WO2022094948A1

WO2022094948A1 - Walking aid device

Info

Publication number: WO2022094948A1
Application number: PCT/CN2020/127214
Authority: WO
Inventors: 谢柏玲
Original assignee: 南京瑞祥信息技术有限公司
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2022-05-12
Also published as: DE212020000457U1

Abstract

The present application provides a walking aid device, comprising a frame body, a steering assembly, a sensor, a switch, a driving part, and a control device. The frame body includes a crossbar, a folding bar, and a vertical bar. The steering assembly includes a fixing member, a rotating member, a rotating shaft, and a wheel. The walking aid device can be folded by using the folding bars. The driving member makes the wheel travel by rotatably driving the rotating shaft, so that the walking aid device actively pulls the user to move. The sensor detects obstacle information and pressure information, and transmits the obstacle information and the pressure information to the control device. The control device outputs a driving command according to the obstacle information and the pressure information, and the driving member drives the rotating member to rotate according to the driving command to change the travel direction of the wheel. Alternatively, the rotational speed of the rotating shaft can be modified to change the travel speed of the wheel. In this way, the walking aid device can be maintained stable during the walking process. Therefore, the auxiliary walking device of the present application is both suitable for carrying and helping people in need of exercise to actively do physical exercise.

Description

an auxiliary walking device

technical field

The present application relates to the field of health appliances, and in particular, to an auxiliary walking device.

Background technique

Assisted walking device can help the elderly, patients with non-centrally deranged lower extremity weakness, patients with poor lower extremity spasm and poor extension, and people who have exercise needs such as unbalanced movement of the center of gravity to maintain balance during exercise. Therefore, assisted walking devices are Very important health equipment.

However, although the existing assisted walking devices can have the above-mentioned beneficial effects, they only passively play a protective role when the elderly and other people with exercise needs are exercising, and cannot actively help the elderly and other people with exercise needs. The crowd engages in appropriate physical exercise. Moreover, the existing assisted walking device also has the problems of inconvenience to carry and high cost, so it is not suitable for popularization in the society, so it cannot provide convenience for the vast majority of people who need to exercise.

Therefore, there is an urgent need for an auxiliary walking device that is suitable for carrying and can help people with exercise needs to actively exercise.

SUMMARY OF THE INVENTION

The present application provides an assisted walking device that is suitable for carrying and can help people with exercise needs to exercise actively.

The technical solution of the present application is an auxiliary walking device, comprising: a frame body, a steering assembly, a driving member, a sensor, a switch and a control device.

Wherein, the frame body includes a plane frame formed by a cross bar and a folding bar movably connected end to end in sequence, and a vertical bar connected with the outer sides of both ends of the horizontal bar; the folding bar includes at least two movably connected to each other folded arms.

The steering assembly includes a fixed piece fixedly connected with the bottom end of the vertical rod, a rotating piece rotatably connected with the fixed piece, a rotating shaft rotatably connected with the rotating piece, and a rotating piece fixedly connected with the rotating shaft. wheel.

The driving member is arranged in the fixing member.

The sensor includes an obstacle sensor and a pressure sensor; the obstacle sensor is arranged on the vertical bar; the pressure sensor is arranged on the upper end surface of the horizontal bar.

The switch is arranged on the upper end of the vertical rod.

The control device includes a data module connected with the sensor and a controller connected with the data module; the data module is used for receiving obstacle information and pressure information transmitted by the sensor, and transmitting the obstacle information and pressure information to the controller; the controller is used to obtain a driving command according to the obstacle information and the pressure information, and transmit the driving command to the driving member.

According to the above technical solutions, the embodiments of the present application provide an auxiliary walking device, which includes a frame body, a steering assembly, a driving member, a sensor, a switch, and a control device. The frame body includes a horizontal bar, a folding bar and a vertical bar. The steering assembly includes a fixed part, a rotating part, a rotating shaft and a wheel. The setting of the folding rod can make the auxiliary walking device foldable and easy to carry; the driving part makes the wheel travel by driving the rotation of the rotating shaft, so that the auxiliary walking device can actively pull the user to move; the sensor detects the obstacle information and pressure information, and transmits the obstacle information and pressure information to the control device, the control device makes a driving command according to the obstacle information and the pressure information, and the driving part drives the rotating part according to the driving command to rotate the wheel to turn the wheel, or change the rotation speed of the rotating shaft to change the traveling speed of the wheel, so as to make the auxiliary The walking device remains stable during the traveling process. Therefore, the assisted walking device of the present application is not only suitable for carrying, but also helps a person with exercise needs to actively exercise.

Description of drawings

In order to illustrate the technical solutions of the present application more clearly, the accompanying drawings that need to be used in the embodiments will be briefly introduced below. Other drawings can also be obtained from these drawings.

1 is a schematic structural diagram of an auxiliary walking device in an embodiment of the application;

2 is a schematic structural diagram of an auxiliary walking device when folded in an embodiment of the application;

3 is a schematic structural diagram of a steering assembly in an embodiment of the application;

4 is a schematic structural diagram of an elastic latch in an embodiment of the application;

5 is a schematic structural diagram of a folding arm in an embodiment of the application;

FIG. 6 is a schematic structural diagram of another auxiliary walking device in an embodiment of the present application.

Detailed ways

Embodiments will be described in detail below, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following examples are not intended to represent all implementations consistent with this application. are merely exemplary of systems and methods consistent with some aspects of the present application as recited in the claims.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of an auxiliary walking device. According to FIG. 1 , the auxiliary walking device of the present application includes a frame body 1 , a steering assembly 2 , a sensor 3 , a switch 4 , a driving member 5 and a control device 6 .

The frame body 1 includes a plane frame formed by a cross bar 11 and a folding bar 12 movably connected end to end in sequence, and vertical bars 13 connected to the outer sides of both ends of the cross bar 11 . Specifically, the frame body 1 is composed of a plane frame and several vertical rods 13 fixed on the outer end face of the plane frame. Among them, the cross bar 11 and the folding bar 12 connected to form a plane frame are made of strong and light-weight materials.

The shape of the cross bar 11 may be a square bar, a round bar or other achievable shapes. In some embodiments, the shape of the cross bar 11 is a square bar, and the side length values of two adjacent sides of the square bar in the vertical section are greatly different. When the cross bars 11 are connected to form a plane frame, the cross bars 11 are connected by the longer side in the vertical section. Therefore, when the vertical bar 13 is connected to the outer sides of the two ends of the horizontal bar 11, it can ensure that there is sufficient contact area between the vertical bar 13 and the horizontal bar 11, thereby enhancing the stability of the connection between the vertical bar 13 and the horizontal bar 11. sex.

In addition, the connection between the vertical rod 13 and the outer surfaces of both ends of the horizontal rod 11 is fixed connection. In some embodiments, the vertical rod 13 is a square tube, and the outer sides of both ends of the vertical rod 13 and the transverse rod 11 are connected by U-shaped pieces with wings on both sides. Specifically, the vertical rod 13 is fixed at the groove of the U-shaped sheet, and the two wings of the U-shaped sheet are bolted to the outer side surface of the transverse rod 11 . In some embodiments, in order to make the connection between the vertical rod 13 and the outer side of the cross rod 11 more firmly, the connection part between the vertical rod 13 and the two wings of the U-shaped piece is also fixed with bolts, thereby improving the vertical The stability of the connection of the rod 13 to the crossbar 11 .

In addition, the folding rod 12 includes at least two folding arms 121 movably connected to each other. Specifically, FIG. 2 is a schematic structural diagram of an auxiliary walking device when it is folded in an embodiment of the application. Referring to FIG. 2 , it can be seen that after the auxiliary walking device is used, the connection between the two folding arms 121 can be pushed, The folding rod 12 is folded, and the auxiliary walking device is further folded, which is convenient to carry. In addition, the walking assist device of the present application can travel in a direction perpendicular to the folding bar 12.

The steering assembly 2 includes a fixed piece 21 fixedly connected with the bottom end of the vertical rod 13 , a rotating piece 22 rotatably connected with the fixed piece 21 , a rotating shaft 23 rotatably connected with the rotating piece 22 , and a wheel 24 fixedly connected with the rotating shaft 23 . Specifically, FIG. 3 is a schematic structural diagram of the steering assembly in the embodiment of the application. Referring to FIG. 1 and FIG. 3 , it can be seen that the fixed connection between the fixing member 21 and the bottom end of the vertical rod 13 may be a bolt connection or other achievable fixed connection. In addition, the larger the contact area between the fixing member 21 and the bottom end of the vertical rod 13, the stronger the connection between the fixing member 21 and the vertical rod 13, and the stronger the stability of the auxiliary walking device. In addition, the way in which the fixed part 21 is movably connected with the rotating part 22 may be a transmission connection or other achievable movable connection ways.

In addition, the rotation shaft 23 penetrates through the center of the wheel 24; the rotation shaft 23 can rotate around the axis. Specifically, when the rotating shaft 23 rotates, the rotating shaft 23 drives the wheels 24 to travel immediately; when the rotational speed of the rotating shaft 23 changes, correspondingly, the traveling speed of the wheels 24 also changes.

The sensor 3 includes an obstacle sensor 31 and a pressure sensor 32 ; the obstacle sensor 31 is arranged on the vertical bar 13 ; the pressure sensor 32 is arranged on the upper end surface of the horizontal bar 11 . Specifically, the obstacle sensor 31 is an infrared sensor, used to detect whether there is an obstacle within a preset distance range, and if there is an obstacle, detect the distance between the obstacle and the infrared sensor, and transmit the obstacle information to the control device 6; The pressure sensor 32 is used to detect pressure changes, and transmit pressure information such as whether the pressure changes and the magnitude of the change to the control device 6 .

The number of the obstacle sensors 31 is determined according to the number of the vertical poles 13 . In some embodiments, at least one obstacle sensor 31 is provided on each vertical pole 13 , and the installation position of the obstacle sensor 31 should be close to the vertical pole 13 One side in the direction of travel of the assistive walking device.

The switch 4 is arranged on the upper end of the vertical rod 13 . Specifically, the switch 4 is used to turn on and off the drive member 5 and the control device 6 . In addition, the switch 4 is arranged on the upper end of the vertical rod 13, which allows the user to more conveniently access the switch 4, so as to turn off the driving member 5 and the control device 6 in time when the auxiliary running device stops traveling.

The driving member 5 is arranged in the fixing member 21 and is electrically connected with the rotating member 22 . Specifically, the driving member 5 is a motor, the motor can drive the rotating member 22 to rotate, and then indirectly control the traveling direction of the wheel 24 through the rotating shaft 23, and the motor can also drive the rotating shaft 23 to rotate and change the rotational speed of the rotating shaft 23, so as to control the wheel 24 Whether to travel and the speed of travel.

The control device 6 includes a data module wirelessly connected to the sensor 3 and a controller wirelessly connected to the data module. The data module is used to receive the obstacle information and pressure information transmitted by the sensor 3 and transmit the obstacle information and pressure information to the controller; Specifically, the control device 6 may be arranged in the vertical rod 13 or in the fixing member 21 . And, the controller is wirelessly connected with the driving member 5 .

During the working process of the auxiliary walking device, the user presses the switch 4 to turn on the driving member 5 and the control device 6 . The driving member 5 drives the rotating shaft 23 to rotate, thereby driving the wheels 24 to rotate. Due to the rotation of the wheel 24, the auxiliary walking device starts to travel, and the user can start walking by relying on the traction force of the auxiliary walking device.

During the traveling process of the auxiliary walking device, if the user does not want to continue the movement, the driver 5 and the control device 6 can be turned off by pressing the switch 4 in time. Specifically, after the switch 4 is pressed, the stop of the driving member 5 is not an instant stop, but a deceleration stop to prevent the user from falling down due to inertia.

In addition, during the traveling process of the auxiliary walking device, if the obstacle sensor 31 detects an obstacle within the preset distance range, the obstacle width information and the distance between the obstacle and the obstacle sensor 31 at the current moment are immediately detected, and then the obstacle is detected. The object width information and distance information are transmitted to the controller through the data module, and the controller obtains the driving command according to the obstacle width information and distance information sent by the obstacle sensors 31 on the at least two vertical poles 13, and transmits the driving command to the driving element 5. Among them, the driving command includes "deceleration", "acceleration" and "constant speed", and "steering, direction and angle of steering"; the preset distance range can be determined according to specific needs, in some embodiments, the preset distance range is 3 meters.

Specifically, when the width of the obstacle is small, the controller makes “deceleration” and “steering, direction and angle of steering” according to the obstacle width information and distance information, so that the auxiliary walking device can be stably Bypass the obstacle; when the width of the obstacle is large, the controller makes a "deceleration" drive command according to the obstacle width information and distance information, until the auxiliary walking device stops traveling, in order to avoid the safety of the auxiliary walking device. Keep the assistive walking device in a stable state when bypassing obstacles.

In addition, since the obstacle sensor 31 detects in real time, if the obstacle width information and distance information transmitted by the obstacle sensor 31 at the next moment cause the controller to make a different driving command from the previous moment, the controller will transmit the control command in time. to drive 5. If the obstacle width information and distance information transmitted by the obstacle sensor 31 at the next moment cause the controller to make the same driving command as the previous moment, the controller will not repeatedly transmit the driving command at the previous moment. The time interval at which the obstacle sensor 31 transmits the obstacle width information and the distance information to the controller may be determined according to actual requirements, and in some embodiments, the time interval is 0.1S.

After the auxiliary walking device bypasses the obstacle, the controller will make the driving commands of "acceleration" and "steering, direction and angle of steering" according to the obstacle width information and distance information at the current moment transmitted by the obstacle sensor 31, or Make driving commands of "even speed" and "steering, direction and angle of steering".

After the driving member 5 receives the driving command, the driving member 5 drives the rotating member 22 to rotate or changes the rotational speed of the rotating shaft 23 according to the driving command. Specifically, when the drive command is “deceleration”, the rotational speed of the driving member 5 driving the rotating shaft 23 decreases; when the driving command is “acceleration”, the rotational speed of the driving member 5 driving the rotating shaft 23 increases; when the driving command is “acceleration” At a constant speed, the rotational speed of the driving member 5 driving the rotating shaft 23 remains unchanged; when the driving command is “steering, steering direction and angle”, the driving member 5 drives the rotating member 22 to turn according to the “steering direction and angle”.

In addition, when the user collapses on the assisted walking device due to physical discomfort, or when other unexpected situations occur, usually, the user's arms will be stuck on the cross bar 11, which is arranged on the upper end surface of the cross bar 11. The pressure sensor 32 on the controller will sense the change of pressure in time, and then transmit the pressure information such as whether the pressure changes and the magnitude of the change to the controller through the data module. The controller will not immediately make a driving command after receiving the pressure information. It is necessary to first judge whether the range of pressure change exceeds the preset range. If it does not exceed the preset range, the controller will not make a driving command based on the pressure information. If it exceeds the preset range, the controller also needs to synthesize the pressure after the preset time period. The driving command is made only by the pressure information transmitted by the sensor 32 . The preset amplitude and preset duration may be determined according to requirements, and in some embodiments, the preset duration is 0.5S.

The auxiliary walking device of the present application further includes a battery power supply module, and the battery power supply module is electrically connected with the sensor 3 , the switch 4 , the driving member 5 and the control device 6 . Specifically, the battery power supply module is used to connect the battery, obtain electrical energy from the battery, and transmit the electrical energy to the sensor 3 , the switch 4 , the driving member 5 and the control device 6 .

In some embodiments, both ends of the crossbar 11 are provided with right-angle connectors 111 , and two parallel crossbar connecting pieces 1111 are provided on the right-angle connector 111 , and the two crossbar connecting pieces 1111 are provided with coaxial connections. Sheet pin holes; both ends of the folding rod 12 are provided with annular connecting heads 122 , and the annular connecting heads 122 are provided with connecting head pin holes matched with the connecting sheet pin holes. Specifically, the right-angle connector 111 and the annular connector 122 may be connected by a pin. Referring to FIG. 3 , it can be known that the annular connecting head 122 can rotate around the pin shaft. When the auxiliary walking device needs to be folded, the ring-shaped connecting head 122 is rotated or the joint of the two folding arms 121 is moved to the inside of the auxiliary walking device, and the folding can be completed. In some embodiments, after the auxiliary walking device is folded, the right-angle connectors 111 on the same side of the two opposite cross bars 11 will just touch.

In conclusion, the arrangement of the right-angle connector 111 and the annular connector 122 makes the folding of the auxiliary walking device more convenient and makes the folded auxiliary walking device more flat and easy to carry.

In some embodiments, the cross bar 11 further includes an elastic pin 112 matched with the pin hole of the connecting piece and the pin hole of the connecting head. FIG. 4 is a schematic structural diagram of an elastic latch in an embodiment of the application. Referring to FIG. 4 , it can be seen that the upper end of the elastic latch 112 is provided with a latch block 1121 with an area larger than that of the pin hole of the connecting piece, and the bottom end of the elastic latch 112 is provided with an elastic tail 1122 . Specifically, referring to FIG. 4 , when the right-angle connector 111 and the annular connector 122 need to be connected, the user needs to pinch the elastic tail 1122 to close the elastic tail 1122, and then insert the elastic tail 1122 into the pin hole of the connecting piece, Then press the elastic latch 112 until the latch stop 1121 is in contact with the cross-bar connecting piece 1111 . At this time, the elastic tail 1122 just releases its elasticity and spreads out. The area is larger than the area of the pin hole of the connecting piece, so the elastic plug 112 can be stably fixed in the pin hole of the connecting piece and the pin hole of the connecting head, thereby connecting the right-angle connecting head 111 and the annular connecting head 122 . In addition, since the installation and removal of the elastic plug 112 is very convenient, the user can enter and leave the auxiliary walking device by installing and removing the elastic plug 112 .

To sum up, the arrangement of the elastic pins 112 makes the connection between the right-angle connector 111 and the annular connector 122 more convenient and more convenient, and since the pin block 1121 and the elastic tail 1122 are both connected with the cross bar connecting piece 1111, there is no need to worry about the The folding rod 12 bears the load and makes the annular connector 122 fall off from the right-angle connector 111 , so the arrangement of the elastic latch 112 also enhances the stability of the connection between the cross bar 11 and the folding rod 12 , thereby enhancing the practicability of the auxiliary walking device and security.

In some embodiments, the number of the folding arms 121 is two; both of the two folding arms 121 are provided with a U-shaped connecting body 1211 at one end away from the cross bar 11 ; the two U-shaped connecting bodies 1211 are hinged to each other. Specifically, the folding arms 121 are connected by the U-shaped connecting body 1211, which can avoid the situation that the folding arms 121 need to be replaced due to the damage of the connection when the folding arms 121 are directly connected. In the case where the U-shaped connecting body 1211 is provided, when the U-shaped connecting body 1211 is damaged, only the U-shaped connecting body 1211 needs to be replaced, and the entire folding arm 121 does not need to be replaced, which not only saves energy, but also enhances the auxiliary walking device practicability.

In some embodiments, one of the folding arms 121 is provided with a fully closed channel 1212 at the end provided with the U-shaped connector 1211 , and the other folding arm 121 is provided with a half-closed channel 1213 at the end provided with the U-shaped connector 1211 , And, the open area 1214 connected with the semi-closed channel 1213; the folding arm 121 provided with the open area 1214 also includes a sliding block 1215 provided with a protrusion; and the length of the slider 1215 is longer than the length of the semi-closed channel 1213 in the extending direction of the folding arm 121 . Specifically, FIG. 5 is a schematic structural diagram of the folding arm in the embodiment of the application. Referring to FIG. 5 , it can be seen that the slider can slide in the fully closed channel 1212 , the semi-closed channel 1213 and the open area 1214 .

1 , when the auxiliary walking device is in use, the U-shaped connecting bodies 1211 of the two folding arms 121 are in contact, and the slider 1215 passes through the semi-closed channel 1213 and the fully-closed channel 1212 . As shown in FIG. 5 , when the auxiliary walking device is in the folded state, the slider 1215 leaves the fully closed channel 1212 , and at this time the slider 1215 is located in the semi-closed channel 1213 and the open area 1214 . Specifically, the position of the slider 1215 is determined as required. When the auxiliary walking device needs to be used, the U-shaped connecting body 1211 between the two folding arms 121 is contacted first, and then the slider 1215 is pushed through the semi-closed channel 1213 to the fully-closed channel 1212 by pushing the protrusion of the slider 1215. Move in the direction until the protrusion contacts the semi-closed channel 1213; when the auxiliary walking device needs to be folded, push the protrusion of the slider 1215 to move the slider 1215 away from the fully closed channel 1212, and then rotate the U-shaped connecting body 1211 , the folding rod 12 can be folded.

To sum up, the arrangement of the fully closed channel 1212 , the semi-closed channel 1213 , the open area 1214 and the slider 1215 can ensure the stability when the folding arm 121 is connected and enhance the stability of the auxiliary walking device. It can enhance the practicality of the assistive walking device.

In some embodiments, the plane box includes a large plane box near the ground and a small plane box away from the ground, the large plane box and the small plane box are similar in shape, and the area of the large plane box is larger than that of the small plane box The area of the frame; the number of vertical rods 13 is four; wherein, each vertical rod 13 is bolted to the outer sides of the two ends of the transverse rod 11 in the large plane box and the small plane box; and, the frame body 1 also includes The cross-connector 14, one end of the cross-connector 14 is bolted to the outer side of the vertical bar 13 away from the crossbar 11, and the other end of the cross-connector 14 is bolted to the outer side of the other vertical bar 13 away from the crossbar 11. Specifically, the angle between the cross connecting member 14 and the vertical rod 13 can be determined according to the actual situation, which is not specifically limited in this application. In addition, the number of the cross-connectors 14 can also be set in multiples, and the specific number can be determined according to the actual situation, which is not specifically limited in this application.

To sum up, it can be seen that the increase in the number of plane boxes and the arrangement of the cross-connecting member 14 both improve the stability of the auxiliary walking device, and also improve the practicability of the auxiliary walking device.

In some embodiments, the assistive walking device further includes a load bearing assembly 7 . FIG. 6 is a schematic structural diagram of another auxiliary walking device in the embodiment of the application. Referring to FIG. 6 , the load-bearing assembly 7 includes a connecting block 71 detachably connected to the vertical rod 13 and a connecting bar 72 detachably connected to the connecting block 71 , and a support member 73 detachably connected with the connecting bar 72 ; the pressure sensor 32 is also arranged on the support member 73 . Specifically, the connecting bar 72 may be a light and strong material such as hard rubber, and the supporting member 73 may be a soft pad or the like.

In addition, when the user is unwell and collapses on the auxiliary walking device, or other unexpected situations occur, the pressure sensor 32 disposed on the upper end surface of the support member 73 will sense the pressure change in time, and then transmit the pressure change information to the control The device 6 and the control device 6 do not immediately issue a driving command after receiving the pressure change information, but need to synthesize the pressure change information transmitted by the pressure sensor 32 after a preset period of time to issue a driving command. In some embodiments, the preset duration is 0.5S.

To sum up, it can be seen that the arrangement of the load-bearing assembly 7 significantly improves the safety of the auxiliary walking device, and at the same time makes the auxiliary walking device more widely applicable to users with inconvenient mobility, and improves the practicability of the auxiliary walking device.

In some embodiments, the auxiliary walking device further includes a wireless power supply module, and the wireless power supply module includes a receiving unit, a processing unit and a battery unit; the receiving unit is used to receive wireless signals and transmit the wireless signals to the receiving processing unit; For modulating and demodulating wireless signals, for converting alternating current into direct current, and transmitting direct current to the battery unit; the battery unit is respectively connected with the sensor 3, the switch 4, the driving part 5 and the control device 6 for storing electric energy, and The sensor 3 , the switch 4 , the drive 5 and the control device 6 are powered.

To sum up, it can be seen that the wireless charging method can significantly improve the convenience of the auxiliary walking device, and also improve the practicability of the auxiliary walking device.

According to the above technical solutions, the embodiment of the present application provides an auxiliary walking device, which includes a frame body 1 , a steering assembly 2 , a sensor 3 , a switch 4 , a driving member 5 and a control device 6 . The frame body 1 includes a transverse rod 11 , a folding rod 12 and a vertical rod 13 . The steering assembly 2 includes a fixed part 21 , a rotating part 22 , a rotating shaft 23 and a wheel 24 . The setting of the folding rod 12 can make the auxiliary walking device fold; the driving member 5 makes the wheel 24 travel by driving the rotation of the rotating shaft 23, so that the auxiliary walking device actively pulls the user to move; the sensor 3 detects the obstacle information and pressure information, and transmits the information. The obstacle information and pressure information are sent to the control device 6, the control device 6 makes a driving command according to the obstacle information and the pressure information, and the driving member 5 drives the rotating member 22 to rotate according to the driving command to turn the wheels 24, or change the rotation speed of the rotating shaft 23 to make the wheels 24 Therefore, the walking assist device of the present application is not only suitable for carrying, but also helps people with exercise needs to actively exercise.

The embodiments of the present application have been described in detail above, but the contents are only preferred embodiments of the present application and cannot be considered to limit the scope of implementation of the present application. All equivalent changes and improvements made according to the scope of this application shall still fall within the scope of the patent of this application.

Claims

An auxiliary walking device, characterized in that it comprises: a frame body (1), a steering assembly (2), a sensor (3), a switch (4), a driving member (5) and a control device (6);

Wherein, the frame body (1) comprises a plane frame formed by a cross bar (11) and a folding bar (12) movably connected end to end in turn, and vertical bars connected with the outer sides of both ends of the cross bar (11) (13); the folding rod (12) at least comprises two mutually movably connected folding arms (121);

The steering assembly (2) comprises a fixing member (21) fixedly connected with the bottom end of the vertical rod (13), a rotating member (22) rotatably connected with the fixing member (21), and a rotating member (22) rotatably connected with the fixing member (21). 22) a rotating shaft (23) that is rotatably connected, and a wheel (24) that is fixedly connected to the rotating shaft (23);

The sensor (3) includes an obstacle sensor (31) and a pressure sensor (32); the obstacle sensor (31) is arranged on the vertical bar (13); the pressure sensor (32) is arranged on the horizontal bar (11) on the upper end face;

The switch (4) is arranged on the upper end of the vertical rod (13);

the driving member (5) is arranged in the fixing member (21);

The control device (6) comprises a data module connected with the sensor (3) and a controller connected with the data module; the data module is used for receiving obstacle information and pressure information transmitted by the sensor (3) , and transmit the obstacle information and pressure information to the controller; the controller is used to obtain a driving command according to the obstacle information and the pressure information, and transmit the driving command to the driving member.
An auxiliary walking device according to claim 1, characterized in that two ends of the cross bar (11) are provided with right-angle connectors (111), and two parallel pieces are provided on the right-angle connectors (111). The cross-bar connecting piece (1111) is provided with coaxial connecting-piece pin holes through the two pieces of the cross-bar connecting piece (1111);

The two ends of the folding rod (12) are provided with annular connecting heads (122), and the annular connecting heads (122) are provided with connecting head pin holes matched with the connecting piece pin holes.
An auxiliary walking device according to claim 2, characterized in that, the cross bar (11) further comprises an elastic pin (112) matched with the pin hole of the connecting piece and the pin hole of the connecting head;

The upper end of the elastic latch (112) is provided with a latch block (1121) with an area larger than the area of the pin hole of the connecting piece, and the bottom end of the elastic latch (112) is provided with an elastic tail (1122).
The auxiliary walking device according to claim 1, wherein the number of the folding arms (121) is two;

Both of the two folding arms (121) are provided with a U-shaped connecting body (1211) at one end away from the cross bar (11);

The two U-shaped connecting bodies (1211) are hinged to each other.
An auxiliary walking device according to claim 4, characterized in that, one of the folding arms (121) is provided with a fully closed channel (1212) at the end where the U-shaped connecting body (1211) is provided, and the other is One of the folding arms (121) is provided with a semi-closed channel (1213) at the end provided with the U-shaped connecting body (1211), and an open area (1214) connected with the semi-closed channel (1213) ;

The folding arm (121) provided with the open area (1214) further includes a sliding block (1215) provided with a protrusion; the sliding block (1215) is slidably arranged on the fully closed channel (1212) and the half closed channel (1212) inside the channel (1213), and the length of the slider (1215) is longer than the length of the semi-closed channel (1213) in the extending direction of the folding arm (121).
An auxiliary walking device according to claim 1, wherein the plane box comprises a large plane box close to the ground and a small plane box far from the ground, the large plane box and the small plane The shape of the boxes is similar, and the area of the large plane box is larger than the area of the small plane box;

The number of the vertical bars (13) is four; wherein, each of the vertical bars (13) is connected to the two ends of the horizontal bars (11) in the large plane box and the small plane box. External side bolt connection;

And, the frame body (1) further comprises a cross-connector (14);

One end of the cross-connecting member (14) is bolted to the outer side surface of the vertical rod (13) away from the horizontal rod (11), and the other end of the cross-connecting member (14) is connected to another vertical rod (13) Bolt connection on the outer side surface away from the cross bar (11).
An auxiliary walking device according to claim 1, characterized in that, further comprising a load-bearing assembly (7);

The load-bearing assembly (7) comprises a connecting block (71) detachably connected with the vertical rod (13), a connecting bar (72) detachably connected with the connecting block (71), and a connecting block (72) detachably connected with the connecting block (71) strips (72) detachably connected supports (73);

The pressure sensor (32) is also arranged on the support member (73).
The auxiliary walking device according to claim 1, further comprising a wireless power supply module, wherein the wireless power supply module comprises a receiving unit, a processing unit and a battery unit connected in sequence;

the receiving unit, configured to receive a wireless signal and transmit the wireless signal to the processing unit;

the processing unit, for modulating and demodulating the wireless signal, for converting alternating current into direct current, and transmitting the direct current to the battery unit;

The battery unit is respectively connected with the sensor (3), the switch (4), the driving member (5) and the control device (6) for storing electric energy, and is used for the sensor (3), switch (4), The drive (5) and the control device (6) are powered.