing (81), a driver (82), a rope body (83), a second binding assembly (84) and a second force sensor (85). The shell (81) is connected with the lifting frame (7), the driver (82) is installed in the shell (81), and the shell (81) is internally provided with a steering assembly (86); One end of the rope (83) is connected with the driver (82), the other end passes through the steering assembly (86) and is connected with the second binding assembly (84) through the second force sensor (85).

8. The walking aid of claim 6, wherein, The walking aid further comprises a controller, the suspension mechanism (8) and the first buffer assembly (4) are connected with the controller, the controller is configured to control the working state of the suspension mechanism (8) according to the tension detected by the suspension mechanism (8), and is further configured to control the walking state of the lifting frame (7) according to the tension detected by the first buffer assembly (4).

9. The walking aid of claim 5, wherein, The walking aid further comprises a handrail (9) connected with the lifting frame (7), the handrail (9) has a handle (91), and the handle (91) is provided with a heart rate monitor (92).

10. The walking aid of claim 9, characterized in that The handle (91) is further provided with a remote control rod (93), and the remote control rod (93) is configured to control at least the action state of the lifting frame (7).

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