A rehabilitation device for assisting walking

Abstract

The utility model discloses a kind of rehabilitation devices for assisting walking, comprising: waist mechanism and two walking modules, walking module includes hip joint mechanism, thigh rod mechanism, shank rod mechanism, leg electric push rod, foot bottom plate mechanism and foot electric push rod;Waist mechanism includes backplate, adjusting plate and first adjusting assembly, adjusting plate is located in the inner side of backplate, and first adjusting assembly is arranged between backplate and adjusting plate;Thigh rod mechanism is adjustable in the length along the height direction of rehabilitation device, and is arranged on the outer side of backplate by hip joint mechanism;Shank rod mechanism is adjustable in the length along the height direction of rehabilitation device, and upper end is hinged with the lower end of thigh rod mechanism;Leg electric push rod is arranged between thigh rod mechanism and shank rod mechanism;Foot bottom plate mechanism is hinged with the lower end of shank rod mechanism;Foot electric push rod is arranged between shank rod mechanism and foot bottom plate mechanism.First adjusting assembly adjusts the length of adjusting plate in waist mechanism, ensure that good fit of waist structure and adjusting plate when user wears.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation equipment, and in particular to a rehabilitation device that assists in walking. Background Technology

[0002] All parts of the body play a role in walking, with the lower limbs accounting for a larger portion compared to other parts. Lower limb movement is crucial for walking, and a significant proportion of middle-aged and elderly people experience difficulty or impairment in lower limb movement. With the aging population, the decline in bodily functions has led to many elderly people experiencing walking difficulties. Therefore, the development of a simple rehabilitation device that can replace a therapist is urgently needed. Clinical studies show that over 80% of patients with lower limb disorders have no experience with lower limb rehabilitation training. Lower limb rehabilitation training primarily restores bodily functions by repeatedly stimulating muscle movement. Through repeated training, it promotes nerve tissue regeneration in the damaged limbs, compensates for the defects in damaged nerve cells, and ultimately restores lower limb motor function.

[0003] Since the 1990s, with the continuous development and maturation of mechatronics technology and robotics, the research and development of wearable exoskeletons has been ongoing for a long time. Lower limb rehabilitation exoskeleton robots can effectively help people with weak bodies and limited mobility to carry out rehabilitation training, promote the recovery of patients' lower limb muscles and nervous system, and ultimately help patients achieve normal walking.

[0004] Chinese patent CN202776923U discloses a wearable 7-DOF human body assistive device, comprising a waist fixation device, a 3-DOF hip joint mechanism, a thigh bar, a single-DOF knee joint mechanism, a calf bar, a 3-DOF ankle joint mechanism, a shoe base plate, a displacement sensor, and a controller. In use, the user wears it on the outside of the thighs, with the U-shaped waist fixation bracket attached to the lower back, and simultaneously secured to the waist, thighs, and calves via elastic bands. The feet are secured to the soles of the shoes via foot elastic bands. The control components, hydraulic supply system, and weight-bearing devices are all placed on the support frame on the lower back, allowing for a more efficient mechanism configuration and reducing the pressure on the user carrying luggage. However, this human body assistive device has the following technical problem: it cannot accommodate users of different body types. Utility Model Content

[0005] Therefore, there is a need to provide a rehabilitation device that assists in walking, which can solve the problem that existing rehabilitation devices cannot meet the needs of users with different body types.

[0006] To achieve the above objectives, the inventors provide a rehabilitation device for assisting walking, comprising: a lumbar mechanism and two walking modules, wherein the walking modules are disposed on both sides of the lumbar mechanism along the length of the rehabilitation device;

[0007] The walking module includes a hip joint mechanism, a thigh bar mechanism, a calf bar mechanism, a leg electric actuator, a foot plate mechanism, a foot electric actuator, and a controller;

[0008] The lumbar support mechanism includes a back plate, an adjustment plate, and a first adjustment component. Both the back plate and the adjustment plate are U-shaped. The adjustment plate is located inside the back plate. The first adjustment component is disposed between the back plate and the adjustment plate and is used to adjust the length of the adjustment plate along the length direction of the rehabilitation device.

[0009] The length of the thigh bar mechanism along the height direction of the rehabilitation device is adjustable, and the upper end of the thigh bar mechanism is located on the outside of the back plate through the hip joint mechanism.

[0010] The length of the calf bar mechanism along the height direction of the rehabilitation device is adjustable, and the upper end of the calf bar mechanism is hinged to the lower end of the thigh bar mechanism.

[0011] One end of the leg electric actuator is hinged to the thigh rod mechanism, and the other end of the leg electric actuator is hinged to the calf rod mechanism, for the purpose of rotating the calf rod mechanism relative to the thigh rod mechanism;

[0012] The foot plate mechanism is hinged to the lower end of the lower leg rod mechanism;

[0013] One end of the foot electric actuator is hinged to the calf rod mechanism, and the other end of the foot electric actuator is hinged to the foot plate mechanism, for the purpose of rotating the foot plate mechanism relative to the calf rod mechanism;

[0014] The controller is located on the back panel and is connected to the leg actuator and the foot actuator respectively, for controlling the operation of the leg actuator and the foot actuator.

[0015] Furthermore, the walking module also includes a second adjustment component, which is disposed between the back plate and the hip joint mechanism, and is used to adjust the position of the hip joint mechanism and the thigh bar mechanism on the back plate along the width direction of the rehabilitation device.

[0016] Furthermore: the second adjusting component includes a displacement plate and a second bolt;

[0017] The back plate has a displacement groove, the displacement plate is slidably connected to the displacement groove, and the back plate has a second adjusting screw hole next to the displacement groove. The second bolt is screwed into the second adjusting screw hole and locks the displacement plate in the displacement groove.

[0018] The hip joint mechanism is provided on the portion of the displacement plate that extends outward from the displacement groove.

[0019] Furthermore: the hip joint mechanism includes a fixing plate, casters, a bracket, and pins;

[0020] The fixing plate is mounted on the second adjusting assembly, the caster is mounted on the side of the fixing plate away from the back plate, the bracket is mounted on the caster and rotates with the caster, and the pin is mounted on the bracket.

[0021] The upper end of the thigh lever mechanism has an ear plate with an opening through which the pin passes, and the ear plate is rotatable about the pin.

[0022] Furthermore: the first adjusting component includes a first bolt;

[0023] The back plate has a first adjusting screw hole, and the first bolt passes through the adjusting plate and is screwed into the first adjusting screw hole.

[0024] Furthermore: the adjusting plate includes a left waist plate, a right waist plate, and a connecting plate;

[0025] The left and right waist plates are both L-shaped and arranged sequentially along the length of the rehabilitation device. The connecting plate is located between the left and right waist plates and is slidably connected to the left and right waist plates respectively.

[0026] The first adjustment component is provided between the left side of the left waist plate and the left side of the back plate; and / or the first adjustment component is provided between the right side of the right waist plate and the right side of the back plate.

[0027] Furthermore: the lower end of the thigh rod mechanism has an upper groove on its rear side, and the upper end of the calf rod mechanism has a lower groove on its rear side, with the leg electric push rod hidden in the upper groove and the lower groove.

[0028] Furthermore: the thigh rod mechanism includes an upper thigh rod and a lower thigh rod. The upper thigh rod has a plurality of first through holes along its length, and the lower thigh rod has a plurality of second through holes along its length. The upper thigh rod and the lower thigh rod are sleeved together and fixed by second bolts passing through the first through holes and the second through holes.

[0029] The thigh bar mechanism is hinged to the upper end of the calf bar mechanism via the lower thigh bar.

[0030] Furthermore: the lower leg rod mechanism includes an upper lower leg rod and a lower lower leg rod. The upper lower leg rod has several third through holes along its length, and the lower lower leg rod has several fourth through holes along its length. The upper lower leg rod and the lower lower leg rod are sleeved together and fixed by passing a third bolt through the third through holes and the fourth through holes.

[0031] The lower leg rod mechanism is hinged to the foot plate mechanism via the lower lower leg rod.

[0032] Furthermore, the waist mechanism, the thigh rod mechanism, the calf rod mechanism, and the foot plate mechanism are hollowed out.

[0033] Unlike existing technologies, the above technical solution has the following beneficial effects:

[0034] Based on the user's body shape, the length of the adjustment plate in the waist mechanism (corresponding to the user's waist width) is adjusted via the first adjustment component to ensure a good fit between the user's waist structure and the adjustment plate when worn. The lengths of the thigh and calf bar mechanisms (corresponding to the user's leg length) can be adjusted according to the user's height and rehabilitation progress to ensure the device fits the user's body structure and provides the most comfortable user experience.

[0035] The above description of the utility model is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0036] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this utility model and other related contents, and should not be considered as limitations on this application.

[0037] Figure 1 This is one of the perspective views of the rehabilitation device in this embodiment;

[0038] Figure 2 This is an exploded view of the waist mechanism and hip joint mechanism in this embodiment;

[0039] Figure 3 This is the second perspective view of the rehabilitation device in this embodiment;

[0040] Figure 4 for Figure 3 Schematic diagram of the electric actuator for the middle leg;

[0041] Figure 5 for Figure 1 A schematic diagram of the electric actuator in the middle foot section.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Waist mechanism; 11. Back plate; 12. Adjustment plate; 121. Left waist plate; 122. Right waist plate; 123. Connecting plate; 13. First adjustment assembly; 131. First bolt.

[0044] 2. Hip joint mechanism; 21. Fixing plate; 22. Casters; 23. Bracket; 24. Pin.

[0045] 3. Thigh rod mechanism; 31. Upper thigh rod; 311. First through hole; 32. Lower thigh rod; 321. Second through hole; 33. Upper groove; 34. Ear plate.

[0046] 4. Lower leg mechanism, 41. Upper lower leg, 411. Third through hole, 42. Lower lower leg, 421. Fourth through hole, 43. Lower groove.

[0047] 5. Leg-mounted electric actuator,

[0048] 6. Foot plate mechanism,

[0049] 7. Foot-mounted electric actuator,

[0050] 8. Second adjustment component; 81. Displacement plate; 82. Displacement groove; 83. Second bolt. Detailed Implementation

[0051] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0052] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0053] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0054] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0055] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order between these entities or operations.

[0056] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0057] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0058] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0059] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0060] Please see Figures 1 to 5 This embodiment provides a rehabilitation device for assisting walking, including: a waist mechanism 1 and two walking modules, the walking modules being disposed on both sides of the waist mechanism 1 along the length direction of the rehabilitation device;

[0061] The walking module includes a hip joint mechanism 2, a thigh rod mechanism 3, a calf rod mechanism 4, a leg electric push rod 5, a foot plate mechanism 6, a foot electric push rod 7, and a controller;

[0062] The lumbar mechanism 1 includes a back plate 11, an adjustment plate 12, and a first adjustment component 13. Both the back plate 11 and the adjustment plate 12 are U-shaped. The adjustment plate 12 is located inside the back plate 11. The first adjustment component 13 is located between the back plate 11 and the adjustment plate 12 and is used to adjust the length of the adjustment plate 12 along the length direction of the rehabilitation device.

[0063] The length of the thigh bar mechanism 3 along the height direction of the rehabilitation device is adjustable, and the upper end of the thigh bar mechanism 3 is located on the outer side of the back plate 11 through the hip joint mechanism 2.

[0064] The length of the lower leg bar mechanism 4 along the height direction of the rehabilitation device is adjustable, and the upper end of the lower leg bar mechanism 4 is hinged to the lower end of the thigh bar mechanism 3.

[0065] One end of the leg electric actuator 5 is hinged to the thigh rod mechanism 3, and the other end of the leg electric actuator 5 is hinged to the calf rod mechanism 4, which is used to rotate the calf rod mechanism 4 relative to the thigh rod mechanism 3.

[0066] The foot plate mechanism 6 is hinged to the lower end of the lower leg rod mechanism 4;

[0067] One end of the foot electric actuator 7 is hinged to the calf rod mechanism 4, and the other end of the foot electric actuator 7 is hinged to the foot plate mechanism 6, which is used to rotate the foot plate mechanism 6 relative to the calf rod mechanism 4.

[0068] The controller is located on the back panel 11 and is connected to the leg electric actuator 5 and the foot electric actuator 7 respectively, and is used to control the operation of the leg electric actuator 5 and the foot electric actuator 7.

[0069] It should be explained that when a user wears the rehabilitation device, the length direction refers to the left-right direction, the width direction refers to the front-back direction, and the height direction refers to the up-down direction. One walking module corresponds to one leg of the user, meaning there are two walking modules in total.

[0070] Based on the user's body shape, the length of the adjustment plate 12 in the waist mechanism 1 (corresponding to the user's waist width) is adjusted via the first adjustment component 13 to ensure a good fit between the user's waist structure and the adjustment plate 12 when worn. The lengths of the thigh bar mechanism 3 and the calf bar mechanism 4 (corresponding to the user's leg length) can be adjusted according to the user's height and rehabilitation progress to ensure that the device fits the user's body structure and provides the most comfortable user experience.

[0071] Please see Figure 2 In this embodiment, the walking module further includes a second adjustment component 8, which is disposed between the backplate 11 and the hip joint mechanism 2. The second adjustment component 8 is used to adjust the position of the walking module on the backplate 11 along the width direction of the rehabilitation device (corresponding to the user's forward-backward direction). The rehabilitation device can better adapt to users with different gait characteristics and physical conditions. Especially for patients with specific gait problems (such as forward or backward leaning), gait symmetry and balance can be improved by fine-tuning the position of the hip joint.

[0072] Please see Figure 2 In this embodiment, the second adjustment component 8 includes a displacement plate 81 and a second bolt 83; the back plate 11 has a displacement groove 82, the displacement plate 81 is slidably connected to the displacement groove 82, and the back plate 11 has a second adjustment screw hole next to the displacement groove 82. The second bolt 83 is screwed into the second adjustment screw hole and locks the displacement plate 81 in the displacement groove 82; a hip joint mechanism 2 is provided on the part of the displacement plate 81 that extends outward from the displacement groove 82. Specifically, the second adjustment screw hole is located above the displacement groove 82 and communicates with the displacement groove 82. When the second bolt 83 is fully tightened, its end presses down on the displacement plate 81, and the displacement plate 81 is firmly fixed in the displacement groove 82. According to the user's specific needs, the displacement plate 81 can be manually moved to an appropriate position to adjust the front and rear positions of the hip joint mechanism 2 and the connected thigh rod mechanism 3. The entire adjustment process is simple and intuitive, and can be completed without complicated tools, making it convenient for users or therapists to make quick adjustments according to the actual situation.

[0073] Please see Figure 2In this embodiment, the hip joint mechanism 2 includes a fixed plate 21, a caster wheel 22, a bracket 23, and a pin 24. The fixed plate 21 is mounted on the second adjustment assembly 8, the caster wheel 22 is located on the side of the fixed plate 21 away from the back plate 11, the bracket 23 is mounted on the caster wheel 22 and rotates with the caster wheel 22, and the pin 24 is mounted on the bracket 23. The upper end of the thigh lever mechanism 3 has an ear plate 34 with an opening through which the pin 24 passes, and the ear plate 34 can rotate around the pin 24. Specifically, the caster wheel 22 allows the thigh lever mechanism 3 to swing in the user's forward and backward direction, and the pin 24 is parallel to the user's left and right direction, allowing the thigh lever mechanism 3 to swing in the user's left and right direction. The hip joint mechanism 2 mimics the movement characteristics of the hip joint during natural walking. When the thigh lever mechanism 3 needs to swing, the caster wheel 22 will rotate accordingly, causing the bracket 23 and the thigh lever mechanism 3 to swing together. The ear plate 34 can rotate around the pin 24, causing the thigh lever mechanism 3 to abduct or adduct.

[0074] The hip joint mechanism 2 enables the hip joint mechanism 2 to perform various complex movements combining flexion, extension, abduction, and adduction. It has a large range of rotation, effectively expanding the working range, improving the flexibility of the internal and external rotation axes of the hip joint, and enhancing the fit between the exoskeleton structure movement and the human hip and lumbar joint movement.

[0075] Please see Figure 2 In this embodiment, the first adjustment component 13 includes a first bolt 131; the back plate 11 has a first adjustment screw hole, and the first bolt 131 passes through the adjustment plate 12 and is screwed into the first adjustment screw hole. By manually tightening the first adjustment bolt, the length of the adjustment plate 12 along the length direction of the rehabilitation device (corresponding to the user's left and right direction) can be adjusted, thereby achieving precise control of the position of the adjustment plate 12 and meeting the needs of different users for lumbar support.

[0076] Furthermore, to improve ease of use, the adjusting plate 12 may be equipped with a bearing, and the first bolt 131 is tightly fitted inside the inner ring of the bearing. With the support of the bearing, the first bolt 131 can rotate relative to the adjusting plate 12 without separating from the adjusting plate 12.

[0077] Unlike the above-described implementation of the first bolt 131, in some embodiments, the first adjustment component 13 includes a waist electric push rod, which is located between the back plate 11 and the adjustment plate 12 and is arranged along the length of the rehabilitation device. When it extends or retracts, it can cause the length of the adjustment plate 12 to change.

[0078] Please see Figure 2In this embodiment, the adjustment plate 12 includes a left waist plate 121, a right waist plate 122, and a connecting plate 123. The left waist plate 121 and right waist plate 122 are both L-shaped and arranged sequentially along the length of the rehabilitation device (corresponding to the user's left-right direction). The connecting plate 123 is located between the left waist plate 121 and right waist plate 122 and is slidably connected to both. Specifically, the left waist plate 121 and right waist plate 122 are each provided with a sliding groove, and the connecting plate 123 is slidably connected in the two sliding grooves. Limiting structures are provided on the connecting plate 123 and the sliding grooves to prevent the connecting plate 123 from detaching from the left waist plate 121 and right waist plate 122. The limiting structure can be a combination of a limiting block and a limiting groove.

[0079] Please see Figure 2 In this embodiment, a first adjustment component 13 is provided between the left side of the left waist plate 121 and the left side of the back plate 11; and / or: a first adjustment component 13 is provided between the right side of the right waist plate 122 and the right side of the back plate 11. Preferably, Figure 2 As shown, there are multiple first adjustment components 13, which are distributed on the left and right sides of the adjustment plate 12 to improve stability.

[0080] Please see Figure 3 and Figure 4 In this embodiment, the lower end of the thigh lever mechanism 3 has an upper groove 33 on its rear side, and the upper end of the calf lever mechanism 4 has a lower groove 43 on its rear side. The leg actuator 5 is hidden in the upper groove 33 and the lower groove 43. In this way, the leg actuator 5 can be hidden when not in use or in a specific position, reducing the impact on appearance and potentially improving safety by reducing the chance of clothing or other objects being caught between the thigh lever mechanism 3, the calf lever mechanism 4, and the leg actuator 5.

[0081] Please see Figure 3 and Figure 4In this embodiment, the thigh rod mechanism 3 includes an upper thigh rod 31 and a lower thigh rod 32. The upper thigh rod 31 has several first through holes 311 along its length, and the lower thigh rod 32 has several second through holes 321 along its length. The upper thigh rod 31 and the lower thigh rod 32 are sleeved together and fixed by a third bolt passing through the first through holes 311 and the second through holes 321. The thigh rod mechanism 3 is hinged to the upper end of the lower leg rod mechanism 4 via the lower thigh rod 32. Preferably, the first through holes 311 and the second through holes 321 are threaded holes. Alternatively, the third bolt can be used with a nut to lock the upper thigh rod 31 and the lower thigh rod 32. Loosening the third bolt releases the locking state of the upper thigh rod 31 and the lower thigh rod 32, allowing them to slide relative to each other to adjust the overall length. According to the user's specific needs, the upper thigh rod 31 and the lower thigh rod 32 can be manually slid to an appropriate position so that the thigh rod mechanism 3 reaches the required length. After finding a suitable position, select a pair of corresponding first through holes 311 and second through holes 321, insert the third bolt and tighten it to ensure that the thigh rod mechanism 3 is firmly fixed at the new length and to prevent it from shifting during use.

[0082] Please see Figure 3 In this embodiment, the lower leg mechanism 4 includes an upper lower leg 41 and a lower lower leg 42. The upper lower leg 41 has several third through holes 411 along its length, and the lower lower leg 42 has several fourth through holes 421 along its length. The upper lower leg 41 and the lower lower leg 42 are sleeved together and fixed by a fourth bolt passing through the third through holes 411 and the fourth through holes 421. The lower leg mechanism 4 is hinged to the foot plate mechanism 6 via the lower lower leg 42. Preferably, the third through holes 411 and the fourth through holes 421 are threaded holes. Alternatively, the fourth bolt can be used with a nut to lock the upper lower leg 31 and the lower lower leg 32. Loosening the fourth bolt releases the locking state of the upper lower leg 41 and the lower lower leg 42, allowing them to slide relative to each other to adjust the overall length. The upper lower leg 41 and the lower lower leg 42 can be manually slid to the appropriate position according to the user's specific needs, so that the lower leg mechanism 4 reaches the required length. After finding a suitable position, select a pair of corresponding third through holes 411 and fourth through holes 421, insert the fourth bolt and tighten it to ensure that the lower leg rod mechanism 4 is firmly fixed at the new length and to prevent it from shifting during use.

[0083] In this embodiment, the thigh rod mechanism 3, the lower leg rod mechanism 4, and the foot plate mechanism 6 are hollowed out. In particular, the upper thigh rod 31 and lower thigh rod 32 in the thigh rod mechanism 3, the upper lower leg rod 41 and lower thigh rod in the lower leg rod mechanism 4, and the foot plate in the foot plate mechanism 6 can be made of aluminum alloy. By reducing the amount of material used, the overall weight of the device is reduced, making it easier to carry, while maintaining sufficient structural strength to support safe use by the user.

[0084] It should be mentioned that the multiple first through holes 311, second through holes 321, third through holes 411, and fourth through holes 421 mentioned above can be regarded as a kind of hollowing process.

[0085] In this embodiment, the controller has a wireless remote control module with buttons for controlling the leg push rod 5 and foot push rod 7, used to control the start, stop, forward and reverse rotation of the push rods. The three parts of the device—hip, knee and ankle joints—work together to assist users with limited mobility in standing and simple walking, and can also help users with some mobility to perform rehabilitation training to restore muscle strength in various parts of the lower limbs. In addition, it allows users to perform separate rehabilitation training for their ankle joint while seated.

[0086] In this embodiment, the rehabilitation device also includes a power supply, which is preferably located on the back plate 11 and provides DC power of 12V to provide a stable voltage for the electric actuator and controller, ensuring stable operation of the device.

[0087] In this embodiment, the length adjustment range of the thigh rod mechanism 3 is 285–645 mm, the length adjustment range of the calf rod mechanism 4 is 260–490 mm, and the waist adjustment range is 330–525 mm. The corresponding range of motion angles for knee flexion is 0°–110°, for ankle dorsiflexion is 30°–50°, and for ankle dorsiflexion is 20°–30°.

[0088] In this embodiment, a folding knee joint is used to store the mechanism. When fully stored, it occupies approximately 60 cubic centimeters, making the mechanism lighter, easier to carry, and suitable for daily use.

[0089] In this embodiment, electric linear actuators are classified by appearance: linear, L-shaped, pillow-shaped, and bread-shaped actuators; by lead screw: trapezoidal lead screw, ball screw, planetary ball screw, and planetary roller screw; and by motor: DC motor (12 / 24 / 36 / 48V), AC motor (110-240V), stepper motor, and servo motor. After comparing various parameters of the actuators, this embodiment ultimately selects a trapezoidal lead screw (Type T) and a DC 12V power supply electric linear actuator as the propulsion method for the linkage mechanism. Its advantages include high thrust, selectable stroke, and controllable propulsion rate.

[0090] In this embodiment, the adjustment plate 12 is provided with straps for the user to wear. The straps may be equipped with easy-to-operate buckles or Velcro closure systems, making the wearing process simple and quick, so that even users with mobility impairments can easily put on or take off the garment themselves.

[0091] In this embodiment, the controller can be an STM32F103C8T6.

[0092] The rehabilitation device for assisting walking described in this paper has multiple degrees of freedom. The hip joint section corresponds to the hip joint mechanism. The swinging of the ear plate controls the abduction and adduction of the hip joint, and the rotation of the universal wheel controls the flexion and extension of the hip joint, maintaining the freedom of hip joint movement. The knee joint section includes a thigh bar mechanism, a calf bar mechanism, and a leg electric push rod. The forward and reverse rotation of the motor of the leg electric push rod realizes the extension and retraction of the leg electric push rod, thereby completing the extension and flexion of the knee joint, thus achieving the purpose of connecting the lower limb knee joint rehabilitation. The ankle joint section includes a calf bar mechanism, a foot plate mechanism, and a foot electric push rod. The forward and reverse rotation of the motor of the foot electric push rod realizes the extension and retraction of the foot electric push rod, thereby completing the dorsiflexion and plantarflexion of the ankle joint, thus achieving the purpose of connecting the lower limb ankle joint rehabilitation.

[0093] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A rehabilitation device for assisting walking, characterized in that, include: The device includes a lumbar support mechanism and two walking modules, which are located on both sides of the lumbar support mechanism along the length of the rehabilitation device. The walking module includes a hip joint mechanism, a thigh bar mechanism, a calf bar mechanism, a leg electric actuator, a foot plate mechanism, a foot electric actuator, and a controller; The lumbar mechanism includes a back plate, an adjustment plate, and a first adjustment component. Both the back plate and the adjustment plate are U-shaped. The adjustment plate is located inside the back plate. The first adjustment component is disposed between the back plate and the adjustment plate and is used to adjust the length of the adjustment plate along the length direction of the rehabilitation device. The length of the thigh bar mechanism along the height direction of the rehabilitation device is adjustable, and the upper end of the thigh bar mechanism is located on the outside of the back plate through the hip joint mechanism. The length of the calf bar mechanism along the height direction of the rehabilitation device is adjustable, and the upper end of the calf bar mechanism is hinged to the lower end of the thigh bar mechanism. One end of the leg electric actuator is hinged to the thigh rod mechanism, and the other end of the leg electric actuator is hinged to the calf rod mechanism, for the purpose of rotating the calf rod mechanism relative to the thigh rod mechanism; The foot plate mechanism is hinged to the lower end of the lower leg rod mechanism; One end of the foot electric actuator is hinged to the calf rod mechanism, and the other end of the foot electric actuator is hinged to the foot plate mechanism, for the purpose of rotating the foot plate mechanism relative to the calf rod mechanism; The controller is located on the back panel and is connected to the leg actuator and the foot actuator respectively, for controlling the operation of the leg actuator and the foot actuator.

2. The rehabilitation device according to claim 1, characterized in that: The walking module also includes a second adjustment component, which is disposed between the back plate and the hip joint mechanism, and is used to adjust the position of the hip joint mechanism and the thigh bar mechanism on the back plate along the width direction of the rehabilitation device.

3. The rehabilitation device according to claim 2, characterized in that: The second adjustment component includes a displacement plate and a second bolt; The back plate has a displacement groove, the displacement plate is slidably connected to the displacement groove, and the back plate has a second adjusting screw hole next to the displacement groove. The second bolt is screwed into the second adjusting screw hole and locks the displacement plate in the displacement groove. The hip joint mechanism is provided on the portion of the displacement plate that extends outward from the displacement groove.

4. The rehabilitation device according to claim 2 or 3, characterized in that: The hip joint mechanism includes a fixing plate, casters, a bracket, and pins; The fixing plate is mounted on the second adjusting assembly, the caster is mounted on the side of the fixing plate away from the back plate, the bracket is mounted on the caster and rotates with the caster, and the pin is mounted on the bracket. The upper end of the thigh lever mechanism has an ear plate with an opening through which the pin passes, and the ear plate is rotatable about the pin.

5. The rehabilitation device according to claim 1, characterized in that: The first adjusting component includes a first bolt; The back plate has a first adjusting screw hole, and the first bolt passes through the adjusting plate and is screwed into the first adjusting screw hole.

6. The rehabilitation device according to claim 5, characterized in that: The adjustment plate includes a left waist plate, a right waist plate, and a connecting plate; The left and right waist plates are both L-shaped and arranged sequentially along the length of the rehabilitation device. The connecting plate is located between the left and right waist plates and is slidably connected to the left and right waist plates respectively. The first adjustment component is provided between the left side of the left waist plate and the left side of the back plate; and / or the first adjustment component is provided between the right side of the right waist plate and the right side of the back plate.

7. The rehabilitation device according to claim 1, characterized in that: The lower end of the thigh rod mechanism has an upper groove on its rear side, and the upper end of the calf rod mechanism has a lower groove on its rear side. The leg electric push rod is hidden in the upper groove and the lower groove.

8. The rehabilitation device according to claim 1 or 7, characterized in that: The thigh rod mechanism includes an upper thigh rod and a lower thigh rod. The upper thigh rod has several first through holes along its length, and the lower thigh rod has several second through holes along its length. The upper thigh rod and the lower thigh rod are sleeved together and fixed by second bolts passing through the first through holes and the second through holes. The thigh bar mechanism is hinged to the upper end of the calf bar mechanism via the lower thigh bar.

9. The rehabilitation device according to claim 1, characterized in that: The lower leg mechanism includes an upper lower leg and a lower lower leg. The upper lower leg has several third through holes along its length, and the lower lower leg has several fourth through holes along its length. The upper lower leg and the lower lower leg are sleeved together and fixed by third bolts passing through the third through holes and the fourth through holes. The lower leg rod mechanism is hinged to the foot plate mechanism via the lower lower leg rod.

10. The rehabilitation device according to claim 1, characterized in that: The waist mechanism, thigh rod mechanism, calf rod mechanism, and foot plate mechanism are hollowed out.

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