CN109646255B - Walking aid auxiliary equipment and using method thereof - Google Patents
Walking aid auxiliary equipment and using method thereof Download PDFInfo
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- CN109646255B CN109646255B CN201910060340.6A CN201910060340A CN109646255B CN 109646255 B CN109646255 B CN 109646255B CN 201910060340 A CN201910060340 A CN 201910060340A CN 109646255 B CN109646255 B CN 109646255B
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/50—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
- A61H2201/5023—Interfaces to the user
- A61H2201/5041—Interfaces to the user control is restricted to certain individuals
Abstract
The invention provides a walking aid and a use method thereof, wherein the walking aid comprises a moving part, a control part and an auxiliary part; the auxiliary portion is disposed on the moving portion; the control part is in communication connection with the moving part and/or the auxiliary part; the user can keep the set posture under the action of the auxiliary part; the moving part can move the user keeping the set posture to a set place under the action of the auxiliary part; or supporting the user who maintains the set posture under the action of the auxiliary part to maintain a standing state; or assist the movement of the user who is kept in the set posture by the assist portion. The invention has the advantages of simple structure, high reliability, powerful function, accurate positioning, high speed and strong stability, and is greatly convenient for the life of patients and the work of nursing personnel.
Description
Technical Field
The invention relates to the technical field of medical auxiliary equipment, in particular to auxiliary equipment for assisting walking and a using method thereof, and particularly relates to auxiliary equipment which has an autonomous moving capability and can be used for moving, standing and assisting walking and a using method thereof, and is suitable for patients with mobility inconvenience or limited lower limb capability.
Background
Many patients suffering from lower limb disabilities or elderly people suffering from lower limb muscle decline and muscle atrophy due to diseases and aging often require assistance from others to perform activities in daily life, such as moving from a bed to a wheelchair or from a wheelchair to a toilet, because they are unable to walk and move normally. However, the manual transfer is time-consuming and labor-consuming, and the nursing staff is very easy to hurt both the patient and the caregiver once the nursing staff is not assisted properly. Electrodynamic type machine that shifts adopts electronic mode control patient's lift, can be fast, safety, long distance removal patient, this work burden that has alleviateed nursing staff greatly has improved nursing efficiency, has also promoted patient's quality of life.
The invention discloses a remote control shifter in Chinese patent with publication number 205586187U, which can realize the horizontal displacement and lifting control of a patient by using a remote controller, and has the following defects: the shifter itself can not move, so that the moving range of the patient is limited, and the shifter is only suitable for the displacement within a small range.
The invention discloses a portable side-position lifting shifter in Chinese patent with the publication number of 205515331U, and the shifter in the invention can replace an electric self-propelled wheelchair, and a user can drive by himself or assist others to operate. The defect is that the patient is lifted or moved by the sling or the hip sling, and the patient is difficult to shake, so that the old people may have fear and the patient is not good.
The invention discloses a clamp type electric shifter in Chinese patent publication No. 10422478A, which lifts a patient in a clamp manner, and has better stability compared with a hanging bag type shifter. The disadvantage is that the whole displacement process can be completed only by assistance of others.
The invention discloses a settable and self-adaptive sky rail lifting shifter in Chinese patent with the publication number of 205964397U, and the shifter in the invention provides settable and self-adaptive sky rail lifting. The shifting machine can set and display the pulling force of the sling according to the recovery condition of a rehabilitation patient, adjust the folding and unfolding length of the sling according to the pulling force applied to the sling when the rehabilitation patient makes different postures, and improve the effect of rehabilitation training.
In summary, the novel auxiliary walking aid equipment has higher necessity and practicability.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a walking aid and a using method thereof.
The invention provides a walking aid auxiliary device, which comprises a moving part, a control part and an auxiliary part;
the auxiliary portion is disposed on the moving portion; the control part is in communication connection with the moving part and/or the auxiliary part;
the moving part can
-moving the user, who is kept in the set posture by the aid of the auxiliary portion, to a set place; or
-supporting the user in a set position under the action of the auxiliary portion to maintain a standing position; or
-auxiliary support of the movements of the user maintaining the set posture under the action of the auxiliary portion.
Preferably, the moving part includes a moving part body, openable and closable legs, a driving wheel, an auxiliary wheel, and a driving motor;
one end of the foldable supporting leg is arranged on the moving part main body in an angle-adjustable manner, and the other end of the foldable supporting leg is provided with an auxiliary wheel; the driving wheel is fixedly arranged at the bottom of the moving part main body;
the driving motor is in transmission connection with the driving wheel;
the retractable supporting legs and the driving motor are in communication connection with the control part.
Preferably, the control part comprises any one or any combination of a navigation sensor, a human body detection sensor, a controller, a control rocker and a control button;
the output end of the navigation sensor, the output end of the human body detection sensor, the control rocker and the control button are all connected with the input end of the controller; the output of the controller is communicatively coupled to the moving part and/or the auxiliary part.
Preferably, the auxiliary part comprises any one or any combination of a pedal, an electric push rod, a handrail, a power assisting belt and a power assisting rod;
the foot pedals are arranged at the bottom of the walking aid auxiliary equipment, and the shape and the size of the foot pedals are matched with the feet or shoes of a patient;
the armrest is arranged on the walking aid auxiliary equipment through an electric push rod, and the height of the armrest can be adjusted through the electric push rod, so that the height of the armrest is matched with the set height of the hand of the patient;
the boosting belt and/or the boosting rod
-arranged at the end of a handrail; or
-is arranged on the walking aid by means of an electric push rod.
Preferably, the control rocker and the control button are respectively arranged on the two armrests.
Preferably, the power assisting belt is a flexible power assisting unit and can assist the leg, the hip or the back of the patient; the power-assisted rod is a rigid power-assisted unit and can assist the patient in the armpit.
Preferably, the navigation sensor comprises any one or any combination of two-dimensional laser radar, three-dimensional laser radar, sonar ranging sensor and infrared ranging sensor; the human body detection sensor comprises any one or any combination of a depth image, a monocular image, a binocular image and an infrared induction sensor.
According to the use method of the walking aid equipment provided by the invention, the walking aid equipment comprises the following steps:
positioning and moving: the user remotely sends a command signal to the auxiliary walking aid equipment, and the auxiliary walking aid equipment receives the signal and acquires the position of the user; the controller receives signals of the navigation sensor and controls the driving motor to start, and the auxiliary walking aid equipment rotates to reach the position of a user through the driving wheels; the walking assisting equipment uses the human body detection sensor to identify the human body position of a user, and after the position of the user is corrected, the walking assisting equipment reaches the front of the human body of the user in a reverse mode, faces the position of the user, and opens the openable supporting leg.
Preferably, the method for using the walking aid provided by the invention further comprises the following steps:
a mode selection step: the user selects the functional mode by controlling the rocker and/or the control button; the functional modes include a standing assist mode, a shift mode, and a walking assist mode; if the user selects the standing auxiliary mode, entering a standing auxiliary step; if the user selects the shift mode, entering the shift step; if the user selects the walking aid mode, entering a walking aid step;
a standing assisting step: a user places feet on the pedal plate and places the body on the power assisting belt and/or the power assisting rod, and the posture of the user is adjusted and assisted by the up-and-down movement of the electric push rod;
a shifting step: the user places feet on the foot pedal and places the body on the boosting belt and/or the boosting rod; after the user is lifted by the electric push rod, the foldable support legs can be folded; the walking assisting equipment controls the driving motor to move a user to a set position through the controller;
a walking assisting step: the user places the body on the power assisting belt and/or the power assisting rod, and places the feet on the ground behind the foot pedal; the walking aid is operated by the control rocker and/or control button to move at a set speed, and the user walks with the aid of the power-assisted belt and/or the power-assisted rod.
Preferably, the shifting step further comprises the sub-steps of:
a shift mode selection substep: the user selects the displacement mode by controlling the rocker and/or the control button; the displacement mode comprises manual displacement and autonomous displacement; if the user selects the manual shifting mode, entering a manual shifting sub-step; if the user selects the autonomous shifting mode, entering an autonomous shifting sub-step;
manual shift substep: a user selects a preset target point through a control rocker and/or a control button, and after receiving target point information, a controller autonomously navigates and identifies a position to be displaced through a carried navigation sensor, so that the user is navigated and displaced to a target position; after the target position is reached, the electric push rod descends to drive the suspension arm to descend, so that a user can safely and stably fall on the target position;
an autonomous shift substep: a user sends a control signal to the controller in real time through the control rocker and/or the control button, the controller receives the control signal and adjusts the working state of the driving motor according to the control signal, and then the driving wheel is controlled to rotate to enable the equipment to move according to the operation instruction of the user.
Compared with the prior art, the invention has the following beneficial effects:
1. the walking aid auxiliary equipment provided by the invention has the advantages of simple structure and high reliability;
2. the walking assisting device provided by the invention realizes the application to different use scenes of patients through three working modes, and has wide application and strong function;
3. the auxiliary walking aid provided by the invention has the advantages of accurate positioning, high speed and strong stability, does not need the assistance of other people, and is greatly convenient for the life of patients and the work of nursing staff.
2. The use method of the walking assisting equipment provided by the invention is simple to operate, has a good protection effect, and can effectively improve the mobility and recovery speed of a patient.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a walking aid according to the present invention;
FIG. 2 is a schematic view of an openable leg of the walker aid provided by the present invention;
FIG. 3 is a schematic view of a back assist belt and a leg assist belt in the walking aid provided by the present invention;
FIG. 4 is a schematic illustration of a patient being lifted during use of the walker aid provided by the present invention;
FIG. 5 is a schematic view of a walker aid and a walker aid mode suitable for use with the method of the present invention;
FIG. 6 is a schematic view of a hip assist belt in the walking aid device provided by the present invention;
FIG. 7 is a schematic view of a power assist lever in the walking aid of the present invention.
The figures show that:
Drive wheel 2
Human body detection sensor 5
Drive motor 6
Boosting belt 13
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a walking aid auxiliary device, which comprises a moving part, a control part and an auxiliary part; the auxiliary portion is disposed on the moving portion; the control part is in communication connection with the moving part and/or the auxiliary part; the moving part can
-moving the user, who is kept in the set posture by the aid of the auxiliary portion, to a set place; or
-supporting the user in a set position under the action of the auxiliary portion to maintain a standing position; or
-auxiliary support of the movements of the user maintaining the set posture under the action of the auxiliary portion.
Specifically, the moving part comprises a moving part body, an openable leg (1), a driving wheel (2), an auxiliary wheel (3) and a driving motor (6); one end of the openable supporting leg (1) is arranged on the moving part main body in an angle-adjustable manner, and the other end of the openable supporting leg is provided with an auxiliary wheel (3); the driving wheel (2) is fixedly arranged at the bottom of the moving part main body; the driving motor (6) is in transmission connection with the driving wheel (2); the foldable supporting legs (1) and the driving motor (6) are in communication connection with the control part. The control part comprises any one or any combination of a navigation sensor (4), a human body detection sensor (5), a controller (7), a control rocker (10) and a control button (11); the output end of the navigation sensor (4), the output end of the human body detection sensor (5), the control rocker (10) and the control button (11) are connected with the input end of the controller (7); the output of the controller is communicatively coupled to the moving part and/or the auxiliary part. The auxiliary part comprises any one or any combination of a pedal (8), an electric push rod (9), a handrail (12), a power assisting belt (13) and a power assisting rod (14); the foot pedal (8) is arranged at the bottom of the walking aid and is matched with the foot or the shoe of the patient in shape and size; the armrest (12) is arranged on the walking aid through an electric push rod (9), and the armrest (12) can be adjusted in height through the electric push rod (9), so that the height of the armrest (12) is matched with the set height of the hand of the patient; the boosting belt (13) and/or the boosting rod (14)
-at the end of a handrail (12); or
-is arranged on the walking aid by means of an electric push rod (9).
More specifically, the control rocker (10) and the control button (11) are respectively arranged on the two armrests (12). The power assisting belt (13) is a flexible power assisting unit and can assist the legs, the buttocks or the back of a patient; the power-assisted rod (14) is a rigid power-assisted unit and can assist the patient in the armpit. The navigation sensor (4) comprises any one or any combination of a two-dimensional laser radar, a three-dimensional laser radar and a sonar ranging sensor; the human body detection sensor (5) comprises any one or any combination of a depth image, a monocular image, a binocular image and an infrared induction sensor.
According to the use method of the walking aid equipment provided by the invention, the walking aid equipment comprises the following steps:
positioning and moving: the user remotely sends a command signal to the auxiliary walking aid equipment, and the auxiliary walking aid equipment receives the signal and acquires the position of the user; the controller (7) receives signals of the navigation sensor (4) and controls the driving motor (6) to start, and the auxiliary walking aid equipment rotates to reach the position of a user through the driving wheel (2); the auxiliary walking aid uses the human body detection sensor (5) to identify the human body position of a user, after the position of the user is corrected, the auxiliary walking aid reaches the front of the human body of the user in a reverse running mode, faces the position of the user, and opens the openable supporting leg (1).
A mode selection step: the user selects the functional mode by controlling the rocker (10) and/or the control button (11); the functional modes include a standing assist mode, a shift mode, and a walking assist mode; if the user selects the standing auxiliary mode, entering a standing auxiliary step; if the user selects the shift mode, entering the shift step; if the user selects the walking aid mode, entering a walking aid step;
a standing assisting step: a user places feet on the pedal (8) and places the body on the boosting belt (13) and/or the boosting rod (14), and the posture of the user is adjusted and assisted by the up-and-down movement of the electric push rod (9);
a shifting step: the user places the feet on the pedal (8) and places the body on the boosting belt (13) and/or the boosting rod (14); after a user is lifted by the electric push rod (9), the foldable support legs (1) can be opened and closed; the auxiliary walking aid controls a driving motor (6) to move a user to a set position through a controller (7);
a walking assisting step: the user places the body on the power assisting belt (13) and/or the power assisting rod (14), and places the feet on the ground behind the pedal (8); the walking aid is operated by the control rocker (10) and/or the control button (11) to move at a set speed, and the user walks with the aid of the power-assisted belt (13) and/or the power-assisted rod (14).
The shifting step further comprises the sub-steps of:
a shift mode selection substep: the user selects the displacement mode by controlling the rocker (10) and/or the control button (11); the displacement mode comprises manual displacement and autonomous displacement; if the user selects the manual shifting mode, entering a manual shifting sub-step; if the user selects the autonomous shifting mode, entering an autonomous shifting sub-step;
manual shift substep: a user selects a preset target point through a control rocker (10) and/or a control button (11), and after receiving target point information, a controller (7) autonomously navigates and identifies a position to be shifted through a navigation sensor (4) carried by the user, so that the user is navigated and shifted to the target position; after reaching the target position, the electric push rod (9) descends to drive the suspension arm to descend, so that a user can safely and stably fall on the target position;
an autonomous shift substep: a user sends a control signal to the controller (7) in real time through the control rocker (10) and/or the control button (11), the controller (7) receives the control signal and adjusts the working state of the driving motor (6) according to the control signal, and then the driving wheel (2) is controlled to rotate to enable the equipment to move according to an operation instruction of the user.
Further, the preferred embodiment of the present invention provides an auxiliary device with autonomous movement capability, which can be used for shifting, standing and walking, comprising an openable leg support 1, a driving wheel 2, an auxiliary wheel 3, a navigation sensor 4, a human body detection sensor 5, a driving motor 6, a controller 7, a pedal plate 8, an electric push rod 9, a control rocker 10, a control button 11, an armrest 12, a power assisting belt 13, a power assisting rod 14 and the like, and having three operation modes: a standing assist mode, a shift mode, and a walking assist mode. The assistive belt 13 is a belt-like object for assisting the assistive force at the leg, hip, and back, and the assistive lever 14 is a rigid rod-like object for assisting the assistive force at the armpit of the user. The navigation sensor 4 is a two-dimensional laser radar, a three-dimensional laser radar, a sonar ranging sensor and an infrared ranging sensor which are arranged at the front part of the auxiliary equipment and used for scanning the environment, and the human body detection sensor 5 is a depth image, a monocular image, a binocular image and an infrared induction sensor which are arranged at the rear part of the auxiliary equipment and used for detecting backwards. The width of the openable supporting leg 1 can be automatically adjusted according to the requirements of displacement, standing and assistance. After the human body position of the user is identified by the human body detection sensor 5, the auxiliary equipment automatically moves backwards to the front of the human body of the user, the user places feet on the pedal plate 8, and the auxiliary equipment achieves the purpose of assisting the user in standing and sitting by the aid of the power assisting belt 13 and the power assisting rod 14 through the lifting of the electric push rod 9. The shift mode can be divided into an autonomous shift mode and a manual shift mode. In the manual displacement mode, a user controls the equipment to navigate to a target position by operating the control rocker 10; in the automatic shifting mode, the user selects a target point through the control button 11, and after the equipment controller 7 receives the target point information, the position to be shifted is navigated and identified through the carried navigation sensor 4, and the user is navigated and shifted to the required position. Under the walking assisting mode, a user is assisted by the aid of the aid rod 13 and the aid belt 14, feet of the user are placed behind the ground and the equipment pedal 8, the user controls the equipment to navigate by controlling the control rocker 10 and walks along with the equipment, and the walking assisting purpose is achieved.
Further, as shown in fig. 1, the preferred embodiment of the present invention provides an auxiliary device with autonomous movement capability for displacement, standing and walking, comprising: the foldable support leg comprises an openable support leg 1, a driving wheel 2, an auxiliary wheel 3, a navigation sensor 4, a human body detection sensor 5, a driving motor 6, a controller 7, a pedal plate 8, an electric push rod 9, a control rocker 10, a control button 11, an armrest 12, a power assisting belt 13 and a power assisting rod 14. The retractable supporting legs 1 are located at the positions behind two sides of the base, are controlled to be opened and closed through the steering engine, and auxiliary wheels 3 are installed at the tail ends of the retractable supporting legs 1. The driving wheel 2 is positioned at the position close to the front of the two sides of the base and is controlled to rotate by two driving motors 6 respectively. The foot board 8 and the vertical seat are arranged above the base, the human body detection sensor 5 is arranged on the foot board 8, and the controller 7 and the driving motor of the electric push rod 9 are arranged in the vertical seat. A navigation sensor 4 is installed in front of the vertical seat. One end of the electric push rod 9 is connected with the vertical seat through a rotating mechanism, and the other end is connected with the top end of the suspension arm through a rotating mechanism. Handrails 12 are arranged on two sides of the top end of the suspension arm, a control button 11 is arranged at the tail end of one side handrail 12, and a control rocker 10 is arranged at the tail end of the other side handrail 12. The power-assisted belt 13 is hung at the tail end of the handrail through a hanging ring.
The preferred embodiment of the auxiliary equipment with the autonomous moving capability and capable of being used for shifting, standing and walking aid comprises the following specific use steps:
step 1: the user sends command signals to the auxiliary equipment remotely, and the auxiliary equipment receives the signals and acquires the position of the user. The controller 7 receives the signal from the navigation sensor 4 and controls the driving motor 6 to rotate the driving wheel 2 to the vicinity of the user position. The auxiliary equipment uses the human body detection sensor 5 to identify the human body position of the user, and after the accurate position of the user is determined, the auxiliary equipment reaches the human body of the user in a reverse mode and is opposite to the position of the user. The openable legs 1 are opened to make the center of gravity of the auxiliary equipment more stable as shown in fig. 2 and 3, and the user can select one of the standing auxiliary mode, the shift mode and the walking aid mode to use the auxiliary equipment. If the mode is a standing assist mode, step 2 is executed, if the mode is a shift mode, step 3 is executed, and if the mode is a walking assist mode, step 4 is executed.
Step 2: the procedure for the standing assistance mode is as follows: the user puts the feet on the pedal 8, the power assisting belt 13 and the power assisting rod 14 support the user from the armpit, the lifting of the suspension arm is driven by the lifting of the electric push rod 9 to achieve the purpose of assisting the user to stand up and sit down, and the using process is as shown in figure 4.
And step 3: the use of the shift pattern is as follows: the user places the foot on running-board 8, and helping hand area 13, helping hand pole 14 hold up the user from the armpit, and the promotion through electric putter 9 drives the promotion of davit and lifts the user from the position, and openable landing leg 1 closes. At this time, the user may select the manual shift mode or the autonomous shift mode. In the manual displacement mode, a user sends a control signal to the controller 7 by operating the control rocker 10, and the controller 7 signals the driving motor 6 to drive the driving wheel 2 to rotate so as to enable the equipment to move according to an operation instruction of the user. In the autonomous moving mode, a user selects a preset target point at the control button 11, and after receiving the target point information, the device controller 7 autonomously navigates and identifies the position to be moved through the carried navigation sensor 4, and navigates and moves the user to the target position. After the target position is reached, the electric push rod 9 descends to drive the suspension arm to descend, and a user can safely and stably fall on the target position.
And 4, step 4: the walking aid mode is used as follows: the user can put feet on the ground and behind the equipment pedal 8 and put hands on the handrail 12 under the assistance of the assistance rod 13 and the assistance belt 14. The user controls the equipment to move by operating the control rocker 10 and walks along with the equipment to achieve the purpose of walking aid, and the use process is shown in figure 5.
To increase the comfort and stability of the present invention, a booster belt 13 may be added to the buttocks to increase stability during displacement, as shown in fig. 6, or the booster belt 13 may be replaced with a booster bar, as shown in fig. 7.
The invention is suitable for transferring the patient with disability or inconvenient movement from one place to another place, has three different using modes, meets the using requirements under different conditions, and is convenient, rapid, safe and stable to use. Not only solved the aversion demand of disability patient to can be under the condition that does not need other people to assist by the whole process of aversion of patient's completion, the caregiver's that significantly reduces work load, and easy and simple to handle, the mobility stability is strong, can not cause the secondary damage to patient.
In a preferred embodiment of the invention, in a standing assistance mode, the device identifies the body position of a user through the carried human body detection sensor 5, automatically navigates to the front of the user, and assists the user to sit up and down under the lifting action of the electric push rod 9 through the assistance of the assistance belt 13 and the assistance rod 14 so as to achieve the purpose of standing assistance; on the basis of assisting a user to stand, the user can be assisted to walk by moving the target position of the body position of the user in an autonomous displacement mode and a manual displacement mode and in a walking assisting mode. In the manual displacement mode, a user controls the equipment to navigate to a target position by operating the control rocker 10; in the automatic displacement mode, after a user sets a target point position, the equipment identifies a position (a bed, a wheelchair, a closestool and the like) needing to be displaced through a carried navigation sensor 4, and the user is guided to displace to the required position; in the walking aid mode, the user walks along with the device under the assistance of the assistance rod 13 and the assistance belt 14, thereby achieving the purpose of assisting walking. The three modes are suitable for different situations. In the standing auxiliary mode, a user can use the invention to finish the standing action without the assistance of others; under the displacement mode, the invention can assist the user to safely and stably reach the designated position without the assistance of others; under the walking assisting mode, a user can walk without assisting other people. The optimal embodiment of the invention has accurate positioning, high speed and strong stability in the whole working process, does not need the assistance of other people, and greatly facilitates the life of patients and the work of nursing staff.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A walking aid comprising a moving part, a control part and an auxiliary part;
the auxiliary portion is disposed on the moving portion; the control part is in communication connection with the moving part and/or the auxiliary part;
the moving part can
-moving the user, who is kept in the set posture by the aid of the auxiliary portion, to a set place;
-supporting the user in a set position under the action of the auxiliary portion to maintain a standing position;
-auxiliary support of the movements of the user maintaining the set posture under the action of the auxiliary portion;
the moving part comprises a moving part body, an openable support leg (1), a driving wheel (2), an auxiliary wheel (3) and a driving motor (6);
one end of the openable supporting leg (1) is arranged on the moving part main body in an angle-adjustable manner, and the other end of the openable supporting leg is provided with an auxiliary wheel (3); the driving wheel (2) is fixedly arranged at the bottom of the moving part main body;
the driving motor (6) is in transmission connection with the driving wheel (2);
the foldable support legs (1) and the driving motor (6) are in communication connection with the control part;
the control portion includes a navigation sensor (4);
on the basis of assisting a user to stand, the user can be assisted to walk by respectively realizing the movement of the target position of the body position of the user through an autonomous displacement mode and a manual displacement mode and by a walking aid mode;
in the manual shift mode, the user controls the device to navigate to the target position;
in the automatic shifting mode, after a user sets a target point position, the position needing to be shifted is identified through a carried navigation sensor (4), and the user is navigated and shifted to the required position;
in the walking aid mode, a user walks along with the equipment to achieve the aim of assisting walking;
in the standing assistance mode, the body position of a user is identified through a carried human body detection sensor (5), the user is automatically navigated to the front of the user, and the user is assisted to sit up and down under the lifting action of an electric push rod (9) through the assistance of an assistance belt (13) and an assistance rod (14), so that the standing assistance purpose is achieved;
in various modes, the user can finish the operation independently without the assistance of others;
the control part comprises any one or any combination of a human body detection sensor (5), a controller (7), a control rocker (10) and a control button (11);
the output end of the navigation sensor (4), the output end of the human body detection sensor (5), the control rocker (10) and the control button (11) are connected with the input end of the controller (7); the output end of the controller is in communication connection with the mobile part and/or the auxiliary part;
the auxiliary part comprises a pedal (8), an electric push rod (9), a handrail (12), a power assisting belt (13) and a power assisting rod (14);
the foot pedal (8) is arranged at the bottom of the walking aid and is matched with the foot or the shoe of the patient in shape and size;
the armrest (12) is arranged on the walking aid through an electric push rod (9), and the armrest (12) can be adjusted in height through the electric push rod (9), so that the height of the armrest (12) is matched with the set height of the hand of the patient;
the boosting belt (13) and/or the boosting rod (14)
-at the end of a handrail (12); or
-is arranged on the walking aid by means of an electric push rod (9).
2. Rollator aid device according to claim 1, characterized in that the control rocker (10) and control button (11) are provided on both handrails (12), respectively.
3. Rollator aid device according to claim 1, wherein the power belt (13) is a flexible power unit, enabling power assistance in the legs, hips or back of the patient; the power-assisted rod (14) is a rigid power-assisted unit and can assist the patient in the armpit.
4. Rollator aid device according to claim 1, characterized in that the navigation sensor (4) comprises any one or any combination of two-dimensional lidar, three-dimensional lidar, sonar ranging sensors and infrared ranging sensors; the human body detection sensor (5) comprises any one or any combination of a depth image, a monocular image, a binocular image and an infrared induction sensor.
5. A method of using a walker aid as claimed in any one of claims 1 to 4, comprising the steps of:
positioning and moving: the user remotely sends a command signal to the auxiliary walking aid equipment, and the auxiliary walking aid equipment receives the signal and acquires the position of the user; the controller (7) receives signals of the navigation sensor (4) and controls the driving motor (6) to start, and the auxiliary walking aid equipment rotates to reach the position of a user through the driving wheel (2); the auxiliary walking aid uses the human body detection sensor (5) to identify the human body position of a user, after the position of the user is corrected, the auxiliary walking aid reaches the front of the human body of the user in a reverse running mode, faces the position of the user, and opens the openable supporting leg (1).
6. Use of a walking aid according to claim 5 comprising the steps of:
a mode selection step: the user selects the functional mode by controlling the rocker (10) and/or the control button (11); the functional modes include a standing assist mode, a shift mode, and a walking assist mode; if the user selects the standing auxiliary mode, entering a standing auxiliary step; if the user selects the shift mode, entering the shift step; if the user selects the walking aid mode, entering a walking aid step;
a standing assisting step: a user places feet on the pedal (8) and places the body on the boosting belt (13) and/or the boosting rod (14), and the posture of the user is adjusted and assisted by the up-and-down movement of the electric push rod (9);
a shifting step: the user places the feet on the pedal (8) and places the body on the boosting belt (13) and/or the boosting rod (14); after a user is lifted by the electric push rod (9), the foldable support legs (1) can be opened and closed; the auxiliary walking aid controls a driving motor (6) to move a user to a set position through a controller (7);
a walking assisting step: the user places the body on the power assisting belt (13) and/or the power assisting rod (14), and places the feet on the ground behind the pedal (8); the walking aid is operated by the control rocker (10) and/or the control button (11) to move at a set speed, and the user walks with the aid of the power-assisted belt (13) and/or the power-assisted rod (14).
7. Use of a walking aid according to claim 5 wherein said displacement step further comprises the sub-steps of:
a shift mode selection substep: the user selects the displacement mode by controlling the rocker (10) and/or the control button (11); the displacement mode comprises manual displacement and autonomous displacement; if the user selects the manual shifting mode, entering a manual shifting sub-step; if the user selects the autonomous shifting mode, entering an autonomous shifting sub-step;
manual shift substep: a user selects a preset target point through a control rocker (10) and/or a control button (11), and after receiving target point information, a controller (7) autonomously navigates and identifies a position to be shifted through a navigation sensor (4) carried by the user, so that the user is navigated and shifted to the target position; after reaching the target position, the electric push rod (9) descends to drive the suspension arm to descend, so that a user can safely and stably fall on the target position;
an autonomous shift substep: a user sends a control signal to the controller (7) in real time through the control rocker (10) and/or the control button (11), the controller (7) receives the control signal and adjusts the working state of the driving motor (6) according to the control signal, and then the driving wheel (2) is controlled to rotate to enable the equipment to move according to an operation instruction of the user.
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| CN110638611A (en) * | 2019-09-29 | 2020-01-03 | 广东博智林机器人有限公司 | Posture adjusting mechanism for walking aid and walking aid |
| CN110916988A (en) * | 2019-12-10 | 2020-03-27 | 山东建筑大学 | Electric walking aid |
| CN111202660A (en) * | 2020-01-09 | 2020-05-29 | 广东博智林机器人有限公司 | Walking aid protective device |
| CN112932862B (en) * | 2021-03-18 | 2022-11-29 | 上海交通大学 | Standing and transferring auxiliary robot and using method |
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