CN111374871A - Walking aid device and walking aid equipment - Google Patents

Abstract

The application provides a help capable device and help capable equipment, help capable device includes main body frame and supporting mechanism, supporting mechanism includes erection column and support frame, erection column fixed connection the main body frame, the support frame install in on the erection column, the support frame is in the position on the erection column length direction is adjustable, the support frame is used for can dismantling with mechanical ectoskeleton and is connected. The walking aid device can be matched with mechanical exoskeletons of different sizes, so that patients of different body sizes can share the walking aid device, the walking aid equipment is a whole body formed by the mechanical exoskeletons and the walking aid device, after the mechanical exoskeletons are worn by the patients, the mechanical exoskeletons can be started to push the walking aid device to move together, so that the patients can conveniently carry out rehabilitation training in a real walking mode, and the support frame can bear partial weight of the bodies of the patients and the mechanical exoskeletons, so that the burden of the patients on walking on the ground is reduced, and the rehabilitation effect is improved.

Description

Mobility aids and mobility aids

technical field

The present application relates to the technical field of walking aids for rehabilitation therapy, and in particular, to a walking aid and a walking aid.

Background technique

At present, mechanical exoskeleton devices can be used in rehabilitation therapy to help patients regain their ability to walk, such as those with hemiplegia. Usually, patients can use crutches for auxiliary support after wearing the mechanical exoskeleton. The patient needs to use the crutches to support the weight of themselves and the mechanical exoskeleton equipment through their own upper limb strength. The crutches need to be customized according to the patient's body size, and the scope of application is very limited.

SUMMARY OF THE INVENTION

An embodiment of the present application provides a walking aid device, the walking aid device includes a main body frame and a support mechanism, the support mechanism includes an installation column and a support frame, the installation column is fixedly connected to the main body frame, and the support frame is installed On the installation column, the position of the support frame in the length direction of the installation column is adjustable, and the support frame is used for detachable connection with the mechanical exoskeleton.

An embodiment of the present application further provides a walking aid device, the walking aid device includes the above walking aid device, the walking aid device further includes a mechanical exoskeleton, and the mechanical exoskeleton is detachably connected to the support frame.

The embodiments of the present application provide a walking aid device and walking aid equipment, which utilize a support frame to detachably connect a mechanical exoskeleton, so as to realize the support frame to support the mechanical exoskeleton, so as to share the load of the mechanical exoskeleton. The position in the length direction is adjustable, which can realize a wide range of height adjustment, so that the support frame can be matched with exoskeleton equipment of different sizes, and has a wide application range, so that patients of different body sizes can share the above walking aids; the walking aids are The mechanical exoskeleton and the walking device are composed of a whole. After the patient wears the mechanical exoskeleton, the mechanical exoskeleton can be activated to push the walking device to move together, so that the patient can carry out rehabilitation training in a real walking way. Since the support frame can share the patient's body And part of the weight of the mechanical exoskeleton, the burden of walking on the ground is reduced, which is conducive to improving the rehabilitation effect.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram 1 of a walking aid provided by an embodiment of the present application;

2 is a first structural schematic diagram of a walking aid provided by an embodiment of the present application;

Fig. 3 is the enlarged schematic diagram of A place in Fig. 2;

Fig. 4 is the enlarged schematic diagram at B in Fig. 2;

5 is a second structural schematic diagram of a walking aid provided by an embodiment of the present application;

6 is a second structural schematic diagram of a walking aid device provided by an embodiment of the present application;

FIG. 7 is a third structural schematic diagram of a walking aid provided by an embodiment of the present application;

Fig. 8 is the enlarged schematic diagram at C place in Fig. 6;

Fig. 9 is the enlarged schematic diagram at D place in Fig. 7;

FIG. 10 is a schematic diagram 4 of the structure of the walking aid provided by the embodiment of the present application;

FIG. 11 is a schematic structural diagram 5 of the walking aid device provided by the embodiment of the present application;

FIG. 12 is a sixth structural schematic diagram of a walking aid provided by an embodiment of the present application;

FIG. 13 is a seventh structural schematic diagram of a walking aid provided by an embodiment of the present application;

Figure 14 is an enlarged schematic view at E in Figure 13;

Fig. 15 is the enlarged schematic diagram at F in Fig. 13;

FIG. 16 is a schematic structural diagram eight of the walking aid provided by the embodiment of the present application;

17 is a schematic structural diagram 9 of a walking aid provided by an embodiment of the present application;

FIG. 18 is a tenth structural schematic diagram of a walking aid provided by an embodiment of the present application.

Detailed ways

Referring to FIG. 1 , an embodiment of the present application provides a walking aid device 200 . The walking aid device 200 includes a walking aid device 100 and a mechanical exoskeleton 300 . The walking aid 100 includes a main frame 10 and a support mechanism 20 . The support mechanism 20 includes a mounting column 21 and a support frame 22 . The mounting post 21 is fixedly connected to the main frame 10 . The support frame 22 is installed on the installation column 21 , the position of the support frame 22 in the length direction of the installation column 21 is adjustable, and the support frame 22 is used for detachable connection with the mechanical exoskeleton 300 .

The mechanical exoskeleton 300 is detachably connected with the support frame 22 , so that the support frame 22 supports the mechanical exoskeleton 300 so as to share the load of the mechanical exoskeleton 300 , and the support frame 22 is used to support the mechanical exoskeleton 300 . The position of the installation column 21 in the length direction can be adjusted, which can realize a wide range of height adjustment, so that the support frame 22 can be matched with mechanical exoskeletons 300 of different sizes, and has a wide application range, so that patients of different body sizes can share the above-mentioned The walking aid device 100 and the walking aid device 200 are a whole composed of the mechanical exoskeleton 300 and the walking aid device 100. After the patient wears the mechanical exoskeleton 300, the mechanical exoskeleton 300 can be activated to push the walking aid device 100 to move together, so as to facilitate the patient to Rehabilitation training is performed in a real walking manner. Since the support frame 22 can share part of the weight of the patient's body and the mechanical exoskeleton 300, the burden of the patient's walking on the ground is reduced, which is beneficial to improve the rehabilitation effect.

It can be understood that the mechanical exoskeleton 300 device includes a lumbar support frame 301 , a leg flexion and extension mechanism 302 rotatably connected to the lumbar support frame 301 , and a foot support mechanism 303 rotatably connected to the leg flexion and extension mechanism 302 . , the lumbar support frame 301 can be detachably connected to the support frame 22, so that the walking aid 100 supports the lumbar support frame 301 through the support frame 22, which can reduce the weight of the patient and facilitate the patient to perform rehabilitation walking. training to improve recovery. In other embodiments, the support frame 22 can also be detachably connected to other parts of the mechanical exoskeleton 300 .

Referring to FIG. 1 , in this embodiment, the walking aid 100 includes a plurality of walking wheels 30 . A plurality of the walking wheels 30 are mounted on the side of the main frame 10 away from the mounting post 21 . The main frame 10 and the supporting mechanism 20 can slide relative to the bottom surface with the walking wheel 30 . The main body frame 10 includes two connecting rods 11 arranged opposite to each other and a carrier 12 fixedly connecting the two connecting rods 11 . The carrier 12 can be fixedly connected to the two connecting rods 11 by welding, screw connection or snap connection. The number of the bearing members 12 may be two, and the two bearing members 12 are arranged side by side and are fixedly connected to the two connecting rods 11 . The mounting post 21 is fixed to the carrier 12 . Each of the connecting rods 11 is provided with the walking wheels 30 at both ends, so as to facilitate the movement of the walking device 100 . When a patient performs rehabilitation walking treatment, the support frame 22 can be used to detachably connect the mechanical exoskeleton 300, so that the mechanical exoskeleton 300 and the walking aid 100 form a whole, and the patient wears the mechanical exoskeleton 300. After that, the mechanical exoskeleton 300 can be activated to push the walking aid 100 to move together, so as to facilitate the patient to perform rehabilitation training in a real walking manner, because the support frame 22 can share the patient's body and the mechanical exoskeleton 300. The weight reduces the burden of walking on the ground, which is beneficial to improve the rehabilitation effect.

Referring to FIG. 2 , the support mechanism 20 further includes a fixing frame 23 . The fixing frame 23 includes a fixing plate 231, a mounting plate 232 arranged opposite to the fixing plate 231, and two side frames 233 arranged opposite to each other. The two side frames 233 are respectively fixedly connected to the fixing plate 231 and the mounting plate 232 , so that the two side frames 233 , the fixing plate 231 and the mounting plate 232 form a stable rectangular frame. The fixing plate 231 is fixedly connected to the two carriers 12 . One end of the mounting column 21 is fixedly connected to the fixing plate 231, and the other end is fixedly connected to the mounting plate 232, so that the mounting column 21 is firmly fixed between the fixing plate 231 and the mounting plate 232, then the installation The column 21 can stably carry the load brought by the support frame 22 and the mechanical exoskeleton 300 .

Referring to FIGS. 3 and 4 , the fixing frame 23 further includes a first mounting seat 234 fixed to the fixing plate 231 and a second mounting seat 235 fixed to the mounting plate 232 . The first mounting seat 234 defines a first positioning hole 2341 , and the second mounting seat 235 defines a second positioning hole 2351 . The first positioning hole 2341 is coaxial with the second positioning hole 2351 . The extending direction of the first positioning hole 2341 and the extending direction of the second positioning hole 2351 are perpendicular to the fixing plate 231 and the mounting plate 232 respectively. The first positioning hole 2341 and the second positioning hole 2351 are respectively positioned and matched with both ends of the mounting post 21 to ensure that the mounting post 21 is perpendicular to the fixing plate 231 and the mounting plate 232 . The depth of the first positioning hole 2341 is greater than the thickness of the fixing plate 231, and the depth of the second positioning hole 2351 is greater than the thickness of the mounting plate 232, which is beneficial to increase the mounting column 21 and the first mounting The mating area of the seat 234 and the second mounting seat 235 . The first mounting seat 234 is further provided with a first screw hole 2342 communicating with the first positioning hole 2341 . The axial direction of the first screw hole 2342 is perpendicular to the axial direction of the first positioning hole 2341 . After one end of the mounting post 21 extends into the first positioning hole 2341 , the mounting post 21 can be locked by installing a screw in the first screw hole 2342 . The second mounting seat 235 is further provided with a second screw hole 2352 communicating with the second positioning hole 2351 . The axial direction of the second screw hole 2352 is perpendicular to the axial direction of the second positioning hole 2351 . One end of the mounting post 21 away from the first mounting seat 234 extends into the second positioning hole 2351 , and the mounting post 21 can be locked by installing a screw in the second screw hole 2352 . In addition, the first mounting seat 234 and the second mounting seat 235 are respectively detachably connected to the fixing plate 231 and the mounting plate 232 through screw connection, so as to facilitate disassembly, maintenance and replacement of parts.

Referring to FIG. 5 , the support frame 22 includes a sliding support member 221 and an exoskeleton mounting member 222 fixedly connected to the sliding support member 221 . The sliding support 221 is mounted on the mounting post 21 . The position of the sliding support 221 in the length direction of the mounting post 21 is adjustable. The exoskeleton mount 222 is detachably connected to the mechanical exoskeleton 300 . The exoskeleton mounting member 222 can adjust the position along the length direction of the mounting post 21 along with the sliding support member 221, so that the exoskeleton mounting member 222 is close to or away from the main frame 10, so as to realize the exoskeleton installation height Therefore, it can be applied to different sizes of mechanical exoskeleton 300 to meet the needs of patients with different heights. In this embodiment, the sliding support member 221 can slide relative to the mounting post 21 to adjust the position along the length direction of the mounting post 21 .

Referring to FIG. 5 , the support frame 22 includes two exoskeleton mounts 222 . The two exoskeleton mounts 222 are fixed on opposite sides of the sliding support 221 , and the relative directions of the two exoskeleton mounts 222 are perpendicular to the length direction of the mounting post 21 , and the two exoskeletons are installed The piece 222 is detachably connected to the mechanical exoskeleton 300 . The mechanical exoskeleton 300 can be detachably connected to the two exoskeleton mounting parts 222, so that the support frame 22 can maintain the balance of the mechanical exoskeleton 300 in the horizontal direction, so as to prevent the support frame 22 from affecting the mechanical exoskeleton. The support direction of 300 is not correct, which leads to the wrong deformation of the patient's walking posture. The mechanical exoskeleton 300 is supported by the two exoskeleton mounts 222 , and the two exoskeleton mounts 222 can jointly share the load of the mechanical exoskeleton 300 and the human body. The walking aid 100 further includes a support plate 40 . The support plate 40 is detachably connected to the two exoskeleton mounts 222 through screw connection. The support plate 40 stabilizes the two support frames 22 to prevent the two support frames 22 from swaying in the air. The middle part of the support plate 40 is detachably connected to the lumbar support frame 301 of the mechanical exoskeleton 300 .

Referring to FIGS. 6 and 7 , the exoskeleton mounting member 222 includes a support arm 2221 , a first mounting member 2222 and a second mounting member 2228 . The first mounting member 2222 and the second mounting member 2228 are respectively fixed to two ends of the support arm 2221 . The first mounting member 2222 is detachably connected to the sliding support member 221 through screws. The second mounting member 2228 is detachably connected to the mechanical exoskeleton 300 through screws. The distance between the second mounting member 2228 and the main frame 10 in the longitudinal direction of the mounting post 21 is greater than the distance between the first mounting member 2222 and the main frame 10 in the longitudinal direction of the mounting post 21 , That is, there is a height difference between the second mounting member 2228 and the first mounting member 2222, and the second mounting member 2228 can be supported and fixed with a higher position (such as the waist) on the mechanical exoskeleton 300, while the The height of the second mounting member 2228 is relatively low, which is beneficial to lower the center of gravity and reduce the moment of the support frame 22 acting on the mounting column 21 , so that the support mechanism 20 can stably support the mechanical exoskeleton 300 . In this embodiment, the number of the support arms 2221 may be two, and the two support arms 2221 are arranged side by side along the installation length direction. Of course, the number of the support arms 2221 may also be greater or less than two, which is not limited herein.

Please refer to FIG. 8 , the first mounting member 2222 includes a first card board 2223 and a second card board 2224 disposed opposite to the first card board 2223 , and fixedly connects the first card board 2223 and the second card board 2224 The connection board 2225 of the card board 2224. The first clamping plate 2223 and the second clamping plate 2224 are parallel to the mounting post 21 , and the first clamping plate 2223 and the second clamping plate 2224 are fixed to the sliding support member 221 by screwing Opposite sides to apply clamping and locking force to the sliding support 221 and increase the contact area between the first mounting member 2222 and the sliding support 221, so that the sliding support 221 is stably connected The exoskeleton mounting member 222 prevents the exoskeleton mounting member 222 from shaking relative to the sliding support member 221, resulting in unstable support of the mechanical exoskeleton 300 by the support frame 22 and affecting the patient's ability to wear the mechanical exoskeleton 300 and walk on the ground. stability. The connecting plate 2225 includes a first fixing portion 2226 and a second fixing portion 2227 fixedly connected to the first fixing portion 2226 . The first fixing portion 2226 is located on the side of the side frame 233 away from the sliding support member 221 , and is fixedly connected to the first card board 2223 and the second card board 2224 . The second fixing portion 2227 is staggered from the side frame 233 . The first clamping plate 2223 is adjacent to the second fixing portion 2227 relative to the second clamping plate 2224 . The first card board 2223 and the second fixing portion 2227 are arranged at right angles. One end of the support arm 2221 protrudes between the first clamping plate 2223 and the second fixing portion 2227 , and the end portion of the supporting arm 2221 is in contact with the first clamping plate 2223 and is fixedly connected. The support arm 2221 and the second fixing portion 2227 are partially overlapped and fixedly connected, so as to ensure that the support arm 2221 is stable relative to the first mounting member 2222 .

Referring to FIG. 9 , the second mounting member 2228 includes a first fixed side plate 2229 and a second fixed side plate 2230 fixedly connected to the first fixed side plate 2229 . The first fixed side plate 2229 and the second fixed side plate 2230 are disposed at right angles. The first fixed side plate 2229 is in contact with and fixedly connected to the end of the support arm 2221 away from the first mounting member 2222, and the second fixed side plate 2230 partially overlaps with the support arm 2221 and is fixedly connected, so as to ensure that all The support arm 2221 is stable relative to the second mounting member 2228 . A reinforcing rib 2231 is formed between the first fixed side plate 2229 and the second fixed side plate 2230 to improve the structural strength of the second mounting member 2228 . The first fixed side plates 2229 of the two second mounting pieces 2228 are attached to the support plate 40, and the first fixed side plates 2229 of the two second mounting pieces 2228 and the The support plate 40 is fixedly connected.

Please refer to FIG. 10 , further, the sliding support 221 is slidably connected to the mounting post 21 , and the support mechanism 20 further includes a drive assembly 24 , one end of the drive assembly 24 is fixedly connected to the main frame 10 to drive The sliding support member 221 adjusts the position along the length direction of the mounting post 21 .

Referring to FIG. 11 , in this embodiment, the sliding support member 221 includes a connecting body 2211 and a first sliding sleeve 2212 that is fixedly connected to the connecting body 2211 . The connecting body 2211 is provided with a first installation through hole 2213 for the installation post 21 to pass through. The diameter of the first installation through hole 2213 is larger than the diameter of the installation post 21 . The first sliding sleeve 2212 can be fixedly connected with the connecting body 2211 by screws, the first sliding sleeve 2212 is positioned and matched with the first installation through hole 2213, and the first sliding sleeve 2212 is provided with A sliding hole slidably matched with the mounting post 21, the mounting post 21 can slide and guide the connecting body 2211 through the first sliding sleeve 2212; and the depth of the first mounting through hole 2213 is greater than that of the For the depth of the sliding hole of the first sliding sleeve 2212, only rough machining of the first installation through hole 2213 is required, and finishing machining of the sliding hole of the first sliding sleeve 2212 is beneficial to reduce processing difficulty and workload. The sliding support 221 includes two first sliding sleeves 2212 , and the two first sliding sleeves 2212 are respectively positioned at both ends of the first installation through hole 2213 . The sliding sleeve 2212 is slidably matched with the mounting post 21 to ensure that the sliding support member 221 slides smoothly in a straight line relative to the mounting post 21 .

Referring to FIG. 12 , the support mechanism 20 includes two mounting posts 21 . The two mounting posts 21 are fixed between the fixing plate 231 and the mounting plate 232 . Two of the mounting posts 21 are arranged side by side. The sliding support 221 includes two connecting bodies 2211 disposed opposite to each other, and a connecting member 400 that fixedly connects the two connecting bodies 2211 . The two connecting bodies 2211 are respectively slidably connected to the two mounting posts 21 through the first sliding sleeve 2212 , so that the two mounting posts 21 can slide and guide the two connecting bodies 2211 respectively. The two connecting bodies 2211 are fixedly connected to the two exoskeleton mounting members 222 respectively, and the driving assembly 24 can drive the two connecting bodies 2211 to drive the two exoskeleton mounting members 222 to slide synchronously.

Referring to FIG. 13 , in this embodiment, the support mechanism 20 further includes a transmission component 25 , and the transmission component 25 is connected between the sliding support member 221 and the driving component 24 . The transmission component 25 can transmit the driving force of the driving component 24 to the sliding support 221 , so that the driving component 24 can apply the driving force to the sliding support 221 through the transmission component 25 . In other embodiments, the driving assembly 24 can be directly connected to the sliding support 221 by driving.

Please refer to FIG. 13 and FIG. 14 , the transmission assembly 25 includes a pushing member 251 and an elastic member 252 . The pushing member 251 is located between the sliding support member 221 and the main frame 10 and is slidably connected to the mounting post 21 , the elastic member 252 elastically connects the pushing member 251 and the sliding support member 221 , and the driving component 24 applies a driving force to the sliding support member 221 via the pushing member 251 and the elastic member 252 . The mechanical exoskeleton 300 is supported by the support frame 22 . After the patient wears the mechanical exoskeleton 300 , due to the weight of the patient and the mechanical exoskeleton 300 , the sliding support 221 is relatively opposite to the mechanical exoskeleton 300 . Fixed, the pushing member 251 can be driven by the driving assembly 24 to move closer to or away from the sliding support member 221, so as to adjust the elastic deformation of the elastic member 252, so that the driving assembly 24 can pass the pushing member 251 and the elastic member 252 exert different degrees of support force on the sliding support member 221, so as to achieve different degrees of weight reduction effect and achieve the effect of adjustable training intensity. On the other hand, since the pushing member 251 is connected to the sliding support member 221 via the elastic member 252 , that is, there is no rigid contact between the pushing member 251 and the sliding support member 221 , the patient wears the mechanical exoskeleton 300 for During rehabilitation walking, the elastic member 252 can elastically buffer the load fluctuation of the support frame 22, can elastically adapt to the walking posture of the patient, and reduce the discomfort of the patient. In this embodiment, the elastic member 252 is a rectangular spring, and the elastic member 252 is sleeved on the mounting post 21 . In other embodiments, the elastic member 252 may also be other forms of elastic body, such as elastic rubber.

Referring to FIG. 14 , the pushing member 251 includes a pushing body 2511 and a second sliding sleeve 2512 fixedly connected to the pushing body 2511 . The pushing body 2511 is provided with a second mounting through hole 2513 through which the mounting post 21 passes. The second sliding sleeve 2512 is positioned and matched with the second installation through hole 2513 . The second sliding sleeve 2512 can be fixedly connected to the pushing body 2511 by screws. The second sliding sleeve 2512 is provided with a sliding hole slidably matched with the mounting post 21 , so that the mounting post 21 can slide and guide the pushing body 2511 through the second sliding sleeve 2512 . The pushing body 2511 is provided with two second installation through holes 2513 . The pushing member 251 further includes two second sliding sleeves 2512 which are positioned and matched with the two second installation through holes 2513 respectively. The two mounting posts 21 pass through the two second mounting through holes 2513 respectively, and are slidably fitted with the two sliding sleeves. The depth of the sliding hole of the second sliding sleeve 2512 is greater than the depth of the second mounting through hole 2513 , so that the volume of the pushing body 2511 can be reduced, and the pushing member 251 and the mounting post 21 can be ensured. the sliding fit area.

Please refer to FIG. 13 and FIG. 15 , further, the fixing frame 23 includes a guide member 236 that is fixedly connected to the mounting plate 232 , and the mounting plate 232 is fixed to the end of the mounting post 21 away from the main frame 10 , so The transmission assembly 25 further includes a transmission rod 253 , the transmission rod 253 passes through the guide member 236 and is fixedly connected to the push member 251 , the transmission rod 253 is parallel to the length direction of the installation column 21 , and the guide member 236 The transmission rod 253 is slidably guided, and the drive assembly 24 is drivingly connected to the transmission rod 253 . In this embodiment, the transmission rod 253 is a linear optical axis. The guide 236 may be a linear bearing. The guide member 236 is provided with a guide hole 2361 slidably matched with the transmission rod 253 . The axial direction of the guide hole 2361 is parallel to the length direction of the mounting post 21 . The guide member 236 slides and guides the transmission rod 253 through the guide hole 2361 , which can ensure that the transmission rod 253 slides relative to the guide member 236 along the length direction parallel to the installation column 21 , and prevents the transmission rod 253 The mounting post 21 is stuck in the middle when the position is adjusted in the longitudinal direction.

Please refer to FIG. 16 , further, the drive assembly 24 includes a drive member 241 and a telescopic push rod 242 , the drive member 241 is fixedly connected to the main body frame 10 , and one end of the telescopic push rod 242 is fixedly connected to the transmission rod 253 , the other end is slidably connected to the driving member 241, the telescopic push rod 242 is parallel to the transmission rod 253, the driving member 241 can drive the telescopic push rod 242 to extend or retract, and drives the transmission rod 253 to be opposite The guide 236 slides.

In this embodiment, the transmission assembly 25 further includes a transmission plate 254 . The transmission plate 254 is fixed to the end of the transmission rod 253 facing away from the pusher 251 . The transmission plate 254 has a larger arrangement area, and the ends of the two transmission rods 253 can be fixed on the transmission plate 254 . One end of the telescopic push rod 242 away from the driving member 241 is fixed to the transmission plate 254 . Then, the telescopic push rod 242 can simultaneously drive the two transmission rods 253 to slide synchronously relative to the guide member 236 through the transmission plate 254 , so that the transmission structure is simple and efficient. The transmission assembly 25 further includes two first fixing bases 255 and a second fixing base 256 fixed on the transmission plate 254 . Both the first fixing base 255 and the second fixing base 256 can be fixedly connected to the transmission plate 254 through screw connection. Both of the two first fixing bases 255 are provided with installation through holes and screw holes communicating with the installation through holes. One end of the transmission rod 253 is positioned and matched with the installation through hole, and a screw can be installed in the screw hole to lock the transmission rod 253 . The second fixing base 256 is provided with two fixing cards, and one end of the telescopic push rod 242 can be locked between the two fixing cards through pins.

The driving member 241 may be a linear driving motor, and the driving member 241 may drive the telescopic push rod 242 to perform linear telescopic motion. Controlling the driving member 241 to apply a driving force to the sliding support member 221 through the transmission assembly 25 by means of electronic control is beneficial to saving manpower, and the adjustment process is more convenient. In other embodiments, the drive assembly 24 may also be a non-electric structure, for example, the transmission rod 253 may be driven to slide relative to the guide member 236 through a screw-nut pair structure or a pulley combination structure.

Please refer to FIG. 17 , further, the support mechanism 20 further includes a handrail 26 fixedly connected to the transmission rod 253 , the handrail 26 is fixed to the end of the transmission rod 253 away from the pusher 251 , and the handrail 26 is located at the end of the transmission rod 253 away from the pusher 251 . The support frame 22 is away from the side of the main frame 10 , and the handrail 26 can slide relative to the guide member 236 along with the transmission rod 253 to approach or move away from the main frame 10 .

In the present embodiment, the armrest 26 is used to provide a place for the patient to grasp the force. When the patient wears the mechanical exoskeleton 300, the patient can grasp the handrail 26 and push the walking aid 100 to move forward together, so that the walking aid 100 can support the waist support 33 of the mechanical exoskeleton 300 to reduce the number of patients The weight-bearing of the lower limbs can also provide a place for the upper limbs of the patient to borrow, so that the burden on the upper and lower limbs of the patient is reduced, and the patient's whole body burden is small during the rehabilitation walking treatment, which is conducive to motivating the patient to increase the time of rehabilitation training and improve the rehabilitation effect.

Since the handrail 26 and the pushing member 251 are respectively fixed to the two ends of the transmission rod 253 , that is, the driving assembly 24 can drive the transmission rod 253 to drive the handrail 26 and the pushing member 251 relative to the transmission rod 253 . The installation column 21 slides synchronously, and the pusher 251 can push the sliding support 221 to slide relative to the installation column 21 to adjust the installation height of the exoskeleton installation member 222, that is, the armrest 26 and the outer frame. The installation height of the bone mount 222 can be adjusted synchronously, so as to meet the support needs of the upper and lower limbs of patients with different heights at the same time.

The armrest 26 is provided with a fixed part 261 and two opposite armrest parts 262 , the fixed part 261 is fixedly connected to the transmission rod 253 , and the two armrest parts 262 are fixed on opposite sides of the fixed part 261 , a first entrance 263 is formed between the two armrest portions 262 relative to the fixing portion 261 , that is, the armrest 26 is in the shape of a half ring. The two armrest portions 262 can be grasped by the left and right hands of the patient, so that the patient can grasp the balance of the body. The medical staff can provide assistance to the upper limbs of the patient through the first entrance and exit 263 . A second entrance 13 is formed between the two connecting rods 11 relative to the carrier 12, that is, the main frame 10 is in the shape of a half ring, and medical staff can help the patient's lower limbs to wear or take off through the second entrance 13. In addition to the mechanical exoskeleton 300 . The second entrance 13 and the first entrance 263 face the same side, so that the walking aid 100 forms a semi-open structure as a whole. The entrance 263 and the second entrance 13 assist the upper and lower limbs of the patient, and the patient does not need to turn around, which makes the wearing process relatively simple; and the support frame 22 supports the mechanical exoskeleton 300, which can save the physical strength of medical staff.

Please refer to FIG. 18 , further, the walking aid 100 includes two steering wheels 31 and a steering mechanism 50 , and the steering mechanism 50 includes two first connecting rods 51 , second connecting rods 52 and a pushing assembly 53 . Each of the steering wheels 31 is provided with a rotating shaft 32 rotatably connected to the main frame 10 , the two steering wheels 31 are arranged at intervals, and the two first connecting rods 51 are respectively fixedly connected to the steering wheel 31 . , the first connecting rod 51 is perpendicular to the rotating shaft 32 , and the two ends of the second connecting rod 52 are respectively connected to the two first connecting rods 51 in rotation, and are respectively spaced from the two rotating shafts 32 , the push assembly 53 is fixedly connected to the main body frame 10, and the push assembly 53 drives the second connecting rod 52 to slide relative to the rotating shaft 32 in the direction perpendicular to the rotating shaft 32, so as to drive the first connecting rod 52 to slide relative to the rotating shaft 32. The rod 51 and the steering wheel 31 rotate around the rotation shaft 32 .

In this embodiment, the steering wheel 31 includes a bracket 33 and a roller body 34 . The bracket 33 is provided with the rotating shaft 32 and a mounting frame 35 fixedly connected to the rotating shaft 32 . The roller body 34 is rotatably connected to the mounting frame 35 . The axial direction of the rotating shaft of the roller body 34 rotatably connected to the mounting frame 35 is perpendicular to the axial direction of the rotating shaft 32 . The ends of the two connecting rods 11 adjacent to the bearing member 12 are each provided with a rotating shaft 32 bearing. One end of the rotating shaft 32 is rotatably matched with the rotating shaft 32 , and the other end is fixedly connected to the first connecting rod 51 . The first connecting rod 51 is perpendicular to the rotating shaft 32 , so that the steering wheel 31 can be driven to turn by the first connecting rod 51 . Two ends of the second link 52 are respectively hinged to the two first links 51 . The pushing assembly 53 includes a driving body 531 , a steering push rod 532 and a steering connecting piece 533 . The driving body 531 is fixedly connected to the carrier 12 of the main body frame 10 . The steering push rod 532 is telescopically and slidably connected to the driving body 531 . The steering connecting member 533 is connected between the steering push rod 532 and the second connecting rod 52 . The steering connection member 533 is provided with a fixed connection portion 534 and a rotational connection portion 535 fixedly connected to the fixed connection portion 534 . The fixed connection portion 534 is fixedly connected to the second link 52 . The rotating connecting portion 535 is rotatably connected to the end of the steering push rod 532 away from the driving body 531 . The driving body 531 can drive the steering push rod 532 to extend or retract, and then drives the second connecting rod 52 to slide along the direction perpendicular to the rotating shaft 32 through the steering connecting member 533 to drive the first The connecting rod 51 and the steering wheel 31 rotate around the rotating shaft 32, so as to realize the steering effect of the linkage of the left and right wheels. In other embodiments, the steering wheel 31 can be replaced with a universal wheel.

In this embodiment, the driving main body 531 may be a linear driving motor, and the driving main body may be controlled to work in an electronic control manner. The walking aid device 100 may install a control handle electrically connected to the driving body 531 on the armrest 26, so that medical staff or patients themselves can control the driving body to drive the second link 52 to complete the steering through the control handle. action. The medical staff can also remotely control the driving body 531 to drive the second link 52 to complete the steering action through a wireless remote controller. In other embodiments, the driving body 531 is a non-electrically controlled structure. The driving body 531 may be a manual control link structure, and the driving body 531 is provided with a manual control part, and the patient can control the manual control part through his own power to control the second link 52 to complete the steering action.

The embodiment of the present application provides a walking aid device and walking aid equipment. The lumbar support frame 301 is detachably connected to the support frame, so that the support frame supports the waist support frame 301 to share the exoskeleton equipment. The weight of the support frame can be adjusted in the length direction of the installation column, and a wide range of height adjustment can be achieved, so that the support frame can be matched with exoskeleton equipment of different sizes, and has a wide range of applications, making Patients of different body sizes can share the above walking aids; the walking aids are an integral part of the mechanical exoskeleton and the walking aids. After the patient wears the mechanical exoskeleton, the mechanical exoskeleton can be activated to push the walking aids to move together, which is convenient for the patient. Rehabilitation training is carried out in a real walking way. Since the support frame can share part of the weight of the patient's body and the mechanical exoskeleton, the burden of the patient's walking on the ground is reduced, which is conducive to improving the rehabilitation effect.

To sum up, although the present application has disclosed the above-mentioned preferred embodiments, the preferred embodiments are not intended to limit the present application, and those of ordinary skill in the field, without departing from the spirit and scope of the present application, can Various changes and modifications are made, so the scope of protection of the present application is subject to the scope defined by the claims.

Claims (10)

1. A walking aid device, characterized in that the walking aid device comprises a main body frame and a support mechanism, the support mechanism comprises an installation column and a support frame, the installation column is fixedly connected to the main body frame, and the support frame Installed on the installation column, the position of the support frame in the length direction of the installation column is adjustable, and the support frame is used for detachable connection with the mechanical exoskeleton. 2 . The walking aid device according to claim 1 , wherein the support frame comprises a sliding support member slidably connected to the installation column and an exoskeleton mounting member fixedly connected to the sliding support member, the exoskeleton 2 . The mounting piece is detachably connected to the mechanical exoskeleton, and the support mechanism further includes a drive assembly, one end of the drive assembly is fixedly connected to the main body frame, and the other end is connected to the sliding support to drive the sliding support to move The position of the installation column in the length direction is adjusted. 3 . The walking aid device according to claim 2 , wherein the support mechanism further comprises a transmission assembly, and the transmission assembly includes a pushing member and an elastic member, and the pushing member is located between the sliding support member and the elastic member. 4 . The main frame is slidably connected with the mounting post, the elastic piece is elastically connected to the push piece and the sliding support piece, and the drive assembly is connected to the sliding support piece via the push piece and the elastic piece Apply driving force. 4. The walking aid device according to claim 3, wherein the support mechanism further comprises a fixed frame, the fixed frame comprises a mounting plate and a guide member fixedly connected to the mounting plate, the mounting plate is fixed on the One end of the installation column is far away from the main frame, the transmission assembly further includes a transmission rod, the transmission rod passes through the guide member and is fixedly connected to the push member, and the transmission rod is parallel to the length direction of the installation column, The guide member slides and guides the transmission rod, and the drive assembly is drivingly connected to the transmission rod. 5 . The walking aid device according to claim 4 , wherein the driving assembly comprises a driving member and a telescopic push rod, the driving member is fixedly connected to the main body frame, and one end of the telescopic push rod is fixedly connected to the a transmission rod, the other end of which is slidably connected to the driving member, the telescopic push rod is parallel to the transmission rod, the driving member can drive the telescopic push rod to extend or retract, and drives the transmission rod to be relative to the guide member slide. 6 . The walking aid device according to claim 4 , wherein the support mechanism further comprises a handrail fixedly connected to the transmission rod, the handrail is fixed to an end of the transmission rod away from the pushing member, and the The armrest is located on the side of the support frame away from the main body frame, and the armrest slides with the transmission rod relative to the guide to be close to or away from the main body frame; the armrest is provided with a fixed part and two oppositely arranged armrests The fixed part is fixedly connected to the transmission rod, the two armrest parts are fixed on opposite sides of the fixed part, and a first entrance and exit relative to the fixed part is formed between the two armrest parts. 7 . The walking aid device according to claim 6 , wherein the main body frame comprises two connecting rods arranged opposite to each other, and a bearing member for fixedly connecting the two connecting rods, and the two connecting rods are 7. 8 . A second entrance and exit opposite to the carrier is formed therebetween, and the carrier is fixed to one end of the mounting post. 8 . The walking aid device according to claim 1 , wherein the walking aid device comprises two steering wheels and a steering mechanism, and the steering mechanism comprises two first connecting rods, a second A connecting rod and a pushing assembly, the two steering wheels are both provided with a rotating shaft that is rotatably connected to the main frame, the two steering wheels are arranged at intervals, and the two first connecting rods are respectively fixedly connected to one of the steering wheels The first connecting rod is perpendicular to the rotating shaft, and the two ends of the second connecting rod are respectively connected to the two first connecting rods in rotation, and are respectively spaced from the two rotating shafts. The assembly is fixedly connected to the main body frame, and the push assembly drives the second connecting rod to slide relative to the rotating shaft in a direction perpendicular to the rotating shaft, so as to drive the first connecting rod and the steering wheel to rotate around the rotating shaft Shaft turns. 9 . A walking aid device, characterized in that the walking aid device comprises the walking aid device according to any one of claims 1 to 8 , the walking aid device further comprises a mechanical exoskeleton, and the mechanical exoskeleton The support frame is detachably connected. 10. The walking aid device according to claim 9, wherein the mechanical exoskeleton device comprises a lumbar support frame, a leg flexion and extension mechanism rotatably connected with the waist, and a leg flexion and extension mechanism rotatably connected with the leg flexion and extension mechanism. A foot support mechanism, the lumbar support frame is detachably connected to the support frame.

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