CN112353577A - Walking aid for old people based on multifunctional mechanical device - Google Patents

Abstract

The invention relates to the technical field of assistant walking, in particular to an assistant walking apparatus based on a multifunctional mechanical device for walking and stair climbing, which comprises a rack, wherein a controller and a power supply are arranged in the rack, a seat is arranged on the rack, a wing unfolding mechanism is arranged in the rack, the wing unfolding mechanism is positioned below the seat, rotating mechanisms are arranged on two sides of the rack, and a lifting mechanism is arranged on the rear side of the rack.

Description

Walking aid for old people based on multifunctional mechanical device

The technical field is as follows:

the invention relates to the technical field of old-age assisting walking, in particular to an old-age assisting walking instrument based on a multifunctional mechanical device for walking and stair climbing.

Background art:

with the arrival of aging society and the increase of the number of disabled people, the aged people are easy to have the decline of physiological functions along with the increase of age, such as osteoporosis, physical strength decline and the like, which causes difficulty in traveling due to inconvenient movement, so that the requirements of the old and the disabled for auxiliary walking tools are increasing day by day, these people constitute a huge number of wheelchair-demanding groups, making the wheelchair more and more important in the lives of the elderly and disabled, the wheelchair becomes their only travel tool, in the field of old-age and disabled-helping wheelchairs, the wheelchair for assisting the old or disabled to go out has higher design requirements on safety and functionality, most people in China still live in multi-storey buildings without elevators nowadays, go upstairs and downstairs by stairs, the existing wheelchairs do not have the function of climbing stairs, and the function is single, so that the action range of the wheelchairs is limited to a certain extent; although the wheelchair with the stair climbing function is researched and developed by related manufacturers, the problem that the wheelchair climbs stairs can be solved through a star wheel type or crawler type wheelchair, when the star wheel type wheelchair is used, manual assistance is needed for pushing and pulling, the movement is not stable, the impact force is large, the stability is poor, and the safety coefficient is low; when the crawler-type wheelchair is used, the wheelchair is pushed to the stairs by manpower, the movement of the crawler is controlled under the action of the motor, and the crawler-type wheelchair is large and heavy in size, high in price and complex in operation, and is not beneficial to the use of the old or the disabled.

The invention content is as follows:

aiming at the defects and problems in the prior art, the invention provides an old-aged walking assisting apparatus based on a multifunctional mechanical device, which is unique in structure and convenient to use, can facilitate the traveling of the old and the disabled through the mutual matching of a wing unfolding mechanism, a lifting mechanism and a rotating mechanism, can also help the old go upstairs or steps, has strong environmental adaptability, has high stability and safety, and effectively solves the problems of going out and upstairs of people with inconvenient movement.

The technical scheme adopted by the invention for solving the technical problems is as follows: a walking appliance for helping the old based on a multifunctional mechanical device comprises a frame, wherein the frame is of a hollow structure, a seat is arranged on the frame, a power supply and a controller are arranged below the seat, the power supply and the controller are respectively and fixedly connected with the frame, the walking appliance also comprises a wing unfolding mechanism, a rotating mechanism, a lifting mechanism, a steering fixing seat, a connecting block and an information collecting assembly, the steering fixing seat is arranged on two sides of the frame, and the steering fixing seat is fixedly connected with the frame; the wing unfolding mechanism is arranged in the rack and is positioned below the seat, the wing unfolding mechanism comprises a front wheel frame, a fixed seat, a V-shaped hinged frame and a moving assembly, the bottom of the front wheel frame is provided with a moving wheel, the moving wheel is fixedly arranged on the front wheel frame through a wheel shaft, the front wheel frame is provided with a first motor, an output shaft of the first motor is in transmission connection with the wheel shaft, two ends of the front wheel frame are provided with rotating rods, the rotating rods at the two ends of the front wheel frame are rotatably sleeved in the first shaft seats, the first shaft seats are fixed on the fixed seat, the fixed seat is fixed on two side walls in the rack, the moving assembly comprises a screw rod frame arranged above the front wheel frame, the inner end of the screw rod frame is fixedly connected with the inner rear wall of the rack, the outer end of the screw rod frame is provided with a second motor, the information collecting assembly is arranged at the top of, the transverse screw rod is sleeved with a first movable screw block, the outer end head of the transverse screw rod extends out of the screw rod frame, the output shaft of the second motor is in transmission connection with the outer end head of the transverse screw rod, the V-shaped hinge frame is arranged between the screw rod frame and the front wheel frame, and the top end and the bottom end of the V-shaped hinge frame are respectively hinged with the first movable screw block and the front wheel frame; the rotating mechanism is arranged on two sides of the frame and comprises a middle wheel frame, a steering gear and a driving assembly, the middle wheel frame is arranged on the outer side of the steering fixing seat, the bottom of the middle wheel frame is provided with a movable wheel, the movable wheel is fixedly arranged on the middle wheel frame through a wheel shaft, the middle wheel frame is provided with a third motor, an output shaft of the third motor is in transmission connection with the wheel shaft at the bottom of the middle wheel frame, the steering gear is arranged on the inner side of the top of the middle wheel frame and is fixedly connected with the middle wheel frame, the inner side axle center of the steering gear is provided with an annular boss, the steering fixing seat is provided with a through hole corresponding to the annular boss, the steering gear is rotatably sleeved with the steering fixing seat through the annular boss, the driving assembly is arranged above the steering fixing seat, the driving assembly comprises a driving motor and a driving wheel, the driving motor is fixedly, and the driving wheel is meshed with the steering gear; the lifting mechanism is arranged on the rear side of the rack and comprises two rear wheel frames arranged side by side, the two rear wheel frames are connected into a whole through a cross rod, a movable wheel is arranged at the bottom of the rear wheel frame and fixedly mounted on the rear wheel frame through a wheel shaft, a fifth motor is arranged on the rear wheel frame, an output shaft of the fifth motor is in transmission connection with the wheel shaft at the bottom of the rear wheel frame, a fourth motor is arranged at the top of the rear wheel frame, a vertical screw rod is vertically sleeved on the rear wheel frame in a rotating mode, a second movable screw block is sleeved on the vertical screw rod and fixedly connected with the rear side wall of the rack, the rear wheel frame extends out of the top end of the vertical screw rod, an output shaft of the fourth motor is in transmission connection with the top end of the vertical screw.

Further, the transmission connection is a gear transmission or a chain transmission.

Furthermore, a hinging seat is arranged at the center of the top of the front wheel frame, and the bottom end of the V-shaped hinging frame is hinged with the hinging seat.

Furthermore, the device also comprises a second shaft seat, an output shaft of the driving motor is rotatably sleeved in the second shaft seat, and the second shaft seat is fixedly connected with the outer side wall of the rack through a connecting block.

Furthermore, the rotating fixing seat is fixedly connected with the outer side wall of the rack through a connecting block.

The steering gear is arranged on the upper portion of the middle wheel frame, the connecting plate is arranged on the outer side of the steering gear, the connecting plate is fixedly connected with the steering gear, and the inner side of the top of the middle wheel frame is fixedly connected with the connecting plate.

Further, the information collection assembly comprises an ultrasonic sensing device and a camera monitoring device, and the ultrasonic sensing device and the camera monitoring device are respectively electrically connected with the controller.

Further, the controller is a single chip microcomputer.

Furthermore, fourth motors at the tops of the two rear wheel frames in the lifting mechanism run synchronously.

Further, the moving wheels at the bottom of the front wheel frame are smaller than the moving wheels at the bottom of the middle wheel frame and the rear wheel frame.

The invention has the beneficial effects that:

firstly, the structure is unique, the use is convenient, the wing unfolding mechanism, the lifting mechanism and the rotating mechanism are matched with each other, so that the wheelchair not only can be convenient for old people or disabled people and other people with mobility disabilities to normally go out, but also can help the old people to go upstairs or steps, the movement is stable, the stability is higher, the safety of the wheelchair is also improved, the operation is simple, the old people are helped to go upstairs and go out, and the mobility freedom degree of the old people is improved; when a user uses the instrument in a gentle road section, the single chip microcomputer can automatically adjust tires in each mechanism to be at the same horizontal height under the action of the ultrasonic detection device, the stability of the instrument is improved, when the ultrasonic detection device detects that an obstacle or danger exists in the front, the single chip microcomputer is based on the actual operation condition of the user, if the user does not perform related operation, the single chip microcomputer controls the wheelchair to reduce the driving speed, and if necessary, the instrument is stopped, so that the safety of the user is ensured; when the user uses this apparatus in multiple highway section, the singlechip is under ultrasonic detection device's effect, each mechanism of control that can be nimble, makes the tire in each mechanism fully contact with ground, ensures the stability of apparatus, has stronger environmental suitability, has also increased the steadiness and the security of apparatus, and this apparatus operation is also comparatively simple and safe simultaneously, is favorable to old person's use.

Secondly, when the instrument detects steps of a stair through an ultrasonic detection device, under the action of a second motor, the front wheel frame can be pushed through the matching of the transverse screw and the first movable screw block, so that the front wheel frame is lifted, when the front wheel frame moves to the position above the steps, the front wheel frame is lowered through the matching of the transverse screw and the first movable screw block, a movable wheel at the bottom of the front wheel frame is contacted with the surfaces of the steps when the front wheel frame is lowered, the front half part of the integral rack is lifted in the height direction when the front wheel frame is lowered, and the instrument is changed into an inclined state; then the driving motor is started to drive the driving wheel, the middle wheel frame swings forwards through the meshing motion of the driving wheel and the steering gear until the moving wheel at the bottom of the middle wheel frame and the moving wheel at the bottom of the front wheel frame are on the same step surface, the whole frame is provided with forward power by the fifth motor in the rear wheel frame and moves forwards for a certain distance, the rear wheel frame moves to the side of the first step and serves as a gravity center supporting point, then the fourth motor is started to enable the second moving screw block to move upwards on the vertical screw rod, so that the whole frame is driven to be lifted, the device is changed from an inclined state to a horizontal state, after the device is changed into the horizontal state, the first motor at the bottom of the front wheel frame and the third motor at the bottom of the middle wheel frame provide forward power of the device, the front wheel frame and the middle wheel frame serve as gravity center supporting points, then the fourth motor is started, the vertical screw rod can move upwards in the second moving, the front wheel frame and the middle wheel frame are used as gravity center supporting points, so that the situation that the whole device is likely to lose balance when climbing stairs can be avoided, and the device can be used on steps of a platform bridge or a park.

And thirdly, the high smoothness is achieved, the design of six wheels is adopted, the structure is firm, the bearing capacity is high, the front wheel frame drives the moving wheels at the bottom of the front wheel frame to rotate through the first motor, the ground grabbing force of the moving wheels at the bottom of the front wheel frame can be ensured, and the moving wheels at the bottom of the front wheel frame adopt a 2+ 2-4-wheel mode, so that the idle running phenomenon of the moving wheels at the bottom of the front wheel frame is effectively prevented, the front wheel frame can work effectively, the second motor can enable the transverse screw rod to rotate in the screw rod frame, the first moving screw block moves back and forth on the transverse screw rod, and the first moving screw block drives the front wheel frame to lift through the V-shaped hinged frame.

Fourthly, the stair climbing robot has strong adaptability, can change the height of the lifting mechanism through the preset operation program of the single chip microcomputer for stairs or steps with different heights, can complete climbing of the stairs or steps with different heights through the mutual matching of the lifting mechanism, the wing unfolding mechanism and the rotating mechanism, is flexible to use, and also ensures the stable and effective operation of the stair climbing robot; and the bottom of the rear wheel frame in the lifting mechanism is arranged by four wheels, so that the stability of the machine is further ensured, and when the machine goes upstairs or steps, the rear wheel frame provides a fulcrum support for the lifting height of the whole machine frame, so that the machine frame is lifted.

Fifthly, the middle wheel frames on two sides of the rack are respectively internally provided with a third motor, the machine can be stopped immediately after rotating under the control of the double motors, the third motors in the middle wheel frames on two sides of the rack rotate forwards on one side and rotate backwards on the other side, the forward direction of the machine can be turned, the third motors in the middle wheel frames are controlled by operating switches, the operation is simple, the automation of people carrying upstairs is realized in an electromechanical combination mode, and the manpower is saved.

Sixthly, the camera monitoring device can provide real-time pictures and videos for the relatives of the users, so that the relatives of the users can master the dynamic state of the users in real time, and the safety factor of the users is further improved.

Seventhly, the suit is rotated with the third axle seat of frame inside wall to the axostylus axostyle that the seat passes through both sides, under the effect of seat below balancing weight, can make the focus of seat downwards, the frame is when climbing stair and being in the tilt state, the seat is under the effect of balancing weight gravity keeps downwards, and through the cooperation of axostylus axostyle with the third axle seat, the frame can not drive the seat when being in the tilt state, the seat can keep the horizontality, user's safety has been guaranteed, avoided following the focus of apparatus slope and changing because of the focus of seat, the user can follow the condition that the apparatus leaned on the seat and incline, and stopper and spacing shell also can carry on spacingly to the removal of balancing.

Description of the drawings:

FIG. 1 is a schematic view of the present invention.

FIG. 2 is a second schematic view of the present invention.

FIG. 3 is a third schematic view of the present invention.

FIG. 4 is a fourth schematic view of the present invention.

Fig. 5 is a schematic view of a frame structure.

Fig. 6 is a schematic view of a rotating mechanism.

Fig. 7 is a second schematic structural diagram of the rotating mechanism.

Fig. 8 is a third schematic view of the rotating mechanism.

FIG. 9 is a fourth schematic view of the rotating mechanism.

FIG. 10 is a fifth schematic view of the structure of the rotating mechanism.

FIG. 11 is a sixth view of the structure of the rotating mechanism.

Fig. 12 is a schematic structural diagram of a driving assembly.

Fig. 13 is a schematic structural view of the lifting mechanism.

Fig. 14 is a schematic structural view of the lifting mechanism.

Fig. 15 is a second schematic structural view of the lifting mechanism.

Fig. 16 is a schematic structural view of the wing-spreading mechanism.

Fig. 17 is a second schematic structural view of the wing-spreading mechanism.

Fig. 18 is a third schematic view of the wing-spreading mechanism.

FIG. 19 is a fourth schematic view of the wing-spreading mechanism.

Fig. 20 is a fifth view of the wing-spreading mechanism.

FIG. 21 is a schematic view of another embodiment of the present invention.

FIG. 22 is a schematic view of another embodiment of the present invention.

FIG. 23 is a schematic view of another embodiment of the present invention.

In the figure: 1-a frame, 2-a driving component, 201-a driving motor, 202-a driving wheel, 3-a rotating mechanism, 301-a middle wheel frame, 302-a steering gear, 303-a connecting plate, 304-a third motor, 305-an annular boss, 4-a wing-unfolding mechanism, 401-a front wheel frame, 402-a fixed seat, 403-a first motor, 404-a second motor, 405-a rotating rod, 406-a screw rod frame, 407-a transverse screw rod, 408-a V-shaped hinged frame, 409-a hinged seat, 410-a first movable screw block, 5-a lifting mechanism, 501-a rear wheel frame, 502-a fourth motor, 503-a fifth motor, 504-a vertical screw rod, 505-a second movable screw block, 506-a cross rod, 6-a seat and 7-an operating switch, 8-power supply, 9-single chip microcomputer, 10-connecting block, 11-steering fixed seat, 111-through hole, 12-first shaft seat, 13-second shaft seat, 14-ultrasonic detection device, 15-camera monitoring device, 16-third shaft seat, 17-shaft rod, 18-balancing weight, 19-flexible rope, 20-limiting block and 21-limiting shell.

The specific implementation mode is as follows:

the invention is further illustrated with reference to the following figures and examples.

Embodiment 1, in the old-age and disabled-assisting wheelchair field, the wheelchair that assists the old person or disabled person to go out is higher in the aspect of security, functional design requirement, and most of domestic people still live in the multilayer building that does not have the elevator now, go upstairs and downstairs by stair, and current wheelchair does not all possess the stair climbing function, and the function is single, and this has restricted the action scope of wheelchair to a certain extent, though the wheelchair that has the stair climbing function has been researched and developed by relevant producer, but need manpower assistance push-and-pull during the use, the motion is unstable, and stability is relatively poor, factor of safety is low, and complex operation, be unfavorable for old person or disabled person's use.

In order to solve the above problems, the present embodiment provides an old-aged walking aid based on a multifunctional mechanical device, as shown in fig. 1-5, which includes a frame 1, the frame 1 is an open hollow structure, a seat 6 is fixedly mounted on the frame 1, a plurality of air vents are uniformly formed on the seat 6, so as to improve the comfort level of a user, a power supply 8 and a single chip microcomputer 9 are disposed below the seat 6, the power supply 8 is fixed on the inner side wall of the front side of the frame 1, the single chip microcomputer 9 is fixedly mounted on the inner side wall of one side of the frame 1, an operation switch 7 is mounted on the front side of the frame 1, the operation switch 7 is electrically connected with the single chip microcomputer 9 in a control manner, the power supply 8 is electrically connected with the single chip microcomputer 9, a wing-unfolding mechanism 4 is disposed in the frame 1, the wing-unfolding mechanism 4 includes a screw frame 406 disposed below, a second motor 404 is installed in the outer end of the screw frame 406, the second motor 404 is electrically connected with the single chip microcomputer 9 in a control mode, an ultrasonic detection device 14 and a camera monitoring device 15 are installed at the top of the outer end of the screw frame 406, the ultrasonic detection device 14 and the camera monitoring device 15 are respectively electrically connected with the single chip microcomputer 9, the ultrasonic detection device 14 can detect road conditions in front of driving and send signals to the single chip microcomputer 9, and the camera monitoring device 15 can provide real-time pictures and videos for relatives of users, so that the relatives of the users can master the dynamic state of the users in real time, and the safety factor of the users is improved; a transverse screw 407 is horizontally arranged in the screw frame 406, the inner end and the outer end of the screw frame 406 are provided with rotating seats, two end heads of the transverse screw 407 are rotatably sleeved in the screw frame 406 through the rotating seats, the outer end head of the transverse screw 407 extends out of the screw frame 406, an output shaft of the second motor 404 is fixed with a gear, the outer end head of the transverse screw 407 extending out of the screw frame 406 is fixed with a gear, the gear on the output shaft of the second motor 404 is meshed with the gear on the outer end head of the transverse screw 407, and the transverse screw 407 is sleeved with a first movable screw block 410; a front wheel frame 401 is arranged below the screw frame 406, a moving wheel is arranged at the bottom of the front wheel frame 401 and is fixedly mounted on the front wheel frame 401 through a wheel shaft, a first motor 403 is arranged at the bottom of the front wheel frame 401, the first motor 403 is electrically connected with the single chip microcomputer 9 in a control mode, a gear is fixed on an output shaft of the first motor 403, a gear is fixed on the wheel shaft, the gear on the output shaft of the first motor 403 is meshed with the gear on the wheel shaft, the first motor 403 can drive the moving wheel at the bottom of the front wheel frame 401 to rotate, the ground gripping force of the moving wheel at the bottom of the front wheel frame 401 can be ensured, and the moving wheel at the bottom of the front wheel frame 401 adopts a mode of 2+2 wheels to 4 wheels, so that the moving wheel at the bottom of the front wheel frame 401; the two ends of the top of the front wheel frame 401 are fixed with rotating rods 405, the rotating rods 405 at the two ends of the top of the front wheel frame 401 are rotatably sleeved in the first shaft seat 12, the first shaft seat 12 is fixedly connected with the fixed seat 402, and the fixed seat 402 is fixed on two side walls in the rack 1; a V-shaped hinge frame 408 is arranged between the screw frame 406 and the front wheel frame 401, as shown in fig. 20, a hinge seat 409 is arranged at the top center of the front wheel frame 401, the top end of the V-shaped hinge frame 408 is hinged with a first movable screw block 410, and the bottom end of the V-shaped hinge frame 408 is hinged with the hinge seat 409; after the second motor 404 is started, the transverse screw 407 can rotate in the screw frame 406, so that the first movable screw 410 moves back and forth on the transverse screw 407, when the first movable screw 410 moves back, the V-shaped hinge bracket 408 is driven, under the hinge action of the V-shaped hinge bracket 408 and the mutual cooperation of the rotating rod 405 and the first shaft base 12, the front wheel frame 401 is lifted, and the lifting height of the front wheel frame 401 is controlled by the distance of the first movable screw 410 moving back; when the first movable screw 410 moves forward, it drives the V-shaped hinge bracket 408, and under the hinge action of the V-shaped hinge bracket 408 and the cooperation between the rotating rod 405 and the first axle seat 12, the front wheel frame 401 is lowered.

As shown in fig. 5, the two sides of the frame 1 are provided with the steering fixing seats 11, the steering fixing seats 11 are fixedly connected with the outer side wall of the frame 1 through the connecting blocks 10, as shown in fig. 1, the two sides of the frame 1 are provided with the rotating mechanisms 3, the rotating mechanisms comprise middle wheel frames 301 arranged at the outer sides of the steering fixing seats 11, the bottoms of the middle wheel frames 301 are provided with moving wheels, the moving wheels are fixedly arranged on the middle wheel frames 301 through wheel shafts, the bottoms of the middle wheel frames 301 are provided with third motors 304, the third motors are electrically connected with the single chip microcomputer 9 in a control mode, the output shafts of the third motors 304 are fixedly provided with gears, the wheels at the bottoms of the middle wheel frames 301 are fixedly provided with gears, the gears on the output shafts of the third motors 304 are mutually meshed with the gears on the wheel shafts at the bottoms of the middle wheel frames 301, the dual-motor control can be realized through the third motors, the apparatus can be stopped immediately after the apparatus is turned, the third motor in the middle wheel frame 301 on one side of the machine frame 1 rotates forward, the third motor in the middle wheel frame 301 on the other side of the machine frame 1 rotates backward, the forward direction of the apparatus can be turned, and the third motor 304 in the middle wheel frame 301 can be controlled by the single chip microcomputer 9 through the operation switch 7.

As shown in fig. 6-11, a steering gear 302 is disposed on the inner side of the top of a middle wheel frame 301, a connecting plate 303 is fixed on the outer side surface of the steering gear 302, the inner side of the top of the middle wheel frame 301 is fixedly connected with the connecting plate 303, an annular boss 305 is disposed on the axis of the inner side of the steering gear 302, a through hole 111 corresponding to the annular boss 305 is disposed on a steering fixing seat 11, the steering gear 302 is rotatably sleeved with the steering fixing seat 11 through the annular boss 305, a driving assembly 2 is disposed above the steering fixing seat 11, the driving assembly 2 comprises a driving motor 201, the driving motor 201 is fixedly connected with the outer side wall of a frame 1 through a connecting block 10, as shown in fig. 12, an output shaft of the driving motor 201 is rotatably sleeved in a second shaft seat 13, the second shaft seat 13 is fixedly connected with the outer side wall of the frame, as shown in fig. 6-7, the driving wheel 202 is engaged with the steering gear 302, the driving motor 201 is started to drive the driving wheel 202, the driving wheel 202 and the steering gear 302 perform an engaging motion, and the steering gear 302 swings forward in the steering fixing base 11 through the annular boss 305, so that the middle wheel frame 301 swings forward to adjust the position of the middle wheel frame 301.

As shown in fig. 3, a lifting mechanism 5 is provided at the rear side of the frame 1, the lifting mechanism 5 includes two rear wheel frames 501 arranged in parallel, as shown in fig. 13-15, a cross bar 506 is provided at the outer side of the two rear wheel frames 501, the two rear wheel frames 501 are connected into a whole through the cross bar 506, a movable wheel is provided at the bottom of the rear wheel frame 501, the movable wheel is fixedly installed on the rear wheel frame 501 through a wheel axle, a fifth motor 503 is provided on the rear wheel frame 501, the fifth motor 503 is electrically connected with the single chip microcomputer 9, a gear is fixed on an output shaft of the fifth motor 503, a gear is fixed on the wheel axle at the bottom of the rear wheel frame 501, the gear on the output shaft of the fifth motor 503 is engaged with the gear on the wheel axle at the bottom of the rear wheel frame 501, the fifth motor 503 can drive the movable wheel at the bottom of the rear wheel frame 501 to rotate to provide forward power for the apparatus, the stability of the instrument is further ensured; the top of the rear wheel frame 501 is provided with a fourth motor 502, the fourth motor 502 is electrically connected with the singlechip 9 in a control manner, the fourth motors 502 at the top of the two rear wheel frames 501 run synchronously, the inner side of the rear wheel frame 501 is provided with a vertical screw rod 504, the top end and the bottom end of the inner side of the rear wheel frame 501 are provided with rotating seats, the top end and the bottom end of the vertical screw rod 504 are rotatably sleeved on the rear wheel frame 501 through the rotating seats, the top end of the vertical screw rod 504 extends out of the rotating seat at the top end of the inner side of the rear wheel frame 501 and is fixed with a gear, an output shaft of the fourth motor 502 is fixed with a gear, and the gear on the output shaft of the; a plurality of second movable screw blocks 505 are sleeved on the vertical screw rod 504, and the second movable screw blocks 505 are fixedly connected with the rear side wall of the rack 1; after the fourth motor 502 is started, the second movable screw 505 can rotate on the vertical screw 504, so that the second movable screw 505 moves up and down on the vertical screw 504, and when the second movable screw 505 moves up, the rack 1 is driven by the second movable screw 505 to be lifted, so that the rack 1 is lifted on the rear wheel frame 501; when the second movable screw 505 moves downwards, the rack 1 is driven by the second movable screw 505 to descend; when the apparatus goes upstairs or steps, the rear wheel frame 501 serves as a gravity center supporting point to provide a support for the lifting height of the frame 1, when the rear wheel frame 501 serves as a gravity center supporting point, the fourth motor 502 is started to drive the vertical screw rod 504 to rotate, the second movable screw block 505 moves upwards on the vertical screw rod 504, so as to drive the frame 1, so that the frame 1 is lifted, the apparatus is changed from an inclined state to a horizontal state, after the apparatus is changed to the horizontal state, the first motor 403 at the bottom of the front wheel frame 401 and the third motor 304 at the bottom of the middle wheel frame 301 provide forward power, the front wheel frame 401 and the middle wheel frame 301 become the gravity center supporting point, then the fourth motor 502 is started, the vertical screw rod 504 moves upwards in the second movable screw block 505, and the rear wheel frame 501 can be folded upwards.

When the device is used, a user can manually control the movement direction and the movement speed of the device through the operation switch 7, the operation switch 7 can send an instruction to the singlechip 9, the singlechip 9 can control the wing unfolding mechanism 4, the rotating mechanism 3 and the lifting mechanism 5, all the mechanisms are matched with each other, the device not only can be convenient for the old, the disabled and other people with inconvenient actions to go out normally, but also can help the old or the disabled to go upstairs or steps, when the user uses the device, the ultrasonic detection device 14 can detect the walking road section, when the ultrasonic detection device 14 detects that the old or the disabled runs in the gentle road section, the device sends a signal to the singlechip 9, after the singlechip 9 receives the signal, the mobile wheels at the bottoms of the front wheel frame 401, the middle wheel frame 301 and the rear wheel frame 501 can be automatically adjusted to be at the same horizontal height, the idle running of the mobile wheels is prevented, the stability of the device is improved, and the user, the user selects a proper advancing speed according to the pedestrian flow condition of the using road section and the road section condition, the fifth motor 503 at the bottom of the rear wheel frame 501 is a main power source and provides advancing power for the instrument, when the ultrasonic detection device 14 detects that an obstacle or danger exists in the front, a signal is sent to the single chip microcomputer 9, after the single chip microcomputer 9 receives the signal, the actual operation condition of the user is taken as the main condition, if the user does not perform related operation, the single chip microcomputer controls the fifth motor 503 at the bottom of the rear wheel frame 501, the running speed of the instrument is reduced, and the instrument is stopped if necessary, so that the safety of the user is ensured; when the ultrasonic detection device 14 detects that the vehicle runs in a multiple road section, a signal is sent to the single chip microcomputer 9, after the single chip microcomputer 9 receives the signal, the front wheel frame 401 and the middle wheel frame 301 can be flexibly controlled, moving wheels at the bottoms of the front wheel frame 401, the middle wheel frame 301 and the rear wheel frame 501 are in full contact with the ground, the stability of the instrument is ensured, the instrument has strong environmental adaptability, the smoothness and the safety of the instrument are also improved, meanwhile, the operation of the instrument is simple and safe, the use of the old is facilitated, when the steering is needed, the signal is sent to the single chip microcomputer 9 through an operation switch, the single chip microcomputer 9 can control the third motors 304 in the middle wheel frames 301 on two sides of the rack, the third motors in the middle wheel frames 301 on one side are enabled to rotate forwards, the third motors in the middle wheel frames 301 on the other side are enabled to rotate backwards, and the.

When the stair climbing or the ultrasonic detection device 14 detects that a stair step exists in front of the stair climbing or the stair climbing, the singlechip 9 controls the second motor 404, the second motor 404 starts to rotate forward, the first movable screw 410 moves backward on the transverse screw 407 to drive the front wheel frame 401, so that the front wheel frame 401 is lifted, when the front wheel frame 401 moves down, the movable wheel at the bottom is in contact with the stair surface, and when the front wheel frame 401 moves down, the front half part of the whole frame is lifted in height, so that the instrument is in an inclined state; then the driving motor 201 starts and drives the driving wheel 202, the middle wheel frame 301 swings forward through the meshing motion of the driving wheel 202 and the steering gear 302, until the moving wheel at the bottom of the middle wheel frame 301 and the moving wheel at the bottom of the front wheel frame 401 are on the same step surface, the whole frame is provided with forward power by the fifth motor 503 in the rear wheel frame 501 and moves forward for a certain distance, the rear wheel frame 501 moves to the side of the first step, at this time, the rear wheel frame 501 serves as a gravity center supporting point, the fourth motor 502 at the top of the rear wheel frame 501 starts forward rotation to drive the vertical screw 504 to rotate, the second moving screw 505 moves upward on the vertical screw 504, thereby driving the whole frame to be lifted, the apparatus changes from the inclined state to the horizontal state, after the apparatus changes to the horizontal state, the forward power of the apparatus is provided by the first motor 403 at the bottom of the front wheel frame 401 and the third motor 304 at the bottom of the middle wheel frame, the front wheel frame 401 and the middle wheel frame 301 are made to be gravity center supporting points, then the fourth motor 502 starts to rotate forward to drive the vertical screw 504 to rotate, so that the vertical screw 504 can move upwards in the second moving screw 505, the rear wheel frame 501 is folded upwards, the front wheel frame 401 and the middle wheel frame 301 provide forward power to move forward, moving wheels at the bottoms of the front wheel frame 401, the middle wheel frame 301 and the rear wheel frame 501 are on the same step surface, a first stair climbing stage is completed, the above processes are repeated, the whole device achieves the function of climbing stairs, the situation that the whole device is likely to lose balance when climbing stairs can be avoided after the front wheel frame 401 and the middle wheel frame 301 are made to be gravity center supporting points, and the device can also be used on steps of an overpass or a park.

Example 2, a different point from example 1 will be mainly described as a difference between the present embodiment and the old walking aid using the multifunction mechanism.

In this embodiment, the moving wheels at the bottom of the front wheel frame 401 are smaller than the moving wheels at the bottom of the middle wheel frame 301 and the rear wheel frame 501, so that the front wheel frame 401 can be lifted more conveniently.

Example 3 a different point from example 1 will be mainly described in the present embodiment, which is an old walking aid using a multifunction mechanism.

In the embodiment, a gear on an output shaft of a first motor at the bottom of the front wheel frame and a gear on a wheel shaft at the bottom of the front wheel frame are in chain transmission; the gear on the output shaft of the third motor at the bottom of the middle wheel frame and the gear on the wheel shaft at the bottom of the middle wheel frame are in chain transmission; the gear on the output shaft of the fifth motor at the bottom of the rear wheel frame and the gear on the wheel shaft at the bottom of the rear wheel frame are in chain transmission, so that the transmission efficiency is improved in a chain transmission mode, the operation of the device is more stable and reliable, and forward power can be better provided when climbing stairs.

Example 4 will be described focusing on differences from example 1 in the present embodiment, which is an old walking aid using a multifunctional machine.

In this embodiment, as shown in fig. 21-23, two sides of the seat 6 are fixed with the shaft levers 17, two side walls inside the frame 1 are fixedly installed with the third shaft seats 16, the shaft levers 17 on two sides of the seat 6 are rotatably sleeved in the third shaft seats 16, the bottom of the seat 6 is provided with the limiting shell 21, the limiting shell 21 is fixedly connected with the seat 6, the limiting shell 21 is provided with the flexible rope 19, the top end of the flexible rope 19 is fixedly connected with the bottom of the seat 6, two sides of the flexible rope 19 are fixed with the limiting blocks 20, the bottom of the flexible rope 19 is fixed with the counterweight block 18, under the action of the counterweight block 18 below the seat 6, the gravity center of the seat 6 can be downward, when the frame 1 climbs up stairs and is in an inclined state, the gravity center of the seat 6 is kept downward under the action of the counterweight block 18, and through the cooperation of the shaft levers 17 and the third shaft seats 16, the, seat 6 can keep the horizontality, avoided following the frame 1 slope and changing because of the focus of seat 6, the user can follow the frame 1 and the condition of slope when taking on seat 6, user's safety has been guaranteed, user's factor of safety has been improved, and stopper 20 and spacing shell 21 also can be spacing to the removal of balancing weight 18, use the in-process that this apparatus normally travel at the user, also can guarantee that seat 6's focus is downward all the time, make seat 6 keep the horizontality, it is safer to make the user trip.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.

Claims (10)

1. A walking appliance for helping the old based on multi-functional mechanical device, including the stander, the stander is a hollow structure, there are seats in the stander, there are power and controllers below the seat, power and controller are fixedly connected with stander respectively, characterized by that, also include the mechanism of the wing-spreading, slewing mechanism, lifting mechanism, turning to the fixed seat, joint block and information gathering assembly, the said turning to the fixed seat to set up in both sides of stander, turn to the fixed seat and fixedly connect with stander; the wing unfolding mechanism is arranged in the rack and is positioned below the seat, the wing unfolding mechanism comprises a front wheel frame, a fixed seat, a V-shaped hinged frame and a moving assembly, the bottom of the front wheel frame is provided with a moving wheel, the moving wheel is fixedly arranged on the front wheel frame through a wheel shaft, the front wheel frame is provided with a first motor, an output shaft of the first motor is in transmission connection with the wheel shaft, two ends of the front wheel frame are provided with rotating rods, the rotating rods at the two ends of the front wheel frame are rotatably sleeved in the first shaft seats, the first shaft seats are fixed on the fixed seat, the fixed seat is fixed on two side walls in the rack, the moving assembly comprises a screw rod frame arranged above the front wheel frame, the inner end of the screw rod frame is fixedly connected with the inner rear wall of the rack, the outer end of the screw rod frame is provided with a second motor, the information collecting assembly is arranged at the top of, the transverse screw rod is sleeved with a first movable screw block, the outer end head of the transverse screw rod extends out of the screw rod frame, the output shaft of the second motor is in transmission connection with the outer end head of the transverse screw rod, the V-shaped hinge frame is arranged between the screw rod frame and the front wheel frame, and the top end and the bottom end of the V-shaped hinge frame are respectively hinged with the first movable screw block and the front wheel frame; the rotating mechanism is arranged on two sides of the frame and comprises a middle wheel frame, a steering gear and a driving assembly, the middle wheel frame is arranged on the outer side of the steering fixing seat, the bottom of the middle wheel frame is provided with a movable wheel, the movable wheel is fixedly arranged on the middle wheel frame through a wheel shaft, the middle wheel frame is provided with a third motor, an output shaft of the third motor is in transmission connection with the wheel shaft at the bottom of the middle wheel frame, the steering gear is arranged on the inner side of the top of the middle wheel frame and is fixedly connected with the middle wheel frame, the inner side axle center of the steering gear is provided with an annular boss, the steering fixing seat is provided with a through hole corresponding to the annular boss, the steering gear is rotatably sleeved with the steering fixing seat through the annular boss, the driving assembly is arranged above the steering fixing seat, the driving assembly comprises a driving motor and a driving wheel, the driving motor is fixedly, and the driving wheel is meshed with the steering gear; the lifting mechanism is arranged on the rear side of the rack and comprises two rear wheel frames arranged side by side, the two rear wheel frames are connected into a whole through a cross rod, a movable wheel is arranged at the bottom of the rear wheel frame and fixedly mounted on the rear wheel frame through a wheel shaft, a fifth motor is arranged on the rear wheel frame, an output shaft of the fifth motor is in transmission connection with the wheel shaft at the bottom of the rear wheel frame, a fourth motor is arranged at the top of the rear wheel frame, a vertical screw rod is vertically sleeved on the rear wheel frame in a rotating mode, a second movable screw block is sleeved on the vertical screw rod and fixedly connected with the rear side wall of the rack, the rear wheel frame extends out of the top end of the vertical screw rod, an output shaft of the fourth motor is in transmission connection with the top end of the vertical screw.

2. The walking aid of claim 1, wherein the transmission connection is a gear transmission or a chain transmission.

3. The walking aid based on multifunctional mechanical device as claimed in claim 1, wherein the front wheel frame is provided with a hinge seat at the top center, and the bottom end of the V-shaped hinge frame is hinged with the hinge seat.

4. The walking aid based on the multifunctional mechanical device as claimed in claim 1, further comprising a second shaft seat, wherein the output shaft of the driving motor is rotatably sleeved in the second shaft seat, and the second shaft seat is fixedly connected with the outer side wall of the frame through a connecting block.

5. The walking aid for the aged based on the multifunctional mechanical device as claimed in claim 1, wherein the rotary fixing seat is fixedly connected with the outer side wall of the frame through a connecting block.

6. The walking aid based on the multifunctional mechanical device as claimed in claim 1, further comprising a connecting plate disposed outside the steering gear, the connecting plate being fixedly connected to the steering gear, and the inner side of the top of the middle wheel frame being fixedly connected to the connecting plate.

7. The walking aid of claim 1, wherein the information collecting assembly comprises an ultrasonic sensing device and a camera monitoring device, and the ultrasonic sensing device and the camera monitoring device are respectively electrically connected with the controller.

8. The walking aid of claim 1, wherein the controller is a single-chip microcomputer.

9. The walking aid based on multifunctional mechanical device as claimed in claim 1, wherein the fourth motors on the top of the two rear wheel frames in the lifting mechanism run synchronously.

10. The walking aid of claim 1, wherein the moving wheels at the bottom of the front wheel frame are smaller than the moving wheels at the bottom of the middle wheel frame and the rear wheel frame.

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