KR101374188B1 - Walking assitance apparatus - Google Patents

Abstract

According to the present invention, disclosed is a walking assistance apparatus (100) comprising: a top plate frame (110) extended in a horizontal direction and having a top plate supporting part (111) mounted at the top thereof to assist and support the upper body of a user (10); a supporting frame (120) extended downwards from the top plate frame (110) and having assisting wheels (121) at the bottom thereof, each of which rotates while being supported on the ground and is mounted, respectively, at the front and rear of a heading direction (HD); an operating frame part (130) extended in a HD and bonded to both bottom sides of the supporting frame (120); an operating wheel operating part (140) mounted on the operating frame part (130) so as to be able to slide along the extended length direction of the operating frame part (130); and an operating wheel (150) equipped to have a larger diameter than the supplementary wheels (121) so as to be supported on the ground and rotate and slide on the operating frame part (130) while being mounted on the operating wheel operating part (140).

Description

Walking Assitance Apparatus}

The present invention relates to a walking aid device, and more particularly, to a walking aid device for assisting walking by supporting the upper body of a user who is uncomfortable with the elderly, the patient and the disabled.

1 shows a configuration of a conventional walk assistance device. Referring to FIG. 1, the conventional walk assistance apparatus includes a user frame 10 equipped with an upper plate support part on which a user's upper body is supported, extending downward from the user frame 10, and at the bottom, front and rear of a traveling direction. It was composed of a support frame 30 mounted on the wheel. Therefore, as shown in the figure, the user was able to move while assisting walking in the state of carrying the weight by supporting the upper body to the upper plate support.

However, in the conventional walking aid device, since it is provided to be easy to move on a flat surface such as a hospital or home indoors, it is limited to exert its function in the outdoors where obstacles or ground are not flat.

More specifically, a small caster is used to easily change the direction of the auxiliary wheel that supports the load of the walking aid, and it is difficult to climb in the case of a mound or stairs larger than the radius of the auxiliary wheel, and the ground is flat. If not, there was a problem that the movement is unstable due to large shaking.

Patent Publication No. 2012-0097783 (2012.09.05), Walking aid device

The present invention has been made to solve the above-mentioned problems, the object of the present invention is to drive the front wheel, the middle wheel and the road according to the environment of the user, such as driving conditions such as ground conditions, peripheral obstacles, and forward movement, rotation, etc. It is to provide a walking aid device that can be used by changing the appropriate driving method of the rear wheel driving to support the user more stably.

Walking aid device according to the present invention for achieving the above object, the upper plate frame 110 is formed extending in the horizontal direction and the upper plate support portion 111 is mounted to support the upper body of the user 10 at the top; A support frame 120 extending from the upper plate frame 110 in a lower direction and having a sub wheel 121 that is supported and rotated on the ground at a lower portion thereof, respectively, installed in front and rear of the traveling direction HD; A driving frame part 130 extending in the traveling direction HD and fastened to both lower positions of the support frame 120; A drive wheel driver 140 mounted to the drive frame part 130 so as to slide along an extended longitudinal direction of the drive frame part 130; And a driving wheel 150 which is provided with a larger diameter than the auxiliary wheel 121 and is supported on the ground, rotates, and which is mounted to the driving wheel driving unit 140 to slide on the driving frame unit 130. .

Here, the first driving motor 160 is axially connected to one side of the drive wheel 150 to rotate the wheel shaft of the drive wheel 150, the drive wheel 150, the first drive In accordance with the driving of the motor 160, the walking aid may be moved and rotated in the forward direction by rotating in the forward or reverse direction.

In addition, the drive frame 130 is formed extending in the traveling direction (HD), the ball screw 131 is rotatably disposed in a state mounted on both lower positions of the support frame 120, and the A guide bar 132 is formed extending in the same axis as the ball screw 131 and fixedly mounted at both lower positions of the support frame 120, and disposed on one side of the support frame 120, and the ball screw 131. And a second driving motor 133 to rotate. The driving wheel driving part 140 is formed to penetrate through the moving direction HD and is inserted into the ball screw 131. A screw thread engaged with the screw thread is formed therein, and formed through the screw hole 141 for slidingly moving the driving wheel driving part 140 in accordance with the rotation of the ball screw 131. The drive wheel sphere is inserted on the bar 132 Guide hole 142 for supporting the sliding movement of the portion 140 can be formed, respectively.

In addition, the auxiliary wheel 121 disposed in the front position of the support frame 120 is mounted to the end of the rotation frame 122 hinged to pivot forward on the support frame 120, the support frame 120 Auxiliary wheel 121 disposed in the rear position of the) is mounted to the end of the rotation frame 122 hinged to pivot back on the support frame 120, fixed mounting on one side of the drive wheel drive unit 140 And slide along the drive frame 130 together with the drive wheel driver 140, and protrude forward and backward to press each pivot frame 122 according to the sliding movement of the drive wheel driver 140. Protruding portion 143 to rotate by may be provided.

In addition, the support frame 120 may be provided with a stopper 123 protruding to contact the rotated rotation frame 122 to limit the rotation operation to the front or rear of the rotation frame 122.

In addition, the upper plate support part 111 may be provided to slide in a moving direction HD with respect to the upper plate frame 110.

In addition, the operation unit 180 for generating a user operation signal; And a control unit 190 for outputting a control signal for driving control of the first driving motor 160 and the second driving motor 133 according to an operation signal of the operation unit 180.

On the other hand, the inclination detection unit 191 for detecting the inclination of the ground; the control unit 190, the first drive motor 160 and the second in accordance with the detection signal of the inclination detection unit 191 A control signal for driving control of the driving motor 133 may be output.

According to the walking aid device according to the present invention,

First, it can be used by changing the appropriate driving method among front wheel drive, middle wheel drive and rear wheel drive by sliding the driving wheel according to the user's environment such as driving condition such as ground condition and surrounding obstacles and driving situation such as forward and rotation. It can help the user walk more stably.

Second, through the first drive motor is connected to one side of the drive wheel to rotate the wheel shaft of the drive wheel, the driving force for moving the walking aid device in the direction of travel is provided, so that the user hardly pushes the walking aid device while moving In addition, it is possible to prevent the occurrence of safety accidents due to the weight of the walking aid device in the slope area such as hills and downhills.

Third, the driving method by sliding the drive wheel in the advancing direction with a relatively simple configuration, such as a ball screw rotated on both sides of the support frame, a guide bar for supporting a sliding movement, a second drive motor for rotating the ball screw. Can be made smaller and the manufacturing cost can be reduced.

Fourth, the auxiliary wheels respectively disposed at the front and rear of the support frame are mounted at the end of the hinged frame hinged to rotate forward or rearward, and protrude forward or rearward at one side of the drive wheel drive unit for slidingly moving the drive wheels. Since the protrusion is provided to press and rotate the respective rotation frame in accordance with the sliding movement of the drive wheel drive unit, it can be operated to automatically rotate the auxiliary wheel to the front or rear during the front wheel drive or rear wheel drive.

In addition, when obstacles such as jaws and stairs larger than the radius of the auxiliary wheel exist on the path, when driven by the driving method of the front wheel drive, the driving wheel slides forward and the protrusion rotates the auxiliary wheel forward. Therefore, it is possible to overcome obstacles such as the big jaws and stairs by using a drive motor having a relatively larger diameter than the auxiliary wheel.

Fifth, a driving method of a front wheel, a middle wheel, a rear wheel, etc. is changed through a control unit that generates a user operation signal and a control unit that outputs a control signal for driving control of the first drive motor and the second drive motor according to the operation signal of the operation unit. And the rotation of the drive wheel can be easily manipulated by the user.

Sixth, if the inclination detection unit for detecting the inclination of the ground is provided, the control unit outputs a control signal for driving control of the first driving motor and the second driving motor according to the detection signal of the inclination detection unit, the slope of hills and downhills, etc. It is possible to automatically change to the driving method required in the region, thereby maximizing the user's convenience, improving the traction of the walking aid device on the uphill, and improving the stability of the walking aid device on the downhill.

1 is a perspective view showing the configuration of a conventional walking aid;
2 and 3 are a perspective view and a side view showing the configuration of the walking aid device according to a preferred embodiment of the present invention,
Figure 4 is a perspective view showing a configuration in which the driving wheel sliding movement along the drive frame according to an embodiment of the present invention,
Figure 5a and Figure 5b is a side view showing a configuration in which the auxiliary wheel is rotated forward or rearward by the protrusion in accordance with a preferred embodiment of the present invention,
6 is a block diagram illustrating an operation principle in which rotation and sliding movement of a driving wheel are controlled by a controller according to a preferred embodiment of the present invention;
FIG. 7 is a side view illustrating a configuration in which a walking assist device according to a preferred embodiment of the present invention travels uphill by a front wheel driving method; FIG.
8 is a side view showing a configuration in which the walking assistance apparatus according to a preferred embodiment of the present invention travels downhill in a driving manner of rear wheel driving.
Figure 9 is a perspective view showing a configuration in which the upper plate support is slidingly moved relative to the upper frame according to an embodiment of the present invention,
10 is a side view showing a configuration in which the upper plate support portion moved forward according to a preferred embodiment of the present invention;
Figure 11 is a side view showing a configuration in which the upper plate support portion moved back according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

The walking assistance apparatus 100 according to the preferred embodiment of the present invention is suitable for driving among front wheel, middle wheel and rear wheel according to the user's environment such as driving conditions such as ground conditions, peripheral obstacles, and driving conditions such as forward and rotation. As a device that can be used to change the driving method to more stable walking aid, as shown in Figures 2 to 4, the upper frame frame 110, the support frame 120, the drive frame unit 130, It is provided including a driving wheel driving unit 140 and the driving wheel 150.

First, as shown in FIG. 3, the upper frame 110 is formed extending in the horizontal direction, and the upper plate support part 111 supporting the upper body of the user is mounted thereon. Here, the upper plate support 111 may be formed of a substantially 'C' or 'C' shape provided to allow the user to hold or mount the upper body such as hands or arms, one side of the upper plate support portion The manipulation unit 180 may be disposed to easily manipulate the walking assistance apparatus 100 in a state in which it is mounted on the 111.

The support frame 120 is a frame arranged in the vertical direction so that the upper plate support portion 111 for supporting the upper body of the user can be disposed at a predetermined height, extending from the upper plate frame 110 in the lower direction, Auxiliary wheel 121 that is supported and rotated on the ground is mounted in front and rear of the traveling direction (HD), respectively.

Here, the moving direction (HD) is a direction in which the walking aid device 100 according to a preferred embodiment of the present invention, means the direction in which the driving wheel 150 is rotated so that the walking assistance device 100 proceeds. do.

In addition, although not shown in the drawings, the upper plate frame 110 and the support frame 120 is provided with a detachable fastening structure, which can be arbitrarily separated or fastened to facilitate the transport and storage of the walking assistance device 100. It is preferred to be provided to.

The drive frame part 130 is a frame part that provides a path through which the drive wheel 150 can slide and is extended in the traveling direction HD and fastened to both lower positions of the support frame 120.

More specifically, as shown in FIG. 4, the driving frame 130 is formed to extend in the advancing direction HD and is rotatably disposed in a state in which it is mounted at both lower positions of the support frame 120. 131, guide bars 132 extending in the same axis as the ball screw 131 and fixedly mounted at both lower positions of the support frame 120, and disposed at one side of the support frame 120. It includes a second drive motor 133 for rotating the ball screw 131.

The driving wheel driving unit 140 is a component mounted on the driving frame unit 130 so as to slide along an extended longitudinal direction of the driving frame unit 130. The driving direction HD is illustrated in FIG. 4. The through screw is inserted into the ball screw 131 is formed in the thread screw is engaged with the thread of the ball screw 131 is formed to slide the drive wheel drive unit 140 in accordance with the rotation of the ball screw 131. A threaded hole 141 and a guide hole 142 are formed to be penetrated in the traveling direction HD and inserted into the guide bar 132 to support sliding movement of the driving wheel driving unit 140.

Therefore, when the second drive motor 133 rotates in an arbitrary direction and is engaged with the motor shaft of the second drive motor 133 and is rotated by receiving the rotational force, the ball screw 131 is shown in FIG. 7. As the ball screw 131 rotates as shown, the driving wheel driving unit 140 is slidably moved in the forward direction of the traveling direction HD while being supported by the guide bar 132. This case is called a front wheel drive system.

On the other hand, when the second drive motor 133 is rotated in the opposite direction and the ball screw 131 is rotated together by receiving the rotational force of the second drive motor 133, as shown in FIG. According to the rotation of the 131, the driving wheel driving unit 140 is slidably moved in the rear direction of the traveling direction HD while being supported by the guide bar 132. This case is called a rear wheel drive system.

In addition, the driving wheel 150 is slid by the second drive motor 133 on the drive frame 130, while the position between the front wheel position and the rear wheel position, that is, the center of gravity equal to the center of gravity of the walking assistance device 100 When placed in position, it is referred to as mid-wheel drive.

Here, in the case of the front wheel drive method, the drive wheel 150 is the front of the center of gravity of the walking aid 100 as a driving method to move by the rotational force of the driving wheel 150 disposed in the front position of the walking aid 100. It is located at. In addition, when the diameter of the driving wheel 150 is large, it is easy to easily climb the curb of the obstacle and the sidewalk, while the rear center is located because the center of gravity of the walking aid device 100 is located behind the wheel shaft of the driving wheel 150. Difficult to walk on sway or bumpy straight lines.

In addition, in the case of the mid-wheel drive system, the driving method to move by the rotational force of the driving wheel 150 disposed at the center position of the walking aid device 100, the driving wheel 150 is the center of gravity of the walking aid device 100 and It is located on the same line. In addition, while being able to rotate with a small radius of rotation in a narrow space is easy to use in the indoor environment, there is a tendency to trip over a small obstacle during sudden stop or rapid rotation. In addition, when driving up and down a rough surface or inclination, the driving wheel of the central position may be separated from the ground, and driving may become unstable.

Next, in the case of the rear wheel driving method, the driving wheel 150 is a driving method that moves with the rotational force of the driving wheel 150 disposed at the rear position of the walking assistance apparatus 100, the driving wheel 150 is the center of gravity of the walking assistance apparatus 100 It is located at the rear of the. In addition, there is an advantage in stability, but the radius of rotation has the biggest disadvantage.

That is, each driving method moves the walking assistance device 100 more stably by adopting an appropriate driving method according to the driving environment and driving situation in which the walking assistance device 100 according to the preferred embodiment of the present invention is currently moving. It can be done.

In addition, only by driving the second driving motor 133, the optimum driving conditions among the front wheel drive, middle wheel drive and rear wheel drive according to the user's environment, such as driving conditions such as ground conditions, peripheral obstacles, and driving conditions such as forward, rotation, etc. By selectively applying a driving method to drive the walking assistance apparatus 100, it is possible to increase the riding comfort and stability.

On the other hand, the walking assistance device 100 according to a preferred embodiment of the present invention, when driven in a front wheel drive method or a rear wheel drive method, the auxiliary wheel 121 is moved forward while the driving wheel 150 sliding forward or backward Or it is provided so as to be spaced apart from the ground while rotating to the rear, respectively, for this purpose, as shown in Figure 5a and 5b the auxiliary wheel 121 disposed in the front position of the support frame 120 is the support frame 120 The auxiliary wheel 121, which is mounted at an end of the pivot frame 122 hinged to pivot forward on the support frame 120, is disposed at a rear position of the support frame 120 to be hinged to pivot backward on the support frame 120. It is mounted to the end of the rotating frame 122.

In addition, the driving wheel driving unit 140 is fixedly mounted to one side of the driving wheel drive unit 140 and the sliding movement along the drive frame unit 130, the front or rear is formed protruding to the driving wheel drive unit 140 Protruding portion 143 is provided to press and rotate each rotating frame 122 in accordance with the sliding movement of the.

At this time, the support frame 120 is preferably provided with a stopper 123 is formed to protrude in contact with the pivoting frame 122 to limit the rotational movement to the front or rear of the pivoting frame 122.

In addition, the walking assistance apparatus 100 according to the preferred embodiment of the present invention is provided to be able to manipulate the rotation of the driving wheel and change the driving method of the front wheel, the middle wheel, the rear wheel, etc. as desired by the user. 6, an operation unit 180 generating a user operation signal on one side of the upper plate support unit 111, and a first driving motor 160 and a second driving motor according to the operation signal of the operation unit 180. And a control unit 190 for outputting a control signal for driving control of the control unit 133.

Here, the first driving motor 160 is connected to one side of the driving wheel unit 150 as a power source for rotating the wheel shaft of the driving wheel unit 150, the driving wheel unit 150 is a first driving motor According to the driving of the 160 may be rotated in the forward or reverse direction to move and rotate the walking assistance device 100 in the advancing direction.

In this case, when each of the first driving motors 160 fastened to the two driving wheel parts 150 rotates together, the walking assistance device 100 may be moved forward or backward in a linear direction, and the two first driving motors ( When only one of the first driving motors 160 is rotated or rotated in opposite directions, the walking assistance device 100 may be rotated.

As such, through the first driving motor 160 which is axially connected to one side of the driving wheel part 150 to rotate the wheel shaft of the driving wheel part 150, the walking assisting device 100 moves in the traveling direction HD. Since the driving force for moving is provided, the user does not have to move while pushing the walking assistance device 100 hardly, and also prevents a safety accident from occurring due to the weight of the walking assistance device 100 in a slope area such as a hill and a downhill. can do.

In addition, as shown in FIGS. 2 and 6, one side of the upper plate support part 111 is provided to be automatically controlled by a preset driving method according to the detected inclination angle by detecting the inclination of the ground on which the walk assistance apparatus 100 moves. To this end, the controller 190 is provided to output a control signal for driving control of the first driving motor 160 and the second driving motor 133 according to the detection signal of the tilt detection unit 191.

Therefore, when the inclination of the ground is uphill as shown in FIG. 7, when the inclination detection unit 191 detects the inclination angle of the uphill, the detected detection signal is transmitted to the controller 190, and the controller 190 is uphill. The position of the driving wheel driving unit 140 on the driving frame unit 130 is moved to the forefront by rotating the second driving motor 133 so that the walking assisting device 100 can be moved and moved in an optimized driving method, that is, the front wheel driving method. And move to.

On the other hand, when the inclination of the ground is downhill as shown in FIG. 8, when the inclination detection unit 191 detects the inclination angle of the downhill, the detected detection signal is transmitted to the controller 190, and the controller 190 is downhill. In the optimized driving method, ie, the rear wheel driving method, the second driving motor 133 is rotated so that the walking assisting device 100 can be moved and moved, so that the position of the driving wheel driving part 140 on the driving frame part 130 is increased. It works to move to the rear end.

On the other hand, the lower portion of the upper plate supporting portion 111 is provided with a sliding bar (not shown), it is preferable that the upper plate supporting portion 111 is provided to be movable in the moving direction (HD) relative to the upper plate frame 110. Do. In addition, a fixing member for fixing the moved position of the upper plate support 111 in the state in which the upper plate support 111 is slidingly moved may be provided so that the upper plate support 111 can be moved in stages.

Here, as the upper plate support 111 is moved by the sliding bar, as shown in Figure 9, based on a fixed position of the upper frame 110 may be divided into the front, the center, the rear, As a result, the driving wheel 150 is changed to a driving method such as a front wheel or a rear wheel according to a change in the position of the upper plate support part 111 in a state in which the driving wheel 150 is disposed at the center (middle wheel driving) without sliding on the driving frame 130. It can provide a similar effect to that.

More specifically, as illustrated in FIG. 10, when the upper plate support part 111 moves forward, the position of the user 10 based on the walking assistance apparatus 100 moves forward together. The upper body of (10) is supported by the upper plate support 111, the weight is carried as the whole center of gravity of the walking aid 100 moves forward around the drive shaft, the driving effect obtained in the above-described rear wheel drive method is similar Can be provided.

In addition, if the user's leg and the drive shaft is similarly positioned (mid-wheel drive), the user can naturally utilize it without rotating the lateral step when rotating, and the drive shaft is located in front of the user's 10 foot (front wheel drive) When located behind the wheels (rear drive), it is convenient to climb the slope and ensure stability on the downhill road.

On the other hand, when the upper plate support portion 111 is moved to the rear as shown in Figure 11, the position of the user 10 relative to the walking aid device 100 is moved together to the rear, the user 10 The upper body of the upper support portion 111 is supported by the weight of the body as the weight of the walking aid device 100 is moved to the rear centered around the drive shaft, to be similarly provided with the driving effect obtained in the above-mentioned all-wheel drive method Can be.

In addition, in order to maximize the driving effect, the upper plate frame 110 in the upper plate frame 110 to be interlocked with the driving method, such as the front wheel, the middle wheel and the rear wheel of the walking aid device 100 according to an embodiment of the present invention. A detection sensor (not shown) for detecting a sliding movement of the control unit is provided, and the control unit 190 collects the detection signal of the detection sensor and uses the control signal to control the driving method. 190 controls the second driving motor 133 to drive in the rear wheel driving method, and when the upper plate support part 111 is located at the center or the rear, the controller 190 drives the second driving motor 133. It can be controlled to drive in the middle wheel drive method or front wheel drive method. As described above, since the driving method of the walking assistance apparatus 100 may be changed according to the position of the upper plate support part 111, the driving method may be more conveniently adjusted.

According to each configuration and function of the walk assistance device 100 according to the preferred embodiment of the present invention as described above, depending on the user's environment, such as driving conditions such as ground conditions, peripheral obstacles, and driving conditions such as moving forward and rotation, etc. By sliding the driving wheel, it can be used by changing the proper driving method among the front wheel drive, the middle wheel drive and the rear wheel drive, so that the user can walk more stably.

In addition, relatively simple, such as the ball screw 131 is located on both sides of the support frame 120 to rotate, the guide bar 132 for supporting the sliding movement, the second drive motor 133 for rotating the ball screw 131, etc. In one configuration, the drive wheel 150 may be slidably moved in the advancing direction so that the driving method may be changed, thereby miniaturizing the device and reducing the manufacturing cost. The wheel 121 is mounted at an end of the pivot frame 122 hinged to rotate forward or backward, and protrudes forward or rearward at one side of the drive wheel driving unit 140 for slidingly moving the drive wheel 150. Since the protruding portion 143 is provided to press and rotate each of the rotating frames 122 according to the sliding movement of the driving wheel driving unit 140, the auxiliary wheel 121 is automatically operated during the front wheel driving or the rear wheel driving. ) Can be rotated forward or backward.

In addition, when obstacles such as jaws and stairs larger than the radius of the auxiliary wheel 121 exist in the path, when driven by the driving method of the front wheel drive, the driving wheel 150 slides forward and the protrusion 143 is moved. Since the front auxiliary wheel 121 can be rotated forward, the obstacles such as the large jaws and stairs can be overcome by using the driving wheel 150 having a relatively larger diameter than the auxiliary wheel 121.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood that various modifications and changes may be made without departing from the scope of the appended claims.

100..Walk assist device 110 ... Top frame
111 Top plate support 120 Support frame
121 Auxiliary wheel 130 Drive frame section
131 Ball screw 132 Guide bar
133 2nd drive motor 140 drive wheel drive unit
150 ... drive wheel 160 ... first drive motor
HD ... Progress Direction

Claims (8)

An upper plate frame 110 extending in a horizontal direction and having an upper plate support 111 mounted thereon to support the upper body of the user 10;
A support frame 120 extending from the upper plate frame 110 in a lower direction and having a sub wheel 121 that is supported and rotated on the ground at a lower portion thereof, respectively, installed in front and rear of the traveling direction HD;
A driving frame part 130 extending in the traveling direction HD and fastened to both lower positions of the support frame 120;
A drive wheel driver 140 mounted to the drive frame part 130 so as to slide along an extended longitudinal direction of the drive frame part 130; And
A driving wheel 150 provided with a larger diameter than the auxiliary wheel 121 and supported on the ground and rotating, mounted on the driving wheel driving unit 140 and slidingly moving on the driving frame unit 130; Auxiliary devices.
The method of claim 1,
The first driving motor 160 is axially connected to one side of the drive wheel 150 to rotate the wheel shaft of the drive wheel 150;
The driving wheel 150, the walk assist device, characterized in that to rotate in the forward or reverse direction in accordance with the drive of the first drive motor 160 to move or rotate the walk assistance device in the advancing direction.
The method of claim 1,
The drive frame unit 130,
A ball screw 131 extending in the traveling direction HD and rotatably disposed in a state of being mounted at both lower positions of the support frame 120;
A guide bar 132 extending in the same axis as the ball screw 131 and fixedly mounted at both lower positions of the support frame 120;
Is disposed on one side of the support frame 120 includes a second drive motor 133 to rotate the ball screw 131,
The driving wheel driving unit 140 has a thread formed therein, which is penetrated in the advancing direction HD and inserted into the ball screw 131 and engaged with the thread of the ball screw 131. Screw hole 141 for sliding the drive wheel drive unit 140 in accordance with the rotation of the), and penetratingly formed in the traveling direction (HD) and inserted into the guide bar 132, the drive wheel drive unit 140 Gait assist device, characterized in that formed in each of the guide hole (142) for supporting the sliding movement of the.
The method of claim 3, wherein
The auxiliary wheel 121 disposed at the front position of the support frame 120 is mounted to the end of the pivot frame 122 hinged to pivot forward on the support frame 120, the support frame 120 The auxiliary wheel 121 disposed in the rear position is mounted to the end of the pivot frame 122 hinged to pivot backward on the support frame 120,
Is fixedly mounted on one side of the drive wheel drive unit 140 is sliding along the drive frame unit 130 along with the drive wheel drive unit 140, protruding forward and backward to form the drive wheel drive unit 140 Walking aid device, characterized in that provided with a protrusion 143 for rotating by pressing each rotating frame 122 in accordance with the sliding movement.
5. The method of claim 4,
The support frame 120 has a stopper 123, which is formed to protrude so as to contact the pivoting frame 122, which is limited to the forward or rearward rotation of the pivoting frame 122. Auxiliary devices.
The method of claim 1,
The upper plate support portion 111, the walking aid device, characterized in that provided with sliding movement in the advancing direction (HD) relative to the upper frame (110).
7. The method according to any one of claims 1 to 6,
An operation unit 180 generating a user operation signal;
And a control unit (190) for outputting a control signal for driving control of the first driving motor (160) and the second driving motor (133) according to the operation signal of the operation unit (180).
8. The method of claim 7,
Further comprising: the inclination detection unit 191 for detecting the inclination of the ground,
The control unit 190 outputs a control signal for driving control of the first driving motor 160 and the second driving motor 133 according to the detection signal of the inclination detecting unit 191. Auxiliary devices.

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