CN108236562A - A kind of the elderly's walk helper and its control method - Google Patents
A kind of the elderly's walk helper and its control method Download PDFInfo
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- CN108236562A CN108236562A CN201810275527.3A CN201810275527A CN108236562A CN 108236562 A CN108236562 A CN 108236562A CN 201810275527 A CN201810275527 A CN 201810275527A CN 108236562 A CN108236562 A CN 108236562A
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- 230000033001 locomotion Effects 0.000 claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 24
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of the elderly's walk helper and its control methods, the driving moved by using automatically controlled motion to walk helper, enable walk helper that old man is pushed to walk, so as to mitigate the walking burden of old man, simultaneously, pass through detection of the control mechanism to the pressure being applied to it, main control module can not only be made flexibly to control the direction of motion of walk helper, and walk helper can be made to carry out self-locking in time, enable the timely stop motion of walk helper, so as to ensure the safety of old man.
Description
Technical field
The present invention relates to walk helper technical field, especially a kind of the elderly's walk helper and its control method.
Background technology
Walk helper is as a kind of utensil for assisting body support's weight, keeping balance and walking, in auxiliary the elderly and again
Using very extensive in the limb rehabilitation training of patient.Existing walk helper is substantially real with the foot formula structure of " crutch chair "
It is existing, but the motor pattern of existing walk helper is excessively cumbersome, needs constantly to praise and put down walk helper, and during praising
It is susceptible to the possibility for losing center of gravity.
In order to solve this problem, occur a kind of walk helper with wheel foot, the walk help of this form on the market
The foot of device is made of universal wheel, but does not add any self-locking structure, is easy to cause wheel and is run and disequilibrium, this causes always
Year, people was susceptible to the problem of releasing walk helper accidentally and fall when in use, it is impossible to meet the requirement of safety.
Invention content
To solve the above problems, the purpose of the present invention is to provide a kind of the elderly's walk helper and its control method, it can
The pressure of handrail is held according to old man and carries out mobile or self-locking so that walk helper can in case of emergency stop moving,
So as to improve the safety in utilization of walk helper.
Technical solution is used by the present invention solves the problems, such as it：
A kind of the elderly's walk helper, including being used to form the mechanical part of walk helper main body and for carrying out mobile control
Electric-controlled parts；Mechanical part includes main body rack and the handrail for assisting body support；Electric-controlled parts include planning as a whole pipe
The main control module of reason, for walk helper main body to be driven to carry out mobile motion and carries out arbitrary side for controlled motion mechanism
To the control mechanism of movement, main control module hides the inside for being set to main body rack, and motion is set to the bottom of main body rack
Portion, control mechanism are set on handrail；Control mechanism is by detecting the pressure being applied thereto so that master control module controls are transported
Motivation structure carries out self-locking or drives the movement of walk helper main body progress any direction.
Further, main body rack with handrail including the support foot rest for connecting handrail and motion and for forming C
First connection cross bar of type structure.
Further, control mechanism includes the first control units part for detecting pressure, and the first control units part is exposed to be set to
On handrail, the first control units part is connected with main control module.
Further, control mechanism includes the second control unit for detecting push button signalling, and the second control unit is set to
On first connection cross bar, the second control unit is connected with main control module.
Further, motion includes front end universal wheel, rear end active revolver, rear end active right wheel, revolver self-locking motor
With right wheel self-locking motor, rear end active revolver and rear end active right wheel turn respectively with revolver self-locking motor and right wheel self-locking motor
Axis is connected, and revolver self-locking motor and right wheel self-locking motor are connected respectively with main control module；Front end universal wheel, rear end are actively left
Wheel and rear end active right wheel are connected respectively with support foot rest；Pressure of the main control module according to detected by control mechanism, respectively
Adjust rear end active revolver and the rotating speed of rear end active right wheel, advance and cornering operation so as to fulfill walk helper main body.
Further, main body rack further includes the height regulating mechanism being adjusted for the height to handrail, and height adjusts
Mechanism includes that simultaneously flexible interior bar can be carried out and along the inside of support foot rest for limiting interior bar phase for connecting motion
Mobile elastic spacing component is carried out for support foot rest, interior bar carries out screens company by elastic spacing component and support foot rest
It connects.
Further, elastic spacing component includes steel ball, the spring being connect with steel ball and is used for along the section setting of interior bar
The fixed plate of steel ball and spring is supported, fixed plate includes fixed upper plate and fixed lower plate, and fixed upper plate and fixed lower plate are formed and supplied
The channel that steel ball is moved；Interior bar is provided with the circular hole for being connect with steel ball screens in position corresponding with steel ball；Support
Foot stool is placed in the vertical direction the consistent through-hole of at least one diameter corresponding with circular hole.
Further, electric-controlled parts further include the preposition ultrasonic wave module for detecting barrier, and first connects under cross bar
Side is provided with the second connection cross bar, preposition ultrasonic wave module towards be set in front of walk helper main body the second connection cross bar and/
Or on support foot rest.
Further, electric-controlled parts further include the postposition ultrasonic wave module for detecting user, postposition ultrasonic wave module court
User to be set on the second connection cross bar.
A kind of control method applied to the elderly's walk helper includes the following steps：
S1, system initialization；
Whether S2, main control module obtain the detection data of postposition ultrasonic wave module, and judge user far from walk helper master
Body, if so, revolver self-locking motor and right wheel self-locking motor carry out self-locking；Otherwise, step S3 is performed；
S3, main control module obtain the detection data of preposition ultrasonic wave module, and judge whether front has barrier, if so,
Revolver self-locking motor and right wheel self-locking motor carry out self-locking；Otherwise, step S4 is performed；
S4, the pressure data that is detected by the first control units part of main control module acquisition, and judge pressure data whether be more than
Rated value, if so, revolver self-locking motor and right wheel self-locking motor carry out self-locking；Otherwise, step S5 is performed；
The data-signal that S5, main control module are detected according to the first control units part and/or the second control unit, judges the number
It is believed that number indicating whether to advance, rotated at the same speed if so, revolver self-locking motor is synchronous with right wheel self-locking motor；Otherwise, master control
Module carries out differential control to revolver self-locking motor and right wheel self-locking motor；
S6, walk helper main body are moved.
The beneficial effects of the invention are as follows：A kind of the elderly's walk helper and its control method, main body rack can to human body into
Row support, motion is set to the bottom of main body rack, with reference to the supporting role of handrail so that old man can steadily push
The walk helper of the present invention is walked；Since control mechanism is set on handrail, as long as hold the handrail can be right by old man
Control mechanism is controlled, so as to greatly facilitate controlling convenient of the old man to walk helper；When old man holds handrail, control
Mechanism processed can be detected the pressure of gripping, and main control module can carry out self-locking according to the difference of pressure value to motion
Or the control of movement；For example, when the pressure for being respectively acting on two handrails differs, main control module being capable of court of controlled motion mechanism
The larger one side of pressure and carry out turning motion, and when the pressure for being respectively acting on two handrails is identical, motion towards
It keeps straight in front；If old man does not catch up with the movement speed of walk helper and the trend toppled over forward occurs, old man can subconsciously add
The pressure of big promptly handrail, if pressure at this time is more than rated value, main control module being capable of controlled motion mechanism progress self-locking behaviour
Make.Therefore, control mechanism can be by detecting the pressure being applied thereto so that master control module controls motion carries out self-locking
Or drive the movement of walk helper main body progress any direction.So the elderly's walk helper of the invention and its control method, it can
The pressure of handrail is held according to old man and carries out mobile or self-locking so that walk helper can in case of emergency stop moving,
So as to improve the safety in utilization of walk helper.
Description of the drawings
The invention will be further described with example below in conjunction with the accompanying drawings.
Fig. 1 is the schematic diagram of the elderly's walk helper of the present invention；
Fig. 2 is the schematic diagram of height regulating mechanism；
Fig. 3 is the control method flow chart of the elderly's walk helper of the present invention.
Specific embodiment
With reference to Fig. 1-Fig. 2, a kind of the elderly's walk helper of the invention, the Machinery Ministry including being used to form walk helper main body
Part and the electric-controlled parts for carrying out mobile control；Mechanical part includes main body rack 1 and the handrail for assisting body support
2；Electric-controlled parts include the main control module for overall management, for walk helper main body to be driven to carry out mobile motion and use
The control mechanism of any direction movement is carried out in controlled motion mechanism, main control module hides the inside for being set to main body rack 1, transports
Motivation structure is set to the bottom of main body rack 1, and control mechanism is set on handrail 2；Control mechanism is applied to it by detection
On pressure so that master control module controls motion carry out self-locking or drive walk helper main body carry out any direction movement.
Specifically, main body rack 1 can be supported human body, and motion is set to the bottom of main body rack 1, with reference to handrail 2
Supporting role so that old man can steadily push the walk helper of the present invention to walk；Since control mechanism is set to handrail 2
On, as long as therefore old man hold the handrail and 2 control mechanism can be controlled, so as to greatly facilitate old man to walk helper
Controlling convenient；When old man holds handrail 2, control mechanism can be detected the pressure of gripping, and main control module is according to pressure
The difference of force value can carry out motion the control of self-locking or movement；For example, it is respectively acting on the pressure of two handrails 2
When differing, main control module can controlled motion mechanism carry out turning motion towards the larger one side of pressure, and ought act on respectively
When the pressure of two handrails 2 is identical, motion is kept straight on towards front；If old man does not catch up with the movement speed of walk helper and goes out
During the trend now toppled over forward, old man can subconsciously increase the pressure of promptly handrail 2, if pressure at this time is more than rated value
When, main control module being capable of the progress self-locking operation of controlled motion mechanism.Therefore, control mechanism can be applied thereto by detection
Pressure so that master control module controls motion carries out self-locking or drives the movement of walk helper main body progress any direction.So
The elderly's walk helper of the present invention can hold the pressure of handrail 2 according to old man and carry out mobile or self-locking so that walk helper
It can in case of emergency stop moving, so as to improve the safety in utilization of walk helper.
Wherein, with reference to Fig. 1, main body rack 1 include support foot rest 11 for connecting handrail 2 and motion and for
Handrail 2 forms the first connection cross bar 12 of c-type structure.Specifically, since the first connection cross bar 12 and handrail 2 form c-type structure,
Therefore, walk helper main body is in the c-type structure with the space for accommodating human body, and handrail 2 is in the position on both sides, therefore works as old man
Using the present invention walk helper when, can two hands hold in both sides handrail 2, walk helper is followed to walk.
Wherein, control mechanism has a variety of realization methods, and with reference to Fig. 1, as the first realization method, control mechanism includes
For detecting the first control units part 31 of pressure, the first control units part 31 is exposed to be set on handrail 2, the first control units part 31
It is connected with main control module.Specifically, the first control units part 31 is two-handed control, needs to be controlled by both hands, also,
The first control units part 31 has pressure detecting function, by being detected to the pressure being applied thereto so as to controlled motion mechanism
Carry out corresponding movement.For example, the first control units part 31 is formed by being respectively arranged at the pressure sensor on two side handrails 2,
When old man needs to walk forward, an equal amount of pressure can be applied to the handrail 2 of both sides, at this point, motion can control
Walk helper main body is walked forward；If old man needs turning to the left or to the right, the handrail 2 on the left side or the right can be added
Big pressure, at this point, main control module performs corresponding motor pattern according to the difference controlled motion mechanism of two pressure, so as to make to help
Row device main body is turned to the left or to the right.
In addition, with reference to Fig. 1, second of realization method of control mechanism, the second control including being used to detect push button signalling
Component 32, the second control unit 32 are set on the first connection cross bar 12, and the second control unit 32 is connected with main control module.
Specifically, the second control unit 32 is singlehanded button controller, and the direction of button is set towards old man, the second control unit
Part 32 is provided with 5 independent buttons, corresponds to forward movement respectively, moves backward, turns to the left, bending to right and speed control
Make this five functions.Therefore, old man can be by operating the second control unit 32, so as to set the fortune of walk helper main body
Dynamic model formula.In addition, control mechanism can also be made of 31 and second control unit of the first control units part, 32 common combination, so as to
The enough flexible control realized to walk helper.
Wherein, with reference to Fig. 1, motion include front end universal wheel 41, rear end active revolver 42, rear end active right wheel 43,
Revolver self-locking motor 44 and right wheel self-locking motor 45, rear end active revolver 42 and rear end active right wheel 43 are electric with revolver self-locking respectively
Machine 44 is connected with the shaft of right wheel self-locking motor 45, revolver self-locking motor 44 and right wheel self-locking motor 45 respectively with main control module
It is connected；Front end universal wheel 41, rear end active revolver 42 and rear end active right wheel 43 are connected respectively with support foot rest 11；Master control
Pressure of the module according to detected by control mechanism adjusts rear end active revolver 42 and the rotating speed of rear end active right wheel 43 respectively,
Advance and cornering operation so as to fulfill walk helper main body.Specifically, main control module is detected according to by the first control units part 31
The pressure value for acting on two side handrails 2 or according to the push button signalling detected by the second control unit 32, respectively to revolver
Self-locking motor 44 and right wheel self-locking motor 45 carry out rotating speed control, so as to fulfill the various motor performances of walk helper main body.For example,
When act on left armrests 2 pressure be more than act on right armrest 2 pressure or press in the second control unit 32 to
Left button, main control module can carry out differential control to revolver self-locking motor 44 and right wheel self-locking motor 45, at this point, revolver self-locking is electric
The rotating speed of machine 44 can slow down, and the rotating speed of right wheel self-locking motor 45 can be accelerated, so, the rotating speed of rear end active revolver 42 can be slower than
The rotating speed of rear end active right wheel 43, so as to fulfill the cornering operation to the left of walk helper.Similarly, when acting on left armrests 2
Pressure is less than the pressure for acting on right armrest 2 or presses button to the right in the second control unit 32, and walk helper then can be into
The capable operation that bends to right.And when the pressure for acting on both sides handrail 2 is basically identical, walk helper can then travel forward；When not having
When applying pressure to two side handrails 2, walk helper can stop motion.In addition, old man also is able to by pressing the second control unit 32
In speed control press key assignments walk helper movement speed so that the movement speed of walk helper can be with the movement of old man
Speed matches；If the movement speed of old man does not catch up with the movement speed of walk helper, since the hands grasping of old man is in both sides
On handrail 2, therefore old man will appear the trend to be dumped forward by walk helper drive, and in this case, old man can be subconscious
Ground increases the pressure for two side handrails 2 of holding with a firm grip, and when the pressure is more than preset rated value, main control module can control revolver self-locking
Motor 44 and right wheel self-locking motor 45 carry out self-locking so that walk helper can not continue to move along, so as to effectively prevent
There is the problem of Falls Among Old People.
Wherein, with reference to Fig. 1-Fig. 2, main body rack 1 further includes the height adjustment being adjusted for the height to handrail 2
Mechanism 5, height regulating mechanism 5 include that simultaneously flexible interior bar can be carried out along the inside of support foot rest 11 for connecting motion
51 and mobile elastic spacing component is carried out relative to support foot rest 11 for limiting interior bar 51, interior bar 51 passes through elastic spacing portion
Part carries out screens with support foot rest 11 and connect.It specifically, can be by adjusting machine to height for the different heights of different old men
Structure 5 is adjusted, and is clamped using the elastic spacing component among interior bar 51 and the different location of support foot rest 11, so as to make
Different height can be had by obtaining walk helper, so as to meet the use needs of different old men.
Wherein, with reference to Fig. 1-Fig. 2, elastic spacing component includes steel ball 52, the spring 53 being connect with steel ball 52 and along interior
The section of bar 51 sets the fixed plate 54 for being used to support steel ball 52 and spring 53, and fixed plate 54 is included under fixing upper plate and fixing
Plate, fixed upper plate and fixed lower plate form the channel moved for steel ball 52；Interior bar 51 is set in 52 corresponding position of steel ball
It is equipped with the circular hole for being connect with 52 screens of steel ball；Support foot rest 11 has been placed in the vertical direction at least one corresponding with circular hole
The consistent through-hole of diameter.Specifically, steel ball 52 can pass sequentially through circular hole and through-hole protrudes under the impetus of spring 53
In the outside of support foot rest 11, so as to position of the fixed interior bar 51 among support foot rest 11.When the height for needing adjustment walk helper
When spending, need to only exert oneself pull-up or pressure support foot rest 11 so that the power that support foot rest 11 acts on steel ball 52 is made more than spring 53
For the power of steel ball 52, you can inside contracted steel ball 52, at this point, steel ball 52 no longer limits interior bar 51 and the phase of support foot rest 11
To position, until steel ball 52 can protrude from the through-hole on another support foot rest 11.
Further, with reference to Fig. 1, electric-controlled parts further include the preposition ultrasonic wave module 61 for detecting barrier, and first connects
The lower section for connecing cross bar 12 is provided with the second connection cross bar 13, and preposition ultrasonic wave module 61 is towards being set in front of walk helper main body
On second connection cross bar 13 and/or support foot rest 11.Specifically, preposition ultrasonic wave module 61 is provided for walk helper keeps away automatically
The function of barrier.When preposition ultrasonic wave module 61, front is detected there are during barrier, main control module can control revolver self-locking electric
Machine 44 and right wheel self-locking motor 45 are rotated with different rotating speeds, and automatic obstacle-avoiding is reached so as to fulfill the steering of walk helper
Function.
Further, with reference to Fig. 1, electric-controlled parts further include the postposition ultrasonic wave module 62 for detecting user, and postposition surpasses
Sound wave module 62 is set to towards user on the second connection cross bar 13.Specifically, postposition ultrasonic wave module 62 can pass through
Old man is detected and judges whether old man can keep up with the movement speed of walk helper.For example, postposition ultrasonic wave module 62
Detecting distance be less than 70cm, when postposition ultrasonic wave module 62 can't detect object there are when, that is, illustrate that old man is not at by helping
Among the space that can accommodate human body that row device main body is formed or old man lags behind walk helper main body, at this point, main control module meeting
The problem of old man is in the state for the movement speed for not catching up with walk helper, and old man will will appear tumble is judged, at this point, main control module
Revolver self-locking motor 44 and right wheel self-locking motor 45 can be controlled to carry out self-locking so that walk helper can be automatically stopped movement, so as to
Avoid the problem that old man falls.
With reference to Fig. 3, a kind of control method applied to the elderly's walk helper includes the following steps：
S1, system initialization；
Whether S2, main control module obtain the detection data of postposition ultrasonic wave module 62, and judge user far from walk helper
Main body, if so, revolver self-locking motor 44 and right wheel self-locking motor 45 carry out self-locking；Otherwise, step S3 is performed；
S3, main control module obtain the detection data of preposition ultrasonic wave module 61, and judge whether front has barrier, if
It is that revolver self-locking motor 44 and right wheel self-locking motor 45 carry out self-locking；Otherwise, step S4 is performed；
The pressure data that S4, main control module acquisition are detected by the first control units part 31, and judge whether pressure data surpasses
Rated value is crossed, if so, revolver self-locking motor 44 and right wheel self-locking motor 45 carry out self-locking；Otherwise, step S5 is performed；
The data-signal that S5, main control module are detected according to 31 and/or second control unit 32 of the first control units part judges
The data-signal indicates whether to advance, and is rotated at the same speed if so, revolver self-locking motor 44 is synchronous with right wheel self-locking motor 45；It is no
Then, main control module carries out differential control to revolver self-locking motor 44 and right wheel self-locking motor 45；
S6, walk helper main body are moved.
Specifically, according to above application in the control method of the elderly's walk helper, the elderly's walk helper of the invention has
Following function：
A. automatic obstacle avoidance functions
Pass through the preposition ultrasonic wave module 61 being set on the second connection cross bar 13 and/or support foot rest 11, master control mould
Block can judge front whether there are obstacles, if front, there are barrier, main control module can control revolver self-locking electric respectively
Machine 44 and right wheel self-locking motor 45 carry out self-locking, old man are avoided to knock barrier, so as to achieve the effect that automatic obstacle-avoiding；In addition,
Setting can also be passed through so that walk helper has automatic obstacle-avoiding walking function, by preposition ultrasonic wave module 61 to preceding object
The detection of object, main control module can control the velocity of rotation of revolver self-locking motor 44 and right wheel self-locking motor 45 respectively so that help
Row device can the adjust automatically direction of motion, so as to achieve the purpose that automatic obstacle-avoiding walk；
B. auto-lock function is moved
Revolver self-locking motor 44 and right wheel self-locking motor 45 can carry out self-locking according to the driving effect of main control module, and
And walk helper is merely able to be moved under the driving effect of revolver self-locking motor 44 and right wheel self-locking motor 45, because
This, when act on the first control units part 31 pressure be more than rated value when or when preposition ultrasonic wave module 61 can't detect always
During people, main control module can all control 45 stop motion of revolver self-locking motor 44 and right wheel self-locking motor immediately, so that walk help
Device can carry out movement self-locking, so that it is guaranteed that the safety of old man；
C. differential motion function
Since front end universal wheel 41 is driven wheel, and rear end active revolver 42 and rear end active right wheel 43 are driving wheel,
Therefore it is needed when walk helper is turned by controlling the differential ability between rear end active revolver 42 and rear end active right wheel 43
It is enough to realize.Main control module by carrying out independent control respectively to rear end active revolver 42 and rear end active right wheel 43, according to rear
Differential between end active revolver 42 and rear end active right wheel 43 and the cornering operation for realizing walk helper.For example, rear end is actively left
When the rotating speed of the rotating ratio rear end active right wheel 43 of wheel 42 is fast, walk helper is turned right；After the rotating ratio of rear end active revolver 42
When holding the rotating speed of active right wheel 43 slow, walk helper turns left.
In addition, the elderly's walk helper of the present invention also has height adjusting function, speed regulation function and speed protection work(
Energy.Since different old men have different height, in order to adapt to the height of different old men, the elderly's walk helper of the invention passes through
The height adjusting function of walk helper is realized in the interaction of interior bar 51, support foot rest 11 and elastic spacing component.In addition, due to every
The custom speed of a old man walking differs, in order to adapt to the speed of travel of different old men, be set to the first connection cross bar 12 it
On the second control unit 32, can realize the adjustment to the movement speed of walk helper；By press the second control unit 32 it
In speed control button, high, medium and low third speed adjustment can be carried out to the movement speed of walk helper.In addition, pass through composition
The pressure sensor of the first control units part 31 and the postposition ultrasonic wave module 62, Neng Gougen being set on the second connection cross bar 13
According to the distance between pressure and old man and postposition ultrasonic wave module 62 for acting on pressure sensor, real-time accurate judgement old man is
The no movement speed that can keep up with walk helper, if old man does not catch up with the movement speed of walk helper, walk helper will be automatically stopped,
So as to fulfill the protection of the movement speed to old man, the problem of avoiding the occurrence of Falls Among Old People.
It is that the preferable of the present invention is implemented to be illustrated, but the invention is not limited in above-mentioned embodiment party above
Formula, those skilled in the art can also make various equivalent variations under the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of the elderly's walk helper, it is characterised in that：Including being used to form the mechanical part of walk helper main body and for carrying out
The electric-controlled parts of mobile control；The mechanical part includes main body rack (1) and for assisting the handrail of body support (2)；Institute
It states electric-controlled parts and includes the main control module for overall management, for walk helper main body to be driven to carry out mobile motion and use
In the control mechanism that the motion is controlled to carry out any direction movement, the main control module, which is hidden, is set to the main body branch
The inside of frame (1), the motion are set to the bottom of the main body rack (1), and the control mechanism is set to described help
On hand (2)；The control mechanism is by detecting the pressure being applied thereto so that master control module controls motion carries out certainly
The movement locked or walk helper main body is driven to carry out any direction.
2. a kind of the elderly's walk helper according to claim 1, it is characterised in that：The main body rack (1) is including being used for
It connects the support foot rest (11) of the handrail (2) and motion and connects for forming the first of c-type structure with the handrail (2)
Connect cross bar (12).
3. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The control mechanism includes detecting
The first control units part (31) of pressure, the first control units part (31) is exposed to be set on the handrail (2), and described first
Control unit (31) is connected with the main control module.
4. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The control mechanism includes detecting
The second control unit (32) of push button signalling, second control unit (32) be set to it is described first connection cross bar (12) it
On, second control unit (32) is connected with the main control module.
5. a kind of the elderly's walk helper according to claim 2, it is characterised in that：It is universal that the motion includes front end
(41), rear end active revolver (42), rear end active right wheel (43), revolver self-locking motor (44) and right wheel self-locking motor (45) are taken turns,
The rear end active revolver (42) and rear end active right wheel (43) are electric with the revolver self-locking motor (44) and right wheel self-locking respectively
The shaft of machine (45) is connected, the revolver self-locking motor (44) and right wheel self-locking motor (45) respectively with the main control module phase
Connection；The front end universal wheel (41), rear end active revolver (42) and rear end active right wheel (43) respectively with the support foot rest
(11) it is connected；It is actively left to adjust the rear end respectively for pressure of the main control module according to detected by the control mechanism
Take turns the rotating speed of (42) and rear end active right wheel (43), advance and cornering operation so as to fulfill walk helper main body.
6. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The main body rack (1) further includes use
In the height regulating mechanism (5) that the height to the handrail (2) is adjusted, the height regulating mechanism (5) is including the company of being used for
Flexible interior bar (51) and described for limiting can simultaneously be carried out along the inside of the support foot rest (11) by connecing the motion
Interior bar (51) carries out mobile elastic spacing component relative to the support foot rest (11), and the interior bar (51) passes through the elasticity
Limiting component carries out screens with the support foot rest (11) and connect.
7. a kind of the elderly's walk helper according to claim 6, it is characterised in that：The elastic spacing component includes steel ball
(52), the spring (53) that is connect with the steel ball (52) and it is used to support the steel ball along the section setting of the interior bar (51)
(52) and the fixed plate of spring (53) (54), the fixed plate (54) include fixed upper plate and fixed lower plate, the fixed upper plate
The channel moved for the steel ball (52) is formed with fixed lower plate；The interior bar (51) is in corresponding with the steel ball (52)
Position is provided with the circular hole for being connect with the steel ball (52) screens；The support foot rest (11) has been placed in the vertical direction
The consistent through-hole of at least one diameter corresponding with the circular hole.
8. a kind of the elderly's walk helper according to claim 2, it is characterised in that：The electric-controlled parts further include to examine
The preposition ultrasonic wave module (61) of barrier is surveyed, the second connection cross bar is provided with below the first connection cross bar (12)
(13), the preposition ultrasonic wave module (61) towards be set in front of walk helper main body the second connection cross bar (13) and/
Or on support foot rest (11).
9. a kind of the elderly's walk helper according to claim 8, it is characterised in that：The electric-controlled parts further include to examine
The postposition ultrasonic wave module (62) of user is surveyed, the postposition ultrasonic wave module (62) is set to described second towards user and connects
It connects on cross bar (13).
10. a kind of control method of any the elderly's walk helpers of application claim 1-9, it is characterised in that：Including with
Lower step：
S1, system initialization；
Whether S2, main control module obtain the detection data of postposition ultrasonic wave module (62), and judge user far from walk helper master
Body, if so, revolver self-locking motor (44) and right wheel self-locking motor (45) carry out self-locking；Otherwise, step S3 is performed；
S3, main control module obtain the detection data of preposition ultrasonic wave module (61), and judge whether front has barrier, if so,
Revolver self-locking motor (44) and right wheel self-locking motor (45) carry out self-locking；Otherwise, step S4 is performed；
S4, the pressure data that is detected by the first control units part (31) of main control module acquisition, and judge pressure data whether be more than
Rated value, if so, revolver self-locking motor (44) and right wheel self-locking motor (45) carry out self-locking；Otherwise, step S5 is performed；
The data-signal that S5, main control module are detected according to the first control units part (31) and/or the second control unit (32) judges
The data-signal indicates whether to advance, and is turned at the same speed if so, revolver self-locking motor (44) is synchronous with right wheel self-locking motor (45)
It is dynamic；Otherwise, main control module carries out differential control to revolver self-locking motor (44) and right wheel self-locking motor (45)；
S6, walk helper main body are moved.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810275527.3A CN108236562A (en) | 2018-03-29 | 2018-03-29 | A kind of the elderly's walk helper and its control method |
| PCT/CN2018/089515 WO2019184084A1 (en) | 2018-03-29 | 2018-06-01 | Walking aid for elderly people and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810275527.3A CN108236562A (en) | 2018-03-29 | 2018-03-29 | A kind of the elderly's walk helper and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108236562A true CN108236562A (en) | 2018-07-03 |
Family
ID=62699135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810275527.3A Pending CN108236562A (en) | 2018-03-29 | 2018-03-29 | A kind of the elderly's walk helper and its control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108236562A (en) |
| WO (1) | WO2019184084A1 (en) |
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| CN114441072A (en) * | 2022-01-28 | 2022-05-06 | 深圳鹏行智能研究有限公司 | Bendable electronic skin, hand-pushed functional cart and preparation method of bendable electronic skin |
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| WO2023015598A1 (en) * | 2021-08-13 | 2023-02-16 | 浙江益恒悦医疗科技有限公司 | Anti-skid and anti-fall control method for smart rollator, smart rollator, and controller |
| CN117100564A (en) * | 2023-10-25 | 2023-11-24 | 西南石油大学 | Walking support capable of judging falling and falling judging method thereof |
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| US12049247B2 (en) | 2020-05-29 | 2024-07-30 | Scientia Corp. | Automatic braking system for a walker and related walkers and methods |
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| WO2019184084A1 (en) | 2019-10-03 |
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