CN111759683B - Walking device for assisting user in standing - Google Patents
Walking device for assisting user in standing Download PDFInfo
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- CN111759683B CN111759683B CN202010659793.3A CN202010659793A CN111759683B CN 111759683 B CN111759683 B CN 111759683B CN 202010659793 A CN202010659793 A CN 202010659793A CN 111759683 B CN111759683 B CN 111759683B
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- 230000007246 mechanism Effects 0.000 claims abstract description 99
- 238000001179 sorption measurement Methods 0.000 claims abstract description 39
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- 230000008569 process Effects 0.000 claims description 6
- 230000003542 behavioural effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims 1
- 230000003028 elevating effect Effects 0.000 abstract description 3
- 241001166076 Diapheromera femorata Species 0.000 description 24
- 229920003225 polyurethane elastomer Polymers 0.000 description 6
- 230000008859 change Effects 0.000 description 4
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- 230000037396 body weight Effects 0.000 description 2
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- 238000009434 installation Methods 0.000 description 2
- 230000003647 oxidation Effects 0.000 description 2
- 238000007254 oxidation reaction Methods 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 239000002594 sorbent Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000003287 bathing Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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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
- A61H3/02—Crutches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- 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
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention relates to a walking device for assisting a user to stand, comprising: the support and actuating mechanism, it sets up in the support according to the mode that can contact ground, and makes the support can remove, and the support has injectd at least one space that is used for setting up elevating system, and elevating system can make actuating mechanism take off ground when it is in the shrink state, and thereby makes the support keep fixed relatively ground under the circumstances that adsorption element of adsorption mechanism adsorbs in ground and can assist the user to stand.
Description
Technical Field
The invention relates to the technical field of auxiliary walking equipment, in particular to a walking device for assisting a user to stand.
Background
Some people use the crutch to assist walking. However, in the walking process, a user may fall down due to slippery or fatigue, and the user stands without a support device, so it is important to design an intelligent walking assistance device which can assist the elderly to stand after falling down, provide stable support when bathing and dressing, provide a seat for the elderly anytime and anywhere, and is simple to operate.
For example, chinese patent publication No. CN209662134U discloses an auxiliary walking device for the elderly. The lifting device comprises a bottom plate and a top plate, universal wheels are fixed at four corners of the lower end of the bottom plate through bolts, wheel locks are hinged to the universal wheels, electric-hydraulic push rods are arranged on two sides of the lower end of the bottom plate, suckers are arranged at the bottom ends of the electric-hydraulic push rods, leg grooves are formed in the middle of the side wall of the bottom plate, and vertical plates are arranged on two sides of the upper end of the bottom plate. The utility model discloses a through setting up GPS locater and signal transmitter, can be when the old man is gone out, send old person's positional information constantly, effectively avoid losing of old person to through setting up electric liquid push rod and sucking disc, can improve the stability of device when old person has a rest, prevent that the device from taking place to turn on one's side, reduce the potential safety hazard. However, the utility model has at least the following disadvantages: the sucking disc is when fixing the ground, and long-time use sucking disc is crossed the back, and the sucking disc is ageing to lead to suction not enough or no suction even, and the universal wheel is in contact state with ground all the time moreover to this auxiliary device has the possibility of removing when old person has a rest, has reduced its reliability.
When the walking assist device is used, the user still has a possibility of falling down due to the influence of the ground, the influence of the individual's physique, and the like. However, after the user falls, the walker is in rolling contact with the ground, and thus it is difficult for the user to stand using the walker.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
In view of the deficiencies of the prior art, at least the present invention addresses the deficiencies of the prior art noted in the background. The present invention provides a walking device for assisting a user to stand, comprising: the device comprises a support and a driving mechanism, wherein the driving mechanism is arranged on the support in a manner of contacting the ground so as to enable the support to move. In the present invention, the support "moves" means that the support can move to the vicinity of the user with the driving of the driving mechanism. The vicinity is the area where the user can touch part of the structure of the holder. The control commands for the driving of the drive mechanism may come from the distance sensor and the position of the center of gravity of the user. Before the user does not fall, the walking device follows or stops in a way of keeping a certain safe distance from the user. The bracket defines at least one space for disposing a lifting mechanism. After the user falls, the driving mechanism moves the support to the vicinity of the position where the user is located, and then the lifting actuator of the lifting mechanism can lift the driving mechanism in a shortened state. Actuating mechanism breaks away from ground, and at this moment, adsorption element and the ground contact of adsorption mechanism, and form the support to the support, adsorption element of adsorption mechanism adsorbs on ground afterwards, fixes the support on ground, and the user utilizes the support to assist it to stand. In addition, the invention can be used for resting of the user. In the invention, the adsorption of the adsorption component on the ground can be realized in a vacuumizing mode, and the adsorption component is tightly adsorbed on the ground in an atmospheric pressure mode.
According to a preferred embodiment, in a case where the driving mechanism is in contact with the ground surface based on the thrust of the elevating mechanism, the suction unit is suspended based on the interaction force generated by the driving mechanism in contact with the ground surface. When the adsorption component is not used, the adsorption component is not contacted with the ground, and the distance between the adsorption component and the ground is 10-15 mm.
According to a preferred embodiment, the suction assembly fixes the walking device to the ground in such a way that it can be vacuum-suction-based relative to the user while standing on the walking device without the walking device toppling over. In the invention, the weight line of the walking device can be in a geometric region defined by the vertical adsorption components, for example, the adsorption components can be arranged in a triangular manner. When a user stands, the gravity center of the walking device gradually rises, the walking device has the tendency of being lifted, and the adsorption component can keep the walking device, so that the walking device is not easy to tip over.
According to a preferred embodiment, the support comprises a longitudinal beam and a foot cup fixed to the longitudinal beam and capable of simultaneously contacting the ground with the suction assembly, wherein the foot cup is used for providing support for the walking device when the suction mechanism is separated from the ground. The contact of whole device and ground when the drive mechanism takes off ground in the twinkling of an eye can be cushioned to the foot cup for what the support received is flexible load, prevents the harm of hard impact to running gear.
According to a preferred embodiment, the drive mechanism comprises a drive motor which can adjust the output rotational speed in accordance with at least one behavioral characteristic of the user in order to move the running gear at a safe distance from the user. For example, the image recognition camera tracks the feature points on the body of the user, the position of the feature pixels in the image is calculated, the amount of the platform required to rotate is calculated, the amount of the two-wheel differential speed is calculated, the distance between the platform and the user is calculated through the distance measurement function of the image recognition camera, the platform keeps a constant distance to follow the user at any pace of the user based on a PID algorithm, and the platform is kept near the user when the user falls down as much as possible. Under the remote control state, utilize the sensor on the bracelet, measure the swing of wrist, send for the platform to obtain out two-wheeled rotational speed, reach the purpose that turns to and remove.
According to a preferred embodiment, the suction tube of the suction device is in communication with the suction device in such a way that it is not longitudinally displaced by the drive device. The sorbent tube may be a flexible tube that evacuates the sorbent assembly.
According to a preferred embodiment, the space has a duct hole therein, which is provided in such a way that the user can place an auxiliary rod therein in a non-standing state. The central authorities of running gear are equipped with blind pipe, and after the old man fell down: (1) if the walking stick is right around, can remove running gear to old man's around through control earlier, mention the second extension board of installing the wheel through the push rod motor for foot cup contact ground, the old man can adjust the gesture afterwards, inserts the walking stick among the blind pipe, opens micro vacuum pump through control this moment, adsorbs the platform subaerial through the sucking disc, and the walking stick has formed stable stand form this moment, and the old man can borrow this to exert oneself and stand again. (2) If the walking stick flies out when falling down, namely the walking stick is not beside, the platform is moved to the position near the walking stick by the control of the hand ring, the walking stick is sucked up by the magnet on the side surface and is conveyed to the side of the old man, at the moment, the old man can stand again by the mode as shown in (1), and the new stand can also be realized by the rod group structure opened by the walking stick.
According to a preferred embodiment, the lifting mechanism comprises a lifting generator which is fixed to the first support plate in such a way that it enables a movement of the drive mechanism in the longitudinal direction of the support.
According to a preferred embodiment, the lifting mechanism is connected to the drive mechanism via a second brace which is movable in the longitudinal direction of the carriage.
According to a preferred embodiment, the lifting mechanism and the suction mechanism are provided to the holder in such a manner that the holder does not topple. When the platform is switched between the motion state and the upright post state, the height change of the whole gravity center is small (the change of the gravity center is mainly caused by the lifting of the lifting mechanism, and the lifting amplitude of the lifting mechanism is limited to 5-10 cm). Thus, the effect of the change in the center of gravity on the overturning of the platform arrangement is almost negligible! The lifting mechanism and the adsorption mechanism can be positioned on two opposite sides of the platform device, so that the geometric center line of the device and the weight line are superposed as much as possible or the horizontal distance between the geometric center line and the weight line is shortened as much as possible. When the platform is transited from a motion state to an upright post state, the heights of structures such as an adsorption mechanism and a support fall firstly, the whole gravity center moves downwards, after the adsorption mechanism and the support are contacted with the ground, a driving device is lifted, the gravity center moves upwards, in addition, in the whole process, the height change of each mechanism is within 10cm, a push rod motor and a blind guide pipe in the platform device are eccentrically arranged, in addition, the walking device also comprises a battery which is used for moving the platform and operating an electric push rod and a vacuum pump, the installation positions of the parts are optimized, and the gravity center is close to the center as much as possible.
Drawings
FIG. 1 is a schematic view of the overall appearance structure;
FIG. 2 is a schematic view of the internal structure;
FIG. 3 is a schematic view of the pallet assembly support structure of the present invention;
FIG. 4 is a schematic diagram of the internal structure of the pallet apparatus of the present invention;
FIG. 5 is a schematic view of a full section of the casing structure of the pallet apparatus of the present invention;
FIG. 6 is an application scenario diagram of an internal structure of the traveling platform device during normal movement;
FIG. 7 is a schematic view of an application scenario of a pallet apparatus (having an outer wall) adsorbing a ground;
FIG. 8 is a schematic view of an application scenario of a pallet apparatus (without an outer wall) adsorbing a ground;
FIG. 9 is an application scenario diagram of a walking stick picked up by the walking platform device;
FIG. 10 is a force analysis of an application scenario of a pallet apparatus; and
FIG. 11 is a control system in a pallet assembly.
List of reference numerals
5: outer case 73: second support plate
6: the bracket 74: driving motor
7: the drive mechanism 81: electric push rod
8: the lifting mechanism 82: first support plate
9: the adsorption mechanism 83: electric push rod end face connecting plate
51: outer wall 84: conduit hole
52: blind pipe 91: mini-vacuum pump
53: magnet 92: vacuum chuck
61: longitudinal beam 93: hardware fitting fixing block
62: the foot cup 94: four-way quick joint
63: first-layer cross member 95: trachea
64: second-floor cross member 430: walking stick
65: third level beam 440: accompanying platform device
66: fourth-layer cross member 10: intelligent controller
71: the universal wheel 11: behavior recognition unit
72: rear wheel 12: position recognition unit
Detailed Description
This is described in detail below with reference to fig. 1-11.
Example 1
The present embodiment discloses a walking device for assisting a user to stand. The walking device comprises a bracket 6, a driving mechanism 7, a lifting mechanism 8 and an adsorption mechanism 9.
The bottom of the bracket 6 is provided with a driving mechanism 7. The driving mechanism 7 has wheels contacting the ground, and the holding bracket 6 is movable. The bracket 6 is provided with a space for mounting the lifting mechanism 8. The lifting mechanism 8 can raise or lower the driving mechanism 7 so that the carriage 6 can be stationary or moved. The lifting mechanism 8 is capable of disengaging the drive mechanism 7 from the ground when it is in its retracted state. So that the support 6 is kept fixed relative to the ground under the condition that the adsorption component of the adsorption mechanism 9 is adsorbed on the ground, thereby assisting the user to stand.
Preferably, the suction assembly may be a vacuum chuck 92. The vacuum chuck 92 is made of polyurethane rubber, the hardness of the polyurethane rubber is about 45 Shore, and the polyurethane rubber has high elasticity, excellent wear resistance, tearing resistance, proper hardness and good air permeability, and also has the characteristics of moderate oil resistance, oxidation resistance and ozone aging resistance, small peculiar smell and good skid resistance, meets the use requirement of indoor environment, and has quite long service life. The three suckers at the bottom of the device are uniformly distributed in two front and one back. Taking a single vacuum sucker as an example to check the condition that only the single sucker acts at the farthest end, the invention adopts a vacuum sucker with the diameter of 50mm, the distance between the vacuum sucker and the center of the platform is 125mm, the distance between the foot of an old man serving as a fulcrum and the center of the platform is 200mm when the old man applies force, the height between the force application position of the two hands of the old man on the crutch and the ground is 1000mm, the force applied by the old man is assumed to be horizontal force, the height between the body weight and the center of the old man and the ground is 1000mm, and the distance between the body weight and the center line of the crutch is 50 mm. The force model may be abstracted as shown in FIG. 10. In FIG. 10, m-body mass. The total mass of the m' -platform and the crutch. F rg 、F gr -interaction of the human body with the crutch. F xi Of vacuum chucksAnd (4) suction force. F fan -the resultant of the friction and support of the elderly foot.
The force balance analysis was performed with a human body as a study subject (tan θ = 0.3).
F fan ·cosθ＝mg
F rg ＝F fan ·sinθ
Obtaining by solution: f rg ＝＝180N
The platform is taken as a research object, and the moment analysis is carried out on the platform:
F xi ·25+m’g·12.5＝F gr ·100
therefore, the following steps are carried out: f xi ＝685N
After consulting the data, the formula (the safety factor is more than or equal to 2.5, the check is 3) is checked by the suction force of the sucker, namely W = mu F xi。
W＝P·C/101·10.13
Wherein, W: theoretical suction. P: the degree of vacuum. C: area of suction cup.
Therefore, the following steps are carried out: p = (101. W)/(0.25 π D) 2 ·10.13)＝10.435KPa＝0.01043Mpa。
Therefore, the invention can select the self-priming micro vacuum pump with the model of DC-12V, and the vacuum degree provided by the micro vacuum pump is 0.05Mpa according to the parameters provided by the manufacturer, so that the invention has the following steps:
P＝0.01043Mpa≤0.05Mpa
therefore, in the invention, the selected micro vacuum pump and the vacuum chuck can theoretically meet the suction requirement required by design. The vacuum chuck 92 is made of polyurethane rubber, the hardness of the polyurethane rubber is about 45 Shore, and the polyurethane rubber has high elasticity, excellent wear resistance, tearing resistance, proper hardness and good air permeability, and also has the characteristics of moderate oil resistance, oxidation resistance and ozone aging resistance, small peculiar smell and good skid resistance, meets the use requirement of indoor environment, and has quite long service life.
Preferably, the support 6 comprises a longitudinal beam 61 and a foot cup 62 fixed to the longitudinal beam 61 so as to be able to contact the ground simultaneously with the suction assembly. The foot cup 62 is used to provide a support for the running device when the suction mechanism 9 is separated from the ground. The bracket 6 comprises a longitudinal beam 61, a transverse beam and a foot cup 62. The longitudinal beam 61 consists of a euro profile. The lower part of the European standard R section is provided with a foot cup 62. The foot cup 62 is connected with the European standard R section through bolt fastening. The foot cup 62 mainly contacts the ground when the driving mechanism 7 is lifted by the lifting mechanism 8, thereby supporting the running gear.
Preferably, the drive mechanism 7 includes a drive motor 74. As shown in fig. 11, the output rotation speed of the drive motor 74 is controlled by the intelligent controller 10. The intelligent controller 10 is respectively connected with the behavior recognition unit 11 and the position recognition unit 12 in a communication way. The behavior recognizing unit 11 is mainly used for monitoring the moving speed of the user and the position of the center of gravity of the user. The behavior recognizing unit 11 may be integrated within the smart controller 10. The smart controller 10 may be manufactured as a portable device, such as a smart band, a smart phone, a smart watch, and the like. The position recognition unit 12 is mainly used for measuring a distance between the user and the walking device and for recognizing a distance between the assist lever and the walking device. The drive motor 74 is capable of adjusting the output speed in accordance with at least one behavioral characteristic of the user. In one aspect, the running gear may act as a walking platform that can be moved in a manner that maintains a safe distance from the user. Safe distance means: the pallet can be moved to the vicinity of the user within a short time after the user falls, for example, within a short time of 5s to 30s, for example, 10s. On the other hand, after the user falls, the driving motor 74 needs to increase its rotation speed, which drives the supporting device to move to the nearby device of the user at a faster speed. In another embodiment, the image recognition camera tracks the characteristic points on the body of the user, the amount of the platform required to rotate is calculated according to the position of the characteristic pixel in the image, so that the differential speed of two wheels is calculated, the distance between the platform and the user is calculated through the distance measurement function of the image recognition camera, and the platform is enabled to keep a constant distance to follow the user at any pace of the user based on a PID algorithm, so that the platform is kept near the user when the user falls down as much as possible.
Preferably, the lifting mechanism 8 comprises an electric push rod 81. The ascending and descending displacement of the electric push rod 81 is controlled by the intelligent controller 10. When the driving motor 74 is still in the rotating state, the intelligent controller 10 and the electric putter 81 are in a non-communication state so that the electric putter 81 cannot ascend or descend, thereby ensuring that the driving mechanism 7 can normally walk. If and only if the driving motor 74 is in the stopped state, the smart controller 10 and the electric putter 81 are kept in communication, and at this time, the electric putter 81 can perform the operation of the lifting driving mechanism 7. The electric push rod 81 lifts the lifting mechanism at a constant speed, and reduces the impact load on the foot cup 62.
Preferably, the adsorption mechanism 9 includes a vacuum pump. The vacuum degree of the vacuum pump 91 is controlled by the intelligent controller 10. After the electric push rod 81 acts to lift the driving mechanism 7 and the electric push rod 81 stops moving, the vacuum pump 91 starts to operate to reduce the pressure in the adsorption assembly, so that the adsorption assembly can be pressed on the ground based on the atmospheric pressure, and the walking device can be fixedly held on the ground.
In the invention, preferably, the platform is also provided with an electromagnet for adsorbing the crutch. (1) If the walking stick is right around, can remove running gear to old man's around through control earlier, mention the second extension board of installing the wheel through the push rod motor for foot cup contact ground, the old man can adjust the gesture afterwards, insert the walking stick among the blind pipe, open micro vacuum pump through control this moment, adsorb the platform subaerial through the sucking disc, the walking stick has formed stable stand form this moment, the old man can borrow this and exert oneself and stand again. (2) If the walking stick flies out when falling down, namely the walking stick is not beside, the platform is moved to the position near the walking stick by the control of the hand ring, the walking stick is sucked up by the magnet on the side surface and is conveyed to the side of the old man, at the moment, the old man can stand again by the mode as shown in (1), and the new stand can also be realized by the rod group structure opened by the walking stick. Preferably, the space has a conduit aperture 84 therein. The guide tube hole 84 is provided in such a manner that the user can put the auxiliary rod therein in a non-standing state. The auxiliary rod may be a crutch. In the process of normal walking of the old, the walking stick is not inserted in the blind conduit, the walking device and the walking stick are temporarily unrelated, and only when the old falls down and needs to stand again, the old needs to insert the walking stick into the blind conduit to form a stand column to help the old to exert force and climb up from the ground. The blind conduit is a long pipe with a special shape, the shape of the blind conduit is the same as that of the tail end of the crutch, so that the crutch is prevented from rotating, the crutch and the blind conduit are in small clearance fit, and in order to facilitate leading-in, the horn-shaped guide opening is arranged at the uppermost end, so that the old with poor eyesight can align to and insert into the crutch. Because the height of the mobile device is not high, the old can insert the crutch into the long catheter only by slightly adjusting the posture after falling. Referring to fig. 5, a blind conduit 52 is arranged in the center of the housing 5, and the cross-sectional shape of the inner cavity of the blind conduit 52 is completely the same as the shape and size of the crutch base. Referring to fig. 3, a duct hole 84 having the same shape and size as the outer contour of the blind duct is formed in the center of the first plate 82.
Preferably, the suction tube of the suction mechanism 9 is capable of conducting with the suction mechanism in such a way that it is not disturbed by the longitudinal movement of the drive mechanism. The installation position of the adsorption tube is not in the moving range of the lifting mechanism, the lifting distance of the driving mechanism is 5-10cm, a large part of adsorption pipeline is reserved, and the adsorption pipeline is flexible, so that interference is avoided.
Preferably, the lifting mechanism 8 comprises a lifting generator. The lift generator may be an electric push rod 81 or a hydraulic push rod. The lift generator is fixed to the first support plate 82 in such a manner as to enable the drive mechanism 7 to move in the longitudinal direction of the support 6. If the lifting mechanism 8 comprises an electric push rod, a first support plate and an end face connecting plate of the electric push rod. The electric push rod is arranged on the upper portion of the second support plate, and a base fixing piece of the electric push rod is connected with the second support plate through a bolt in a fastening mode. The first support plate is arranged above the second layer of cross beams, and the first support plate is fixedly connected with the second layer of cross beams through bolts. The electric push rod end face connecting plate is arranged above the first supporting plate and is fixedly connected with the first supporting plate through bolts. The push rod of the electric push rod is fixedly connected with the end face connecting plate of the electric push rod through a bolt.
Preferably, the lifting mechanism 8 and the driving mechanism 7 are connected by a second fulcrum plate 72 that is movable in the longitudinal direction of the carriage 6. The driving mechanism 7 includes a second support plate 73, a universal wheel 71, a driving motor 74, a motor bracket, and a rear wheel 72. The second support plate 73 is disposed below the third-layer cross member 65, and the second support plate 73 and the third-layer cross member 65 are fastened and connected by bolts. The universal wheel 71 is arranged at the front end below the second support plate 73, and a connecting plate of the universal wheel 71 is fixedly connected with the second support plate 73 through bolts. The motor bracket is arranged at the rear end below the second support plate 73, and the motor bracket is fixedly connected with the second support plate 73 through bolts. The driving motor 74 is fixedly connected with the motor bracket through a pin shaft. The rear wheel 72 is fixedly connected with the driving motor 74 through a pin shaft.
Example 2
This embodiment may be a further improvement and/or a supplement to embodiment 1, and repeated contents are not described again. The preferred embodiments of the present invention are described in whole and/or in part in the context of other embodiments, which can supplement the present embodiment, without resulting in conflict or inconsistency.
The embodiment provides a following platform, as shown in fig. 2, including a support 6, a driving mechanism 7, a lifting mechanism 8, and an adsorption mechanism 9.
Referring to fig. 2 again, the driving mechanism 7 includes a second support plate 73, a universal wheel 71, a driving motor 74, a motor bracket, and a rear wheel 72. The universal wheel 71 is provided at the front end below the second stay 73. And the universal wheel 71 connecting plate is fixedly connected with the second support plate 73 through bolts. The motor bracket is disposed at the rear end below the second support plate 73. And the motor bracket is fixedly connected with the second support plate 73 through bolts. The driving motor 74 is fixedly connected with the motor bracket through a pin shaft. The rear wheel 72 is pivotally connected to a drive motor 74 such that rotation of the drive motor 74 causes rotation of the rear wheel 72. The second support plate 73 is disposed below the third-layer cross member 65, and the second support plate 73 and the third-layer cross member 65 are fastened and connected by bolts.
Specifically, as shown in fig. 3, the bracket 6 includes a longitudinal beam 61, a cross beam, and a foot cup 62. The longitudinal beam 61 consists of a euro standard R profile. The lower part of the European standard R section is provided with a foot cup 62. The foot cup 62 is connected with the European standard R section through bolt fastening. The foot cup 62 is primarily in contact with the ground when the drive mechanism is lifted by the lift mechanism, thereby supporting the running gear. The cross beams comprise a first layer of cross beams 63, a second layer of cross beams 64, a third layer of cross beams 65 and a fourth layer of cross beams 66. The first-layer cross beam 63 comprises a first-layer square European standard section and an angle code, the first-layer cross beam 63 is arranged on the side portion of the longitudinal beam 61, and the first-layer square European standard section is fixedly connected with the European standard R section through the angle code. Second floor crossbeam 64 sets up in the below of first floor crossbeam 63, and second floor crossbeam 64 includes the square european standard section bar of second floor, angle sign indicating number, and second floor crossbeam 64 sets up in the lateral part of longeron 61, and the square european standard section bar of second floor passes through angle sign indicating number fastening connection with the european standard R section bar. The third layer of cross beams 65 is arranged below the second layer of cross beams 64, and the third layer of cross beams 65 comprise third layer of square European standard section bars and corner groove connecting pieces. The third floor cross member 65 is movably disposed at the side of the longitudinal member 61. And the third layer of square European standard section bars are connected with each other by angle groove connecting pieces in a fastening way. The fourth deck beam 66 is disposed below the third deck beam 65. The fourth layer of cross beam 66 comprises a fourth layer of square European standard section bars and an angle groove connecting piece, and the fourth layer of square European standard section bars and the European standard R section bars are fixedly connected through the angle groove connecting piece.
As shown in fig. 4, the lifting mechanism 8 includes an electric push rod 81, a first support plate 82, and an electric push rod end surface connecting plate 83. The lift generator may be a motorized push rod 81. The electric push rod 81 is arranged on the upper portion of the second support plate 73, and a base fixing piece of the electric push rod 81 is connected with the second support plate 73 through a bolt in a fastening mode. The first support plate 82 is disposed above the second-layer cross member 64, and the first support plate 82 and the second-layer cross member 64 are fastened by bolts. The electric putter face connecting plate 83 is disposed above the first support plate 82. And the electric push rod end face connecting plate 83 is fixedly connected with the first supporting plate 82 through bolts. The push rod of the electric push rod 81 is connected with the electric push rod end face connecting plate 83 in a fastening mode through bolts.
Referring to fig. 4 again, the adsorption mechanism 9 includes a micro vacuum pump 91, a vacuum pump bracket, a vacuum chuck 92, a hardware fitting fixing block 93, an air pipe 95, and a four-way quick connector 94. The vacuum pump bracket is disposed above the first support plate 82. The suction assembly may be a vacuum chuck 92. And the vacuum pump bracket is fastened to the first support plate 82 by bolts. The vacuum chuck 92 and the hardware fixing block 93 are arranged on the outer side of the fourth-layer cross beam 66. And the hardware fitting fixing block 93 is fastened and connected with the fourth-layer cross beam 66 through bolts. One end of the air pipe 95 is hermetically connected with the vacuum sucker 92, the other end of the air pipe is hermetically connected with the four-way quick connector 94, and the other port of the four-way quick connector 94 is hermetically connected with the micro vacuum pump 91 through the air pipe 95.
The specific implementation process is as follows, and as shown in fig. 4 in a normal state, specifically, as shown in fig. 6, at this time, the push rod of the electric push rod 81 is in an extended state, the universal wheel 71 and the rear wheel 72 are in contact with the ground, the foot cup 62 and the vacuum cup 92 are away from the ground, and the distance between the foot cup 62 and the vacuum cup 92 and the ground is 10-15 mm. The distance between the lower surface of the blind duct 52 and the second leg 73 is 5 to 10cm. So that the pallet means can move freely over the ground.
Referring to fig. 8, when the elderly fall down accidentally, the push rod of the electric push rod 81 is retracted, and the third layer of cross beam 65, the second support plate 73, the universal wheel 71 and the rear wheel 72 translate upwards along the longitudinal beam 61 along with the retraction of the push rod of the electric push rod 81, so that the universal wheel 71 and the rear wheel 72 are away from the ground and the distance between the universal wheel 71 and the ground is 5-10 cm. The foot cup 62 and the vacuum cup 92 are in contact with the ground. The micro vacuum pump 91 is operated so that the vacuum chuck 92 is tightly adhered to the ground. The old person after falling can insert the walking stick in blind pipe 52 to the walking stick forms firm stand that adsorbs on ground with the accompanying platform device, makes things convenient for the old person after falling to stand safely with the help of the stand. As shown in fig. 9, when the crutch is far away from the fallen old, the following platform device can attract the ferromagnetic metal sheet on the crutch rod to pick up the crutch to the side of the fallen old by using the magnet, so that the fallen old can stand independently and independently by using the crutch and the following platform device.
Of course, it is easy to understand that after the old person stands up, the walking stick is taken out of the following platform device, the micro vacuum pump 91 stops working, the push rod of the electric push rod 81 extends out, and the universal wheel 71 and the rear wheel 72 are in contact with the ground. The foot cup 62 and the vacuum suction cup 92 are separated from the ground, and the distance between the foot cup 62 and the ground is 10-15 mm. Therefore, the fallen old people can restore the normal walking state, and the old people can stand after falling.
Example 3
This embodiment may be a further improvement and/or a supplement to embodiments 1 and 2 or a combination thereof, and repeated details are not repeated. This example discloses that, without causing conflict or contradiction, the whole and/or partial contents of the preferred embodiments of other examples can be supplemented by this example.
When the old people go out to do activities, the old people often need to stop to have a rest in the walking process due to limited physical strength. At this time, the push rod of the electric push rod 81 contracts, and the third-layer cross member 65, the second stay 73, the universal wheel 71, and the rear wheel 72 translate upward along the longitudinal beam 61 with the contraction of the electric push rod 81. Thus, the universal wheels 71 and the rear wheels 72 are separated from the ground by a distance of 5-10 cm. The foot cup 62 and the vacuum cup 92 are in contact with the ground. The micro vacuum pump 91 is operated so that the vacuum chuck 92 is tightly adhered to the ground. Therefore, the old can sit on the accompanying platform device to have a rest, and the function of providing a seat for the old at any time and any place is realized.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not intended to be limiting on the claims. The scope of the invention is defined by the claims and their equivalents.
The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.
Claims (4)
1. A walking device for assisting a user in standing, comprising:
a support (6), and
a driving mechanism (7) which is provided to the stand (6) so as to be able to contact the ground and which enables the stand (6) to move, and which follows or stops the walking device so as to keep a certain safe distance from the user before the user falls down,
it is characterized in that the preparation method is characterized in that,
the support (6) defines at least one space for arranging a lifting mechanism (8), the lifting mechanism (8) can enable the driving mechanism (7) to be separated from the ground when the lifting mechanism (8) is in a contraction state, and the support (6) is kept fixed relative to the ground under the condition that a suction component of a suction mechanism (9) is sucked on the ground based on a vacuum suction manner so as to assist a user to stand,
the bracket (6) comprises a longitudinal beam (61) and a foot cup (62) which can be simultaneously contacted with the adsorption component on the ground and is fixed on the longitudinal beam (61), the foot cup (62) is used for providing support for the walking device when the adsorption mechanism (9) is separated from the ground,
a conduit hole (84) is formed in the space, and the conduit hole (84) is arranged in a manner that the auxiliary rod can be placed into the conduit hole by the user in a non-standing state;
the drive mechanism (7) comprises a drive motor (74), the drive motor (74) being capable of adjusting the output rotational speed in accordance with at least one behavioral characteristic of a user to enable the walking device to move in a manner that maintains a safe distance from the user;
the output rotating speed of the driving motor (74) is controlled by an intelligent controller (10), the intelligent controller (10) is respectively in communication connection with a behavior recognition unit (11) and a position recognition unit (12), the behavior recognition unit (11) is used for monitoring the moving speed of a user and the gravity center position of the user, and the position recognition unit (12) is used for measuring the distance between the user and the walking device and recognizing the distance between the auxiliary rod and the walking device;
wherein, safe distance means: the following platform can track the characteristic points on the body of a user through the image recognition camera, the amount of the platform required to rotate is calculated according to the position of the characteristic pixel in the image, so that the amount of the two-wheel differential speed is calculated, the distance between the platform and the user is calculated through the distance measurement function of the image recognition camera, and the platform keeps a constant distance to follow the user at any pace based on a PID algorithm;
when the driving mechanism (7) is in contact with the ground surface based on the thrust of the lifting mechanism (8), the adsorption component is suspended based on the interaction force generated by the contact of the driving mechanism (7) and the ground surface;
the adsorption assembly fixes the walking device on the ground relative to the adsorption assembly in a vacuum suction mode when the user stands on the basis of the walking device and the walking device does not topple;
the adsorption tube of the adsorption mechanism (9) can be communicated with the adsorption mechanism in a mode that the adsorption tube is not interfered by the longitudinal movement of the driving mechanism;
the lifting mechanism (8) comprises an electric push rod (81), the lifting displacement of the electric push rod (81) is controlled by the intelligent controller (10), and when the driving motor (74) is still in a rotating state, the intelligent controller (10) and the electric push rod (81) are in a non-communication state so that the electric push rod (81) cannot lift and ensure that the driving mechanism (7) can normally walk; when and only when the driving motor (74) is in a stop state, the intelligent controller (10) and the electric push rod (81) are in a communication state, and at the moment, the electric push rod (81) can execute the action of the lifting driving mechanism (7);
wherein the auxiliary stick is a crutch (430), and the suction component is a vacuum cup (92);
if the crutch (430) is positioned at the user, the walking device is moved to the user by control, the second support plate provided with the wheels is lifted by the push rod motor, so that the foot cup is contacted with the ground, then the user adjusts the posture, the crutch (430) is inserted into the blind conduit (52), the micro vacuum pump is started by control, the platform is adsorbed on the ground by the vacuum chuck (92), the crutch (430) forms a stable upright column form, and the user stands again by exerting force;
if the crutch (430) flies out when falling down, namely the crutch (430) is not beside the user, firstly the platform is moved to the position near the crutch (430) through the control of the bracelet, the crutch (430) is sucked up and conveyed to the side of the user through the magnet on the side, in the normal walking process of the user, the crutch (430) is not inserted into the blind conduit (52), the walking device is temporarily unrelated to the crutch (430), and only when the user falls down and needs to stand again, the user needs to insert the crutch (430) into the blind conduit to form a stand column to help the user to climb up from the ground.
2. Walking device according to claim 1, wherein the lifting mechanism (8) comprises a lifting generator which is fixed to the first support plate (82) in such a way that it enables the driving mechanism (7) to move in the longitudinal direction of the support (6).
3. Running gear according to claim 2, characterized in that the lifting mechanism (8) is connected to the drive mechanism (7) via a second brace (72) which is movable in the longitudinal direction of the carriage (6).
4. The running gear according to claim 1, characterized in that the lifting mechanism (8) and the suction mechanism (9) are provided to the carriage (6) in such a manner that the carriage (6) does not topple.
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| CN202010659793.3A CN111759683B (en) | 2020-07-08 | 2020-07-08 | Walking device for assisting user in standing |
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| CN202010659793.3A CN111759683B (en) | 2020-07-08 | 2020-07-08 | Walking device for assisting user in standing |
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