CN111184609A - a walking aid - Google Patents
a walking aid Download PDFInfo
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- CN111184609A CN111184609A CN201910136901.6A CN201910136901A CN111184609A CN 111184609 A CN111184609 A CN 111184609A CN 201910136901 A CN201910136901 A CN 201910136901A CN 111184609 A CN111184609 A CN 111184609A
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- frame
- walking aid
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- support
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1089—Anti-tip devices
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Abstract
本发明提供了一种助行装置，包括车架、防倾倒机构，所述车架前后至少一端连接所述防倾倒机构，所述防倾倒机构包括致动器、支撑杆，所述支撑杆的一端与车轮连接，所述支撑杆与所述车架活动连接的点为支点，所述致动器驱动所述支撑杆另一端的连接部件围绕所述支点进行旋转运动，致使所述车轮在地面与车架上往返运动。通过杠杆力作用，可以稳定、快捷地将所述支撑杆支撑到地面，有效地防止车身倾斜。同时该防倾倒机构能够使支撑杆在非工作状态时，可以收靠在车架内部，缩小整个车架的占空体积，使整个车身比较轻便，并且不妨碍助行装置正常行驶；车架发生倾斜时，支撑杆可以从车架上稳定、快速旋转下来，与地面接触，有效地防止车架倾斜。
The present invention provides a walking aid device, comprising a frame and an anti-tipping mechanism. At least one end of the frame is connected to the anti-dumping mechanism at the front and rear ends. The anti-tipping mechanism includes an actuator and a support rod. One end is connected with the wheel, the point where the support rod is movably connected with the frame is a fulcrum, and the actuator drives the connecting member at the other end of the support rod to rotate around the fulcrum, so that the wheel is on the ground Reciprocating movement with the frame. Through the action of lever force, the support rod can be supported to the ground stably and quickly, effectively preventing the body from tilting. At the same time, the anti-dumping mechanism can make the support rod in the non-working state, can be retracted inside the frame, reduce the occupied volume of the whole frame, make the whole body lighter, and not hinder the normal running of the walking aid; When tilted, the support rod can be stably and quickly rotated from the frame to contact the ground, effectively preventing the frame from tilting.
Description
Technical Field
The invention relates to a walking aid device, in particular to a walking aid device with an anti-toppling mechanism.
Background
The walking aid device is suitable for users with paralyzed lower bodies or impaired skills, and is easy to vibrate and incline when encountering uneven roads or climbing slopes in the driving process; especially, when the motion amplitude is too large, the gravity center of the walking aid device shifts, potential safety hazards are brought to people who take the walking aid device, and safety accidents are easy to happen. When the walking aid device is designed, the injury of a user in the use process is firmly avoided, and an anti-toppling mechanism is required to be provided to prevent the toppling of the walking aid device in the driving process.
The existing walking aid devices, such as wheelchairs, generally adopt anti-tilting devices suspended at the front and rear ends of a frame, and the anti-tilting devices fix one end of the frame, cannot be put down autonomously, so that the frame occupies a large space, and cannot be controlled intelligently.
There is an anti-tipping mechanism comprising a strut mounted on a vehicle for movement about an axis from a retracted position to an extended position; a wheel mounted on one end of said post so as to contact the ground when the post is in the extended position; and an actuator mounted on the vehicle for rotating the strut from the retracted position to the extended position, the actuator driving the strut to rotate out through the spring. The mechanism realizes the retraction and the extension of the intelligent control anti-toppling device, but the support of the vehicle can be realized only by extending and driving the strut while retracting, and the driving mode is complex.
Therefore, at present, a walking aid device with a rapid and convenient folding and unfolding anti-toppling mechanism is needed, the driving of the anti-toppling mechanism is more stable and rapid, a vehicle can be supported in time, and the whole walking aid device is required to be convenient and stable in the driving process.
Disclosure of Invention
The invention aims to provide a walking aid device with a rapid and convenient folding and unfolding anti-toppling mechanism, wherein the anti-toppling mechanism can stably and rapidly rotate from a frame and the ground to move back and forth, and can support the frame in time when the frame inclines, so that the walking aid device is convenient and stable in the running process.
In order to achieve the purpose, the invention provides a walking aid device which comprises a frame and an anti-toppling mechanism, wherein at least one end of the front end and the rear end of the frame is connected with the anti-toppling mechanism, the anti-toppling mechanism comprises an actuator and a supporting rod, one end of the supporting rod is connected with a wheel, the point of the supporting rod movably connected with the frame is a fulcrum, the actuator drives the supporting rod to rotate around the fulcrum through a connecting part at the other end of the supporting rod, so that the wheel moves back and forth on the ground and the frame. In the normal driving process, when the anti-toppling mechanism is in a non-supporting state, the anti-toppling mechanism can be folded and leaned on the frame, the space occupation volume of the whole frame is reduced, the length of the whole vehicle body is reduced, and the normal driving of the walking aid device is not hindered. When the vehicle frame is inclined, the actuator rapidly drives the support rod to rapidly rotate from the vehicle frame, so that wheels on the support rod are in contact with the ground, and the vehicle frame is effectively prevented from being inclined. Under normal conditions, the moment arm distance between the connecting point of the actuator and the supporting rod and the fulcrum is smaller than the moment arm distance between the wheel and the fulcrum, and the actuator drives a small distance to realize the large displacement of the wheel movement, so that the wheel can support the ground in time. Through the effect of lever force, can be stable and swiftly with wheel on the bracing piece supports ground, prevents effectively that the automobile body from inclining.
In an embodiment of the invention, the connecting part of the actuator and the support is a movable connecting part, and the actuator and the support rod are directly connected through the movable connecting part. The movable connecting piece is a part such as a rivet or a bolt, the actuator is directly connected with the supporting rod through the movable connecting piece, the actuator directly drives the supporting rod at the moment, and the wheel at the tail end of the supporting rod rotates between the ground and the frame, so that the supporting rod is driven quickly and stably. Specifically, when the actuator extends towards the outside of the vehicle frame, the support rod rotates around the fulcrum, the support rod is switched from a recovery state to a support state, wheels at the tail end of the support rod are supported on the ground, the support effect is realized on the whole vehicle frame, and the vehicle frame is prevented from inclining; when the actuator contracts towards the inner direction of the frame, the support rod rotates around the fulcrum, the support rod is switched from a support state to a recovery state, wheels at the tail end of the support rod are made to lean against the frame, the length of the whole vehicle body is reduced, and normal running of the walking aid device is not hindered.
When a plurality of support rods are required, a plurality of actuators are often required to drive the support rods, increasing the cost and the overall weight of the vehicle body. According to another technical scheme of the invention, the connecting part between the supporting rod and the actuator is a connecting rod, the actuator is connected with the connecting rod, and the connecting rod is connected with at least one supporting rod. When the walking aid device only needs one supporting rod, one end of the connecting rod can be connected with the supporting rod; when the walking aid device requires a plurality of support rods, the connecting rods are connected with the plurality of support rods, the actuator pulls the tail ends of the support rods through the connecting rods, and the support rods perform rotary motion around a fulcrum. By arranging the connecting rod, one actuator can drive a plurality of supporting rods simultaneously.
In the invention, the shape of the support rod can be designed into different shapes according to actual conditions, such as a straight shape, a semi-arc shape, an L shape or a V shape. The radian of the semi-arc-shaped supporting rod and the angle of the V-shaped supporting rod can be designed according to the specific requirements of the frame, so that the whole frame is more convenient and faster.
The anti-toppling mechanism is detachably connected with the walking aid device, can be used as an independent accessory of the walking aid device, and can be omitted if a user only uses the walking aid device indoors, so that the cost is reduced.
The one end that the wheel is connected to the bracing piece is the front fork structure, the front fork structure is provided with elastic buffer. The two forks of the front fork structure are respectively provided with a spring, and the tail ends of the two forks are connected with wheels. The front fork structure enables wheels on the supporting rod to have certain buffering after contacting with the ground.
The wheels are omni wheels, and the omni wheels can reduce friction when the walking aid device runs, particularly when the walking aid device runs in a turn, so that the walking aid device still runs smoothly in a supporting state.
The walking aid device also comprises a sensor and a controller, and the anti-toppling device can automatically judge whether to start the anti-toppling device according to the posture of the frame. The sensor is used for detecting the inclination angle of the vehicle frame. The sensor transmits the inclination angle signal of the frame to the controller, and the controller outputs a control signal to the walking aid device. The controller controls the walking aid device according to the inclination angle signal detected by the sensor, and the specific control signal comprises various control signals for various stable frame running such as the retraction, the putting down, the parking, the reverse running and the like of the supporting rod.
The invention further discloses a method for preventing the walking aid device from toppling, which comprises the following steps: the inclination angle of the frame is obtained through the sensor, the controller judges whether the inclination angle signal exceeds a set threshold value, and the walking aid device is controlled according to the condition of the inclination angle.
Judging whether the inclination angle signal exceeds a first set threshold value, if not, continuously acquiring the inclination angle of the frame; if yes, judging whether the inclination angle signal exceeds a second set threshold value again.
Judging whether the inclination angle signal exceeds a second set threshold value again, if not, the inclination angle signal is between the first set threshold value and the second set threshold value, then the controller sends a stop command to the walking aid device, and controls the actuator to quickly support wheels on the supporting rod to the ground, and then a user can freely operate the running direction of the walking aid device until the inclination angle signal is judged to be smaller than the first threshold value, and commands to retract the supporting rod; if yes, judging whether the third set threshold value is exceeded again.
Judging whether the inclination angle signal exceeds a third set threshold value again, if not, the inclination angle signal is between the second set threshold value and the third set threshold value, the controller sends a parking command to the walking aid device, controls the actuator to support the supporting rod to the ground, and prevents the user from continuing to move towards the original driving direction, at the moment, the user can operate the walking aid device to change the path, if the user does not change the driving direction, the walking aid device continues to be parked, and the control command of the user is invalid; if the inclination angle signal is larger than a third set threshold value, the controller sends a stop command to the walking aid device, controls the actuator to quickly support the wheels on the support rod to the ground, and actively controls the walking aid device to move in the direction of reducing the inclination angle, at the moment, the user cannot control the walking aid device, and the user can freely operate the walking aid device after the stop until the detected inclination angle signal is smaller than the second set threshold value. Wherein the first set threshold is smaller than the second set threshold, and the second set threshold is smaller than the third set threshold.
The walking aid device further comprises an alarm module, and when the processor judges that the inclination angle signal is larger than any one of the set threshold values, the alarm module sends alarm information to a user.
The alarm module is a sound alarm, a light alarm or a wireless alarm. The sound and light alarm can directly feed alarm information back to a direct user, so that the direct user can quickly control the walking aid device. The wireless alarm can send alarm information to the mobile terminal, and the walking aid device is remotely controlled through the mobile terminal.
The invention has the beneficial effects that: the walking aid device disclosed by the invention drives the support rod to rapidly and stably rotate back and forth on the ground and the frame under the action of lever force, so that the frame can be supported in time, and the walking aid device is convenient and stable in the running process. When the walking aid device is used indoors, the road condition is better, the anti-toppling mechanism can be retracted, the space size is reduced, and the running of the walking aid device is more flexible; when the walking aid device is used outdoors, the road condition is poor, the anti-toppling mechanism rotates out of the frame and contacts with the ground, so that the walking aid device runs more stably. The anti-toppling mechanism is detachably connected with the walking aid device and can be used as an independent accessory of the walking aid device, and if a user only uses the anti-toppling mechanism indoors, the anti-toppling mechanism is not provided with the component, so that the cost is reduced. The walking aid device disclosed by the invention can be used for intelligently controlling the movement of the frame and preventing the frame from inclining, so that the walking aid device is more stable in the running process.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a view showing a state in which a support rod of a walking aid device according to an embodiment of the present invention is stored in a frame;
FIG. 2 is a view of the support pole of a walker device according to one embodiment of the present invention supported on the ground;
FIG. 3 is a view showing a state where a support rod of a walking aid device according to another embodiment of the present invention is stored in a frame;
FIG. 4; the supporting rod of the walking aid device is supported on the ground in a state of one embodiment of the invention;
FIG. 5 is an enlarged schematic view of various shapes of the support pole of the present invention;
FIG. 6 is a lever diagram of the present invention;
FIG. 7 is a schematic view of an automatic start-up module of the walker device of the present invention;
FIG. 8 is a flow chart of a method of preventing tipping of a walker device.
Wherein: 1, 2 actuators, 3 and 3 'supporting rods, 3a supporting rod fulcrum parts, 3b supporting rod one end, 3c supporting rod the other end, 4 wheels, 5 connecting rods and 6' fixing piles; a. a ' supporting rod fulcrum, one end of the b and b ' supporting rods, a wheel connected with the other end of the c and c ', and d a frame
Detailed Description
Example 1
As shown in figures 1 and 2, the walking aid device of the first embodiment of the invention comprises a frame 1 and an anti-toppling mechanism. The anti-toppling mechanism is detachably connected to the rear end of the frame 1, and can be connected to the front end or other parts of the frame 1 according to specific requirements. The anti-toppling mechanism can be detachably connected and arranged to be used as an independent accessory of the walking aid device, and if a user only uses the walking aid device indoors, the anti-toppling mechanism can not be arranged on the walking aid device, so that the cost is reduced.
The anti-toppling mechanism further comprises an actuator 2 and a support rod 3. In this embodiment, the support rod 3 is an L-shaped support rod. The support bar 3 comprises three parts, a fulcrum portion 3a, one end 3b and the other end 3 c. The fulcrum portion 3a of the support bar 3 is movably connected to the frame 1, and the fulcrum portion 3a is an arbitrary middle portion of the support bar 3, and is not limited to a central position. One end 3b of the support rod 3 is movably connected with the actuator 2, and the other end 3c is connected with the wheel 4. In this embodiment, the distance from the fulcrum part 3a to the end 3b is less than the distance from the fulcrum part 3a to the other end 3c, then, the moment arm distance from the end 3b, connected with the support rod 3, of the actuator 2 to the fulcrum part 3a is less than the moment arm distance from the wheel 4 to the fulcrum part 3b, and the actuator 2 drives a smaller distance to realize the large displacement of the wheel 4 in moving, so that the wheel 4 can support the ground in time, the walking aid device is effectively prevented from being toppled over, and the user is prevented from being injured by falling.
In this embodiment, the connecting member used for movably connecting the one end 3b of the support rod 3 and the actuator 2 is a bolt, and in other embodiments, other movable connecting members such as a rivet may be used. The movable connection member enables the support rod 3 to rotate around the movable connection member.
The wheels 4 are omni wheels. By utilizing the advantages of the omnidirectional wheels, the friction of the walking aid device can be reduced during running, particularly during turning running, so that the walking aid device still runs smoothly in a supporting state.
One end 3c of the supporting rod 3 is of a front fork structure, two forks of the front fork structure are respectively provided with a spring buffer part, and the tail ends of the two forks are connected with a wheel 4. The front fork structure enables the wheels 4 on the supporting rod 3 to have certain buffering after contacting with the ground, so that the walking aid device can run more stably.
In this embodiment, the fulcrum portion 3a of the support rod 3 is connected to the frame 1 via a fixing peg 6 on the frame, and when one support rod is required, one fixing peg 6 may be provided, and when a plurality of support rods are required, a plurality of actuators 2 and a plurality of fixing pegs 6 may be provided. The fulcrum portion 3a is a fulcrum of the lever, and the support rod 3 rotates around the fulcrum portion 3a under the action of the lever force. Only one support bar is shown in this embodiment.
Fig. 1 shows a state where the support bar is retracted on the vehicle, and fig. 2 shows a state where the support bar 3 is supported on the ground. The working principle is as follows: when the support rod needs to be supported on the ground, the actuator 2 extends outward from the frame 1 to push one end 3b of the support rod 3, the support rod 3 rotates around the fulcrum portion 3a under the action of the lever force, so that the other end 3c of the support rod rotates from the frame position to the ground position, and the wheel 4 falls on the ground. When the supporting rod needs to be folded on the vehicle, the actuator 2 contracts towards the inner direction of the vehicle frame, one end 3b of the supporting rod is pulled, the supporting rod 3 rotates under the action of the lever force, the other end 3c of the supporting rod rotates towards the position of the vehicle frame from the ground position, and the supporting rod 3 is folded on the vehicle frame. The anti-toppling mechanism of this embodiment through the leverage, can stably realize supporting the bracing piece to ground fast, prevents effectively that the automobile body from inclining.
The anti-toppling mechanism can enable the supporting rod 3 to be folded against the frame 1 when the supporting rod is in a non-working state, so that the space occupation volume of the whole frame 1 is reduced, and the normal running of the walking aid device is not hindered; when the frame 1 inclines, the support rod 3 can rotate from the frame 1 to contact with the ground, so as to effectively prevent the frame 1 from inclining. For example, when the walking aid device is used indoors, the road conditions are better, the anti-toppling mechanism can be retracted, the space size is reduced, and the running of the walking aid device is more flexible; when the walking aid device is used outdoors, the road condition is poor, the anti-toppling mechanism is rotated out of the frame 1 and is contacted with the ground, and the walking aid device can run more stably.
Example 2
As shown in figures 3 and 4, a walker device according to a second embodiment of the present invention. When the walking aid device needs a plurality of anti-toppling mechanisms, a plurality of actuators are needed to drive a plurality of supporting rods, so that the cost is high, and the weight of a vehicle body is increased. Therefore, a more convenient driving mode needs to be designed.
As shown in FIG. 3, the anti-toppling mechanism of the walking aid device of this embodiment is shown in a state of being stored on the frame. The walking aid device comprises a frame 1 and an anti-toppling mechanism. The anti-toppling mechanism is detachably connected to the rear end of the frame 1. In this embodiment, the anti-tipping mechanism comprises an actuator 2, two support rods 3 and 3', a connecting rod 5. In other embodiments, the number of the support rods can be set according to requirements, or only one support rod can be set.
The actuator 2 is connected with the connecting rod 5, two ends of the connecting rod 5 are respectively fixedly connected with the two supporting rods 3 and 3 ', one end 3b of the specific supporting rod 3 is fixedly connected with the connecting rod 5, and the supporting rod 3' and the supporting rod 3 are symmetrically arranged. The fulcrum portion 3a of the support bar 3 is movably connected to the frame 1, and the fulcrum portion 3a is an arbitrary middle portion of the support bar 3, and is not limited to a central position. The other end 3c of the support bar 3 is connected to a wheel 4. The end part 3c of the supporting rod is of a front fork structure, two forks of the front fork structure are respectively provided with a spring buffer part, and the tail ends of the two forks are connected with a wheel 4. The front fork structure enables the wheels 4 on the supporting rod 3 to have certain buffering after contacting with the ground, so that the walking aid device can run more stably.
The middle part 3a of the support rod 3 is movably connected with the frame 1, in particular is movably connected with the fixing pile 6 on the frame. The middle part 3a is a fulcrum of the lever, and the support rod 3 rotates around the fulcrum part 3a under the action of the lever force.
The support rods 3 'and the support rods 3 are symmetrically arranged, and the connection positions of the support rods 3' and the vehicle frame and the wheels are consistent with the mode of the support rods 3, which is not described in detail herein. In this embodiment, two support rods are shown. When a plurality of supporting rods are needed, the supporting rods are connected to the same connecting rod together. Thus, a plurality of support rods can be driven simultaneously by one actuator, and the vehicle body can be prevented from inclining more effectively.
The working principle is as follows: when the support rods 3 and 3 ' need to be supported on the ground, the actuator 2 extends towards the outside of the vehicle frame, the connecting rod 5 is driven to move towards the outside of the vehicle frame, the connecting rod 5 pushes one ends of the support rods 3 and 3 ' to move towards the outside of the vehicle frame, and the support rods 3 and 3 ' simultaneously rotate around the respective fulcrum parts, so that the wheels on the support rods land on the ground. When the supporting rods 3 and 3 ' need to be retracted on the vehicle, the actuator 2 contracts towards the inner direction of the vehicle frame, the connecting rod 5 is pulled to move towards the inner direction of the vehicle, and the connecting rod 5 pushes one ends of the supporting rods 3 and 3 ' to move towards the inner direction of the vehicle frame, so that wheels at the other ends of the supporting rods 3 and 3 ' are retracted on the vehicle frame. The connecting rod 5 can drive the support rods 3 and 3' to move simultaneously. This embodiment has realized a plurality of bracing pieces of steady swiftly simultaneous drive, prevents the automobile body slope more effectively.
Similarly, the anti-toppling mechanism of the embodiment can be detachably connected with the walking aid device, can be used as an independent accessory of the walking aid device, and can be not provided with the component if a user only uses the anti-toppling mechanism indoors, so that the cost is reduced.
Example 3
As shown in fig. 5, there are a plurality of shape diagrams of the support stick of the present invention. The support rod can be in a straight shape, a semi-arc shape, an L shape or a V shape. The most suitable connecting point of the supporting rod and the frame can be selected as a fulcrum according to a specific figure.
Example 4
As shown in fig. 6, taking an L-shaped support bar as an example, the inflection point, i.e., the fulcrum point a, of the L-shaped support bar is movably connected to the frame, one end b is connected to the actuator through a movable connecting member, and the other end c is connected to the wheel. As shown in the figure, when the supporting rod needs to be unfolded and placed on the ground, the actuator extends outwards to drive one end of the supporting rod to move from the position b to the position b ', the wheel on the supporting rod rotates around the point a of the fulcrum, and moves from the position c to the point c'; when the supporting rod needs to be put on the frame from the ground, the actuator contracts inwards to drive one end of the supporting rod to move from the b 'position to the b position, and the wheel on the supporting rod rotates around the point a and moves from the c' position to the point c.
Example 5
FIG. 7 is a schematic block diagram of the walker device of the present invention. The walking aid device of the embodiment comprises the frame and the anti-toppling mechanism of the embodiment 1 or 2, and further comprises a sensor, a controller and an alarm module. The sensor learns the gradient of road surface through detecting the frame slope gesture, and the sensor with the inclination signal transmission of frame gives the controller, and the controller is to helping the capable device output control signal. The sensor can specifically adopt a six-axis attitude sensor. The controller controls the walking aid device according to the inclination angle signal detected by the sensor, and the specific control signal comprises various control signals for stabilizing the running of the walking aid device, such as the retraction and the putting down of the supporting rod, the parking, the reverse running of the vehicle and the like.
The embodiment can also be added with an alarm module for sending alarm information to a user, and the alarm module can be an acoustic alarm, an optical alarm or a wireless alarm. The sound and light alarm can directly feed back the alarm information to the direct user, so that the direct user can quickly take measures to control the walking aid device. The wireless alarm can send alarm information to the mobile terminal, and the walking aid device is remotely controlled through the mobile terminal.
As shown in figure 8, the anti-toppling method of the walking aid device comprises the steps that the inclination angle of a frame is obtained through a sensor, an inclination angle signal is transmitted to a controller, the controller judges whether the inclination angle signal exceeds a set threshold value or not, the walking aid device is controlled according to the size of the inclination angle, and when the inclination angle signal exceeds any set threshold value, an alarm module sends alarm information to a user.
Judging whether the inclination angle signal exceeds a first set threshold value, if not, continuously acquiring the inclination angle of the frame; if yes, judging whether the inclination angle signal exceeds a second set threshold value again.
Judging whether the inclination angle signal exceeds a second set threshold value again, if not, the inclination angle signal is between the first set threshold value and the second set threshold value, at the moment, sending alarm information to a user through an alarm module, sending a parking command to the walking aid device by a controller, controlling an actuator to quickly support wheels on the supporting rod to the ground, and then enabling the user to freely operate the running direction of the walking aid device until the inclination angle signal is detected to be smaller than the first set threshold value, and commanding to withdraw the supporting rod; if yes, judging whether the third set threshold value is exceeded again.
Judging whether the inclination angle signal exceeds a third set threshold value again, if not, the inclination angle signal is between the second set threshold value and the third set threshold value, at the moment, sending alarm information to a user through an alarm module, sending a parking command to the walking aid device by the controller, controlling the actuator to support the supporting rod to the ground, and preventing the user from continuing to move towards the original driving direction, at the moment, the user can operate the walking aid device to change the path, if the user does not change the driving direction, the walking aid device continues to be in a parking state, and the control command of the user is invalid; if the inclination angle signal is smaller than the second set threshold value, the user can freely operate the walking aid device after stopping the vehicle.
In this embodiment, the first threshold is 3 °, the second threshold is 6.5 °, and the third threshold is 9 °, in other embodiments, other thresholds may be set according to different distribution of the center of gravity of the walker.
The walking aid device of the embodiment is combined with the anti-toppling mechanism and the anti-toppling control module, so that the walking aid device can be intelligently and rapidly prevented from toppling, and the safety of a user is greatly ensured.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (14)
1. A walking aid device comprises a frame and an anti-toppling mechanism, wherein at least one end of the front end and the rear end of the frame is connected with the anti-toppling mechanism, the anti-toppling mechanism comprises an actuator and a supporting rod, one end of the supporting rod is connected with a wheel, the point where the supporting rod is movably connected with the frame is a fulcrum, and the actuator drives a connecting part at the other end of the supporting rod to rotate around the fulcrum so as to enable the wheel to reciprocate on the ground and the frame.
2. The walker device of claim 1 wherein the attachment means of the actuator to the support bar is a flexible attachment means by which the actuator is directly attached to the support bar.
3. The walker device of claim 2 wherein said flexible connectors are bolts or rivets.
4. The walker apparatus as claimed in claim 1 wherein the attachment means of the actuator to the support rods is a connecting rod, the actuator being attached to the connecting rod, the connecting rod being attached to at least one support rod.
5. The walker device as claimed in any one of claims 1-4 wherein said struts are in the shape of a straight line, a semi-arc, an L-shape or a V-shape.
6. The walker apparatus as claimed in any one of claims 1-4 wherein said frame is removably attached to said anti-tipping mechanism.
7. The walking aid device according to any one of claims 1 to 4, wherein the end of the support rod connected to the wheel is a front fork structure provided with an elastic buffer.
8. The walking aid of any one of claims 1-4, wherein the wheels are omni-wheels.
9. The walker device as claimed in any one of claims 1-4 further comprising a sensor for sensing the inclination of said carriage, said sensor transmitting an inclination signal of said carriage to said controller, said controller outputting a control signal to said walker device.
10. The walker device as claimed in claim 9, wherein when it is judged that the inclination signal exceeds a first set threshold value and is less than a second threshold value, a stop is commanded, the actuator drives the support rod to support the wheels to the ground, and the user can freely manipulate the traveling direction of the walker device until the inclination signal is less than the first set threshold value, and the support rod is commanded to be retracted; wherein the second set threshold is greater than the first set threshold.
11. The walker device as claimed in claim 10 wherein when it is determined that the tilt signal exceeds a second threshold less than a third threshold, a stop is commanded, the actuator drives the support rod to support the wheels to the ground, preventing the walker device from continuing to move in the original direction of travel, at which time the walker device can be controlled by the user to change course; wherein the third set threshold is greater than the second set threshold.
12. The walker device as claimed in claim 11 wherein when it is determined that the tilt signal exceeds a third set threshold, a stop is commanded, the actuator drives the support rod to support the wheels to the ground, the walker device is actively controlled by the controller to move in the direction of decreasing tilt until the tilt signal is less than a second set threshold, and the walker device is free to be operated by the user; wherein the third set threshold is greater than the second set threshold.
13. The walker device of claim 12 further comprising an alarm module for alerting a user when the tilt signal is determined to be greater than any one of the set thresholds.
14. The walker device of claim 13 wherein the alarm module is an audible, visual or wireless alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910136901.6A CN111184609A (en) | 2019-02-25 | 2019-02-25 | a walking aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910136901.6A CN111184609A (en) | 2019-02-25 | 2019-02-25 | a walking aid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111184609A true CN111184609A (en) | 2020-05-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910136901.6A Pending CN111184609A (en) | 2019-02-25 | 2019-02-25 | a walking aid |
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| CN (1) | CN111184609A (en) |
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Effective date of registration: 20221115 Address after: 215000 No. 88, Keling Road, science and Technology City, high tech Zone, Suzhou, Jiangsu Applicant after: Suzhou Guoke medical technology development (Group) Co.,Ltd. Address before: 321300 8th floor, Jinzu building, headquarters center, Yongkang City, Jinhua City, Zhejiang Province Applicant before: YONGKANG GUOKE REHABILITATION ENGINEERING TECHNOLOGY Co.,Ltd. |
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Application publication date: 20200522 |