Portable walking assisting nursing device for elderly patients

Abstract

The invention belongs to the technical field of rehabilitation auxiliary instruments, and provides a portable walking assisting nursing device for elderly patients, which comprises a main body supporting structure, and the main body supporting structure sequentially comprises a waist fixing assembly, a thigh supporting assembly, a knee joint assembly, a shank supporting assembly and a foot assembly from top to bottom along the lower limbs of a human body; the thigh supporting assembly and the shank supporting assembly are both designed to be of a cavity structure. The sensing part is arranged on the main body supporting structure and comprises at least one attitude sensor group and a controller; the counterweight part is arranged on the main body supporting structure; wherein the counterweight part slides in the cavity structures of the thigh supporting assembly and the shank supporting assembly; the balance weight part is electrically connected with the other end of the controller of the sensing part, and when the posture sensor group detects a signal indicating that the human body is about to fall due to abnormal inclination, the controller immediately sends an instruction to the balance weight part to drive the balance weight part to quickly move in the direction opposite to the falling direction of the human body.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation assistive devices, specifically to a portable walking assistance nursing device for elderly patients. Background Technology

[0002] Existing lower limb exoskeletons or walking aids are mainly divided into two categories: one is passive support type, which provides stable support for users through rigid or lockable joint structures, but is usually heavy and lacks flexibility, making it difficult to adapt to natural gait; the other is active drive type, which directly drives joint movement through power sources such as motors. Although it has a good assistive effect, it is complex in structure, expensive, consumes a lot of energy, and poses a safety hazard once the power fails.

[0003] Regardless of the type, the weight and center of gravity distribution of the device are key factors affecting wearing comfort and safety. Existing devices typically distribute weight statically across the user's limbs, increasing the user's additional load. Especially in the moment when the user loses balance and is about to fall, existing devices, due to their mass being fixed to the body, often fail to provide an effective counterbalancing torque and may even exacerbate the tendency to tip over, posing a high safety risk.

[0004] Therefore, there is an urgent need for a walking aid that can reduce the user's burden, actively respond to imbalance, and improve walking safety. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a portable walking assistance nursing device for elderly patients, which can proactively respond to imbalances and prevent elderly patients from falling over.

[0006] This invention provides a portable walking assistance nursing device for elderly patients, comprising: a main support structure, which includes, from top to bottom, a waist fixation component, a thigh support component, a knee joint component, a calf support component, and a foot component along the lower limb of the human body; wherein the thigh support component and the calf support component both adopt a hollow structure design; a sensing unit, which is disposed on the main support structure and includes at least one posture sensor group and a controller, wherein the posture sensor group is used to sense changes in the user's body posture, and one end of the controller is electrically connected to the posture sensor group; and a counterweight, which is disposed on the main support structure and located within the thigh support component and the calf support component respectively; wherein the counterweight slides within the hollow structure of the thigh support component and the calf support component; the counterweight is electrically connected to the other end of the controller of the sensing unit, and when the posture sensor group detects a signal that the human body is tilting abnormally and is about to fall, the controller immediately sends a command to the counterweight to drive the counterweight to move rapidly in the opposite direction of the human body's tilt.

[0007] Furthermore, the sensing unit also includes a mounting box, within which the attitude sensor group is housed, and the mounting box is mounted on the knee joint assembly; the attitude sensor group includes a gyroscope, an accelerometer, and a pressure sensor. In practical applications, this design facilitates sensor installation, and the use of multiple sensors enables multi-level attitude monitoring from different angles.

[0008] Furthermore, the lumbar support assembly, thigh support assembly, knee joint assembly, calf support assembly, and foot assembly are sequentially rotatably connected; wherein, both the thigh support assembly and the calf support assembly include two relatively parallel connecting sliding plates, which are fixedly connected. In practical applications, this series is designed for easy installation and adopts conventional designs, therefore, it will not be described in detail further.

[0009] Furthermore, the connecting sliding plate is provided with an inner groove. In practical applications, the purpose of this design is to facilitate sliding and guidance.

[0010] Furthermore, the connecting sliding plate is also provided with a mounting cavity, and the counterweight is installed in the mounting cavity and extends towards the inner sliding groove. In practical applications, the purpose of this design is to facilitate the installation of the motor and ensure operational stability.

[0011] Furthermore, the counterweight also includes a motor, a lead screw, a lead screw nut seat, and a counterweight block; the motor is fixedly installed in the mounting cavity, and the lead screw is connected to the motor's shaft; the lead screw nut seat is installed on the lead screw, and the counterweight block is installed on the lead screw nut seat. In practical applications, the purpose of this design is to achieve rapid movement of the counterweight block.

[0012] Furthermore, the assemblies slide along the axial direction of the inner groove. In practical applications, the purpose of this design is to limit movement and prevent the assemblies from leaking out.

[0013] Furthermore, the weighted assembly includes a fixed weight, a sliding weight, and a connecting line; the fixed weight is equipped with an electromagnetic block; the electromagnetic block is electromagnetically connected to the sliding weight; and the fixed weight is connected to the sliding weight via the connecting line. In practical applications, the purpose of this design is to achieve rapid movement. This is achieved through the rapid magnetic attraction between the sliding weight and the electromagnetic block, and the connecting line provides limiting guidance to ensure the effective magnetic connection.

[0014] Furthermore, it also includes a fixed magnetic sleeve, which is provided in multiple locations and is respectively installed between two adjacent connecting sliding plates; the fixed magnetic sleeve is magnetically connected to the sliding weight.

[0015] As can be seen from the above technical solution, the beneficial effects provided by the present invention are as follows: Firstly, it provides active safety protection: through dynamic center of gravity adjustment, it can provide active physical intervention when the risk of falling occurs, rather than just passive support, which greatly improves the safety of use.

[0016] Secondly, it reduces the effort required for walking: by optimizing the device's own center of gravity movement, it reduces the work that users have to do to counteract the device's inertia while walking, thus improving wearing comfort and battery life.

[0017] Meanwhile, the structure has a high degree of integration: the counterweight system is built into the original main support structure, which does not significantly increase the size and external complexity of the device, and maintains the portability and aesthetics of the device.

[0018] Furthermore, it has wide adaptability: the design can be applied to various lower limb walking aids, from passive assistance to active drive, as a general safety and performance enhancement module. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0020] Figure 1 This is a three-dimensional schematic diagram of a portable walking assistance nursing device for elderly patients according to an embodiment of the present invention; Figure 2 for Figure 1 The image shown is a top view of a portable walking assistance nursing device for elderly patients. Figure 3 for Figure 2 The enlarged structural diagram at point A is shown below; Figure 4 A schematic diagram of the optimized recombinant block for achieving a faster response speed, provided for another embodiment of the present invention; Figure label: 1 - Waist fixation assembly; 2 - Thigh support assembly; 21 - Connecting sliding plate; 3 - Knee joint assembly; 4 - Lower leg support assembly; 411 - Inner sliding groove; 412 - Mounting cavity; 5 - Foot assembly; 6 - Attitude sensor group; 61 - Gyroscope; 62 - Accelerometer; 63 - Pressure sensor; 7 - Controller; 8 - Mounting box; 9 - Counterweight; 91 - Motor; 92 - Lead screw; 93 - Lead screw nut seat; 94 - Counterweight block; 941 - Fixed weight; 942 - Sliding weight; 943 - Connecting wire; 944 - Electromagnetic block; 10 - Fixed magnetic sleeve. Detailed Implementation

[0021] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0022] The basic implementation examples are as follows: Figures 1 to 4 As shown: like Figure 1-3 As shown in this embodiment, a portable walking assistance nursing device for elderly patients is provided. It aims to dynamically change the overall center of gravity of the system by actively adjusting the spatial position of the internal counterweights. This generates a stabilizing torque opposite to the tendency to fall when the user's body tilts abnormally, achieving active safety protection and effectively preventing falls in elderly patients. Simultaneously, this design optimizes the distribution of inertial forces during walking, helping to reduce user energy consumption and improve wearing comfort and battery life.

[0023] Example 1 This embodiment describes in detail one specific structure of the portable walking assistance nursing device for elderly patients.

[0024] The device mainly includes a main support structure, a sensing unit, and a counterweight unit.

[0025] The main support structure is worn on the lower limbs of the human body, providing basic support and a connecting frame. It comprises, from top to bottom, a lumbar fixation component 1, a thigh support component 2, a knee joint component 3, a calf support component 4, and a foot component 5. These components are sequentially rotatably connected to accommodate the natural flexion and extension movements of the hip, knee, and ankle joints during walking.

[0026] Specifically, the waist fixation component 1 can adopt an adjustable strap structure and may have a soft pad inside to comfortably fix it to the user's waist or hip, serving as the load-bearing starting point of the entire device.

[0027] The thigh support assembly 2 and the calf support assembly 4 are structurally similar, both employing a cavity structure design. In this embodiment, the thigh support assembly 2 includes two parallel connecting sliding plates 21, which are fixedly connected by side connectors (such as side plates, fasteners, etc.) to form a long, rectangular shell structure with an internal cavity, the outline of which conforms to the direction of the human thigh / calf. Similarly, the calf support assembly 4 also includes two parallel connecting sliding plates 21, forming its internal cavity. The inner surfaces (i.e., the two opposite sides) of the connecting sliding plates 21 are provided with inner grooves 411 extending along their length. Furthermore, inside the connecting sliding plates 21, a mounting cavity 412 communicating with the inner grooves 411 is provided; the mounting cavity 412 is mainly used to accommodate the driving components.

[0028] The knee joint assembly 3 is connected between the lower end of the thigh support assembly 2 and the upper end of the calf support assembly 4. It may contain a damper or locking mechanism (not shown in the figure) to simulate the function of the knee joint and provide necessary movement support. The foot assembly 5 is connected to the lower end of the calf support assembly 4 and may be designed as a shoe or foot pedal to support the foot.

[0029] The sensing unit is used to monitor the user's body posture in real time and determine whether there is a risk of falling. It includes a posture sensor group 6, a controller 7, and a mounting box 8. The mounting box 8 is fixedly installed on the knee joint assembly 3, and the posture sensor group 6 is integrated inside the mounting box 8. The posture sensor group 6 includes at least a gyroscope 61, an accelerometer 62, and a pressure sensor 63. The gyroscope 61 is used to detect the angular velocity and angle changes of the limbs (especially the lower leg) in three-dimensional space; the accelerometer 62 is used to detect the linear acceleration of the limbs; the pressure sensor 63 can be arranged at the foot assembly 5 or the joint connection to monitor the pressure distribution on the sole of the foot or the force on the joint. These sensors collect the user's movement and posture information from different dimensions to achieve multi-level posture monitoring. The controller 7 can also be set in the mounting box 8, and its signal input terminal is electrically connected to each sensor of the posture sensor group 6 to receive and process sensor data. The controller 7 has a built-in or external processor and storage unit, which stores a fall risk assessment algorithm. It can identify specific signal patterns that indicate an impending fall by fusing and analyzing data from gyroscopes, accelerometers, and pressure sensors when the human body is tilting abnormally.

[0030] The counterweight 9 is the core mechanism for performing active balance intervention. It is located on the main support structure and specifically within the cavities of the thigh support assembly 2 and the calf support assembly 4. The counterweight 9 can slide along its length within the cavity and is electrically connected to the signal output terminal of the controller 7, receiving commands from the controller 7 for operation.

[0031] Specifically, a counterweight drive unit is installed within the mounting cavity 412 of the thigh support assembly 2. This unit includes a motor 91, a lead screw 92, a lead screw nut seat 93, and a counterweight block 94. The motor 91 is fixed within the mounting cavity 412 either via a bracket or directly. One end of the lead screw 92 is connected to the shaft of the motor 91 via a coupling, with its axis parallel to the extension direction of the inner slide groove 211. The lead screw nut seat 93 is fitted onto the lead screw 92 and forms a threaded engagement with it. The counterweight block 94 is mounted on the lead screw nut seat 93 and partially extends into the inner slide groove 211, allowing the main body of the counterweight block 94 to slide along the guide of the inner slide groove 211 within the space formed by the two connecting sliding plates 21. The inner slide groove 211 limits and guides the movement of the counterweight block 94, preventing it from deviating from its predetermined trajectory or rotating.

[0032] Similarly, a counterweight drive unit with the same structure is also provided in the mounting cavity 412 of the lower leg support assembly 4, including a motor 91, a lead screw 92, a lead screw nut seat 93, and a counterweight block 94. Its installation and operation are completely consistent with the thigh part, and the counterweight block 94 slides under the guidance of the inner slide groove 411.

[0033] In this embodiment, the counterweight 94 can be a monolithic metal weight. When the posture sensor group 6 detects an abnormal tilt of the human body in a certain direction (e.g., to the left), and the controller 7 determines that the risk of falling is high, it will immediately send commands to the motors 91 located in the thighs and / or calves on both sides. For example, to counteract the tendency to tilt to the left, the controller 7 will command the counterweight 94 in the right thigh and / or calf to move rapidly distally (away from the knee joint) along its cavity, while simultaneously commanding the counterweight in the left thigh and / or calf to move rapidly proximally (closer to the knee joint). This coordinated counter-movement of the counterweights on both sides causes the overall center of gravity of the device to shift to the right on the horizontal plane, thereby generating a rightward stabilizing torque to counteract the leftward tilting torque and help the user regain balance.

[0034] Example 2 Based on Embodiment 1, this embodiment further optimizes the structure of the reconfiguration block 94 to achieve a faster response speed.

[0035] like Figure 4As shown, in this embodiment, the supporting weight block 94 (taking the thigh portion as an example, the lower leg portion has the same structure) includes a fixed weight block 941, a sliding weight block 942, a connecting line 943, and an electromagnetic block 944. The fixed weight block 941 is fixedly installed on the lead screw nut seat 93. The electromagnetic block 944 is embedded or fixed to the side or end of the fixed weight block 941. The sliding weight block 942 is made of a material that can be attracted by magnetic force (such as iron, low carbon steel, etc.), and its initial position can be temporarily held together with the fixed weight block 941 by means of mechanical snap-fit ​​or weak magnetic force. One end of the connecting line 943 is connected to the fixed weight block 941, and the other end is connected to the sliding weight block 942. Its length is greater than the maximum travel required by the supporting weight block 94a.

[0036] To further enhance the magnetic positioning effect, multiple fixed magnetic sleeves 10 are arranged at intervals along the length of the cavity formed by the two connecting sliding plates 21. The fixed magnetic sleeves 10 are fixedly installed between the two connecting sliding plates 21, and permanent magnets or electromagnets are embedded inside them.

[0037] When the controller 7 issues a command to rapidly move the sliding weight 94 in a certain direction (e.g., to the far end), the motor 91 first drives the lead screw 92 to rotate, causing the fixed weight 941 to begin moving. Simultaneously, the controller 7 controls the electromagnetic block 944 to quickly de-energize (if initially in an engaged state), or, depending on the direction of movement, controls the electromagnetic block 944 to generate a magnetic pole opposite to that of the fixed magnetic sleeve 10 at the target position. Under the influence of inertia, or the attraction of the fixed magnetic sleeve 10 at the target position, the sliding weight 942 is "thrown" or "pulled" towards the target direction via the connecting line 943, and its speed can far exceed the speed of the fixed weight 941 driven by the lead screw nut. The connecting line 943 serves both a traction and connection function, preventing the sliding weight 942 from completely detaching, and allowing it to shift its center of gravity before the fixed weight 941 arrives. When the sliding weight 942 approaches the fixed magnetic sleeve 10 at the target position, it can be quickly captured and temporarily fixed by magnetic force. Subsequently, the fixed weight 941 arrives under the drive of the lead screw and re-engages with the sliding weight 942. This method realizes the "two-stage" rapid movement of the counterweight mass, greatly shortening the response time of the center of gravity adjustment.

[0038] The weighted blocks within the lower leg support assembly 4 can employ the exact same working principle and structure.

[0039] Brief description of working principle During normal walking, the sensing unit continuously monitors body posture, while the counterweight unit remains in its initial equilibrium position or undergoes minor coordinated movements to optimize walking inertia. Once the posture sensor group 6 detects signals indicating an impending fall, such as a body tilt angle exceeding a threshold, a sudden change in angular velocity, or an abnormal shift in the center of pressure on the sole of the foot, the controller 7 immediately calculates the required anti-tipping torque based on the tilt direction and generates a corresponding drive command, which is sent to the counterweight unit. Upon receiving the command, the counterweight unit drives the counterweight blocks within the thigh and calf cavities to move rapidly in the opposite direction to the body's tilt. For example, when a forward tilt is detected, the controller commands the counterweight blocks on the back of the thigh and calf to move distally, and the counterweight blocks on the front to move proximally, shifting the overall center of gravity of the device backward and generating an anti-forward tilt torque, thereby assisting the user in stabilizing their body and preventing a fall.

[0040] This invention highly integrates the active center of gravity adjustment system within the main support structure of the walking aid device, without significantly increasing its external size and complexity, thus maintaining the device's portability. This active safety mechanism is applicable to various lower limb walking aids, significantly improving the safety and reliability for elderly patients.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0042] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification. The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A portable walking assistance nursing device for elderly patients, characterized in that, include: The main support structure includes, from top to bottom, the following components along the lower limbs of the human body: a waist fixation component, a thigh support component, a knee joint component, a calf support component, and a foot component; wherein the thigh support component and the calf support component both adopt a hollow structure design. A sensing unit, disposed on the main support structure, includes at least one posture sensor group and a controller. The posture sensor group is used to sense changes in the user's body posture, and one end of the controller is electrically connected to the posture sensor group. The counterweight is disposed on the main support structure and located in the thigh support assembly and the calf support assembly respectively; wherein the counterweight slides in the cavity structure of the thigh support assembly and the calf support assembly; the counterweight is electrically connected to the other end of the controller of the sensing unit, and when the posture sensor group detects a signal that the human body is tilting abnormally and is about to fall, the controller immediately sends a command to the counterweight to drive the counterweight to move rapidly in the opposite direction of the human body's tilting.

2. The portable walking assistance nursing device for elderly patients according to claim 1, characterized in that, The sensing unit also includes a mounting box, in which the attitude sensor group is disposed, and the mounting box is mounted on the knee joint assembly; the attitude sensor group includes a gyroscope, an accelerometer, and a pressure sensor.

3. The portable walking assistance nursing device for elderly patients according to claim 1, characterized in that, The lumbar fixation component, thigh support component, knee joint component, calf support component, and foot component are rotatably connected in sequence. The thigh support assembly and the calf support assembly each include two parallel connecting sliding plates that are fixedly connected.

4. The portable walking assistance nursing device for elderly patients according to claim 3, characterized in that, The connecting sliding plate is provided with an inner sliding groove.

5. A portable walking assistance nursing device for elderly patients according to claim 4, characterized in that, The connecting sliding plate is also provided with a mounting cavity, and the counterweight is installed in the mounting cavity and extends in the direction of the inner sliding groove.

6. A portable walking assistance nursing device for elderly patients according to claim 4, characterized in that, The counterweight also includes a motor, a lead screw, a lead screw nut seat, and a counterweight block; the motor is fixedly installed in the mounting cavity, and the lead screw is connected to the motor's shaft; the lead screw nut seat is installed on the lead screw, and the counterweight block is installed on the lead screw nut seat.

7. A portable walking assistance nursing device for elderly patients according to claim 6, characterized in that, The reassembly block slides along the axial direction of the inner groove.

8. A portable walking assistance nursing device for elderly patients according to claim 6, characterized in that, The weighted block includes a fixed weight, a sliding weight, and a connecting line; the fixed weight is equipped with an electromagnetic block; the electromagnetic block is electromagnetically connected to the sliding weight; and the fixed weight is connected to the sliding weight through the connecting line.

9. A portable walking assistance nursing device for elderly patients according to claim 8, characterized in that, It also includes a fixed magnetic sleeve, which is provided in multiple places and installed between two adjacent connecting sliding plates; the fixed magnetic sleeve is magnetically connected to the sliding weight.

Images