Intelligent rehabilitation training walker

Abstract

The utility model discloses an intelligent rehabilitation training walker, and relates to the field of rehabilitation instruments, the intelligent rehabilitation training walker comprises two bottom supports, universal wheels are installed at the front ends of the two bottom supports, the bottom supports are arranged in parallel, and the ends, away from the universal wheels, of the two bottom supports form a whole through a same welded rear supporting plate. First driving motors are fixedly connected to the two ends of the bottom of the rear supporting plate correspondingly, rear wheels are fixedly installed at the output ends of the first driving motors, and an aluminum frame is fixedly installed in the middle of the bottom support. By the adoption of the structure, the pressure sensing module and the central control module are combined, the grip strength and the state of a patient can be monitored in real time, the height of the handrail and the walking speed of equipment can be automatically adjusted, so that the requirements of the patient are met, and the safety of the patient is guaranteed; the pressure sensor can feed back signals in real time to instruct the first driving motor to decelerate, so that accidents are effectively avoided, and the use safety is enhanced.

Description

Technical Field

[0001] This utility model belongs to the field of rehabilitation instruments, and specifically relates to an intelligent rehabilitation training walking device. Background Technology

[0002] Patients with lower limb dysfunction due to accidental injuries or other illnesses have an increasing demand for rehabilitation training devices, and their functional requirements are also rising. Currently, there are various rehabilitation training walking devices on the market, which can be broadly divided into two categories. The first category of devices has a high degree of intelligence, but usually requires customization, resulting in higher costs and thus limited versatility and widespread adoption. For example, the Exo-H3 wearable lower limb exoskeleton robot launched in Madrid, Spain in 2019, simulates human walking by storing gait experimental data to assist patients in rehabilitation training. The second category of devices has a relatively simple structure, lower cost, and greater accessibility, but its functions are more limited; typical examples include wheelchairs and other mobility aids.

[0003] In actual use, patients often need assistance from others to ensure their personal safety. This not only takes up other people's time but may also deplete their physical strength, leading to some practical problems. Utility Model Content

[0004] In view of the problems mentioned in the background art, the purpose of this utility model is to provide an intelligent rehabilitation training walking device to solve the problem that existing rehabilitation training equipment requires assistance from others.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0006] A smart rehabilitation training walking device includes two bottom brackets with omnidirectional wheels mounted at the front end. The bottom brackets are arranged in parallel, and the ends of the two bottom brackets away from the omnidirectional wheels are formed as a whole by a welded rear support plate. A first drive motor is fixedly connected to both ends of the bottom of the rear support plate, and a rear wheel is fixedly mounted to the output end of the first drive motor. An aluminum frame is fixedly mounted in the middle of the bottom brackets, and support rods are fixedly mounted on both sides of the aluminum frame. A seat frame is fixedly mounted in the middle of the two aluminum frames, and a seat cushion is hinged to one side of the seat frame. The upper half of the aluminum frame... A backrest is fixedly installed in the middle of the support rod. A training swing mechanism is fixedly installed in the middle of the support rod. A second drive motor is provided in the middle of the bottom bracket near the aluminum frame. A transmission component is fixedly installed through the bottom bracket at the end of the output shaft of the second drive motor. A sliding screw module is set inside the aluminum frame. A crossbar is fixedly installed through the aluminum frame at the upper end of the sliding screw module. An armrest is provided on one side of the crossbar. A seat lifting module is hinged to the middle of the upper end of the rear support plate. Vertical plates are fixedly connected to both ends of the rear support plate. A swing rod drive mechanism is fixedly installed at the end of the vertical plate.

[0007] The handrail is equipped with a pressure sensing module inside. The central control module is connected to a data acquisition module for collecting pressure data, and the data acquisition module is connected to a data analysis module for analyzing the collected data.

[0008] As a preferred technical solution, the lower end of the support rod is fixedly connected to the bottom bracket, and a triangular frame is formed between the support rod, the aluminum frame and the bottom bracket.

[0009] As a preferred technical solution, the training swing mechanism includes a vertical pole, a training swing arm, and a foot pedal. The vertical pole is fixedly installed in the middle of the support rod, and the upper end of the vertical pole is hinged to the training swing arm via a hinge shaft. The foot pedal is fixedly installed at the end of the training swing arm away from the hinge shaft.

[0010] As a preferred technical solution, the sliding screw module includes a screw body, a slide block, and a linear guide rail. The screw body is disposed inside the aluminum frame, and the bottom of the screw body passes through the bottom of the aluminum frame and is fixedly connected to the transmission assembly. The slide block is threadedly connected to the screw body, and the linear guide rail is fixedly connected to both ends of the slide block. The upper end of the linear guide rail passes through the upper end of the aluminum frame and is fixedly connected to the crossbar.

[0011] As a preferred technical solution, a guide rod is fixedly installed inside the crossbar, and the armrest is attached to the guide rod and slides on the side of the crossbar.

[0012] As a preferred technical solution, the transmission assembly includes a main gear, a driven gear, and a gearbox. The main gear is fixedly connected to the output shaft end of the second motor, the driven gear is fixedly connected to the bottom end of the lead screw body, and the gearbox is fixedly connected to the lower end of the bottom bracket, covering the main gear and the driven gear.

[0013] As a preferred technical solution, the seat lifting module includes a push rod bracket and a second electric push rod. The push rod bracket is fixedly connected to the upper end of the rear support plate, and the second electric push rod is fixedly installed on the push rod support frame. The telescopic end of the second electric push rod is hinged to the bottom of the seat cushion.

[0014] As a preferred technical solution, the pendulum drive mechanism includes a first electric push rod and a linkage rod hinged to the end of the first electric push rod via a hinge shaft, and the other end of the linkage rod is rotatably connected to the training pendulum.

[0015] In summary, the present invention has the following main advantages:

[0016] First, by combining the pressure sensing module and the central control module, the patient's grip strength and status can be monitored in real time, and the handrail height and the walking speed of the device can be automatically adjusted to meet the patient's needs and ensure the patient's safety. During the movement of the device, if the patient's grip strength increases due to tension, the pressure sensor can immediately provide a signal to instruct the first drive motor to decelerate, thereby effectively avoiding accidents and enhancing the safety of use.

[0017] Secondly, the height of the armrests and seat can be easily adjusted through the equipped sliding screw module and seat lifting module to accommodate patients of different heights and body types, improving comfort and usability. The design of the training swing mechanism allows patients to move their legs, assisting rehabilitation training and improving their recovery effect. At the same time, the foot pedal design enhances the sense of movement and participation during the rehabilitation process. The folding and unfolding function of the seat cushion can effectively utilize space and facilitate patients' transition between sitting and standing, providing a better training experience. With adjustable armrests and seat height, the equipment can adapt to the needs of different patients and meet the requirements of personalized training. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the seat cushion storage structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the internal structure of the aluminum frame of this utility model;

[0021] Figure 4 This is a bottom view structural diagram of this utility model;

[0022] Figure 5 This is a schematic diagram of the circuit connection module of this utility model;

[0023] Figure 6 This is a schematic diagram of the usage process of this utility model.

[0024] Reference numerals: 1. Caster wheel; 2. Bottom bracket; 3. Rear support plate; 4. First drive motor; 5. Rear wheel; 6. Aluminum frame; 7. Support rod; 8. Seat frame; 9. Seat cushion; 10. Backrest; 11. Training swing mechanism; 111. Upright pole; 112. Training swing arm; 113. Foot pedal; 12. Second drive motor; 13. Transmission assembly; 131. Main gear; 132. Driven gear; 133. Gearbox; 14. Sliding lead screw Module; 141. Lead screw body; 142. Slide seat; 143. Linear guide rail; 15. Crossbar; 16. Armrest; 17. Seat lifting module; 171. Push rod bracket; 172. Second electric push rod; 18. Vertical plate; 19. Swing rod drive mechanism; 191. First electric push rod; 192. Linkage rod; 20. Pressure sensor module; 21. Central control module; 22. Data acquisition module; 23. Data analysis module; 24. Guide rod. Detailed Implementation

[0025] Example

[0026] refer to Figures 1 to 6 The intelligent rehabilitation training walking device described in this embodiment includes two bottom brackets 2 with universal wheels 1 installed at the front end. The bottom brackets 2 are arranged in parallel. The ends of the two bottom brackets 2 away from the universal wheels 1 are connected to the same welded rear support plate 3 to form a whole. The bottom ends of the rear support plate 3 are fixedly connected to the first drive motor 4. The output end of the first drive motor 4 is fixedly installed with the rear wheel 5. An aluminum frame 6 is fixedly installed in the middle part of the bottom brackets 2. Support rods 7 are fixedly installed on both sides of the aluminum frame 6. A seat frame 8 is fixedly installed in the middle position of the two aluminum frames 6. A seat cushion 9 is hinged to one side of the seat frame 8. The upper halves of the aluminum frames 6 are fixedly connected to the seat frame 8. The backrest 10 is installed, and a training swing mechanism 11 is fixedly installed in the middle of the support rod 7. A second drive motor 12 is provided in the middle of the bottom bracket 2 near the aluminum frame 6. The output shaft end of the second drive motor 12 passes through the bottom bracket 2 and is fixedly installed with a transmission assembly 13. A sliding screw module 14 is provided inside the aluminum frame 6. A crossbar 15 is fixedly installed through the aluminum frame 6 at the upper end of the sliding screw module 14. An armrest 16 is provided on one side of the crossbar 15. A seat lifting module 17 is hinged to the middle of the upper end of the rear support plate 3. Vertical plates 18 are fixedly connected to both ends of the rear support plate 3. A swing rod drive mechanism 19 is fixedly installed at the end of the vertical plate 18.

[0027] The handrail 16 houses a pressure sensing module, which is a pressure sensor, specifically a DYMH-102 diaphragm-type load pressure sensor. This pressure sensor generates a signal that connects to the central control module 21. The central control module 21 is also located inside the bottom bracket 2. This module is a 32-bit ARM microcontroller, based on an STM32F103 microcontroller. The central control module 21 is connected to a data acquisition module 22 for collecting pressure data. The data acquisition module 22 is further connected to a data analysis module 23 for analyzing the collected data. (Reference) Figure 6 This is a flowchart illustrating the usage of this solution. During use, the minimum and maximum pressure values ​​that the pressure sensing module can receive can be set, with a range of 5kg-40kg. During operation, the pressure sensing module detects the grip force exerted by the patient on the handrail 16. When the grip force exceeds the set minimum pressure value, the data is analyzed by the data acquisition module 22 and the data collection and analysis module 23. The central control module 21 then controls the second drive motor 12 to operate. The second drive motor 12 controls the sliding screw module 14 to move the crossbar 15 upwards, thereby moving the handrail... Moving the handle 16 upwards helps the patient stand up. When the appropriate height is reached, the patient only needs to loosen their grip slightly. When the grip strength is lower than the minimum set value, the second drive motor 12 stops working, and the patient can then begin rehabilitation training. When the patient is sitting on the seat cushion 9 and the entire device is moving, if the device moves too fast or encounters a downhill slope, and the patient experiences a sudden situation and their grip on the handle 16 increases to a specified value due to tension, the pressure sensor sends a feedback signal, and the central control module 21 issues a command to safely decelerate the first drive motor 4, ensuring the patient's safety.

[0028] refer to Figure 1 The lower end of the support rod 7 is fixedly connected to the bottom bracket 2. The support rod 7, aluminum frame 6 and bottom bracket 2 form a triangular frame, which increases the structural stability of the entire walking device and improves its overall structural strength.

[0029] refer to Figure 2 The training swing mechanism 11 includes a vertical rod 111, a training swing rod 112, and a foot pedal 113. The vertical rod 111 is fixedly installed in the middle of the support rod 7. The upper end of the vertical rod 111 is hinged to the training swing rod 112 via a hinge shaft. The foot pedal 113 is fixedly installed at the end of the training swing rod 112 away from the hinge shaft. By setting up the training swing mechanism 11, the patient's feet can step on the foot pedal 113. The first electric push rod 191 drives the training swing rod 112 to swing, which drives the patient's legs placed on the foot pedal 113 to perform rehabilitation exercises. This plays an auxiliary role in the patient's rehabilitation training and is beneficial to the patient's recovery.

[0030] refer to Figure 3The sliding screw module 14 includes a screw body 141, a slide block 142, and a linear guide rail 143. The screw body 141 is located inside the aluminum frame 6. The bottom of the screw body 141 passes through the bottom of the aluminum frame 6 and is fixedly connected to the transmission assembly 13. The slide block 142 is threaded onto the screw body 141. The linear guide rail 143 is fixedly connected to both ends of the slide block 142. The upper end of the linear guide rail 143 passes through the upper end of the aluminum frame 6 and is fixedly connected to the crossbar 15. By setting up the sliding screw module 14, when the pressure sensor senses a certain pressure value, it will send a signal to the central control module. The central control module controls the second drive motor 12 to work. The second drive motor 12 drives the sliding screw module 14 to rise and fall through the transmission assembly 13, which is beneficial for adjusting the height of the handrail 16.

[0031] refer to Figure 1 A guide rod 24 is fixedly installed inside the crossbar 15. The handrail 16 is sleeved on the guide rod 24 and slides on the side of the crossbar 15, which makes it easy to adjust the width of the handrail 16 and the spacing of the handrail 16 to suit the use of different people.

[0032] refer to Figure 4 The transmission assembly 13 includes a main gear 131, a driven gear 132, and a gear box 133. The main gear 131 is fixedly connected to the output shaft end of the second motor, the driven gear 132 is fixedly connected to the bottom end of the lead screw body 141, and the gear box 133 is fixedly connected to the lower end of the bottom bracket 2, covering the main gear 131 and the driven gear 132. By setting the main gear 131 and the driven gear 132, the second drive motor 12 drives the main gear 131 to rotate, the main gear 131 drives the driven gear 132 to rotate, and the driven gear 132 drives the lead screw body 141 to rotate, thereby making the entire sliding lead screw module 14 move up and down, which is beneficial for adjusting the height of the handrail 16.

[0033] refer to Figure 3 The seat lifting module 17 includes a push rod bracket 171 and a second electric push rod 172. The push rod bracket 171 is fixedly connected to the upper end of the rear support plate 3. The second electric push rod 172 is fixedly installed on the push rod support frame. The telescopic end of the second electric push rod 172 is hinged to the bottom of the seat cushion 9. The seat cushion 9 is unfolded or folded by retracting or extending the second electric push rod 172. When the patient is in a sitting position and is ready to stand up for training, the second electric push rod 172 retracts and the seat cushion 9 folds. When the patient is training and is ready to sit down, the second electric push rod 172 extends and the seat cushion 9 unfolds to maximize the use of space.

[0034] refer to Figure 4The swing arm drive mechanism 19 includes a first electric push rod 191 and a linkage rod 192 hinged to the end of the first electric push rod 191 via a hinge shaft. The other end of the linkage rod 192 is rotatably connected to the training swing arm 112. By contracting or extending the first electric push rod 191 in the swing arm drive mechanism 19, the linkage rod 192 is driven to make the training swing arm 112 swing back and forth, which facilitates the patient's feet to perform rehabilitation exercises on the foot pedal 113.

[0035] Operating principle and advantages: The basic structure of the walking device consists of two bottom supports 2, an aluminum frame 6, and support rods 7, forming a triangular frame. This design enhances the overall structural stability, improves the load-bearing capacity of the device, and ensures safety and reliability during rehabilitation training. By setting a first drive motor 4 and a second drive motor 12, the first drive motor 4 controls the walking device's movement speed through the rear wheel 5, while the second drive motor 12 controls the lifting and lowering of the sliding screw module 14 through the transmission component 13, thereby adjusting the height of the handrail 16. The handrail 16 is equipped with a pressure sensing module that can monitor the force of the patient gripping the handrail 16 in real time. When the patient's grip force exceeds the set minimum pressure value, the signal is transmitted to the central control module 21, activating the second motor to adjust the height of the handrail 16 and help the patient stand up.

[0036] The training swing mechanism 11, consisting of the upright pole 111, training swing arm 112, and foot pedal 113, allows patients to perform corresponding rehabilitation exercises on the foot pedal 113. The first electric push rod 191 drives the movement of the training swing arm 112, helping patients exercise their lower limbs through swinging and improving motor function. The seat lifting module 17 adjusts the height of the seat cushion 9 to accommodate the patient's sitting and standing by extending and retracting the second electric push rod 172. When the patient is about to stand, the seat cushion 9 retracts; when the patient is about to sit down, the seat cushion 9 unfolds again. During walking, if the device moves too fast or encounters a downhill slope, the patient's grip strength may increase due to tension. The pressure sensor will detect this change and send a feedback signal to the central control module 21. The central control module 21 will instruct the first drive motor 4 to decelerate, thereby ensuring the patient's safety during walking and preventing the risk of falls. This solution provides patients with a safe and flexible rehabilitation training platform, which can not only assist patients in lower limb rehabilitation training but also adjust the device status in real time during walking to ensure safety. This comprehensive design promotes the improvement of rehabilitation effects and helps patients recover their motor abilities more quickly.

Claims

1. An intelligent rehabilitation training walking device, comprising two bottom supports (2) with universal wheels (1) installed at the front end, the bottom supports (2) being arranged in parallel, the ends of the two bottom supports (2) away from the universal wheels (1) being formed as a whole by the same welded rear support plate (3), the bottom ends of the rear support plate (3) being fixedly connected to a first drive motor (4), the output end of the first drive motor (4) being fixedly installed with a rear wheel (5), an aluminum frame (6) being fixedly installed in the middle part of the bottom supports (2), support rods (7) being fixedly installed on both sides of the aluminum frame (6), a seat frame (8) being fixedly installed in the middle position of the two aluminum frames (6), a seat cushion (9) being hinged to one side of the seat frame (8), a back cushion (10) being fixedly installed between the upper halves of the aluminum frames (6), and a training swing mechanism (11) being fixedly installed in the middle part of the support rods (7), characterized in that: A second drive motor (12) is provided on the side of the bottom bracket (2) near the aluminum frame (6). The output shaft end of the second drive motor (12) passes through the bottom bracket (2) and is fixedly installed with a transmission assembly (13). A sliding screw module (14) is provided inside the aluminum frame (6). A crossbar (15) is fixedly installed on the upper end of the sliding screw module (14) through the aluminum frame (6). An armrest (16) is provided on one side of the crossbar (15). A seat lifting module (17) is hinged to the middle of the upper end of the rear support plate (3). A vertical plate (18) is fixedly connected to both ends of the rear support plate (3). A swing arm drive mechanism (19) is fixedly installed at the end of the vertical plate (18). The handrail (16) is equipped with a pressure sensing module inside, and the bottom support (2) is equipped with a central control module (21). The central control module (21) is connected to a data acquisition module (22) for collecting pressure data, and the data acquisition module (22) is connected to a data analysis module (23) for analyzing the collected data.

2. The intelligent rehabilitation training walking device according to claim 1, characterized in that: The lower end of the support rod (7) is fixedly connected to the bottom bracket (2), and a triangular frame is formed between the support rod (7), the aluminum frame (6), and the bottom bracket (2).

3. The intelligent rehabilitation training walking device according to claim 1, characterized in that: The training swing mechanism (11) includes a vertical rod (111), a training swing arm (112), and a foot pedal (113). The vertical rod (111) is fixedly installed in the middle of the support rod (7). The upper end of the vertical rod (111) is hinged to the training swing arm (112) through a hinge shaft. The foot pedal (113) is fixedly installed at the end of the training swing arm (112) away from the hinge shaft.

4. The intelligent rehabilitation training walking device according to claim 3, characterized in that: The sliding lead screw module (14) includes a lead screw body (141), a slide block (142), and a linear guide rail (143). The lead screw body (141) is located inside the aluminum frame (6). The bottom of the lead screw body (141) passes through the bottom of the aluminum frame (6) and is fixedly connected to the transmission assembly (13). The slide block (142) is threaded onto the lead screw body (141). The linear guide rail (143) is fixedly connected to both ends of the slide block (142). The upper end of the linear guide rail (143) passes through the upper end of the aluminum frame (6) and is fixedly connected to the crossbar (15).

5. The intelligent rehabilitation training walking device according to claim 1, characterized in that: A guide rod (24) is fixedly installed inside the crossbar (15), and the handrail (16) is sleeved on the guide rod (24) and slides on the side of the crossbar (15).

6. The intelligent rehabilitation training walking device according to claim 1, characterized in that: The transmission assembly (13) includes a main gear (131), a driven gear (132), and a gearbox (133). The main gear (131) is fixedly connected to the output shaft end of the second motor. The driven gear (132) is fixedly connected to the bottom end of the lead screw body (141). The gearbox (133) is fixedly connected to the lower end of the bottom bracket (2) and covers the main gear (131) and the driven gear (132).

7. The intelligent rehabilitation training walking device according to claim 1, characterized in that: The seat lifting module (17) includes a push rod bracket (171) and a second electric push rod (172). The push rod bracket (171) is fixedly connected to the upper end of the rear support plate (3). The second electric push rod (172) is fixedly installed on the push rod support frame. The telescopic end of the second electric push rod (172) is hinged to the bottom of the seat cushion (9).

8. The intelligent rehabilitation training walking device according to claim 3, characterized in that: The swing arm drive mechanism (19) includes a first electric push rod (191) and a linkage rod (192) hinged to the end of the first electric push rod (191) via a hinge shaft. The other end of the linkage rod (192) is rotatably connected to the training swing arm (112).

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