CN111759683B - Walking device for assisting user in standing - Google Patents

Abstract

The invention relates to a walking device for assisting a user to stand, comprising: a support, and a drive mechanism, which is arranged on the support in a manner capable of contacting the ground, so that the support can move, and the support defines at least one lifting mechanism for setting The lifting mechanism can make the driving mechanism off the ground when it is in the retracted state, so that the support can be kept fixed relative to the ground when the adsorption component of the adsorption mechanism is adsorbed on the ground, so as to assist the user to stand.

Description

A walking device for assisting a user in standing

technical field

The invention relates to the technical field of walking aids, in particular to a walking device for assisting a user to stand.

Background technique

Some people use crutches to help them walk. But in the process of walking, the user may fall due to reasons such as slippery ground or fatigue. At this time, the user stands without a support device. It is particularly important to provide a stable support for walking, provide a seat for the elderly anytime, anywhere, and operate an intelligent walking assistance device that is easy to operate.

For example, the Chinese patent publication No. CN209662134U discloses a walking aid for the elderly. It consists of a base plate and a top plate. The four corners of the lower end of the base plate are fixed with universal wheels by bolts. The universal wheels are hinged with wheel locks. Electro-hydraulic push rods are arranged on both sides of the lower end of the base plate. A leg slot is provided in the middle of the side wall, and vertical plates are provided on both sides of the upper end of the bottom plate. The utility model can send the location information of the elderly at all times when the elderly go out by setting a GPS locator and a signal transmitter, effectively avoiding the loss of the elderly, and by setting an electro-hydraulic push rod and a suction cup, it can be used when the elderly are resting. Improve the stability of the device, prevent the device from rolling over, and reduce potential safety hazards. However, this utility model has at least the following disadvantages: when the suction cup is fixed on the ground, after using the suction cup for a long time, the aging of the suction cup leads to insufficient or even no suction, and the universal wheel is always in contact with the ground, so the auxiliary device is used in the elderly. Has the potential to move while resting, reducing its reliability.

When using an auxiliary walking device, due to the influence of the ground and the influence of individual physique, the user still has the possibility of falling. However, after the user falls down, the auxiliary walking device is in rolling contact with the ground, and it is difficult for the user to use the auxiliary walking device to stand up.

In addition, on the one hand, due to differences in the understanding of those skilled in the art; on the other hand, due to the fact that the inventor has studied a large number of documents and patents when making the present invention, but due to space limitations, all details and contents have not been listed in detail, but this is by no means The present invention does not possess the characteristics of these prior art, on the contrary, the present invention already possesses all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology.

Contents of the invention

Aiming at the deficiencies of the prior art, at least the present invention can solve the deficiencies of the prior art mentioned in the background art. The present invention provides a walking device for assisting a user to stand, comprising: a support, and a driving mechanism, which is arranged on the support in a manner capable of contacting the ground, so that the support can move. In the present invention, "moving" of the stand means that the stand can move to the vicinity of the user under the condition of being driven by the driving mechanism. The near area refers to the area where the user can touch part of the structure of the bracket. The driving control command of the driving mechanism can come from the distance sensor and the position of the center of gravity of the user. Before the user falls down, the walking device follows or stops in a manner of keeping a certain safe distance from the user. The support defines at least one space for setting the lifting mechanism. After the user falls down, the driving mechanism moves the bracket to the vicinity of the user's position, and then the lifting actuator of the lifting mechanism can lift the driving mechanism in a shortened state. The driving mechanism is separated from the ground. At this time, the adsorption component of the adsorption mechanism is in contact with the ground to support the bracket. Then the adsorption component of the adsorption mechanism is absorbed on the ground to fix the bracket on the ground. The user uses the bracket to assist him to stand. In addition, the present invention can also be used for resting of the user. In the present invention, the adsorption of the adsorption component to the ground can be achieved by vacuuming, which relies on atmospheric pressure to tightly adsorb the adsorption component to the ground.

According to a preferred embodiment, when the driving mechanism is in contact with the ground based on the thrust of the lifting mechanism, the adsorption assembly is suspended based on the interaction force generated by the driving mechanism in contact with the ground. When the adsorption component is not in use, it is not in contact with the ground, and the distance from the ground is 10-15mm.

According to a preferred embodiment, the adsorption assembly can fix the walking device to the ground relative to the user in a way that the walking device does not fall when the user stands on the walking device based on vacuum suction. In the present invention, the weight line of the walking device can be arranged according to the geometric area defined by the vertical adsorption components, for example, the adsorption components can be arranged in a triangular arrangement. When the user is standing, the walking device tends to be lifted because the center of gravity gradually rises, and the holding force of the absorbing component to the walking device makes the walking device not easy to tip over.

According to a preferred embodiment, the support includes a longitudinal beam and a foot cup that can contact the ground with the adsorption assembly and is fixed to the longitudinal beam. Provide support for the running gear. The foot cup can buffer the contact between the whole device and the ground when the driving mechanism is separated from the ground, so that the support is subjected to a flexible load and prevents hard impact from damaging the walking device.

According to a preferred embodiment, the drive mechanism includes a drive motor, and the drive motor can adjust the output speed according to at least one behavior characteristic of the user, so that the walking device can keep a safe distance from the user. way to move. For example, through the image recognition camera, track the feature points on the user's body, and the position of the characteristic pixels in the image, calculate the amount that the platform needs to rotate, and then calculate the amount of the two-wheel differential, through the measurement of the image recognition camera The distance function calculates the distance between the platform and the user. Based on the PID algorithm, the platform maintains a constant distance to follow the user at any pace of the user. Try to keep the platform near the user when they fall. In the remote control state, use the sensor on the wristband to measure the swing of the wrist and send it to the platform, so as to obtain the rotation speed of the two wheels to achieve the purpose of turning and moving.

According to a preferred embodiment, the adsorption tube of the adsorption mechanism can communicate with the adsorption mechanism in such a way that it is not moved longitudinally by the driving mechanism. The sorbent tube may be a flexible tube that evacuates the sorbent assembly.

According to a preferred embodiment, there is a catheter hole in the space, and the catheter hole is arranged in such a way that the user can put the auxiliary rod into it when the user is not standing. There is a blind catheter in the center of the walking device. When the old man falls: ①If the crutches are nearby, the walking device can be moved to the old man's side through the control first, and the second support plate with wheels is lifted by the push rod motor, so that The foot cup touches the ground, and then the old man can adjust his posture and insert the crutch into the blind catheter. At this time, the micro vacuum pump is turned on by control, and the platform is adsorbed on the ground through the suction cup. At this time, the crutch forms a stable column form, and the old man can use it Make an effort to get back on your feet. ②If the crutches fly out when you fall down, that is, if the crutches are not with you, first use the bracelet to control the platform to move to the vicinity of the crutches, and then use the magnets on the side to pick up the crutches and transport them to the side of the old man. At this time, the old man can pass Re-stand as described in ①, can also be achieved through the open pole structure of the crutch itself.

According to a preferred embodiment, the lifting mechanism includes a lifting generator, and the lifting generator is fixed to the first support plate in such a way that the driving mechanism can move along the longitudinal direction of the bracket.

According to a preferred embodiment, the lifting mechanism is connected to the driving mechanism through a second support plate capable of moving along the longitudinal direction of the bracket.

According to a preferred embodiment, the lifting mechanism and the adsorption mechanism are arranged on the support so that the support does not overturn. When the platform switches between the two states of motion and column, the overall height of the center of gravity changes little (the change of the center of gravity is mainly caused by the lifting mechanism, and the lifting range of the lifting mechanism is limited to 5-10cm). Therefore, the influence of the change of the center of gravity on the overturning of the platform device is almost negligible! The lifting mechanism and the adsorption mechanism can be located on opposite sides of the platform device, so that the geometric centerline of the device and the weight line coincide as much as possible or the horizontal distance between the two is shortened as much as possible. When the platform transitions from the motion state to the column state, the height of the adsorption mechanism and the bracket first decreases, and the overall center of gravity moves down. When the adsorption mechanism and the bracket contact the ground, the driving device lifts up and the center of gravity moves up. In addition, during the whole process, The height change of each mechanism is within 10cm, and the push rod motor and blind guide tube inside the platform device are arranged eccentrically. In addition, the walking device also includes batteries for platform movement, electric push rod and vacuum pump operation, optimized Mount these components so that the center of gravity is as close to the center as possible.

Description of drawings

Figure 1 is a schematic diagram of the overall appearance structure;

Figure 2 is a schematic diagram of the internal structure;

Fig. 3 is a schematic diagram of the bracket structure of the accompanying platform device of the present invention;

Fig. 4 is a schematic diagram of the internal structure of the accompanying platform device of the present invention;

Fig. 5 is a schematic diagram of a full sectional view of the shell structure of the accompanying platform device of the present invention;

Figure 6 is an application scene diagram of the internal structure of the accompanying platform device when it moves normally;

Fig. 7 is a schematic diagram of the application scene of the accompanying platform device (with an outer wall) absorbing the ground;

Fig. 8 is a schematic diagram of the application scene of the accompanying platform device (without outer wall) absorbing the ground;

Fig. 9 is an application scene diagram of picking up crutches by the accompanying platform device;

Figure 10 is a force analysis of an application scenario of the accompanying platform device; and

Fig. 11 is a control system in the accompanying platform device.

List of reference signs

5: Shell 73: Second support plate

6: Bracket 74: Drive motor

7: Driving mechanism 81: Electric push rod

8: Lifting mechanism 82: The first support plate

9: Adsorption mechanism 83: Connecting plate on the end face of electric push rod

51: Outer wall 84: Conduit hole

52: blind pipe 91: micro vacuum pump

53: Magnet 92: Vacuum chuck

61: Longitudinal beam 93: Hardware fixing block

62: Foot cup 94: Four-way quick connector

63: Beam of the first layer 95: Trachea

64: Second floor beam 430: Crutches

65: Beam on the third floor 440: Accompanying platform device

66: Fourth floor beam 10: Intelligent controller

71: Universal wheel 11: Behavior recognition unit

72: Rear wheel 12: Position recognition unit

detailed description

Detailed description will be given below in conjunction with accompanying drawings 1-11.

Example 1

This embodiment discloses a walking device for assisting a user to stand. The walking device includes a support 6 , a driving mechanism 7 , a lifting mechanism 8 and an adsorption mechanism 9 .

The bottom of the support 6 is equipped with a drive mechanism 7 . The drive mechanism 7 has wheels that are in contact with the ground and keeps the bracket 6 movable. The bracket 6 is provided with a space for installing the lifting mechanism 8 . The lifting mechanism 8 can raise or lower the driving mechanism 7, so that the support 6 can be stationary or move. The lifting mechanism 8 is capable of lifting the drive mechanism 7 off the ground when it is in a retracted state. In this way, the support 6 remains fixed relative to the ground when the suction component of the suction mechanism 9 is adsorbed to the ground so as to assist the user to stand.

Preferably, the suction component can be a vacuum suction cup 92 . Vacuum suction cup 92 is made of polyurethane rubber with a hardness of about 45 degrees Shore. It has high elasticity, excellent wear resistance, tear resistance, appropriate hardness characteristics and good air permeability. In addition, it also has medium oil resistance and resistance Oxygen and ozone aging resistance, low odor, good anti-skid performance, meet the requirements of indoor environment and have a long service life. The uniform distribution of the three suction cups at the bottom of the device is two in front and one behind. Taking a single vacuum suction cup as an example, only consider the situation when a single suction cup acts on the farthest end. The present invention intends to use a Ф50mm vacuum suction cup. The distance between the vacuum suction cup and the center of the platform is 125mm. The center distance is 200mm, the height of the old man's hands on the crutch is 1000mm from the ground, and assuming that the force exerted by the old man is a horizontal force, the height of the old man's body center of gravity is 1000mm from the ground, and the distance from the center line of the crutch is 50mm. The weight of the platform is relatively light. This calibration is calculated on the basis of 60Kg, and the total mass of the platform and crutches is 7Kg. The force model can be abstracted as shown in Figure 10. In Fig. 10, m-human body mass. m' - total mass of platform and crutches. F _rg , F _gr – interaction forces between the human body and the crutch. F _xi – Suction force of the vacuum cup. F _fan – the resultant force of friction and support of the elderly's feet.

Taking the human body as the research object, the force balance analysis (tanθ=0.3) is carried out.

F _fan cosθ=mg

F _rg ＝F _fan sinθ

Solution: F _rg ＝＝180N

Taking the platform as the research object, conduct moment analysis on the platform:

F _xi ·25+m'g·12.5＝F _gr ·100

It can be seen that: F _xi = 685N

After consulting the data, the formula for checking the suction force of the sucker (safety factor ≥ 2.5, 3 for this check) is W=μF _xi.

W=P·C/101·10.13

Among them, W: theoretical suction. P: degree of vacuum. C: sucker area.

It can be seen that: P=(101·W)/(0.25πD ² ·10.13)=10.435KPa=0.01043Mpa.

Therefore, the self-priming miniature vacuum pump of DC-12V can be selected for use in the present invention. According to the parameters provided by the manufacturer, the vacuum that this miniature vacuum pump can provide is 0.05Mpa, so there are:

P=0.01043Mpa≤0.05Mpa

Therefore, in the present invention, the selected micro-vacuum pump and vacuum chuck can theoretically meet the suction requirements required by the design. Vacuum suction cup 92 is made of polyurethane rubber with a hardness of about 45 degrees Shore. It has high elasticity, excellent wear resistance, tear resistance, appropriate hardness characteristics and good air permeability. In addition, it also has medium oil resistance and resistance Oxygen and ozone aging resistance, low odor, good anti-skid performance, meet the requirements of indoor environment and have a long service life.

Preferably, the bracket 6 includes a longitudinal beam 61 and a foot cup 62 which is capable of contacting the ground simultaneously with the adsorption assembly and is fixed to the longitudinal beam 61 . The foot cup 62 is used to provide support for the walking device when the suction mechanism 9 breaks away from the ground. The bracket 6 includes a longitudinal beam 61 , a beam, and a foot cup 62 . Longitudinal beam 61 is made up of European standard R profile. The bottom of the European standard R profile is provided with foot cups 62 . The foot cup 62 is fastened to the European standard R profile by bolts. The foot cup 62 mainly contacts the ground when the driving mechanism 7 is lifted by the lifting mechanism 8, thereby supporting the walking device.

Preferably, the drive mechanism 7 includes a drive motor 74 . As shown in FIG. 11 , the output rotational speed of the drive motor 74 is controlled by the intelligent controller 10 . The intelligent controller 10 communicates with the behavior recognition unit 11 and the position recognition unit 12 respectively. The behavior recognition unit 11 is mainly used for monitoring the moving speed of the user and the position of the center of gravity of the user. The behavior recognition unit 11 can be integrated in the intelligent controller 10 . The smart controller 10 can be made as a portable device, such as a smart bracelet, a smart phone, a smart watch and the like. The position identification unit 12 is mainly used to measure the distance between the user and the walking device, and to identify the distance between the auxiliary pole and the walking device. The drive motor 74 can adjust the output rotational speed according to at least one behavior characteristic of the user. On the one hand, the walking device can be used as an accompanying platform, which can move at a safe distance from the user. Safety distance means: the accompanying platform can move to the user's nearby position within a short time after the user falls down, for example, the short time can be 5s~30s, such as 10s. On the other hand, after the user falls down, the driving motor 74 needs to increase its rotational speed, which drives the supporting device to move to the nearby device of the user at a faster speed. As another embodiment, the image recognition camera is used to track the feature points on the user's body, and according to the position of the characteristic pixels in the image, the amount that the platform needs to rotate is calculated, so as to calculate the amount of differential speed between the two wheels, and through the image Identify the ranging function of the camera and calculate the distance between the platform and the user. Based on the PID algorithm, at any pace of the user, the platform keeps a constant distance to follow the user, and try to keep the platform from falling when the user falls. near the user.

Preferably, the lifting mechanism 8 includes an electric push rod 81 . The lifting displacement of the electric push rod 81 is controlled by the intelligent controller 10 . When the drive motor 74 is still in the rotating state, the intelligent controller 10 maintains a non-communication state with the electric push rod 81 so that the electric push rod 81 cannot be lifted, so as to ensure that the drive mechanism 7 can walk normally. When and only when the driving motor 74 is in the stopped state, the intelligent control 10 and the electric push rod 81 maintain a communication state, and at this moment, the electric push rod 81 can perform the action of lifting the drive mechanism 7 . The electric push rod 81 maintains a uniform speed to promote the lifting mechanism, reducing the impact load on the foot cup 62 .

Preferably, the adsorption mechanism 9 comprises a vacuum pump. The vacuum degree of the vacuum pump 91 is controlled by the intelligent controller 10 . After the electric push rod 81 makes the action of lifting the drive mechanism 7 and after the electric push rod 81 stops moving, the vacuum pump 91 starts to operate to reduce the pressure in the adsorption assembly, so that the adsorption assembly can be pressed to the ground based on atmospheric pressure, thereby This enables the running gear to be fixedly held on the ground.

In the present invention, preferably, an electromagnet for absorbing the crutches is also installed on the platform. ①If the crutches are at your side, you can first move the walking device to the side of the old man through the control, lift the second support plate with wheels through the push rod motor, so that the foot cups touch the ground, and then the old man can adjust his posture and insert the crutches into the blind. In the catheter, the micro-vacuum pump is turned on by control at this time, and the platform is adsorbed on the ground through the suction cup. At this time, the crutches form a stable column form, and the old man can use this to stand up again. ②If the crutches fly out when you fall down, that is, if the crutches are not with you, first use the bracelet to control the platform to move to the vicinity of the crutches, and then use the magnets on the side to pick up the crutches and transport them to the side of the old man. At this time, the old man can pass Re-stand as described in ①, can also be achieved through the open pole structure of the crutch itself. Preferably, there is a conduit hole 84 in the space. The guide hole 84 is provided in such a way that the user can put the auxiliary rod therein in the non-standing state. The auxiliary pole can be a crutch. During the normal walking process of the elderly, the crutches are not inserted in the blind catheter, and the walking device and the crutches are temporarily irrelevant. Only when the elderly need to stand up again after falling down, the elderly need to insert the crutches into the blind catheter to form a column to help The old man struggled to get up from the ground. The blind catheter is a long tube with a special shape, which has the same shape as the end of the crutch, so as to prevent the crutch from rotating. The crutch and the blind catheter itself fit in a small gap. In order to facilitate the introduction, there is a horn-shaped The guide port is convenient for the elderly with poor eyesight to align and insert crutches. Since the height of the mobile device itself is not high, the old man only needs to slightly adjust his posture to insert the crutches into the long catheter after falling. As shown in FIG. 5 , a blind catheter 52 is arranged in the center of the housing 5 , and the cross-sectional shape of the lumen of the blind catheter 52 is exactly the same as that of the base of the crutch. As shown in FIG. 3 , the center of the first support plate 82 is provided with a conduit hole 84 that is exactly the same in shape and size as the cross-sectional outline of the shell blind conduit.

Preferably, the adsorption tube of the adsorption mechanism 9 can communicate with the adsorption mechanism in such a way that it is not disturbed by the longitudinal movement of the drive mechanism. The installation position of the adsorption tube is not within the moving range of the lifting mechanism, the driving mechanism rises at a distance of 5-10cm, and a large part of the adsorption pipe is left, and the adsorption pipe is flexible, so there will be no interference.

Preferably, the lift mechanism 8 comprises a lift generator. The lifting generator can be an electric push rod 81 or a hydraulic push rod. The lifting generator is fixed on the first support plate 82 in such a way that the driving mechanism 7 can move along the longitudinal direction of the bracket 6 . For example, the lifting mechanism 8 includes an electric push rod, a first support plate, and an end face connecting plate of the electric push rod. The electric push rod is arranged on the upper part of the second support plate, and the base fixing piece of the electric push rod is connected with the second support plate by bolts. The first support plate is arranged above the second-layer cross beam, and the first support plate and the second-layer cross beam are fastened and connected by bolts. The end face connection plate of the electric push rod is arranged above the first support plate, and the end face connection plate of the electric push rod is fastened to the first support plate through bolts. The push rod of the electric push rod is fastened to the connecting plate of the end face of the electric push rod through bolts.

Preferably, the lifting mechanism 8 is connected with the driving mechanism 7 through a second support plate 72 capable of moving along the longitudinal direction of the bracket 6 . The driving mechanism 7 includes a second support plate 73 , a universal wheel 71 , a driving motor 74 , a motor bracket, and a rear wheel 72 . The second support plate 73 is disposed below the third-layer crossbeam 65 , and the second support plate 73 and the third-layer crossbeam 65 are fastened and connected by bolts. The universal wheel 71 is arranged at the front end below the second support plate 73 , and the connecting plate of the universal wheel 71 is connected to the second support plate 73 by bolts. The motor bracket is arranged at the rear end below the second support plate 73 , and the motor support and the second support plate 73 are fastened and connected by bolts. The driving motor 74 is firmly connected with the motor bracket through a pin shaft. The rear wheel 72 is tightly connected with the drive motor 74 through a pin shaft.

Example 2

This embodiment may be a further improvement and/or supplement to Embodiment 1, and repeated content will not be repeated here. In the case of no conflict or contradiction, the whole and/or part of the content of the preferred implementations of other embodiments may serve as supplements to this embodiment.

This embodiment provides an accompanying platform, as shown in FIG. 2 , including a bracket 6 , a driving mechanism 7 , a lifting mechanism 8 and an adsorption mechanism 9 .

As shown in FIG. 2 , the driving mechanism 7 includes a second support plate 73 , a universal wheel 71 , a driving motor 74 , a motor bracket, and a rear wheel 72 . The universal wheel 71 is disposed at the front end below the second support plate 73 . And the connecting plate of the universal wheel 71 is fastened with the second support plate 73 by bolts. The motor bracket is arranged at the rear end below the second support plate 73 . And the motor bracket is fastened to the second support plate 73 through bolts. The driving motor 74 is firmly connected with the motor bracket through a pin shaft. The rear wheel 72 is connected with the drive motor 74 through a pin shaft, so that the rear wheel 72 rotates when the drive motor 74 rotates. The second support plate 73 is disposed below the third-layer crossbeam 65 , and the second support plate 73 and the third-layer crossbeam 65 are fastened and connected by bolts.

Specifically, as shown in FIG. 3 , the bracket 6 includes a longitudinal beam 61 , a cross beam, and a foot cup 62 . Longitudinal beam 61 is made up of European standard R profile. The bottom of the European standard R profile is provided with foot cups 62 . The foot cup 62 is fastened to the European standard R profile by bolts. The foot cup 62 mainly contacts the ground when the driving mechanism is lifted by the lifting mechanism, thereby supporting the walking device. The crossbeams include a first-floor crossbeam 63 , a second-floor crossbeam 64 , a third-floor crossbeam 65 and a fourth-floor crossbeam 66 . The first layer of beams 63 includes the first layer of square European standard profiles and corner codes. The first layer of beams 63 is arranged on the side of the longitudinal beam 61, and the first layer of square European standard profiles and European standard R profiles are fastened and connected by corner codes. . The second layer of beams 64 is arranged below the first layer of beams 63, the second layer of beams 64 includes the second layer of square European standard profiles, corner codes, the second layer of beams 64 is arranged on the side of the longitudinal beam 61, and the second layer The square European standard profile and the European standard R profile are fastened and connected by corner codes. The third layer beam 65 is arranged below the second layer beam 64, and the third layer beam 65 includes a third layer of square European standard profiles and corner groove connectors. The third horizontal beam 65 is movably disposed on the side of the longitudinal beam 61 . And the third layer of square European standard profiles is firmly connected by corner groove connectors. The fourth layer beam 66 is disposed below the third layer beam 65 . The fourth-layer crossbeam 66 includes a fourth-layer square European-standard profile and corner slot connectors, and the fourth-layer square European-standard profile and European-standard R-profile are fixedly connected through corner slot connectors.

As shown in FIG. 4 , the lifting mechanism 8 includes an electric push rod 81 , a first support plate 82 , and an end face connecting plate 83 of the electric push rod. The lifting generator can be an electric push rod 81 . The electric push rod 81 is arranged on the upper part of the second support plate 73 , and the base fixing piece of the electric push rod 81 is fastened to the second support plate 73 by bolts. The first support plate 82 is disposed above the second-layer cross beam 64 , and the first support plate 82 and the second-layer cross beam 64 are fastened and connected by bolts. The end face connecting plate 83 of the electric push rod is arranged above the first support plate 82 . Moreover, the connecting plate 83 on the end surface of the electric push rod is fastened to the first support plate 82 through bolts. The push rod of the electric push rod 81 is connected with the connecting plate 83 on the end face of the electric push rod by bolts.

As shown in FIG. 4 , the adsorption mechanism 9 includes a miniature vacuum pump 91 , a vacuum pump bracket, a vacuum chuck 92 , a hardware fixing block 93 , an air pipe 95 , and a four-way quick connector 94 . The vacuum pump bracket is disposed above the first support plate 82 . The suction component may be a vacuum chuck 92 . And the vacuum pump bracket is fastened to the first support plate 82 through bolts. The vacuum suction cup 92 and the hardware fixing block 93 are arranged on the outer side of the fourth-layer beam 66 . And the fixing block 93 of the hardware is fastened and connected with the crossbeam 66 of the fourth layer by bolts. One end of the air pipe 95 is airtightly connected with the vacuum chuck 92, and the other end is airtightly connected with the four-way quick joint 94, and the other port of the four-way quick joint 94 is airtightly connected with the micro vacuum pump 91 through the air pipe 95.

The specific implementation process is as follows, as shown in Figure 4 in the normal state, specifically, as shown in Figure 6, at this time, the push rod of the electric push rod 81 is in the extended state, the universal wheel 71 and the rear wheel 72 are in contact with the ground, The foot cup 62 and the vacuum suction cup 92 leave the ground, and the distance from the ground is 10-15mm. The distance between the lower surface of the blind conduit 52 and the second support plate 73 is 5-10 cm. The accompanying platform device can move freely on the ground like this.

In conjunction with shown in Figure 8, when the elderly accidentally fell down, at this moment, the push rod of the electric push rod 81 shrinks, and the third layer of crossbeam 65, the second support plate 73, the universal wheel 71, and the rear wheel 72 follow the electric push rod. The shrinkage of the push rod 81 push rod moves upwards along the longitudinal beam 61, so that the universal wheel 71 and the rear wheel 72 leave the ground, and the distance from the ground is 5-10 cm. Foot cup 62, vacuum suction cup 92 are in contact with the ground. The miniature vacuum pump 91 works so that the vacuum chuck 92 is tightly adsorbed on the ground. Elderly people who have fallen can insert crutches into the blind catheter 52, so that the crutches and the accompanying platform device form a solid column that is adsorbed on the ground, so that the elderly who have fallen can stand up safely with the help of the column. As shown in Figure 9, when the crutches are far away from the elderly person who has fallen, the accompanying platform device can use magnets to attract the ferromagnetic metal sheet on the crutch rod to pick up the crutches to the elderly person after the fall, so as to facilitate the fall The latter elderly people stand up independently with the aid of crutches and accompanying platform devices.

Of course it is easy to understand that after the elderly stand up, crutches are taken out from the accompanying platform device, the miniature vacuum pump 91 stops working, the push rod of the electric push rod 81 stretches out, and the universal wheel 71 and the rear wheel 72 contact the ground. The foot cup 62 and the vacuum suction cup 92 leave the ground, and the distance from the ground is 10-15mm. In this way, the elderly who have fallen can return to a normal walking state, and assist the elderly to stand after falling.

Example 3

This embodiment may be a further improvement and/or supplement to Embodiment 1, 2 or their combination, and repeated content will not be repeated. This embodiment discloses that the whole and/or part of the preferred implementation manners of other embodiments may be used as a supplement to this embodiment under the condition that no conflict or contradiction is caused.

When the elderly go out for activities, due to limited physical strength, they often need to stop and rest during walking. At this time, the push rod of the electric push rod 81 shrinks, and the third layer of beam 65 , the second support plate 73 , the universal wheel 71 , and the rear wheel 72 translate upward along the longitudinal beam 61 along with the shrinkage of the electric push rod 81 . Universal wheel 71, trailing wheel 72 leave ground like this, and the distance with ground is 5～10cm. Foot cup 62, vacuum suction cup 92 are in contact with the ground. The miniature vacuum pump 91 works so that the vacuum chuck 92 is tightly adsorbed on the ground. In this way, the elderly can sit on the accompanying platform device and have a rest, realizing the function of providing seats for the elderly anytime and anywhere.

It should be noted that the above specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the scope of the disclosure of the present invention and fall within the scope of this disclosure. within the scope of protection of the invention. Those skilled in the art should understand that the description and drawings of the present invention are illustrative rather than limiting to the claims. The protection scope of the present invention is defined by the claims and their equivalents.

The description of the present invention contains a number of inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally" all indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to propose a division based on each inventive concept right to apply.

Claims (4)

1. A walking device for assisting a user in standing, comprising:

a support (6), and

a driving mechanism (7) which is provided to the stand (6) so as to be able to contact the ground and which enables the stand (6) to move, and which follows or stops the walking device so as to keep a certain safe distance from the user before the user falls down,

it is characterized in that the preparation method is characterized in that,

the support (6) defines at least one space for arranging a lifting mechanism (8), the lifting mechanism (8) can enable the driving mechanism (7) to be separated from the ground when the lifting mechanism (8) is in a contraction state, and the support (6) is kept fixed relative to the ground under the condition that a suction component of a suction mechanism (9) is sucked on the ground based on a vacuum suction manner so as to assist a user to stand,

the bracket (6) comprises a longitudinal beam (61) and a foot cup (62) which can be simultaneously contacted with the adsorption component on the ground and is fixed on the longitudinal beam (61), the foot cup (62) is used for providing support for the walking device when the adsorption mechanism (9) is separated from the ground,

a conduit hole (84) is formed in the space, and the conduit hole (84) is arranged in a manner that the auxiliary rod can be placed into the conduit hole by the user in a non-standing state;

the drive mechanism (7) comprises a drive motor (74), the drive motor (74) being capable of adjusting the output rotational speed in accordance with at least one behavioral characteristic of a user to enable the walking device to move in a manner that maintains a safe distance from the user;

the output rotating speed of the driving motor (74) is controlled by an intelligent controller (10), the intelligent controller (10) is respectively in communication connection with a behavior recognition unit (11) and a position recognition unit (12), the behavior recognition unit (11) is used for monitoring the moving speed of a user and the gravity center position of the user, and the position recognition unit (12) is used for measuring the distance between the user and the walking device and recognizing the distance between the auxiliary rod and the walking device;

wherein, safe distance means: the following platform can track the characteristic points on the body of a user through the image recognition camera, the amount of the platform required to rotate is calculated according to the position of the characteristic pixel in the image, so that the amount of the two-wheel differential speed is calculated, the distance between the platform and the user is calculated through the distance measurement function of the image recognition camera, and the platform keeps a constant distance to follow the user at any pace based on a PID algorithm;

when the driving mechanism (7) is in contact with the ground surface based on the thrust of the lifting mechanism (8), the adsorption component is suspended based on the interaction force generated by the contact of the driving mechanism (7) and the ground surface;

the adsorption assembly fixes the walking device on the ground relative to the adsorption assembly in a vacuum suction mode when the user stands on the basis of the walking device and the walking device does not topple;

the adsorption tube of the adsorption mechanism (9) can be communicated with the adsorption mechanism in a mode that the adsorption tube is not interfered by the longitudinal movement of the driving mechanism;

the lifting mechanism (8) comprises an electric push rod (81), the lifting displacement of the electric push rod (81) is controlled by the intelligent controller (10), and when the driving motor (74) is still in a rotating state, the intelligent controller (10) and the electric push rod (81) are in a non-communication state so that the electric push rod (81) cannot lift and ensure that the driving mechanism (7) can normally walk; when and only when the driving motor (74) is in a stop state, the intelligent controller (10) and the electric push rod (81) are in a communication state, and at the moment, the electric push rod (81) can execute the action of the lifting driving mechanism (7);

wherein the auxiliary stick is a crutch (430), and the suction component is a vacuum cup (92);

if the crutch (430) is positioned at the user, the walking device is moved to the user by control, the second support plate provided with the wheels is lifted by the push rod motor, so that the foot cup is contacted with the ground, then the user adjusts the posture, the crutch (430) is inserted into the blind conduit (52), the micro vacuum pump is started by control, the platform is adsorbed on the ground by the vacuum chuck (92), the crutch (430) forms a stable upright column form, and the user stands again by exerting force;

if the crutch (430) flies out when falling down, namely the crutch (430) is not beside the user, firstly the platform is moved to the position near the crutch (430) through the control of the bracelet, the crutch (430) is sucked up and conveyed to the side of the user through the magnet on the side, in the normal walking process of the user, the crutch (430) is not inserted into the blind conduit (52), the walking device is temporarily unrelated to the crutch (430), and only when the user falls down and needs to stand again, the user needs to insert the crutch (430) into the blind conduit to form a stand column to help the user to climb up from the ground.

2. Walking device according to claim 1, wherein the lifting mechanism (8) comprises a lifting generator which is fixed to the first support plate (82) in such a way that it enables the driving mechanism (7) to move in the longitudinal direction of the support (6).

3. Running gear according to claim 2, characterized in that the lifting mechanism (8) is connected to the drive mechanism (7) via a second brace (72) which is movable in the longitudinal direction of the carriage (6).

4. The running gear according to claim 1, characterized in that the lifting mechanism (8) and the suction mechanism (9) are provided to the carriage (6) in such a manner that the carriage (6) does not topple.

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