Intelligent rehabilitation balancing device

Abstract

The utility model relates to the field of rehabilitation instruments, in particular to an intelligent rehabilitation balancing device. Comprising a rack, an electric control assembly, a lifting double-slope structure, a lifting step mechanism, a lifting slope structure and a binding mechanism, the lifting structure is arranged on the binding mechanism and comprises a sleeve, and a width adjusting structure is arranged on the long sleeve; in the lifting double-slope structure and the lifting slope structure on the rack, a groove square pipe frame is arranged in a space defined by the conveying belt, a crank arm is arranged on the groove square pipe frame, and a telescopic motor is arranged below the conveying belt; in the lifting step structure, the number of the step structures is more than two; the binding structure is of a door-shaped structure, the door-shaped structure is provided with a sliding block structure and a lead screw nut, the sliding block structure is arranged on the sliding rail, the door-shaped structure is provided with an infrared sensor, and the binding structure is provided with a binding belt. A patient can adjust the height and the inclination angle according to needs, so that the equipment can adapt to different crowds and different patient conditions; and height adjustment and angle wireless control can be carried out on the equipment.

Description

Technical Field

[0001] The utility model relates to the field of rehabilitation equipment, in particular to an intelligent rehabilitation balance device. Background Art

[0002] At present, the development of the rehabilitation medical industry presents many problems, such as: insufficient capital investment, insufficient equipment supply, small scale of rehabilitation institutions, backward supporting equipment, low economic benefits of rehabilitation medical care, etc. From the perspective of domestic rehabilitation market demand, the per capita rehabilitation cost level in my country is relatively low. However, with the improvement of people's economic level and the deepening of knowledge, it is worth affirming that the construction of rehabilitation medical institutions in my country is developing rapidly.

[0003] Through extensive reading of literature related to rehabilitation medicine, we learned that the existing rehabilitation balance bar has certain limitations and cannot adapt well to patients with different physical conditions. Utility Model Content

[0004] The invention of the utility model aims to overcome the deficiencies of the prior art and provide an intelligent rehabilitation balance device.

[0005] The utility model adopts the following technical solutions:

[0006] An intelligent rehabilitation balance device includes a frame, an electric control component, a lifting double-slope structure, a lifting step structure, a lifting slope structure and a restraining structure installed on the frame,

[0007] The lifting structure is placed on the restraining structure, and the lifting structure includes a sleeve, a motor is installed at the bottom of the sleeve, and the motor is connected to the lead screw through a coupling, a lead screw nut is installed on the lead screw, and the lead screw nut is embedded in the tray, and a long sleeve is installed above the tray; the long sleeve is equipped with a width adjustment structure;

[0008] The lifting double-bevel structure on the frame includes a steering gear, which is coaxially connected to the driving platform gear, the driving platform gear is respectively meshed with the first driven platform gear and the second driven platform gear, the first driven platform gear shaft is equipped with a first active arm, and the first active arm is connected to the first transmission arm;

[0009] The second driven platform gear shaft is provided with a second active arm, which is connected to the second transmission arm; the first transmission arm is connected to the first inclined panel via a first hinge shaft, and the second transmission arm is connected to the second inclined panel via a second hinge shaft; the first inclined panel and the second inclined panel are hinged via hinges, and the first driven platform gear and the second driven platform gear have the same number of teeth and rotate in opposite directions;

[0010] In the lifting slope structure adjacent to the lifting double-slope structure, the DC reduction motor is connected to the driving wheel, the driving wheel is connected to the driven wheel by transmission, the driven wheel shaft is equipped with a driving roller, and a conveyor belt structure is set between the driving roller and the driven roller; a groove square tube frame is installed in the space surrounded by the conveyor belt, a crank arm is installed on the groove square tube frame, a driven roller shaft is installed on the crank arm, a dovetail structure matching the groove square tube frame is arranged on the crank arm, and a dovetail groove structure is installed on the groove square tube frame; an optical axis is installed at the lower end of the crank arm, the optical axis is connected to the telescopic motor, and the telescopic motor is placed below the conveyor belt;

[0011] In the lifting step structure adjacent to the lifting ramp structure, the step structures are arranged to be more than two; the DC motor drives the lead screw to rotate through the coupling, the lead screw is provided with a lead screw nut, the lead screw nut seat where the lead screw nut is located is provided with an optical axis and an optical axis, and one end of the lead screw is placed on the lead screw support seat;

[0012] A linear sliding bearing is installed on the optical axis, the screw base is respectively equipped with the aforementioned linear sliding bearing and the linear sliding bearing, the first connecting rod is hinged with the second connecting rod on the support where the optical axis is located through the first hinge shaft, and the first connecting rod and the second connecting rod are set with the same length; the other end of the second connecting rod is connected to the linear sliding bearing, and the linear sliding bearing is sleeved on the optical axis; the linear sliding bearing is hinged with the bottom surface of the first step; the other end of the first connecting rod is hinged with the bottom surface of the first step;

[0013] A linear sliding bearing is mounted on the optical axis, a third connecting rod is hinged on the linear sliding bearing, the third connecting rod is hinged to the fourth connecting rod through a second hinge shaft, the other end of the third connecting rod is hinged to the sixth connecting rod, the middle of the sixth connecting rod is hinged to the middle of the fifth connecting rod through the second hinge shaft, and the two ends of the fifth connecting rod are hinged to the bottom surface of the second step and the fourth connecting rod respectively; one end of the sixth connecting rod is connected to the linear sliding bearing through the optical axis, and the linear sliding bearing is hinged to the bottom surface of the second step;

[0014] In the restraint structure installed on the frame, the restraint structure is a door-shaped structure, and the two legs of the door-shaped structure are respectively equipped with a slider structure and a screw nut, the slider structure is placed on the slide rails on each side, the screw nut is connected to the screw, and one end of the screw is connected to the transmission structure; an infrared sensor is installed on the door-shaped structure, and a restraint belt is installed on the restraint structure.

[0015] The utility model adopting the above technical solution has the following advantages: it is particularly suitable for people with lower limb motor dysfunction caused by various reasons such as paraplegia, hemiplegia, amputation, etc., and is mainly suitable for physical activities to restore or improve functions after injury. Patients can adjust the height and tilt angle according to their needs to make the device suitable for different groups of people and different patient conditions; patients can wirelessly control the device such as adjusting the height and angle through the WeChat applet.

[0016] The utility model adopts the following technical solutions:

[0017] The DC reduction motor in the width adjustment structure is connected to the inner shaft one, and an external thread structure is arranged on the inner shaft one. The external thread structure on the inner shaft one cooperates with the internal thread structure on the inner shaft two, and the external thread structure on the inner shaft two is connected with the internal thread of the outer shaft three. The outer shaft three is a hollow shaft structure, and a circular hole is arranged at one end of the outer shaft three for installing the handrail. The outer circumference of the outer shaft three is a spline shaft structure, and the outer shaft three is cooperated and connected with the internal spline groove on the outer shaft two; the outer circumference of the outer shaft two also has a spline shaft structure, and the spline shaft structure is connected with the spline groove structure inside the outer shaft one; a lower end of the outer shaft is a handle-like structure, and the handle-like structure is sleeved on the long sleeve of the lifting structure.

[0018] The number of the restraining belts is two.

[0019] One end of the lead screw of the restraining structure is coaxially connected to the driven pulley, the driven pulley is connected to the driving pulley, and the driving pulley is connected to the motor.

[0020] A camera assembly is arranged in front of the frame at a position opposite to the restraining frame.

[0021] The number of step structures is four.

[0022] The electronic control component includes a reset circuit connected to the single-chip microcomputer, a clock circuit, a Bluetooth module, an infrared switch sensor, a DC motor drive module, a stepper motor drive module and a camera module.

[0023] The front and rear ends of the frame are respectively provided with inclined surface structures, and the inclined surface structures at the front and rear ends are symmetrically arranged. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0025] Figure 2 yes Figure 1 Top view of the .

[0026] Figure 3 yes Figure 1 Side view of.

[0027] Figure 4 It is a three-dimensional structural schematic diagram of the lifting structure.

[0028] Figure 5 It is the main view of the lifting structure.

[0029] Figure 6 yes Figure 5 AA section view.

[0030] Figure 7 It is a three-dimensional diagram of the lifting double slope structure.

[0031] Figure 8It is a bottom view of the lifting double slope structure.

[0032] Fig. 9 It is a three-dimensional diagram of the lifting step structure.

[0033] Fig.10 It is the front view of the lifting step structure.

[0034] Fig.11 yes Fig.10 Side view of.

[0035] Fig.12 It is a schematic diagram of the width adjustment structure.

[0036] Fig.13 It is a cross-sectional view of the width adjustment structure.

[0037] Fig.14 It is the front view of the restrained structure.

[0038] Fig.15 is a top view of the restraining structure.

[0039] Fig.16 It is a three-dimensional diagram of the lifting ramp structure.

[0040] Fig.17 It is a block diagram of the electronic control components. DETAILED DESCRIPTION

[0041] See attached Figures 1 to 16 The structure shown in FIG. 1 , wherein: camera assembly 1 .

[0042] Lifting step structure 2, first step 201, second step 202, DC motor 203, screw 204, screw support seat 205, screw nut 206, screw nut seat 207, first linear sliding bearing 208, second linear sliding bearing 209, first optical axis 211, second optical axis 212, third linear sliding bearing 213, first connecting rod 214, first hinge shaft 215, second connecting rod 216, third optical axis 217, fourth optical axis 218, third connecting rod 219, fourth connecting rod 220, second hinge shaft 221, fifth connecting rod 222, sixth connecting rod 223, third hinge shaft 224.

[0043] Lifting ramp structure 3, DC reduction motor 301, driving wheel 302, driven wheel 304, conveyor belt 305, driving roller 306, grooved square tube frame 307, crank arm 308, driven roller 309, fifth optical axis 310, telescopic motor 311.

[0044] The restraining structure 4, the screw rod 401 of the restraining structure, the belt 402, the slider 403, the slide rail 404, the restraining belt 405, the handrail 406, and the screw nut 408 of the restraining structure.

[0045] Lifting double-inclined surface structure 5, first inclined surface plate 501, second inclined surface plate 502, driving platform gear 503, first driven platform gear 504, second driven platform gear 505, first transmission arm 506, first driving arm 507, steering gear 509, hinge 510, first hinge shaft 511.

[0046] Frame 6, rear slope 601, front slope 602.

[0047] Lifting structure 7, sleeve 7101, motor 7102, coupling 7103, screw nut 7104 of the lifting structure, tray 7105, screw rod 7106, and long sleeve 7108.

[0048] Width adjustment structure 72, outer shaft one 7201, outer shaft two 7203, outer shaft three 7204, inner shaft two 7205, inner shaft one 7206, DC reduction motor 7207 in the width adjustment structure, and handle-type structure 7208.

[0049] In this embodiment, the frame 6 and various structures mounted on the frame 6 and the electric control components are composed. A camera assembly 1 is arranged at a position in front of the frame opposite to the front slope surface 602. The position of the camera in the camera assembly 1 can be approximately adapted to the position of the head and chest of the human body, and can also be made into a structure with a telescopic function according to actual needs. The lifting double slope structure 5, the lifting step structure 2, the lifting slope structure 3 and the restraining structure 4 are mounted on the frame 6, and the lifting structure 7 is placed on the restraining structure 4.

[0050] The electronic control components include a reset circuit connected to the microcontroller, a clock circuit, a Bluetooth module, an infrared switch sensor, a DC motor drive module, a stepper motor drive module and a camera module.

[0051] The lifting structure 7 is placed on the restraining structure 4, and the lifting structure 7 includes a sleeve 7101, a motor 7102 is installed at the bottom of the sleeve 7101, the motor 7102 is connected to the screw rod 7106 through a coupling 7103, a screw nut 7104 of the lifting structure is installed on the screw rod 7106, the screw nut 7104 of the lifting structure is embedded in the tray 7105, and a long sleeve 7108 is installed above the tray 7105; the long sleeve 7108 is installed with a width adjustment structure 72.

[0052] The lifting double-slope structure 5 on the frame 6 includes a steering gear 509, which can control the rotation angle more accurately; the steering gear 509 is coaxially connected to the driving platform gear 503, and the driving platform gear 503 is respectively meshed with the first driven platform gear 504 and the second driven platform gear 505. The first active arm 507 is installed on the shaft of the first driven platform gear 504, and the first active arm 507 is connected to the first transmission arm 506.

[0053] A second active arm is mounted on the shaft of the second driven gear 505, and the second active arm is connected to the second transmission arm (not shown in the figure, but the specific structure is the same as the connection structure of the first driven gear 504 and the first active arm 507).

[0054] The first transmission arm 506 is connected to the first inclined panel 501 via a first hinge shaft 511 , and the second transmission arm is connected to the second inclined panel 502 via a second hinge shaft.

[0055] The first inclined panel 501 and the second inclined panel 502 are hingedly connected via a hinge 510 . The first inclined panel 501 and the second inclined panel 502 have the same structure and are symmetrically arranged.

[0056] The first driven gear 504 and the second driven gear 505 have the same number of teeth and rotate in opposite directions, thereby achieving symmetrical movement. The first inclined plate 501 and the second inclined plate 502 are hinged by a hinge 510 and can rotate freely about the axis, thus realizing the function of freely adjusting the rotation angle of the two inclined plates.

[0057] In the lifting slope structure 3 adjacent to the lifting double slope structure 5, see the attached Fig.16 The DC reduction motor 301 is connected to the driving wheel 302, the driving wheel 302 is connected to the driven wheel 304 in transmission connection, the driven wheel 304 shaft is provided with a driving roller 306, and a conveyor belt 305 structure is set between the driving roller 306 and the driven roller 309; a grooved square tube frame 307 is installed in the space surrounded by the conveyor belt, the grooved square tube frame 307 is provided with a crank arm 308, the crank arm 308 is provided with a driven roller shaft, the crank arm 308 is provided with a dovetail structure that cooperates with the grooved square tube frame 307, and the grooved square tube frame 307 is provided with a dovetail groove structure; the lower end of the crank arm 308 is provided with a fifth optical axis 310, the fifth optical axis 310 is connected to a telescopic motor 311, and the telescopic motor 311 is placed below the conveyor belt 305.

[0058] In the lifting step structure 2 adjacent to the lifting ramp structure 3, the step structure is set to be more than two: in this embodiment, it is set to be four, see Figure 2 The structure shown in FIG. 1 is shown in FIG. 1 . The structure listed in this embodiment is shown in FIG. Fig. 9 and attached Fig.11 (Take the two step surface structure as an example for explanation); the DC motor 203 drives the screw 204 to rotate through the coupling, and the screw 204 is mounted with a screw nut 206. The third optical axis 217 and the fourth optical axis 218 are mounted on the screw nut seat 207 where the screw nut 206 is located, and one end of the screw 204 is placed on the screw support seat 205.

[0059] The third optical axis 217 is provided with a first linear sliding bearing 208, the screw base 207 is provided with a first linear sliding bearing 208 and a second linear sliding bearing 209, the first connecting rod 214 is hinged to the second connecting rod 216 on the support where the third optical axis 217 is located through a first hinge shaft 215, and the first connecting rod 214 and the second connecting rod 216 are provided with equal lengths. The other end of the second connecting rod 216 is connected to the third linear sliding bearing 213, and the third linear sliding bearing 213 is sleeved on the second optical axis 212; the third linear sliding bearing 213 is hinged to the bottom surface of the first step 201; the other end of the first connecting rod 214 is hinged to the bottom surface of the first step 201.

[0060] The fourth optical axis 218 is provided with a second linear sliding bearing 209, and the second linear sliding bearing 209 is hinged with a third link 219, which is hinged with the fourth link 220 through a second hinge shaft 221, and the other end of the third link 219 is hinged with the sixth link 223, and the middle of the sixth link 223 is hinged with the middle of the fifth link 222 through a third hinge shaft 224, and the two ends of the fifth link 222 are respectively hinged with the bottom surface of the second step 202 and the fourth link 220. One end of the sixth link 223 is connected to the linear sliding bearing through the first optical axis 211, and the linear sliding bearing is hinged on the bottom surface of the second step 202.

[0061] The lifting step structure 2 of this embodiment can adopt a multi-level connecting rod hinge method according to actual needs, that is, it adopts the parallelogram principle hinge method, has a large degree of telescopic flexibility, is powered by a DC reduction motor, and the connecting rod is pushed by the screw nut, thereby realizing the vertical upward and downward adjustable movement of the step plane, meeting the functional requirements.

[0062] In the restraint structure 4 installed on the frame 6, the restraint structure 4 is a door-shaped structure as a whole, and the two legs of the door-shaped structure are respectively equipped with a slider structure 403 and a screw nut 408 of the restraint structure, the slider structure 403 is respectively placed on the slide rails 404 on one side, the screw nut 408 of the restraint structure is connected to the screw 401 of the restraint structure, and one end of the screw 401 of the restraint structure is connected to the transmission structure; an infrared sensor is installed on the door-shaped structure, and a restraint belt 405 is installed on the restraint structure 4. The transmission structure in the restraint structure 4 is: one end of the screw 401 of the restraint structure is coaxially connected to the driven pulley, the driven pulley is connected to the driving pulley, and the driving pulley is connected to the motor.

[0063] The infrared sensor is a sensor based on infrared technology used to detect the approach or departure of an object. It can detect moving objects with a response time of about 2-3ms. It can clearly distinguish mixed colors (such as black and white). When the infrared switch sensor detects that the user is approaching, the screw rod rotates to make the balancing device move forward, so that it can follow the user's movement at any time.

[0064] Based on Bluetooth wireless communication technology, the exchange and communication between the rehabilitation equipment and the host computer is realized. This device uses the HC-05 Bluetooth module as a bridge for wireless communication between the equipment and the host computer. HC-05 is a master-slave integrated serial port Bluetooth module. There is no need to understand the complex Bluetooth protocol when using it. Just use it as an ordinary serial port. The serial port communication is in transparent transmission mode. Since it supports both master and slave modes, any two Bluetooth modules can communicate with each other, and HC-05 can obtain or modify the module's data information through AT commands.

[0065] The Bluetooth module is connected to the control panel hardware of the device, and transmits data and issues commands through serial communication. The main working method is that the user selects the rehabilitation project to be carried out through the host computer, and the host computer sends the ASCII code representing the rehabilitation project to the Bluetooth module. The Bluetooth module receives the ASCII code and then communicates with the microcontroller through the serial port. The microcontroller executes a series of code programs, and finally allows the device to make the rehabilitation project selected by the user.

[0066] The restraint structure 4 is provided with a belt 402 and a pulley by a motor, which transmits power to the screw 401 of the restraint structure, allowing the device to move linearly on the slide rail 404. The device is equipped with an infrared sensor and will move forward along with the patient.

[0067] In order to meet the needs of slow up and down steps, a front slope 602 and a rear slope 601 are respectively arranged in front and back of the frame 6. The highest point of the front slope 602 is flush with the equal-height step surfaces of the lifting step structure 2 when the device is stationary. The highest point of the rear slope 601 is flush with the plane of the lifting double-slope structure 5 when the device is stationary. Figure 1 The structure shown in .

[0068] The DC reduction motor 7207 in the width adjustment structure is connected to the inner shaft 1 7206. The inner shaft 1 7206 is provided with an external thread structure, which matches the internal thread structure on the inner shaft 2 7205. The external thread structure on the inner shaft 2 7205 is connected with the internal thread of the outer shaft 3 7204. The outer shaft 3 7204 is a hollow shaft structure. One end of the outer shaft 3 7204 is provided with a round hole for installing the handrail 406. The outer circumference of the outer shaft 3 7204 is a spline shaft structure, and the outer shaft 3 7204 is matched with the internal spline groove on the outer shaft 2 7203. The outer circumference of the outer shaft 2 7203 is also a spline shaft structure, which is connected with the spline groove structure inside the outer shaft 1 7201; the lower end of the outer shaft 1 7201 is a handle-like structure 7208, which is sleeved on the long sleeve 7108 of the lifting structure.

[0069] The bottom end of the second inner shaft 7205 has a partially shouldered structural thread structure that meshes with the internal thread of the second outer shaft 7203.

[0070] The width adjustment structure adopts a multi-stage telescopic shaft structure, and the rotation of the thread on the inner shaft drives the telescopic movement of the outer shaft to adjust the width between the two armrests 406 to meet the needs of different human bodies.

[0071] The CNC component of this implementation is mainly composed of three parts: CNC system, power system and visual system. The overall design idea of ​​the CNC system is to combine the STM32 single-chip microcomputer control board, L298N DC motor drive module, infrared switch sensor and HC-05 wireless communication module. The power system uses two types of motors: stepper motor and DC brushless motor. The visual system collects information data through the OV7670 camera module. Briefly describe the function. By using the HC-05 wireless communication module, the host computer can realize the intelligent control of this implementation; the controller structure block diagram is as follows Fig.17 shown.

[0072] In the CNC system, the clock circuit, reset circuit, power supply circuit and STM32F103C8T6 microcontroller form the minimum system, which serves as the command center of the entire CNC system. The reset circuit uses power-on reset and manual reset. When the power is on or the button is pressed, a short low-level signal is given to the RST terminal through a capacitor. Then the low-level signal gradually falls back as the power supply charges the capacitor, achieving the reset effect. The clock circuit is composed of an 8MHZ quartz crystal oscillator and a picofarad-level ceramic capacitor. The power supply circuit is designed to reduce the 5V voltage to 3.3V by a low-dropout linear regulator to power the module and MCU. The AMS1117-3.3V chip is used. The maximum output current of the chip is 1A, the output voltage accuracy is as high as plus or minus 2%, and the output voltage power supply ripple is stable, providing high-quality guarantee for the normal operation of the subsequent power circuit.

[0073] Purpose of the Balance Device: It can help patients improve their balance, coordination and core strength. Balance devices are well used in rehabilitation and sports training. Training balance can help reduce the risk of accidental falls, which is the main purpose of the balance device to reduce trauma. In addition, balance training can also help improve body coordination and core strength, bringing overall coordination and stability to the body. Balance bars can be used to treat a variety of diseases, such as spinal cord injuries, strokes, brain injuries and joint problems. Balance bars can help patients rebuild basic body balance and eventually return to daily life and daily activities.

[0074] Specific application examples: 1. Ankle correction: Training with a lifting dual-incline structure can help relieve ankle pain and inflammation, and provide additional support and stability to prevent further injury. 2. Step training is performed using a lifting step structure, which is a simple and effective way of exercise that can help patients increase muscle strength, aerobic endurance and cardiopulmonary function. 3. Hill climbing training, using a lifting inclined structure, is performed for patients undergoing rehabilitation training; including but not limited to the training examples listed here.

[0075] The present utility model is not limited to the contents listed above, and all equivalent substitutions made within the protection scope of the present utility model are deemed to be within the protection scope of the present utility model.

Claims

1. An intelligent rehabilitation balance device, comprising a frame, an electric control component, a lifting double slope structure, a lifting step structure, a lifting slope structure and a restraining structure installed on the frame, characterized in that: The lifting structure is placed on the restraining structure, and the lifting structure includes a sleeve, a motor is installed at the bottom of the sleeve, and the motor is connected to the lead screw through a coupling, a lead screw nut is installed on the lead screw, and the lead screw nut is embedded in the tray, and a long sleeve is installed above the tray; the long sleeve is equipped with a width adjustment structure; The lifting double-slope structure (5) on the frame (6) comprises a steering gear (509), wherein the steering gear (509) is coaxially connected to the driving platform gear (503), the driving platform gear (503) is respectively meshed with the first driven platform gear (504) and the second driven platform gear (505), the first driving arm (507) is mounted on the shaft of the first driven platform gear (504), and the first driving arm (507) is connected to the first transmission arm (506); A second active arm is mounted on the shaft of the second driven platform gear (505), and the second active arm is connected to the second transmission arm; The first transmission arm (506) is connected to the first inclined panel (501) via a first hinge shaft (511). The second transmission arm is connected to the second inclined panel (502) via a second hinge shaft; The first inclined panel (501) and the second inclined panel (502) are hingedly connected via a hinge (510). The first driven gear (504) and the second driven gear (505) have the same number of teeth and rotate in opposite directions; In the lifting slope structure adjacent to the lifting double inclined surface structure, a DC reduction motor (301) is connected to a driving wheel (302), the driving wheel (302) is drivingly connected to a driven wheel (304), a driving roller (306) is mounted on the driven wheel shaft, and a conveyor belt structure is sleeved between the driving roller (306) and the driven roller (309); a grooved square tube frame is mounted in the space surrounded by the conveyor belt, a crank arm (308) is mounted on the grooved square tube frame, a driven roller shaft is mounted on the crank arm (308), a dovetail structure cooperating with the grooved square tube frame is arranged on the crank arm, and a dovetail groove structure is mounted on the grooved square tube frame; a fifth optical axis (310) is mounted at the lower end of the crank arm, the fifth optical axis (310) is connected to a telescopic motor (311), and the telescopic motor (311) is placed below the conveyor belt (305); In the lifting step structure (2) adjacent to the lifting ramp structure, the step structures are arranged to be more than two; the DC motor (203) drives the lead screw (204) to rotate via a coupling; a lead screw nut (206) is mounted on the lead screw (204); a third optical axis (217) and a fourth optical axis (218) are mounted on a lead screw nut seat (207) where the lead screw nut (206) is located; and one end of the lead screw (204) is placed on a lead screw support seat (205); The third optical axis (217) is provided with a first linear sliding bearing (208); the lead screw base (207) is provided with a first linear sliding bearing (208) and a second linear sliding bearing (209); the first connecting rod (214) is hinged to the second connecting rod (216) on the support where the third optical axis (217) is located via a first hinge shaft (215); the first connecting rod (214) and the second connecting rod (216) are arranged with equal lengths; the other end of the second connecting rod (216) is connected to the third linear sliding bearing (213); the third linear sliding bearing (213) is sleeved on the second optical axis (212); the third linear sliding bearing (213) is hinged to the bottom surface of the first step (201); the other end of the first connecting rod (214) is hinged to the bottom surface of the first step (201); A second linear sliding bearing (209) is mounted on the fourth optical axis (218); a third connecting rod (219) is hinged on the second linear sliding bearing (209); the third connecting rod (219) and the fourth connecting rod (220) are hinged via a second hinge shaft (221); the other end of the third connecting rod (219) is hinged to a sixth connecting rod (223); the middle of the sixth connecting rod (223) is hinged to the middle of the fifth connecting rod (222) via a third hinge shaft (224); the two ends of the fifth connecting rod (222) are respectively hinged to the bottom surface of the second step (202) and the fourth connecting rod (220); one end of the sixth connecting rod (223) is connected to the linear sliding bearing via the first optical axis (211); the linear sliding bearing is hinged to the bottom surface of the second step (202); In the restraint structure installed on the frame, the restraint structure is a door-shaped structure, the two legs of the door-shaped structure are respectively equipped with a slider structure (403) and a lead screw nut (408) of the restraint structure, the slider structure (403) is respectively placed on the slide rails on one side of each, the lead screw nut (408) of the restraint structure is connected to the lead screw (401) of the restraint structure, and one end of the lead screw (401) of the restraint structure is connected to the transmission structure; an infrared sensor is installed on the door-shaped structure, and a restraint belt is installed on the restraint structure.

2. The intelligent rehabilitation balance device according to claim 1, characterized in that: The DC reduction motor (7207) in the width adjustment structure is connected to the inner shaft one (7206), and the inner shaft one (7206) is provided with an external thread structure, and the external thread structure on the inner shaft one (7206) matches the internal thread structure on the inner shaft two (7205), and the external thread structure on the inner shaft two (7205) is connected with the internal thread of the outer shaft three (7204), and the outer shaft three (7204) is a hollow shaft structure, and one end of the outer shaft three (7204) is provided with a round hole for mounting The handrail (406) has an outer circumference of the outer shaft three (7204) in the form of a spline shaft structure, and the outer shaft three (7204) is connected to the inner spline groove on the outer shaft two (7203); the outer circumference of the outer shaft two (7203) is also in the form of a spline shaft structure, and the spline shaft structure is connected to the spline groove structure inside the outer shaft one (7201); the lower end of the outer shaft one (7201) is a handle-like structure (7208), and the handle-like structure (7208) is sleeved on the long sleeve (7108) of the lifting structure.

3. The intelligent rehabilitation balance device according to claim 1, characterized in that: The number of the restraining belts is two.

4. The intelligent rehabilitation balance device according to claim 1, characterized in that: One end of the lead screw of the restraining structure is coaxially connected to the driven pulley, the driven pulley is connected to the driving pulley, and the driving pulley is connected to the motor.

5. The intelligent rehabilitation balance device according to claim 1, characterized in that: A camera assembly is arranged in front of the frame at a position opposite to the restraining frame.

6. The intelligent rehabilitation balance device according to claim 1, characterized in that: The number of step structures is four.

7. The intelligent rehabilitation balance device according to claim 1, characterized in that: The electronic control component includes a reset circuit connected to the single-chip microcomputer, a clock circuit, a Bluetooth module, an infrared switch sensor, a DC motor drive module, a stepper motor drive module and a camera module.

8. The intelligent rehabilitation balance device according to claim 1, characterized in that: The front and rear ends of the frame are respectively provided with inclined surface structures, and the inclined surface structures at the front and rear ends are symmetrically arranged.

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