Walking aid and rehabilitation training device

Abstract

The utility model provides a walking aid and rehabilitation training device, and relates to the technical field of medical instruments. The walking aid and rehabilitation training device comprises a seat mechanism, a first lifting mechanism, a second lifting mechanism and a training mechanism. The seat mechanism comprises a seat plate and a waist support; the first lifting mechanism is of a symmetrical structure and comprises two main beams, two secondary beams and two push-pull devices. The second lifting mechanism comprises a first push rod and a movable four-bar linkage; the training mechanism is of a symmetrical structure and comprises two first supporting arms, two second supporting arms, two first connecting shafts, two second connecting shafts, two crankshafts, two first connecting rods, two second connecting rods and two third connecting rods. According to the device, through the combined action of the first lifting mechanism and the second lifting mechanism, switching between a sitting posture and a standing posture of a user is achieved, through mutual cooperation of all assemblies in the training mechanism, the user is helped to conduct lower limb rehabilitation training, and the function of enabling the user to conduct autonomous training is achieved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a mobility aid and rehabilitation training device. Background Technology

[0002] Patients with paraplegia, cerebral palsy, cardiovascular and cerebrovascular diseases, stroke, etc., have limited mobility due to limb disability and need to restore limb function and improve their ability to take care of themselves through continuous rehabilitation training.

[0003] Currently, rehabilitation training for patients with limb disabilities mainly relies on large-scale equipment in hospital rehabilitation centers. These devices often employ metal frame structures and motor-driven chain transmission systems to move leg links in a mechanical back-and-forth swinging motion. Such equipment simulates gait movements through preset programs, providing some assistance to patients in performing passive limb movements.

[0004] However, current rehabilitation methods generally rely on centralized treatment in hospitals or specialized institutions, using large equipment. The metal frames and motor drive systems of these devices result in large footprints and heavy weights, limiting patients to training in fixed locations and restricting their freedom of movement. Furthermore, patients often find it difficult to perform self-training at home or in their daily lives, leading to prolonged rehabilitation periods and limited effectiveness. Utility Model Content

[0005] This application provides a mobility aid and rehabilitation training device to address the technical problems of patients being unable to train independently and being unable to move freely.

[0006] This application provides a walking assistance and rehabilitation training device, comprising: a seat mechanism, a first lifting mechanism, a second lifting mechanism, and a training mechanism. The seat mechanism includes a seat plate and a lumbar support; the first lifting mechanism has a symmetrical structure, including two main beams, two secondary beams, and two push-pull devices, one end of each push-pull device being connected to a main beam, and the other end being connected to a secondary beam; the main beams have a track groove on their inner side, and the seat plate has convex shafts on both sides, with the track grooves slidably connected to the convex shafts; the second lifting mechanism includes a first push rod and a movable four-bar linkage, the movable four-bar linkage including a main column linkage, a first connecting rod, and a second connecting rod; one end of the first push rod is rotatably connected to the first connecting rod, and the other end of the first push rod is rotatably connected to one end of the main column linkage, and the other end of the main column linkage is rotatably connected to the second connecting rod. Next, the second connecting rod is slidably connected to the lumbar support; the training mechanism is a symmetrical structure, including two first support arms, two second support arms, two first connecting shafts, two second connecting shafts, two crankshafts, two first connecting rods, two second connecting rods, and two third connecting rods; the first connecting shafts rotatably connect the main beam and the first support arms, and the second connecting shafts rotatably connect the first support arms and the second support arms; the first end of the third connecting rod connects the crankshaft and one end of the first connecting rod, the second end of the third connecting rod connects to one end of the second connecting rod, the other end of the first connecting rod is rotatably connected to the second connecting shaft, and the other end of the second connecting rod is rotatably connected to the second support arm.

[0007] The aforementioned walking and rehabilitation training device, through the combined action of the first and second lifting mechanisms, enables users to switch between sitting and standing postures, thereby helping users move freely. Furthermore, through the cooperation between the various components in the training device, it can help users perform lower limb rehabilitation training, enabling users to train independently.

[0008] In one possible implementation, the mobility aid and rehabilitation training device also includes a mobility mechanism; the mobility mechanism has a symmetrical structure, including two front wheels, two rear wheels, and two motors; the motors are located in the rear wheels.

[0009] The mobile mechanism includes four motion wheels, which can be controlled by a motor to move the walking aid and rehabilitation training device. Users can move freely by controlling the movement of the motion wheels, thus improving the user's autonomy.

[0010] In one possible implementation, the push-pull device includes: a third connecting shaft and a second push rod; the third connecting shaft rotatably connects the main beam and the secondary beam, one end of the second push rod is connected to the main beam, and the other end of the second push rod is connected to the secondary beam.

[0011] The second push rod is a telescopic structure, which, in conjunction with the third connecting shaft, can adjust the angle between the main beam and the secondary beam to realize the lifting function of the device.

[0012] In one possible implementation, the training mechanism also includes two short tubes; the short tubes contain a transmission device that connects the motor and the crankshaft.

[0013] By setting a transmission device between the motor and the crankshaft, the motor drives the crankshaft to rotate, and the crankshaft then drives the first support arm and the second support arm to move through the first connecting rod and the second connecting rod respectively, thereby realizing the training function for the user.

[0014] In one possible implementation, the walking aid and rehabilitation training device further includes an anti-tipping mechanism; the anti-tipping mechanism includes a front crossbeam, a rear crossbeam, a crossbeam connecting rod, two side supports, and two connecting supports; the crossbeam connecting rod connects the front crossbeam and the rear crossbeam, and is connected to the main column connecting rod; one end of the connecting support is connected to the front wheel, and the other end of the connecting support is rotatably connected to the secondary beam; each of the two connecting supports has two slidable support rods inside, and the two slidable support rods are respectively connected to both ends of the front crossbeam; the two side supports are respectively set on the two secondary beams, and the side supports are connected to the secondary beam pivot.

[0015] When the walking and rehabilitation training device is switched to a standing position, the support rod slides out from the connecting beam, causing the front crossbeam and the rear crossbeam to touch the ground. At the same time, the side support rotates from the secondary beam and supports the ground, realizing a stable structure with force points in the front, back, left and right directions of the device, preventing the device from tipping over and improving safety.

[0016] In one possible implementation, the seat mechanism further includes: a backrest, two armrests, and two belly panels; the two armrests are connected to both ends of the backrest, and the armrests are rotatably connected to the belly panels.

[0017] When the device is in a seated position, the back panel provides support to enhance user comfort, and the abdominal panel is retracted. When the device is in a standing position, the back panel provides support to enhance user safety, and the abdominal panel rotates along the lower edge of the armrest to a position parallel to the back panel to stabilize the user's body and enhance device safety.

[0018] In one possible implementation, the seat plate and the back plate are both foldable.

[0019] The seat and backrest are designed as foldable structures that fold about the central axis. When pressure is applied from both sides, the walking aid and rehabilitation training device can fold in half, reducing the space occupied by the device and improving its portability.

[0020] In one possible implementation, the training mechanism also includes two foot pedals; the two foot pedals are respectively hinged to two second support arms; the size of the foot pedals is adjustable.

[0021] When using the walking and rehabilitation training device, users can place their feet on the foot pedals to avoid friction with the ground when moving and to save energy during training; the adjustable foot pedals can accommodate a variety of different foot sizes, improving the device's versatility.

[0022] In one possible implementation, the training mechanism further includes two first baffles and two second baffles; the two first baffles are respectively disposed on the two first support arms, and the two second baffles are respectively disposed on the two second support arms.

[0023] The first and second baffles are installed at the first and second support arms to prevent the user's legs from leaving the support arms during training, thus improving the safety of the device.

[0024] In one possible implementation, the mobility aid and rehabilitation training device also includes a safety belt; the safety belt is respectively disposed on the seat mechanism, the first support arm, the second support arm and the foot pedal.

[0025] A seat belt is installed on the seat mechanism to secure the upper part of the user's body, a seat belt is installed on the support arm to secure the user's legs, and a seat belt is installed on the foot pedal to secure the user's feet, further preventing the user from detaching from the device while seated, thus improving the device's safety.

[0026] In one possible implementation, the first support arm is a telescopic structure, and the second support arm is a telescopic structure.

[0027] The first and second support arms are designed to be telescopic, allowing the length of the support arms to be adjusted so that the device can accommodate users with different leg lengths, thus improving the device's versatility.

[0028] In one possible implementation, the mobility aid and rehabilitation training device further includes a control mechanism; the control mechanism includes a control panel and a processor, the control panel being communicatively connected to the processor; and the processor being communicatively connected to a motor.

[0029] Users transmit control signals to the processor via the control panel. The processor then sends corresponding control signals to the motor, which drives the walking and rehabilitation training device to execute the user's commands, thus improving the device's convenience.

[0030] As can be seen from the above technical solutions, this application provides a walking assistance and rehabilitation training device, including: a seat mechanism, a first lifting mechanism, a second lifting mechanism, and a training mechanism. The seat mechanism includes a seat plate and a lumbar support; the first lifting mechanism has a symmetrical structure, including two main beams, two secondary beams, and two push-pull devices, one end of which is connected to the main beam, and the other end to the secondary beam; the main beam has a track groove on its inner side, and the seat plate has convex shafts on both sides, with the track groove slidably connected to the convex shafts; the second lifting mechanism includes a first push rod and a movable four-bar linkage, the movable four-bar linkage including a main column linkage, a first connecting rod, and a second connecting rod; one end of the first push rod is rotatably connected to the first connecting rod, the other end of the first push rod is rotatably connected to one end of the main column linkage, and the other end of the main column linkage is rotatably connected to the second connecting rod. Next, the second connecting rod is slidably connected to the lumbar support; the training mechanism is a symmetrical structure, including two first support arms, two second support arms, two first connecting shafts, two second connecting shafts, two crankshafts, two first connecting rods, two second connecting rods, and two third connecting rods; the first connecting shafts rotatably connect the main beam and the first support arms, and the second connecting shafts rotatably connect the first support arms and the second support arms; the first end of the third connecting rod connects the crankshaft and one end of the first connecting rod, the second end of the third connecting rod connects to one end of the second connecting rod, the other end of the first connecting rod is rotatably connected to the second connecting shaft, and the other end of the second connecting rod is rotatably connected to the second support arm.

[0031] The aforementioned walking and rehabilitation training device, through the combined action of the first and second lifting mechanisms, enables users to switch between sitting and standing postures, thereby helping users move freely. Furthermore, through the cooperation between the various components in the training device, it can help users perform lower limb rehabilitation training, enabling users to train independently. Attached Figure Description

[0032] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of a walking aid and rehabilitation training device in a seated position, provided in an embodiment of this application.

[0034] Figure 2 This is a schematic diagram of the structure of a walking aid and rehabilitation training device in a standing position, provided in an embodiment of this application.

[0035] Figure 3 A side view of a walking aid and rehabilitation training device in a seated position, provided as an embodiment of this application;

[0036] Figure 4A side view of a walking aid and rehabilitation training device in a standing position, provided as an embodiment of this application;

[0037] Figure 5 This is a rear view structural diagram of another walking aid and rehabilitation training device provided in the embodiments of this application in a seated state.

[0038] Illustration:

[0039] Wherein: 101-Seat plate; 102-Lumbar support; 103-Backrest; 104-Armrest; 105-Body plate; 201-Main beam; 202-Secondary beam; 203-Third connecting shaft; 204-Second push rod; 301-First push rod; 302-Modible four-link; 3021-Main column connecting rod; 3022-First connecting rod; 3023-Second connecting rod; 401-First support arm; 402-Second support arm; 403-First connecting shaft; 404-Second connecting shaft; 405-Curved... Shaft; 406-First Linkage; 407-Second Linkage; 408-Third Linkage; 409-Short Tube; 410-Foot Pedal; 411-First Baffle; 412-Second Baffle; 501-Front Wheel; 502-Rear Wheel; 601-Front Crossbeam; 602-Rear Crossbeam; 603-Crossbeam Connecting Rod; 604-Side Bracket; 605-Connecting Bracket; 6051-Support Rod; 701-Control Panel; 801-Remote Control Panel; 802-Rear Armrest; 901-Transmission Rocker Arm. Detailed Implementation

[0040] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following examples do not represent all embodiments consistent with this application.

[0041] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0042] The terms "first," "second," "third," etc., used in the specification and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms can be used interchangeably where appropriate.

[0043] Patients with paraplegia, cerebral palsy, cardiovascular and cerebrovascular diseases, stroke, and other conditions experience limited mobility due to limb disability. Their rehabilitation needs are characterized by long-term and high-frequency requirements. However, the reconstruction of limb function relies on continuous rehabilitation training. Existing rehabilitation training models suffer from problems such as limited training scenarios and low patient participation, leading to prolonged rehabilitation cycles and limited improvement in daily living abilities.

[0044] Currently, rehabilitation training for patients with moderate to severe limb disability mainly utilizes fixed gait simulation equipment in hospital rehabilitation centers. These devices are based on a rigid metal frame structure (such as aluminum alloy or steel trusses) and incorporate servo motors driving chains or synchronous belt transmission systems. They use preset programs to control leg linkage mechanisms to achieve passive flexion and extension movements of the hip and knee joints. While these devices can provide standardized training movements, their complex mechanical structure, excessive weight, and poor flexibility make them unsuitable for everyday home use as they fail to simultaneously provide training and assist patients with free movement.

[0045] To address the issues of poor flexibility and inability to accommodate mobility in existing rehabilitation equipment, this application provides a walking aid and rehabilitation training device.

[0046] The walking assistance and rehabilitation training device provided in this application includes a sitting state and a standing state. Switching between these states is achieved through the combined action of a first lifting mechanism and a second lifting mechanism. When the device is in the standing state, the training mechanism can assist the user in lower limb training, including but not limited to standing training, walking training, and pedaling training. When the device is in the sitting state, the training mechanism can assist the user in other lower limb training, including but not limited to stretching training and positioning training. When the device is in the sitting state, a movement mechanism can also assist the user in moving freely, allowing the device to simultaneously perform both walking assistance and training functions.

[0047] Figure 1 This is a schematic diagram of the structure of a walking aid and rehabilitation training device in a seated position, as provided in an embodiment of this application.

[0048] Figure 2 This is a schematic diagram of the structure of a walking aid and rehabilitation training device in a standing position, provided as an embodiment of this application.

[0049] Figure 3 This is a side view of a walking aid and rehabilitation training device provided in this application in a seated position.

[0050] like Figure 1 , Figure 2 and Figure 3As shown, the walking and rehabilitation training device includes a seat mechanism, a first lifting mechanism, a second lifting mechanism, and a training mechanism. The seat mechanism includes a seat plate 101 and a lumbar support 102. The first lifting mechanism has a symmetrical structure, including two main beams 201, two secondary beams 202, and two push-pull devices. One end of each push-pull device is connected to the main beam 201, and the other end is connected to the secondary beam 202. The main beam 201 has a track groove on its inner side, and the seat plate 101 has convex shafts on both sides, with the track grooves slidably connected to the convex shafts. The second lifting mechanism includes a first push rod 301 and a movable four-bar linkage 302. The movable four-bar linkage 302 includes a main column linkage 3021, a first connecting rod 3022, and a second connecting rod 3023. One end of the first push rod 301 is rotatably connected to the first connecting rod 3022, and the other end of the first push rod 301 is rotatably connected to one end of the main column linkage 3021. The first end is rotatably connected to the second connecting rod 3023, and the second connecting rod 3023 is slidably connected to the waist support 102; the training mechanism is a symmetrical structure, including two first support arms 401, two second support arms 402, two first connecting shafts 403, two second connecting shafts 404, two crankshafts 405, two first connecting rods 406, two second connecting rods 407, and two third connecting rods 408; the first connecting shaft 403 rotatably connects the main beam 201 and the first support arm 401, and the second connecting shaft 404 rotatably connects the first support arm 401 and the second support arm 402; the first end of the third connecting rod 408 is connected to one end of the crankshaft 405 and the first connecting rod 406, the second end of the third connecting rod 408 is connected to one end of the second connecting rod 407, the other end of the first connecting rod 406 is rotatably connected to the second connecting shaft 404, and the other end of the second connecting rod 407 is rotatably connected to the second support arm 402.

[0051] In some embodiments, the push-pull device is used to push and pull the main beam 201 and the secondary beam 202 to adjust the angle between the main beam 201 and the secondary beam 202, thereby achieving a lifting function. The push-pull device may include: a third connecting shaft 203 and a second push rod 204; the third connecting shaft 203 rotatably connects the main beam 201 and the secondary beam 202, one end of the second push rod 204 is connected to the main beam 201, and the other end of the second push rod 204 is connected to the secondary beam 202.

[0052] In other embodiments, the push-pull device may also be an integrated joint module, which includes a motor. The motor drives the push-pull device to change the angles of the main beam 201 and the secondary beam 202.

[0053] Figure 4 This is a side view of a walking aid and rehabilitation training device provided in this application in a standing position.

[0054] In some embodiments, the first push rod 301 and the second push rod 204 can be electric push rods, which are extended and retracted by a motor. The specific process of the walking and rehabilitation training device switching from a sitting position to a standing position is as follows: The second push rod 204 extends under the drive of the motor, forming an outward expanding force between the main beam 201 and the secondary beam 202, increasing the angle between the main beam 201 and the secondary beam 202, and pushing the main beam 201 upward; during the process of the main beam 201 rising upward, it drives the seat plate 101 to slide behind the back plate 103 through the track groove. At the same time, the first push rod 301 extends under the drive of the motor, pushing the movable four-link 302 to deform, and the movable four-link 302 from Figure 3 The rectangle state in the middle changes to Figure 4 The diamond-shaped state in the middle. During the shape change of the movable four-link 302, the lumbar support 102, which is slidably connected to the second link 3023, slides from a position parallel to the ground in the sitting position to a position approximately perpendicular to the ground in the standing position, as shown in the example. Figure 2 As shown, during the sliding of the lumbar support 102, an upward supporting force is provided to the user's buttocks, helping the user transition from a sitting to a standing position. Thus, the mobility aid and rehabilitation training device achieves the transition from a sitting to a standing position.

[0055] Conversely, the specific process of the walking and rehabilitation training device switching from a standing to a sitting position is as follows: The second push rod 204 shortens under motor drive, creating an inward stretching force between the main beam 201 and the secondary beam 202, reducing the angle between them and causing the main beam 201 to descend. During the descent of the main beam 201, the seat plate 101 slides through the track groove to a position parallel to the ground. Simultaneously, the first push rod 301 shortens under motor drive, pulling the movable four-link 302 to deform. The movable four-link 302... Figure 4 The rhombus state in the middle changes to Figure 3 The rectangular state in the middle. During the shape change of the movable four-link 302, the lumbar support 102, which is slidably connected to the second link 3023, slides from a position approximately perpendicular to the ground in the standing position to a position parallel to the ground in the sitting position, as shown. Figure 1 As shown, during the sliding of the lumbar support 102, the upward support force provided to the user's buttocks gradually decreases, and the user changes from a standing to a sitting position. Thus, the walking assistance and rehabilitation training device achieves the transition from a standing to a sitting position.

[0056] In other embodiments, the second push rod 204 and the first push rod 301 can also be ordinary connecting rods, requiring external force to achieve the extension and retraction effect. For example, the walking assistance and rehabilitation training device can also include two rear handrails 802. By applying an upward or downward force to the rear handrails 802, the second push rod 204 and the first push rod 301 can be stretched or shortened, thereby realizing the conversion between a sitting posture and a standing posture. The specific conversion method is the same as in the aforementioned embodiments and will not be repeated here.

[0057] For example, mobility aids and rehabilitation training devices may also include a transmission rocker arm. Figure 5 A rear-view structural diagram of another mobility aid and rehabilitation training device provided in this application embodiment in a seated position, as shown below. Figure 5 As shown, 901 is a transmission rocker arm. When the user rotates the transmission rocker arm 901, the force is transmitted to the second push rod 204 and the first push rod 301 through the transmission mechanism (gear set, etc.), so that the second push rod 204 and the first push rod 301 can be stretched or shortened, thereby realizing the conversion between sitting and standing postures. The specific conversion method is the same as in the previous embodiment, and will not be described again here.

[0058] In some embodiments, the mobility aid and rehabilitation training device further includes a moving mechanism; the moving mechanism has a symmetrical structure and includes two front wheels 501, two rear wheels 502 and two motors; the motors are disposed in the rear wheels 502.

[0059] Specifically, the front wheel 501 and the rear wheel 502 are rolling wheels that can change angle. When driven by a force, they can move the entire device. The motor in the rear wheel 502 can provide driving force to the rear wheel 502, so that the rear wheel 502 can roll, which in turn drives the front wheel 501 to roll, thus achieving the purpose of moving the device with four rolling wheels.

[0060] It should be understood that, in addition to motor drive, other methods can be used to provide driving force to the front wheel 501 and rear wheel 502 to make the device move, and the embodiments of this application do not specifically limit this. For example, by pushing or pulling the rear armrest 802, the front wheel 501 and rear wheel 502 can be driven to roll.

[0061] For example, the rear wheel 502 can be configured as a large-diameter rolling wheel. For instance... Figure 5 As shown, the rear wheel 502 is a large-diameter rolling wheel. An edge for gripping is provided on the inner side of the rear wheel 502. When the user grips the edge, the force of the arm drives the rear wheel 502 to roll, which in turn drives the front wheel 501 to roll, so as to achieve the purpose of the front wheel 501 and the rear wheel 502 rolling and driving the device to move.

[0062] In some embodiments, the walking and rehabilitation training device can also assist users in lower limb training through a training mechanism. The specific process is as follows: A driving force is applied to the crankshaft 405, causing the crankshaft 405 to rotate. During the rotation, the crankshaft 405 drives the first connecting rod 406 and the third connecting rod 408 to swing. After the third connecting rod 408 swings, it drives the second connecting rod 407 to swing. While the first connecting rod 406 and the second connecting rod 407 swing, they respectively drive the first support arm 401 and the second support arm 402 connected to them to swing. Since the first support arm 401 and the main beam 201 are rotatably connected through the first connecting shaft 403, when the first support arm 401 is swung under force, it can drive the user's hip joint to swing. Furthermore, the first support arm 401 and the second support arm 402 are rotatably connected through the second connecting shaft 404. When the first support arm 401 and the second support arm 402 are swung under force, they can drive the user's knee joint to bend, straighten, and other changes, thereby achieving the purpose of assisting the user in lower limb activity training.

[0063] In some embodiments, the training mechanism further includes two short tubes 409; the short tubes 409 are provided with a transmission device, which is connected to the motor and the crankshaft 405.

[0064] Specifically, the crankshaft 405 can be powered by a motor installed in the rear wheel 502. After the motor starts, the power is transmitted to the crankshaft 405 through a transmission device (chain gear set, etc.) installed in the short tube 409, causing the crankshaft 405 to rotate.

[0065] It should be understood that rotational force can also be provided to the crankshaft 405 in other ways, and the embodiments of this application do not specifically limit this. For example, an energy storage mechanism can be provided in the device to store the force generated when the device moves or moves, and the energy storage mechanism can provide driving force to the crankshaft 405.

[0066] In some embodiments, the walking and rehabilitation training device further includes an anti-tipping mechanism; the anti-tipping mechanism includes a front crossbeam 601, a rear crossbeam 602, a crossbeam connecting rod 603, two side supports 604, and two connecting supports 605; the crossbeam connecting rod 603 connects the front crossbeam 601 and the rear crossbeam 602, and the crossbeam connecting rod 603 is connected to the main column connecting rod 3021; ​​one end of the connecting support 605 is connected to the front wheel 501, and the other end of the connecting support 605 is rotatably connected to the secondary beam 202; the two connecting supports 605 are respectively provided with two slidable support rods 6051 inside, and the two slidable support rods 6051 are respectively connected to both ends of the front crossbeam 601; the two side supports 604 are respectively disposed on the two secondary beams 202, and the side supports 604 are connected to the rotating shaft of the secondary beam 202.

[0067] When the walking and rehabilitation training device is in a standing position, an anti-tipping mechanism is installed at the bottom of the device to ensure the user's safety during standing training. During the transition from a sitting to a standing position, the support rod 6051 in the connecting bracket 605 slides out of the connecting bracket 605, causing the front crossbeam 601 to move downwards until it supports the ground, and the rear crossbeam 602 moves downwards until it supports the ground. Simultaneously, the side bracket 604 located outside the secondary beam 202 rotates and supports the ground, thus providing support at the front, back, left, and right sides of the device. This prevents the device from tipping over due to improper force exerted by the user during training, improving the device's safety.

[0068] In some embodiments, the seat mechanism further includes: a backrest 103, two armrests 104 and two belly panels 105; the two armrests 104 are respectively connected to both ends of the backrest 103, and the armrests 104 are rotatably connected to the belly panels 105.

[0069] During the transition from a seated to a standing position, the two abdominal plates 105 rotate toward the center of the device until they are parallel to the back plate 103. At this point, the abdominal plates 105 rest against the user's abdomen, applying pressure to stabilize the user's upper body and enhance the device's safety.

[0070] In some embodiments, the seat plate 101 is a foldable structure, and the back plate 103 is a foldable structure.

[0071] Specifically, both the seat plate 101 and the back plate 103 are centrally symmetrical foldable structures. When an external force is applied, the entire device can be folded, reducing the overall space occupied by the device and improving its portability.

[0072] In some embodiments, the training mechanism further includes two foot pedals 410; the two foot pedals 410 are respectively hinged to two second support arms 402; the size of the foot pedals 410 is adjustable.

[0073] For example, in a seated position, the user's feet are placed on two foot pedals 410 respectively, which makes it convenient for the user to move while sitting on the device; and the user can apply pressure to the foot pedals 410 to drive the first support arm 401 and the second support arm 402 to swing, thereby realizing autonomous training in a seated position.

[0074] For another example, in a standing position, the user places both feet on the two foot pedals 410 respectively, using the foot pedals 410 as the point of force, without directly touching the ground or suspending in the air, to ensure the safety of training; and the user can apply pressure to the foot pedals 410 to drive the first support arm 401 and the second support arm 402 to swing, thereby realizing autonomous training in a standing position.

[0075] In some embodiments, the training mechanism further includes two first baffles 411 and two second baffles 412; the two first baffles 411 are respectively disposed on the two first support arms 401, and the two second baffles 412 are respectively disposed on the two second support arms 402.

[0076] Specifically, the first baffle 411 is used to block the user's thighs, and the second baffle 412 is used to block the user's calves, preventing the user from having an excessive range of leg movement due to improper force during lower limb training. Furthermore, the parts of the first baffle 411 and the second baffle 412 that come into contact with the user's body are made of flexible materials, further enhancing comfort during use.

[0077] In some embodiments, the mobility aid and rehabilitation training device further includes a safety belt; the safety belt is respectively disposed on the seat mechanism, the first support arm 401, the second support arm 402 and the foot pedal 410.

[0078] Specifically, the seat belts installed in the seat mechanism are used to secure the user's abdomen and other upper body parts, the seat belts installed in the first support arm 401 are used to secure the user's thighs, the seat belts installed in the second support arm 402 are used to secure the user's lower legs, and the seat belts installed in the foot pedal 410 are used to secure the user's feet, so as to prevent slippage caused by improper force during leg training and improve the safety of the device.

[0079] In some embodiments, the first support arm 401 is a telescopic structure, and the second support arm 402 is a telescopic structure.

[0080] Specifically, the first support arm 401 and the second support arm 402 can be adjusted according to the user's leg length to a length suitable for the user's training, so that the same device can be used by different users and improve the universality of the device.

[0081] In some embodiments, the walking aid and rehabilitation training device further includes a control mechanism; the control mechanism includes a control panel 701 and a processor, the control panel 701 being communicatively connected to the processor; and the processor being communicatively connected to a motor.

[0082] For example, the control panel 701 includes a joystick and a training button. By controlling the joystick, the user transmits movement commands to the processor, which analyzes the commands and sends a signal to the motor, causing the motor to drive the rear wheel 502 to roll, thereby controlling the movement of the device. By pressing the training button, the user transmits training commands to the processor, which analyzes the commands and sends a signal to the motor, causing the motor to drive the crankshaft 405 to rotate, thereby causing the first support arm 501 and the second support arm 502 to swing.

[0083] In some embodiments, the control panel 701 may also include a training level adjustment button. The user can select different training levels by clicking the training level adjustment button and send the command to the processor. The processor adjusts the driving force according to the training level selected by the user to adapt to the patient's training needs.

[0084] In some embodiments, the control panel 701 may also include an emergency stop button for emergency braking. In an emergency, pressing the emergency stop button can stop the motor from driving, improving the safety of the device.

[0085] In some embodiments, the walking and rehabilitation training device further includes a pressure sensor and an angle sensor. The pressure sensor is disposed on the foot pedal 410 and is used to detect the pressure distribution on the user's feet and transmit the pressure data to the processor. The processor analyzes and determines whether the pressure data is within the normal range. When the pressure data exceeds the normal threshold, the processor issues a stop signal to stop the training action of the device and prevent accidents such as falls. The angle sensor is disposed between the first support arm 401 and the second support arm 402 and is used to detect the angle between the two and transmit the angle data to the processor. The processor analyzes and determines whether the angle data is within the normal range. When the angle data exceeds the normal threshold, the processor issues a stop signal to stop the training action of the device and prevent accidents such as excessive stretching angle.

[0086] In some embodiments, the angle sensor can also work in conjunction with the processor to adjust the training level.

[0087] For example, when a user selects a specific training level, the processor controls the motor to drive the crankshaft 405 to rotate, causing the first support arm 401 and the second support arm 402 to swing. The angle sensor collects the angle data between the first support arm 401 and the second support arm 402 and transmits the angle data to the processor. When the processor analyzes that the angle data matches the current training mode, it controls the motor to stop driving.

[0088] In some embodiments, the processor of the control mechanism may also integrate a voice recognition module, a data storage module, a GPS module, a virtual reality module, etc., to enhance the user experience.

[0089] Specifically, the voice recognition module controls the device by recognizing the user's voice signals, such as "adjust the training mode to level one" or "play music"; the data storage module stores the user's training data and rehabilitation progress; the GPS module locates the device and transmits the location data in real time to other devices that communicate with the walking aid and rehabilitation training device via wireless communication; and the virtual reality module connects to an external display device to integrate the user's walking practice movements into a virtual scene, enhancing the fun of training.

[0090] In some embodiments, the mobility aid and rehabilitation training device may also include sensors such as heart rate sensors and electromyography sensors for detecting the user's physiological data. These sensors transmit physiological data to a processor, which analyzes the physiological data and determines the training mode suitable for the user's current state.

[0091] In some embodiments, the mobility aid and rehabilitation training device may further include a display panel for dynamically displaying training data and the user's current status. For example, the processor displays data collected by angle sensors, pressure sensors, heart rate sensors, and electromyography sensors on the display panel for easy observation by the user.

[0092] In some embodiments, the mobility aid and rehabilitation training device may also include a remote control panel 801 for operation by other than the user, thereby improving the operability and convenience of the device.

[0093] As can be seen from the above technical solutions, this application provides a walking assistance and rehabilitation training device, including: a seat mechanism, a first lifting mechanism, a second lifting mechanism, and a training mechanism; wherein, the seat mechanism includes a seat plate 101 and a lumbar support 102; the first lifting mechanism is a symmetrical structure, including two main beams 201, two secondary beams 202, and two push-pull devices, one end of the push-pull device is connected to the main beam 201, and the other end of the push-pull device is connected to the secondary beam 202; the inner side of the main beam 201 is provided with a track groove, and the two sides of the seat plate 101 are provided with convex shafts, and the track groove is slidably connected to the convex shafts; the second lifting mechanism includes a first push rod 301 and a movable four-bar linkage 302, the movable four-bar linkage 302 includes a main column linkage 3021, a first connecting rod 3022, and a second connecting rod 3023; one end of the first push rod 301 is rotatably connected to the first connecting rod 3022, and the other end of the first push rod 301 is rotatably connected to one end of the main column linkage 3021, the main column linkage 3022, and the ... The other end of rod 3021 is rotatably connected to the second connecting rod 3023, and the second connecting rod 3023 is slidably connected to the waist support 102; the training mechanism is a symmetrical structure, including two first support arms 401, two second support arms 402, two first connecting shafts 403, two second connecting shafts 404, two crankshafts 405, two first connecting rods 406, two second connecting rods 407, and two third connecting rods 408; the first connecting shaft 403 rotatably connects the main beam 201 and the first support arm 401, and the second connecting shaft 404 rotatably connects the first support arm 401 and the second support arm 402; the first end of the third connecting rod 408 is connected to the crankshaft 405 and one end of the first connecting rod 406, the second end of the third connecting rod 408 is connected to one end of the second connecting rod 407, the other end of the first connecting rod 406 is rotatably connected to the second connecting shaft 404, and the other end of the second connecting rod 407 is rotatably connected to the second support arm 402.

[0094] The aforementioned walking and rehabilitation training device, through the combined action of the first and second lifting mechanisms, enables users to switch between sitting and standing postures, thereby helping users move freely. Furthermore, through the cooperation between the various components in the training device, it can help users perform lower limb rehabilitation training, enabling users to train independently.

[0095] Similar parts between the embodiments provided in this application can be referred to mutually. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods extended from the solution of this application without creative effort shall fall within the scope of protection of this application.

Claims

1. A walking and rehabilitation training device, characterized in that, The application relates to a walking aid and rehabilitation training device. The seat mechanism, the first lifting mechanism, the second lifting mechanism and the training mechanism; The seat mechanism comprises a seat plate (101) and a waist support (102); The first lifting mechanism is a symmetrical structure comprising two main beams (201), two secondary beams (202) and two push-pull devices, one end of the push-pull device being connected to the main beam (201), and the other end of the push-pull device being connected to the secondary beam (202); The inside of the main beam (201) is provided with a track groove, and the two sides of the seat plate (101) are provided with convex shafts, the track groove being in sliding connection with the convex shafts; The second lifting mechanism comprises a first push rod (301) and a movable four-bar linkage (302), the movable four-bar linkage (302) comprising a main column linkage (3021), a first secondary linkage (3022) and a second secondary linkage (3023); one end of the first push rod (301) is in rotary connection with the first secondary linkage (3022), the other end of the first push rod (301) is in rotary connection with one end of the main column linkage (3021), the other end of the main column linkage (3021) is in rotary connection with the second secondary linkage (3023), and the second secondary linkage (3023) is in sliding connection with the waist support (102); The training mechanism is a symmetrical structure comprising two first support arms (401), two second support arms (402), two first connecting shafts (403), two second connecting shafts (404), two crankshafts (405), two first linkages (406), two second linkages (407) and two third linkages (408); the first connecting shaft (403) is in rotary connection with the main beam (201) and the first support arm (401), the second connecting shaft (404) is in rotary connection with the first support arm (401) and the second support arm (402); the first end of the third linkage (408) is connected to the crankshaft (405) and one end of the first linkage (406), the second end of the third linkage (408) is connected to one end of the second linkage (407), the other end of the first linkage (406) is in rotary connection with the second connecting shaft (404), and the other end of the second linkage (407) is in rotary connection with the second support arm (402).

2. The device according to claim 1, characterized in that The walking aid and rehabilitation training device further comprises a moving mechanism; The moving mechanism is a symmetrical structure comprising two front wheels (501), two rear wheels (502) and two motors; the motors are arranged in the rear wheels (502).

3. The device according to claim 1, wherein The push-pull device comprises a third connecting shaft (203) and a second push rod (204); the third connecting shaft (203) is in rotary connection with the main beam (201) and the secondary beam (202), one end of the second push rod (204) is connected to the main beam (201), and the other end of the second push rod (204) is connected to the secondary beam (202).

4. The device of claim 2, wherein, The training mechanism further comprises two short pipes (409); The inside of the short pipe (409) is provided with a transmission device, the transmission device being connected to the motor and the crankshaft (405).

5. The device of claim 2, wherein, The walking aid and rehabilitation training device further comprises an anti-toppling mechanism. The anti-toppling mechanism comprises a front cross beam (601), a rear cross beam (602), a cross beam connecting rod (603), two side supports (604) and two connecting supports (605); the cross beam connecting rod (603) connects the front cross beam (601) and the rear cross beam (602), and the cross beam connecting rod (603) is connected with the main column connecting rod (3021); one end of the connecting support (605) is connected with the front wheel (501), and the other end of the connecting support (605) is rotationally connected with the secondary beam (202); Two slidable support rods (6051) are arranged in the two connecting supports (605) respectively, and the two slidable support rods (6051) are connected with two ends of the front cross beam (601) respectively. The two side supports (604) are arranged on the two secondary beams (202) respectively, and the side support (604) is rotationally connected with the secondary beam (202).

6. The device of claim 1, wherein, The seat mechanism further comprises: a back plate (103), two armrests (104) and two web plates (105); The two ends of the back plate (103) are connected with the two armrests (104) respectively, and the armrest (104) is rotationally connected with the web plate (105).

7. The device according to claim 6, characterized in that The seat plate (101) is a foldable structure, and the back plate (103) is a foldable structure.

8. The device of claim 1, wherein, The training mechanism further comprises two foot pedals (410); The two foot pedals (410) are hingedly connected with the two second support arms (402) respectively. The size of the foot pedal (410) is adjustable.

9. The rollator according to claim 8, characterized in that The training mechanism further comprises two first baffles (411) and two second baffles (412); The two first baffles (411) are arranged on the two first support arms (401) respectively, and the two second baffles (412) are arranged on the two second support arms (402) respectively.

10. The device according to claim 8, characterized in that, The walking aid and rehabilitation training device further comprises a safety belt; The safety belt is arranged on the seat mechanism, the first support arm (401), the second support arm (402) and the foot pedal (410) respectively.

11. The device of claim 1, wherein, The first support arm (401) is a telescopic structure, and the second support arm (402) is a telescopic structure.

12. The device of claim 2, wherein, The walking aid and rehabilitation training device further comprises a control mechanism; The control mechanism comprises a control panel (701) and a processor, and the control panel (701) is in communication connection with the processor; The processor is in communication connection with the motor.

Images