Walking assisting mechanism for assisting walking rehabilitation training

Abstract

The utility model discloses a walking assisting mechanism for assisting walking rehabilitation training, which comprises a support frame, the top of the support frame is provided with an upper limb fixing part, the middle of the support frame is provided with a walking simulation assembly, the walking simulation assembly comprises a lower limb guide plate arranged in the middle of the support frame, and the front end of the lower limb guide plate is provided with a first motor; a traction rope is arranged on a rotating shaft of the first motor and connected with the lower limb guide plate. The walking aid mechanism can replace medical staff or family members to carry out supporting walking, a patient needs to wear the walking simulation assembly and then controls the walking simulation assembly to carry out leg lifting and foot stepping actions through the hand, the legs of the patient can be dragged to actively carry out walking rehabilitation training, and the walking aid mechanism is very suitable for being used by the patient who walks slowly in the initial stage of rehabilitation training; in the walking process, the patient is integrally driven to move through the walking aid mechanism, so that the physical strength of medical staff or family members is reduced; the difficulty of walking rehabilitation training is reduced; and the rehabilitation training effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of physiotherapy devices, and in particular to a walking aid mechanism for assisting walking rehabilitation training. Background Art

[0002] Hemiplegia is also known as a muscle movement disorder. Once the muscles are paralyzed or the muscle fibers atrophy, it is difficult to recover. After paralysis occurs, it should be repaired as soon as possible to restore the function of nerve cells. Therefore, rehabilitation treatment is very important.

[0003] For patients with lower limb paralysis, the current common rehabilitation training generally requires medical staff or family members to support the patients in walking rehabilitation training. During rehabilitation training, because the patients have a certain weight and their lower limbs cannot be controlled autonomously, medical staff or family members need to exert a certain amount of support force when supporting them. If this continues for a long time, it will consume a lot of physical strength of the supporting personnel.

[0004] In the prior art, a rehabilitation training walking aid (patent number 2019208512330) is disclosed. The walker includes a crotch support cushion, a number of brackets, an anti-collision bar, a pedal and other structures. The method of use is generally that the patient sits on the crotch support cushion and is pushed by external force or the patient exercises walking independently. However, hemiplegic patients lose the conduction of brain information and may not be able to independently control the lifting and stepping of the lower limbs. Therefore, although supported by the walker, the normal walking training posture cannot be simulated. It is difficult for patients to perform walking rehabilitation training and the rehabilitation training effect is poor. Utility Model Content

[0005] The technical problem to be solved by the present application is to provide a walking aid mechanism for assisting walking rehabilitation training, which can support patients in walking rehabilitation training. During rehabilitation training, it can drive the patient's lower limbs to lift the legs and step feet, simulating the normal walking posture, which reduces the difficulty of rehabilitation training to a certain extent and improves the effect of rehabilitation training.

[0006] In order to solve the above technical problems, this application adopts the following technical solutions:

[0007] A walking aid mechanism for assisting walking rehabilitation training comprises a support frame, the top of the support frame is provided with an upper limb fixing part, the middle of the support frame is provided with a simulated walking component, the simulated walking component comprises a lower limb guide plate arranged in the middle of the support frame, the lower limb guide plate comprises a thigh guide plate and a calf guide plate, a first motor is provided at the front end of the lower limb guide plate, a traction rope is provided on the rotating shaft of the first motor, the traction rope is connected to the bottom front end of the thigh guide plate; a movable connection point is provided between the thigh guide plate and the calf guide plate, a second motor for driving the calf guide plate to swing is fixedly provided on the side of the movable connection point, the first motor first drives the thigh guide plate to lift up, and then the second motor drives the calf guide plate to lift up, so as to realize the simulated posture of lifting the leg and stepping.

[0008] In order to facilitate the patient to fix the upper limbs, in some embodiments, the upper limb fixing part includes an armpit support rod and a hand-held rod.

[0009] In order to improve the comfort of the patient's upper limb fixation, in some embodiments, the axillary support rod is provided with a cushion, and in order to facilitate the patient to control the movement of the simulated walking component, a remote control is provided on the handheld rod.

[0010] In order to enable the thigh guide plate to be fixed at a certain height and swing, thereby driving the patient's thigh to lift up, in some embodiments, a cross bar is provided in the middle of the front end of the support frame, and a ring is provided at the top front end of the thigh guide plate, through which it can be swingably mounted on the cross bar, and a calf guide plate is hinged at the bottom of the thigh guide plate.

[0011] In order to adjust and fix the lateral position of the lower limb guide plate on the cross bar, in some embodiments, the cross bar is provided with a limit member for limiting the lateral movement of the ring, and the limit member includes two sliding sleeves, and the two sliding sleeves are respectively arranged on the left and right sides of the ring, and a synchronization rod is connected to the sides of the two sliding sleeves. The sides of the sliding sleeves are provided with screw holes, and the limit screws are screwed into the screw holes.

[0012] In order to control the swinging angle of the thigh guide plate to meet the requirements of the leg lifting angle, in some embodiments, a first sensor is provided at the front end of the thigh guide plate and below the ring. When the thigh guide plate swings forward, the first sensor contacts the synchronization rod.

[0013] In some embodiments, an angle rod is provided at the front end of the middle part of the support frame, a flat plate is provided in the space between the angle rod and the cross bar, the first motor is fixed on the flat plate, a guide wheel is provided at one end of the angle rod, and the traction rope on the rotating shaft of the first motor passes around the guide wheel and is connected to the bottom front end of the thigh guide plate.

[0014] In order to control the swinging angle of the calf guide plate to meet the requirements of the stepping angle, in some embodiments, a bending baffle is provided on the front end surface of the thigh guide plate above the movable connection point, and a screw hole is opened on the bending baffle, and a limiting bolt is provided in the screw hole; a second sensor is provided on the calf guide plate, and when the calf guide plate swings forward, the second sensor and the end face of the limiting bolt are in contact.

[0015] In order to be able to flexibly control the simulated walking component to perform leg lifting and foot stepping movements, in some embodiments, a control box is hung on the right side of the support frame, and a controller is provided in the control box. The control ports of the controller are respectively connected to the remote control, the first motor, the second motor, the first sensor and the second sensor.

[0016] In some embodiments, a power supply is hung on the left side of the support frame, and the power supply is electrically connected to the remote control, the first motor, the second motor, the first sensor, the second sensor and the control box respectively.

[0017] Compared with the prior art, the present application achieves at least the following beneficial effects: the walking aid mechanism can replace the medical staff or family members to assist in walking. The patient needs to wear a simulated walking component, and then control the simulated walking component by hand to lift the legs and step, so as to pull the patient's legs to actively perform walking rehabilitation training. It is very suitable for patients who are in the early stage of rehabilitation training and walk slowly. In the process of walking, the patient's movement is driven by the walking aid mechanism as a whole, which firstly reduces the physical strength of the medical staff or family members; secondly, the difficulty of walking rehabilitation training is reduced through the guidance of the simulated walking component; thirdly, the patient can use the walking aid mechanism independently, even when the medical staff is busy. More exercise promotes blood circulation and improves the effect of rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments of the present application will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0019] Figure 1 This is a front view of a walking aid mechanism according to one embodiment of the present application;

[0020] Figure 2 A three-dimensional schematic diagram of a walking aid mechanism according to one embodiment of the present application;

[0021] Figure 3 for Figure 2 The local schematic diagram of the A in the middle;

[0022] Figure 4 for Figure 2 The local schematic diagram of point B in the middle;

[0023] Figure 5This is a three-dimensional schematic diagram of a walking aid mechanism in a moving state according to one embodiment of the present application.

[0024] The numbers in the figure are: 1. support frame; 1-1. connecting rod; 2. mat; 3. remote control; 4. upper limb fixing part; 4-1. armpit support rod; 4-2. hand-held rod; 5. angle rod; 6. control box; 7. connecting rod; 8. thigh guide plate; 8-1. ring; 9. traction rope; 10. second motor; 11. calf guide plate; 12. wheel; 13. power supply; 14. first motor; 15. cross bar; 16. guide wheel; 17. flat plate; 18. winch; 19. sliding sleeve; 20. limit screw; 21. synchronization rod; 22. bending baffle; 23. limit bolt; 24. second sensor; 25. connecting block; 26. first sensor. DETAILED DESCRIPTION

[0025] The present application will be described in detail below with reference to the exemplary embodiments in the accompanying drawings. However, it should be understood that the present application can be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. These embodiments are provided here to make the disclosure of the present application more complete and to fully convey the concept of the present application to those skilled in the art.

[0026] In the description of the present application, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 understood as limiting the scope of protection of the present application.

[0027] The existing walkers do not have the ability to simulate the action posture of lifting legs and walking feet, which makes it difficult for patients to lift their legs and walk feet independently, reducing the effect of rehabilitation training. After careful analysis, the inventor found that the reason for the above problems with existing walkers is mainly that in the early stages of rehabilitation training for hemiplegic patients, they may not be able to independently control their legs to perform small walking movements. Therefore, in theory, a corresponding mechanism is required to guide the lower limbs to lift legs and walk feet. After a certain period of recovery, they can gradually perform conscious and autonomous slow walking. The existing walkers allow patients to sit on a mat and walk independently. Obviously, the walkers are not suitable for patients in the early stages of walking rehabilitation training. Based on the above analysis, the inventor made structural improvements to the walking mechanism of the walker.

[0028] like Figure 1As shown, in one embodiment of the walking aid mechanism for assisting walking rehabilitation training of the present application, the walking aid mechanism includes a support frame 1, the support frame 1 includes four vertical poles distributed at four corners, the bottom of the vertical poles are bent, and the bent bottom ends are connected to wheels 12, and a connecting rod 1-1 is welded between the vertical poles distributed front and back, and not limited to one. The top of the support frame 1 is provided with an upper limb fixing part 4, and the middle part of the support frame 1 is provided with a simulated walking component for simulating leg lifting and stepping. The simulated walking component includes a lower limb guide plate arranged in the middle part of the support frame 1, and the lower limb guide plate includes a thigh guide The front end of the lower limb guide plate 8 and the calf guide plate 11 are provided with a first motor 14, and a traction rope 9 made of steel wire is provided on the rotating shaft of the first motor 14, and the traction rope 9 is connected to the bottom front end of the thigh guide plate 8; a movable connection point is provided between the thigh guide plate 8 and the calf guide plate 11, and a second motor 10 for driving the calf guide plate 11 to swing is fixed on the side of the movable connection point with bolts, the first motor 14 first drives the thigh guide plate 8 to lift up, and then the second motor 10 drives the calf guide plate 11 to lift up, so as to realize the simulated posture of lifting the leg and stepping.

[0029] A connecting block 25 is provided at the front end of the bottom of the thigh guide plate 8. A circular hole is opened on the front end surface of the connecting block 25, and a threaded hole connected to the circular hole is opened on the side. After one end of the traction rope 9 is inserted into the circular hole, a bolt is screwed into the side of the connecting block 25 so that the threaded end of the bolt presses the traction rope 9 tightly, thereby fixing the traction rope 9 on the thigh guide plate 8.

[0030] In order to facilitate the patient to fix the upper limbs, Figure 2 As shown, the upper limb fixing part 4 includes an axillary support rod 4-1 and a hand-holding rod 4-2. The axillary support rod 4-1 is U-shaped as a whole and is welded to the top of the support frame 1. The hand-holding rod 4-2 is fixed to the front end of the axillary support rod 4-1, extends forward and bends upward. When using this walking aid mechanism, the patient's armpit is stuck on the axillary support rod 4-1, and the hand holds the hand-holding rod 4-2.

[0031] In order to improve the comfort of the patient's upper limb fixation, a cylindrical pad 2 for supporting the patient's armpit is mounted on the axillary support rod 4-1. In order to facilitate the patient to control the movement of the simulated walking component, a remote controller 3 is provided on the handheld rod 4-2, and corresponding buttons are provided on the remote controller 3.

[0032] In order to make the thigh guide plate 8 fixed at a certain height position to swing and drive the patient's thigh to lift up, refer to Figure 3 A cross bar 15 is welded to the middle of the front end of the support frame 1, and a ring 8-1 is provided at the top front end of the thigh guide plate 8. The thigh guide plate 8 is swingably mounted on the cross bar 15 through the ring 8-1. A calf guide plate 11 is hinged at the bottom of the thigh guide plate 8, and the movable connection point is the hinge point.

[0033] In order to adjust and fix the lateral position of the lower limb guide plate on the cross bar 15, a limit piece is provided on the cross bar 15 to limit the lateral movement of the collar 8-1. The limit piece includes two sleeves 19, which are respectively arranged on the left and right sides of the collar 8-1. A U-shaped synchronization rod 21 is welded to the sides of the two sleeves 19. When the synchronization rod 21 is moved, the two sleeves 19 will move accordingly. A screw hole is provided on the side of the sleeve 19. A limit screw 20 is screwed into the screw hole. By tightening the limit screw 20, the limit piece can be fixed on the cross bar 15, and the limit piece cannot move along the axis of the cross bar 15 or rotate in a circle.

[0034] In order to control the swing angle of the thigh guide plate 8 to meet the requirements of the leg lifting angle, refer to Figure 5 A first sensor 26 is provided at the front end of the thigh guide plate 8 and below the ring 8-1. When the thigh guide plate 8 swings forward, the first sensor 26 contacts the synchronization rod 21. The thigh guide plate 8 is limited and can also feed back the pressure signal through the first sensor 26.

[0035] Combination Figure 1 and Figure 3 As shown, two angle rods 5 are welded equidistantly on the left and right sides of the front middle part of the support frame 1, a plate 17 is welded in the space between the angle rods 5 and the cross rod 15, the first motor 14 is fixed on the plate 17 with bolts, and a guide wheel 16 is provided at one end of the angle rod 5 facing the middle part of the support frame 1. The traction rope 9 on the rotating shaft of the first motor 14 passes around the guide wheel 16 and is connected to the bottom front end of the thigh guide plate 8. The function of the guide wheel 16 is to move the fulcrum supporting the traction rope 9 forward. Compared with the first motor 14 directly pulling the thigh guide plate 8, adding the guide wheel 16 can improve the smoothness of the pulling of the traction rope 9.

[0036] In order to control the swing angle of the calf guide plate 11 to meet the requirements of the step angle, Figure 2 , 4 As shown in Figure 5, a bending baffle 22 is provided on the front end surface of the thigh guide plate 8 above the movable connection point. The bending baffle 22 is bent downward, and a screw hole is opened on the downwardly bent end surface of the bending baffle 22, and a limiting bolt 23 is provided in the screw hole; a second sensor 24 is provided on the front end surface of the calf guide plate 11. When the calf guide plate 11 swings forward, the second sensor 24 contacts with the end surface of the limiting bolt 23, and the calf guide plate 11 is limited and can also feed back the pressure signal through the second sensor 24.

[0037] The first sensor 26 and the second sensor 24 are both pressure sensors.

[0038] In order to flexibly control the simulated walking component to perform leg-lifting and foot-stepping movements, a control box 6 is hung on the connecting rod 1-1 on the right side of the support frame 1. The control box 6 is provided with a controller, which can use a stepper servo motor controller with model SM1P0908. It can control multiple stepper motors to operate in time-sharing mode, and can use a computer-style programming language for input, output, technology, loop, conditional transfer, unconditional transfer, interruption and other instructions, which can meet the operation requirements of the walking aid. The control ports of the controller are respectively connected to the remote control 3, the first motor 14, the second motor 10, the first sensor 26 and the second sensor 24.

[0039] A power supply 13 is hung on the connecting rod 1 - 1 on the left side of the support frame 1 , and the power supply 13 is electrically connected to the remote control 3 , the first motor 14 , the second motor 10 , the first sensor 26 , the second sensor 24 and the control box 6 respectively.

[0040] The thigh guide plate 8 and the calf guide plate 11 are arc-shaped plates, and their shapes match the patient's thighs and calves. In addition, the rear ends of the thigh guide plate 8 and the calf guide plate 11 are provided with elastic cloth loops (not shown), and the lower limb guide plates are worn through the cloth loops.

[0041] The first motor 14 and the second motor 10 can be stepper motors of 86HB155.

[0042] A connecting rod 7 is welded to the bend below the support frame 1 to improve the strength of the support frame 1 .

[0043] In order to prevent the traction rope 9 from falling off the rotating shaft of the first motor 14 during the shortening process, two discs are provided on the rotating shaft of the first motor 14 to form a structure of a winch 18 , and the traction rope 9 is wound in the middle of the winch 18 .

[0044] When using the walking aid mechanism, the patient's upper limbs are fixed, that is, the armpits are stuck on the pad 2 of the armpit support rod 4-1, the remote control 3 is grasped by the hand, and then someone else puts the patient's legs into the lower limb guide plate. The corresponding start and stop program has been burned into the controller. The patient first steps forward with the healthy leg, and then the support frame 1 moves forward relying on the wheels 12. At this time, the lower limb guide plate swings backward at a certain angle, and then the patient presses the start button on the remote control 3. The controller receives the start signal and drives the first motor 14 to rotate. The first motor 14 rotates clockwise to coil up and shorten the traction rope 9. At this time, the lower end of the thigh guide plate 8 is pulled forward by the traction rope 9 to do the lifting. Lifting action, when the first sensor 26 and the synchronization rod 21 are in contact and pressurized, the first sensor 26 feeds back a signal to the controller, and the controller controls the first motor 14 to stop rotating and maintain the current posture. At this time, the calf guide plate 11 and the ground are in a perpendicular posture to each other. After the thigh guide plate 8 stops swinging, the controller drives the second motor 10 to rotate and drive the calf guide plate 11 to swing, and the patient's calf takes a step forward. Finally, the patient's healthy leg moves backward. When the maximum distance is moved, the stop button of the remote control 3 is pressed to cut off the power to the first motor 14 and the second motor 10, and the legs wearing the lower limb guide plate naturally droop and contact the ground, and then repeat the above operation.

[0045] The drawings in this embodiment show that the simulated walking component is arranged on the right side of the middle part of the support frame 1. If the patient is paralyzed in the left leg, the limit screw 20 on the limit piece can be loosened, the traction rope 9 can be loosened, and then the limit piece and the simulated walking component can be moved to the left along the cross bar 15, and the traction rope 9 can be wound around the rotating shaft of the first motor 14 on the left side of the middle part of the support frame 1, and placed on the guide wheel 16, and the limit piece can be tightened before use.

[0046] It should be understood that all the above embodiments are illustrative rather than restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above based on the concept of the present application should all be within the protection scope of the present application.

Claims

1. A walking aid mechanism for assisting walking rehabilitation training, characterized in that: It includes a support frame, the top of which is provided with an upper limb fixing part, the middle of which is provided with a simulated walking component, the simulated walking component includes a lower limb guide plate arranged in the middle of the support frame, the lower limb guide plate includes a thigh guide plate and a calf guide plate, a first motor is provided at the front end of the lower limb guide plate, a traction rope is provided on the rotating shaft of the first motor, the traction rope is connected to the bottom front end of the thigh guide plate; a movable connection point is provided between the thigh guide plate and the calf guide plate, and a second motor for driving the calf guide plate to swing is fixedly provided on the side of the movable connection point.

2. The walking aid mechanism according to claim 1, characterized in that: The upper limb fixing part includes an armpit support rod and a hand-held rod.

3. The walking aid mechanism according to claim 2, characterized in that: The armpit support rod is covered with a cushion, and the hand-held rod is provided with a remote controller.

4. The walking aid mechanism according to claim 1, characterized in that: A cross bar is provided in the middle of the front end of the support frame, a sleeve is provided at the top front end of the thigh guide plate, and the thigh guide plate can be swingably mounted on the cross bar through the sleeve, and a calf guide plate is hinged below the thigh guide plate.

5. The walking aid mechanism according to claim 4, characterized in that: The cross bar is provided with a limit piece for limiting the lateral movement of the ring, and the limit piece includes two sliding sleeves, which are respectively arranged on the left and right sides of the ring, and a synchronization rod is connected to the sides of the two sliding sleeves. The sides of the sliding sleeves are provided with screw holes, and the limit screws are screwed into the screw holes.

6. The walking aid mechanism according to claim 5, characterized in that: A first sensor is arranged at the front end of the thigh guide plate and below the collar. When the thigh guide plate swings forward, the first sensor contacts the synchronization rod.

7. The walking aid mechanism according to claim 4, characterized in that: An angle rod is provided at the front end of the middle part of the support frame, a flat plate is provided in the space between the angle rod and the cross rod, the first motor is fixed on the flat plate, a guide wheel is provided at one end of the angle rod, and the traction rope on the rotating shaft of the first motor passes around the guide wheel and is connected to the bottom front end of the thigh guide plate.

8. The walking aid mechanism according to claim 1, characterized in that: A bending baffle is provided above the movable connection point and on the front end surface of the thigh guide plate, and a screw hole is opened on the bending baffle, and a limiting bolt is arranged in the screw hole; a second sensor is provided on the calf guide plate, and when the calf guide plate swings forward, the second sensor contacts the end surface of the limiting bolt.

9. The walking aid mechanism according to any one of claims 3, 6 and 8, characterized in that: A control box is hung on the right side of the support frame, and a controller is arranged in the control box. The control ports of the controller are respectively connected to the remote controller, the first motor, the second motor, the first sensor and the second sensor.

10. The walking aid mechanism according to claim 9, characterized in that: A power supply is hung on the left side of the support frame, and the power supply is electrically connected to the remote controller, the first motor, the second motor, the first sensor, the second sensor and the control box respectively.

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