Multifunctional mechanical device for assisting elderly people in walking

Abstract

The present invention relates to the technical field of assisting the elderly to walk, and specifically to an assisting elderly walking device based on a multifunctional mechanical device for walking and climbing stairs, comprising a frame, a controller and a power supply being arranged in the frame, a seat being installed on the frame, a wing spreading mechanism being arranged in the frame, the wing spreading mechanism being located below the seat, rotating mechanisms being arranged on both sides of the frame, and a lifting mechanism being arranged on the rear side of the frame. The device has a unique structure and is easy to use. Through the mutual cooperation between the wing spreading mechanism, the lifting mechanism and the rotating mechanism, the device can facilitate the travel of the elderly and the disabled, and can also help the elderly to climb stairs or steps, etc. The device has strong environmental adaptability, high stability and safety, and effectively solves the problems of travel and climbing stairs for people with limited mobility.

Description

[0001] The present invention relates to the technical field of assisting the elderly in walking, and in particular to an elderly-assisting walking device based on a multifunctional mechanical device for walking and climbing stairs.

[0002] As the elderly age, they are more likely to experience a decline in physiological functions, such as osteoporosis and decreased physical strength, which leads to mobility problems and difficulty in traveling. This has led to an increasing demand for assistive mobility tools among the elderly and disabled. These people constitute a large group of people in need of wheelchairs, making the role of wheelchairs in the lives of the elderly and disabled more and more important. Wheelchairs have become their only means of transportation. In the field of elderly care and disability wheelchairs, wheelchairs that assist the elderly or disabled in traveling have high design requirements in terms of safety and functionality. However, most people in China today still live in multi-story buildings without elevators, and they rely on stairs to go up and down the stairs. The existing wheelchairs do not have the function of climbing stairs and have a single function, which to a certain extent restricts the range of movement of the wheelchair. Although wheelchairs with the function of climbing stairs have been developed by relevant manufacturers, the problem of wheelchairs climbing stairs can be solved by using star-wheel or track-type wheelchairs. However, when using a star-wheel wheelchair, human assistance is required for pushing and pulling, the movement is not smooth, and the impact force is large, resulting in poor stability and low safety factor. When using a track-type wheelchair, human power is required to push the wheelchair to the stairs, and the movement of the track is controlled by the motor. The track-type wheelchair is large and bulky, expensive, and cumbersome to operate, which is not conducive to use by the elderly or disabled.

[0003] In view of the defects and problems mentioned above, the present invention provides a walking device for the elderly based on a multifunctional mechanical device. It has a unique structure and is easy to use. Through the cooperation between the wing spreading mechanism, the lifting mechanism and the rotating mechanism, it can facilitate the travel of the elderly and the disabled, and can also help the elderly climb stairs or steps. It has strong environmental adaptability, high stability and safety, and effectively solves the problems of travel and climbing stairs for people with limited mobility.

[0004] The solution adopted by the present invention to solve its technical problem is: a walking device for the elderly based on a multifunctional mechanical device, including a frame, the frame is a hollow structure, a seat is arranged on the frame, a power supply and a controller are arranged under the seat, the power supply and the controller are respectively fixedly connected to the frame, and also includes a wing spreading mechanism, a rotating mechanism, a lifting mechanism, a steering fixed seat, a connecting block and an information collection component, the steering fixed seat is arranged on both sides of the frame, and the steering fixed seat is fixedly connected to the frame; the wing spreading mechanism is arranged in the frame, and the wing spreading mechanism is located under the seat, and the wing spreading mechanism includes a front wheel frame, a fixed seat, a V-shaped articulated frame and a moving component, A moving wheel is provided at the bottom of the front wheel frame, and the moving wheel is fixedly installed on the front wheel frame through a wheel axle. A first motor is provided on the front wheel frame, and an output shaft of the first motor is transmission-connected to the wheel axle. Rotating rods are provided at both ends of the front wheel frame, and the rotating rods at both ends of the front wheel frame are rotatably sleeved in the first axle seat, and the first axle seat is fixed on a fixed seat, and the fixed seat is fixed on both side walls inside the frame. The moving component includes a screw frame provided above the front wheel frame, and the inner end of the screw frame is fixedly connected to the inner rear wall of the frame, and a second motor is provided at the outer end of the screw frame. The information collection component is provided at the top of the outer end of the screw frame, and a transverse The screw rod is a lateral screw rod, and the lateral screw rod is rotatably mounted in the screw rod frame. The lateral screw rod is mounted with a first movable screw block, and the outer end of the lateral screw rod extends out of the screw frame. The output shaft of the second motor is transmission-connected to the outer end of the lateral screw rod. The V-shaped articulated frame is arranged between the screw frame and the front wheel frame. The top and bottom ends of the V-shaped articulated frame are respectively articulated with the first movable screw block and the front wheel frame; the rotating mechanism is arranged on both sides of the frame, and the rotating mechanism includes a middle wheel frame, a steering gear and a driving assembly. The middle wheel frame is arranged on the outside of the steering fixed seat, and a movable wheel is arranged at the bottom of the middle wheel frame. The movable wheel is fixedly mounted on the middle wheel frame through a wheel axle, and a A third motor is provided, the output shaft of the third motor is drivingly connected to the wheel axle at the bottom of the middle wheel frame, the steering gear is arranged on the inner side of the top of the middle wheel frame, and the steering gear is fixedly connected to the middle wheel frame, an annular boss is provided on the inner axis of the steering gear, a through hole corresponding to the annular boss is provided on the steering fixed seat, the steering gear is rotatably fitted with the steering fixed seat through the annular boss, the driving assembly is arranged above the steering fixed seat, the driving assembly includes a driving motor and a driving wheel, the driving motor is fixedly connected to the outer side wall of the frame through a connecting block, the driving wheel is fixed on the output shaft of the driving motor, and the driving wheel is meshed with the steering gear;The lifting mechanism is arranged at the rear side of the frame, and the lifting mechanism includes two rear wheel frames arranged in parallel, and the two rear wheel frames are connected as a whole by a cross bar, and a moving wheel is arranged at the bottom of the rear wheel frame, and the moving wheel is fixedly installed on the rear wheel frame through a wheel axle, and a fifth motor is arranged on the rear wheel frame, and the output shaft of the fifth motor is connected to the wheel axle at the bottom of the rear wheel frame by transmission, and a fourth motor is arranged on the top of the rear wheel frame, and a vertical screw rod is mounted on the rear wheel frame for vertical rotation, and a second moving screw block is mounted on the vertical screw rod, and the second moving screw block is fixedly connected to the rear side wall of the frame, and the top end of the vertical screw rod extends out of the rear wheel frame, and the output shaft of the fourth motor is connected to the top end of the vertical screw rod by transmission, and an operating switch is arranged on the front side of the frame. ;

[0005] Furthermore, the transmission connection is gear transmission or chain transmission.

[0006] Furthermore, an articulated seat is provided at the top center of the front wheel frame, and the bottom end of the V-shaped articulated frame is articulated to the articulated seat.

[0007] Furthermore, it also includes a second shaft seat, the output shaft of the driving motor is rotatably mounted in the second shaft seat, and the second shaft seat is fixedly connected to the outer side wall of the frame through a connecting block.

[0008] Furthermore, the rotating fixing seat is fixedly connected to the outer side wall of the frame through a connecting block.

[0009] Furthermore, it also includes a connecting plate, which is arranged on the outside of the steering gear, the connecting plate is fixedly connected to the steering gear, and the inner side of the top of the middle wheel frame is fixedly connected to the connecting plate.

[0010] Furthermore, the information collection component includes an ultrasonic sensor device and a camera monitoring device, and the ultrasonic sensor device and the camera monitoring device are electrically connected to the controller respectively.

[0011] Furthermore, the controller is a single chip microcomputer.

[0012] Furthermore, the fourth motors on the top of the two rear wheel frames in the lifting mechanism operate synchronously.

[0013] Furthermore, the moving wheels at the bottom of the front wheel frame are smaller than the moving wheels at the bottom of the middle wheel frame and the rear wheel frame.

[0014] Beneficial effects of the present invention:

[0015] First, the structure is unique and easy to use. The mutual cooperation of the wing mechanism, the lifting mechanism and the rotating mechanism can not only facilitate the normal travel of the elderly or the disabled, but also help them go up stairs or steps. The movement is smooth and the stability is high. The safety of the wheelchair is improved. The operation is simple, which helps the elderly go up stairs and go out, and improves the freedom of movement of the elderly. When the user uses the device on a flat road, the single-chip microcomputer can automatically adjust the tires in each mechanism to the same level under the action of the ultrasonic detection device to improve the stability of the device. When the ultrasonic detection device detects an obstacle or danger ahead, the single-chip microcomputer is mainly based on the actual operation of the user. If the user does not perform relevant operations, the single-chip microcomputer will control the wheelchair to reduce the speed, and will stop the device when necessary to ensure the safety of the user. When the user uses the device on multiple sections, the single-chip microcomputer can flexibly control each mechanism under the action of the ultrasonic detection device, so that the tires in each mechanism are fully in contact with the ground, ensuring the stability of the device, having strong environmental adaptability, and increasing the stability and safety of the device. At the same time, the operation of the device is relatively simple and safe, which is conducive to the use of the elderly.

[0016] Second, when the device detects the stair steps through the ultrasonic detection device, under the action of the second motor, the cooperation of the transverse screw and the first moving screw block can push the front wheel frame to lift the front wheel frame. When the front wheel frame moves above the step, the cooperation of the transverse screw and the first moving screw block lowers the front wheel frame. When the front wheel frame is lowered, the moving wheel at the bottom contacts the step surface, and the front half of the entire frame is raised during the lowering process, and the device becomes inclined. Then the driving motor starts to drive the driving wheel, and the middle wheel frame is swung forward through the meshing movement of the driving wheel and the steering gear, until the moving wheel at the bottom of the middle wheel frame is on the same step surface as the moving wheel at the bottom of the front wheel frame. The entire frame is powered forward by the fifth motor in the rear wheel frame and moves forward a certain distance, so that the rear wheel frame moves to the side of the first step, and the rear wheel frame serves as the center of gravity support point, and then the fourth motor The first motor is started, and the second moving screw block moves upward on the vertical screw rod, thereby driving the entire frame to be lifted, and the device changes from an inclined state to a horizontal state. After the device becomes horizontal, the first motor at the bottom of the front wheel frame and the third motor at the bottom of the middle wheel frame provide the device with forward power, so that the front wheel frame and the middle wheel frame become the center of gravity support points. Then the fourth motor is started, and the vertical screw rod moves upward in the second moving screw block, thereby retracting the rear wheel frame upward. The front wheel frame and the middle wheel frame provide forward power to move forward, so that the moving wheels at the bottom of the front wheel frame, the middle wheel frame and the rear wheel frame are on the same step surface, completing the first stair climbing stage, repeating the above process so that the entire device can realize the function of climbing stairs. After the front wheel frame and the middle wheel frame become the center of gravity support points, it can avoid the situation where the entire device may lose balance when climbing stairs, and the device can also be used on the steps of a flyover or a park.

[0017] Thirdly, it has high stability. The six-wheel design has a solid structure and a large load-bearing capacity. The front wheel frame drives the moving wheels at the bottom of the front wheel frame to rotate through the first motor, which can ensure the grip of the moving wheels at the bottom of the front wheel frame. The moving wheels at the bottom of the front wheel frame adopt a 2+2 4-wheel method, which effectively prevents the moving wheels at the bottom of the front wheel frame from idling, so that it can work effectively. The second motor can rotate the transverse screw in the screw frame, so that the first moving screw block moves back and forth on the transverse screw, thereby allowing the first moving screw block to drive the front wheel frame to rise and fall through the V-shaped articulated frame.

[0018] Fourth, it has strong adaptability. For stairs or steps of different heights, the height of the lifting mechanism can be changed through the pre-set operating program of the single-chip microcomputer. Through the mutual cooperation of the lifting mechanism, the wing-spreading mechanism and the rotating mechanism, the climbing of stairs or steps of different heights can be completed. It is flexible to use and also ensures the smooth and effective operation of the device. The bottom of the rear wheel frame in the lifting mechanism adopts a four-wheel setting, which further ensures the stability of the device. When the device goes up the stairs or steps, the rear wheel frame provides a fulcrum support for the overall frame to raise its height.

[0019] Fifth, a third motor is provided in the middle wheel frames on both sides of the frame. Through dual motor control, the device can be turned and stopped immediately. The third motor in the middle wheel frames on both sides of the frame can rotate forward on one side and reverse on the other side to achieve the steering of the forward direction of the device. The third motor in the middle wheel frame is controlled by an operating switch, which is simple to operate. Through the combination of electromechanics, the automation of manning people upstairs is realized, saving manpower.

[0020] Sixth, through the camera monitoring device, real-time images and videos can be provided to the user's relatives, so that the user's relatives can grasp the user's dynamics in real time, further improving the user's safety factor.

[0021] Seventh, the seat is rotatably assembled with the third axle seat on the inner wall of the frame through the shafts on both sides, and the center of gravity of the seat can be downward under the action of the counterweight block under the seat. When the frame is in an inclined state when climbing stairs, the center of gravity of the seat remains downward under the action of the counterweight block, and through the cooperation of the shaft and the third axle seat, the frame will not drive the seat when it is in an inclined state, and the seat can remain in a horizontal state, thereby ensuring the safety of the user and avoiding the situation where the center of gravity of the seat changes with the center of gravity of the tilted device, and the user will tilt along with the device when on the seat, and the limit block and the limit shell can also limit the movement of the counterweight block.

[0022] Figure 1 One of the structural schematic diagrams of the present invention.

[0023] Figure 2 This is the second structural schematic diagram of the present invention.

[0024] Figure 3 This is the third structural schematic diagram of the present invention.

[0025] Figure 4 This is the fourth structural schematic diagram of the present invention.

[0026] Figure 5 A schematic diagram of the rack structure.

[0027] Figure 6 This is one of the schematic diagrams of the rotating mechanism structure.

[0028] Figure 7 This is the second schematic diagram of the rotating mechanism structure.

[0029] Figure 8 This is the third schematic diagram of the rotating mechanism structure.

[0030] Fig. 9 This is the fourth schematic diagram of the rotating mechanism structure.

[0031] Fig.10 This is the fifth schematic diagram of the rotating mechanism structure.

[0032] Fig.11 This is the sixth schematic diagram of the rotating mechanism structure.

[0033] Fig.12 A schematic diagram of the drive component structure.

[0034] Fig.13 This is one of the schematic diagrams of the lifting mechanism structure.

[0035] Fig.14 This is one of the schematic diagrams of the lifting mechanism structure.

[0036] Fig.15 This is the second schematic diagram of the lifting mechanism structure.

[0037] Fig.16 This is one of the schematic diagrams of the wing-spreading mechanism structure.

[0038] Fig.17 The second schematic diagram of the wing-spreading mechanism structure.

[0039] Fig.18 Schematic diagram of the wing-spreading mechanism structure (part 3).

[0040] Fig.19 Schematic diagram of the wing-spreading mechanism structure No. 4.

[0041] Fig. 20 Schematic diagram of the wing-spreading mechanism structure No. 5.

[0042] Fig.21 This is another structural schematic diagram of the present invention.

[0043] Fig. 22 This is another structural schematic diagram of the present invention.

[0044] Fig.23 This is another structural schematic diagram of the present invention.

[0045] In the figure: 1-frame, 2-drive assembly, 201-drive motor, 202-driving wheel, 3-rotating mechanism, 301-middle wheel frame, 302-steering gear, 303-connecting plate, 304-third motor, 305-annular boss, 4-wing spreading mechanism, 401-front wheel frame, 402-fixed seat, 403-first motor, 404-second motor, 405-rotating rod, 406-screw frame, 407-lateral screw, 408-V-shaped articulated frame, 409-articulated seat, 410-first moving screw block, 5-lifting Mechanism, 501-rear wheel frame, 502-fourth motor, 503-fifth motor, 504-vertical screw, 505-second moving screw, 506-cross bar, 6-seat, 7-operating switch, 8-power supply, 9-single chip microcomputer, 10-connecting block, 11-steering fixed seat, 111-through hole, 12-first axle seat, 13-second axle seat, 14-ultrasonic detection device, 15-camera monitoring device, 16-third axle seat, 17-axle rod, 18-counterweight, 19-flexible rope, 20-limit block, 21-limit shell.

[0046] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0047] Embodiment 1: In the field of wheelchairs for the elderly and the disabled, wheelchairs that assist the elderly or disabled in traveling have high design requirements in terms of safety and functionality. However, most people in China today still live in multi-story buildings without elevators, and go up and down the stairs by stairs. Existing wheelchairs do not have the function of climbing stairs and have a single function, which to a certain extent restricts the range of motion of the wheelchair. Although wheelchairs with stair climbing functions have been developed by relevant manufacturers, they require human assistance in pushing and pulling when used, the movement is unstable, the stability is poor, the safety factor is low, and the operation is cumbersome, which is not conducive to use by the elderly or disabled.

[0048] In view of the above problems, this embodiment provides a walking aid for the elderly based on a multifunctional mechanical device, such as Figure 1-5As shown, it includes a frame 1, which is an open hollow structure. A seat 6 is fixedly installed on the frame 1. A plurality of ventilation holes are evenly provided on the seat 6 to improve the comfort of the user. A power supply 8 and a single-chip computer 9 are provided under the seat 6. The power supply 8 is fixed to the inner side wall on the front side of the frame 1. The single-chip computer 9 is fixed to the inner side wall on one side of the frame 1. An operating switch 7 is installed on the front side of the frame 1. The operating switch 7 is electrically connected to the single-chip computer 9 for control. The power supply 8 is electrically connected to the single-chip computer 9. A wing spreading mechanism 4 is provided in the frame 1. The wing spreading mechanism 4 includes a screw frame 406 provided under the seat 6. The inner end of the screw frame 406 is fixedly connected to the inner rear wall of the frame 1, as shown in FIG. Figure 16-20 As shown, a second motor 404 is installed in the outer end of the screw frame 406, and the second motor 404 is electrically connected to the single-chip microcomputer 9. An ultrasonic detection device 14 and a camera monitoring device 15 are installed on the top of the outer end of the screw frame 406. The ultrasonic detection device 14 and the camera monitoring device 15 are electrically connected to the single-chip microcomputer 9 respectively. The ultrasonic detection device 14 can detect the road condition ahead and send a signal to the single-chip microcomputer 9. The camera monitoring device 15 can provide real-time images and videos to the user's relatives, so that the user's relatives can grasp the user's dynamics in real time, thereby improving The safety factor of the user; a transverse screw 407 is horizontally arranged in the screw frame 406, and a rotating seat is arranged at the inner end and the outer end of the screw frame 406, and the two ends of the transverse screw 407 are rotatably sleeved in the screw frame 406 through the rotating seat, and the outer end of the transverse screw 407 extends out of the screw frame 406, and a gear is fixed on the output shaft of the second motor 404, and a gear is fixed on the outer end of the transverse screw 407 extending out of the screw frame 406, and the gear on the output shaft of the second motor 404 is meshed with the gear on the outer end of the transverse screw 407, and the transverse screw 407 is sleeved on the transverse screw 407 A first moving screw block 410 is installed; a front wheel frame 401 is provided below the screw frame 406, a moving wheel is provided at the bottom of the front wheel frame 401, and the moving wheel is fixedly installed on the front wheel frame 401 through a wheel axle, and a first motor 403 is provided at the bottom of the front wheel frame 401, and the first motor 403 is electrically connected to the single-chip microcomputer 9 control, a gear is fixed on the output shaft of the first motor 403, and a gear is fixed on the wheel axle, and the gear on the output shaft of the first motor 403 is meshed with the gear on the wheel axle, and the first motor 403 can drive the moving wheel at the bottom of the front wheel frame 401 to rotate, which can ensure that the front wheel frame 40 1, and the moving wheels at the bottom of the front wheel frame 401 adopt a 2+2 total 4-wheel mode, which effectively prevents the moving wheels at the bottom of the front wheel frame 401 from idling, so that it can work effectively; rotating rods 405 are fixed at both ends of the top of the front wheel frame 401, and the rotating rods 405 at both ends of the top of the front wheel frame 401 are rotatably sleeved in the first shaft seat 12, and the first shaft seat 12 is fixedly connected to the fixed seat 402, and the fixed seat 402 is fixed on the inner side walls of the frame 1; a V-shaped articulated frame 408 is provided between the screw frame 406 and the front wheel frame 401, such as Fig. 20 As shown, an articulated seat 409 is provided at the top center of the front wheel frame 401, the top of the V-shaped articulated frame 408 is articulated with the first movable screw block 410, and the bottom of the V-shaped articulated frame 408 is articulated with the articulated seat 409; after the second motor 404 is started, the transverse screw 407 can be rotated in the screw frame 406, so that the first movable screw block 410 moves forward and backward on the transverse screw 407, and when the first movable screw block 410 moves backward, it drives the V-shaped articulated frame 408, Under the hinged action of the V-shaped articulated frame 408 and the cooperation between the rotating rod 405 and the first axle seat 12, the front wheel frame 401 is lifted up, and the height of the lifting of the front wheel frame 401 is controlled by the distance that the first movable screw block 410 moves backward; when the first movable screw block 410 moves forward, it drives the V-shaped articulated frame 408, and under the hinged action of the V-shaped articulated frame 408 and the cooperation between the rotating rod 405 and the first axle seat 12, the front wheel frame 401 will be lowered.

[0049] like Figure 5 As shown, a steering fixing seat 11 is provided on both sides of the frame 1, and the steering fixing seat 11 is fixedly connected to the outer side wall of the frame 1 through a connecting block 10, as shown in FIG. Figure 1 As shown, a rotating mechanism 3 is provided on both sides of the frame 1, and the rotating mechanism includes a middle wheel frame 301 arranged outside the steering fixed seat 11, a moving wheel is provided at the bottom of the middle wheel frame 301, and the moving wheel is fixedly installed on the middle wheel frame 301 through a wheel axle, and a third motor 304 is provided at the bottom of the middle wheel frame 301, and the third motor is electrically connected to the single-chip microcomputer 9 control, and a gear is fixed on the output shaft of the third motor 304, and a gear is fixed on the wheel axle at the bottom of the middle wheel frame 301, and the gear on the output shaft of the third motor 304 is connected to the bottom of the middle wheel frame 301 The gears on the wheel axles are meshed with each other, and dual-motor control can be achieved through the third motor 304 in the middle wheel frame 301 on both sides of the frame 1, which can not only provide forward power for the device, but also enable the device to stop and start immediately. The third motor in the middle wheel frame 301 on one side of the frame 1 rotates forward while the third motor in the middle wheel frame 301 on the other side of the frame 1 rotates reversely, so that the forward direction of the device can be turned, and the third motor 304 in the middle wheel frame 301 can be controlled by the single-chip microcomputer 9 by operating the switch 7.

[0050] like Figure 6-11As shown, a steering gear 302 is provided on the inner side of the top of the middle wheel frame 301, a connecting plate 303 is fixed on the outer side of the steering gear 302, the inner side of the top of the middle wheel frame 301 is fixedly connected to the connecting plate 303, an annular boss 305 is provided on the inner axis of the steering gear 302, a through hole 111 corresponding to the annular boss 305 is provided on the steering fixed seat 11, the steering gear 302 is rotatably mounted on the steering fixed seat 11 through the annular boss 305, and a driving assembly 2 is provided above the steering fixed seat 11, the driving assembly 2 includes a driving motor 201, and the driving motor 201 is fixedly connected to the outer side wall of the frame 1 through a connecting block 10, as shown in FIG. Fig.12 As shown, the output shaft of the driving motor 201 is rotatably mounted in the second shaft seat 13, and the second shaft seat 13 is fixedly connected to the outer wall of the frame 1 through the connecting block 10. A driving wheel 202 is fixedly mounted on the output shaft of the driving motor 201. Figure 6-7 As shown, the driving wheel 202 is meshed with the steering gear 302. After the driving motor 201 is started, it drives the driving wheel 202, and the driving wheel 202 and the steering gear 302 perform meshing motion. The steering gear 302 swings forward in the steering fixed seat 11 through the annular boss 305, so that the middle wheel frame 301 swings forward and adjusts the position of the middle wheel frame 301.

[0051] like Figure 3 As shown, a lifting mechanism 5 is provided at the rear side of the frame 1, and the lifting mechanism 5 includes two rear wheel frames 501 arranged in parallel. Figure 13-15As shown, a cross bar 506 is provided on the outer side of the two rear wheel frames 501, and the two rear wheel frames 501 are connected as a whole through the cross bar 506. A moving wheel is provided at the bottom of the rear wheel frame 501, and the moving wheel is fixedly installed on the rear wheel frame 501 through a wheel axle. A fifth motor 503 is provided on the rear wheel frame 501, and the fifth motor 503 is electrically connected to the single-chip microcomputer 9 control. A gear is fixed on the output shaft of the fifth motor 503, and a gear is fixed on the wheel axle at the bottom of the rear wheel frame 501. The gear on the output shaft of the fifth motor 503 is meshed with the gear on the wheel axle at the bottom of the rear wheel frame 501. The fifth motor 503 can drive the moving wheel at the bottom of the rear wheel frame 501 to rotate, thereby providing forward power for the device, and the bottom of the rear wheel frame 501 The mobile wheels also adopt a 2+2 4-wheel mode, which further ensures the stability of the device; a fourth motor 502 is provided on the top of the rear wheel frame 501, and the fourth motor 502 is electrically connected to the single-chip microcomputer 9 control, and the fourth motors 502 on the tops of the two rear wheel frames 501 are synchronously operated, and a vertical screw rod 504 is provided on the inner side of the rear wheel frame 501, and a rotating seat is provided at the top and bottom ends of the inner side of the rear wheel frame 501, and the top and bottom ends of the vertical screw rod 504 are rotatably mounted on the rear wheel frame 501 through the rotating seat, and the top end of the vertical screw rod 504 extends out of the rotating seat at the top end of the inner side of the rear wheel frame 501, and is fixed with a gear, and a gear is fixed on the output shaft of the fourth motor 502, and the gear on the output shaft of the fourth motor 502 is connected to the The gears at the top of the vertical screw rod 504 mesh with each other; a plurality of second moving screw blocks 505 are mounted on the vertical screw rod 504, and the second moving screw block 505 is fixedly connected to the rear side wall of the frame 1; after the fourth motor 502 is started, the second moving screw block 505 can be rotated on the vertical screw rod 504, so that the second moving screw block 505 can move up and down on the vertical screw rod 504. When the second moving screw block 505 moves upward, the frame 1 will be driven to rise by the second moving screw block 505, so that the frame 1 is lifted on the rear wheel frame 501; when the second moving screw block 505 moves downward, the frame 1 will be driven to fall by the second moving screw block 505; when the device goes up stairs or steps, the rear wheel frame 501 serves as the center of gravity support The fourth motor 502 is started to drive the vertical screw 504 to rotate, and the second movable screw block 505 moves upward on the vertical screw 504, thereby driving the frame 1 to be lifted and the device is changed from an inclined state to a horizontal state. After the device becomes horizontal, the first motor 403 at the bottom of the front wheel frame 401 and the third motor 304 at the bottom of the middle wheel frame 301 provide forward power, and the front wheel frame 401 and the middle wheel frame 301 will become the center of gravity support points. Then the fourth motor 502 is started, and the vertical screw 504 will move upward in the second movable screw block 505, so that the rear wheel frame 501 can be folded up.

[0052] When in use, the user can manually control the movement direction and speed of the device by operating the switch 7. The operating switch 7 can send instructions to the single-chip microcomputer 9, and the single-chip microcomputer 9 will control the wing-spreading mechanism 4, the rotating mechanism 3 and the lifting mechanism 5, so that the various mechanisms cooperate with each other, which can not only facilitate the normal travel of the elderly or the disabled and other people with limited mobility, but also help them climb stairs or steps. When the user uses the device, the ultrasonic detection device 14 can detect the walking section. When the ultrasonic detection device 14 detects that the user is traveling on a flat road section, it sends an instruction to the single-chip microcomputer. 9 sends a signal, and after receiving the signal, the single-chip microcomputer 9 automatically adjusts the moving wheels at the bottom of the front wheel frame 401, the middle wheel frame 301 and the rear wheel frame 501 to the same horizontal height to prevent the moving wheels from idling and improve the stability of the device. The user can put down or put away the front wheel frame 401 or the middle wheel frame 301 according to the situation. The user can choose a suitable forward speed according to the flow of people and the situation of the road section. The fifth motor 503 at the bottom of the rear wheel frame 501 is the main power source to provide forward power for the device. The ultrasonic detection device 14 detects an obstacle or When there is danger, a signal will be sent to the single-chip microcomputer 9. After receiving the signal, the single-chip microcomputer 9 will control the fifth motor 503 at the bottom of the rear wheel frame 501 to reduce the speed of the device, and stop the device when necessary to ensure the safety of the user. When the ultrasonic detection device 14 detects that the vehicle is traveling in multiple sections, it will send a signal to the single-chip microcomputer 9. After receiving the signal, the single-chip microcomputer 9 will flexibly control the front wheel frame 401 and the middle wheel frame 301 to reduce the speed of the vehicle. 01 and the moving wheels at the bottom of the rear wheel frame 501 are in full contact with the ground, ensuring the stability of the equipment, having strong environmental adaptability, and increasing the stability and safety of the equipment. At the same time, the operation of the equipment is relatively simple and safe, which is conducive to the use of the elderly. When turning is required, a signal is sent to the single-chip microcomputer 9 through the operation switch, and the single-chip microcomputer 9 will control the third motor 304 in the middle wheel frame 301 on both sides of the frame, so that the third motor in the middle wheel frame 301 on one side rotates forward and the third motor in the middle wheel frame 301 on the other side rotates reversely, thereby realizing the turning of the forward direction of the equipment.

[0053] When it is necessary to go up the stairs or the ultrasonic detection device 14 detects that there are stairs in front, the single chip computer 9 controls the second motor 404, the second motor 404 starts to rotate forward, the first moving screw block 410 moves backward on the horizontal screw rod 407, driving the front wheel frame 401 to lift the front wheel frame 401, and when the front wheel frame 401 moves above the steps, the second motor 404 starts to reverse, the first moving screw block 410 moves forward on the horizontal screw rod 407, driving the front wheel frame 401 to lower the front wheel frame 401, and when the front wheel frame 401 is lowered, the moving wheel at the bottom contacts the step surface, and the front wheel frame 401 is lowered. During the process of lowering 01, the front half of the whole frame is raised, and the device becomes tilted; then the driving motor 201 is started and drives the driving wheel 202, and the middle wheel frame 301 is swung forward through the meshing movement of the driving wheel 202 and the steering gear 302, until the moving wheel at the bottom of the middle wheel frame 301 and the moving wheel at the bottom of the front wheel frame 401 are on the same step surface, and the whole frame is powered by the fifth motor 503 in the rear wheel frame 501 and moves forward a distance, so that the rear wheel frame 501 moves to the side of the first step. At this time, the rear wheel frame 501 serves as the center of gravity support point, and the rear wheel frame The fourth motor 502 at the top of 501 starts to rotate forward, driving the vertical screw rod 504 to rotate, so that the second moving screw block 505 moves upward on the vertical screw rod 504, thereby driving the entire frame to be lifted, and the device changes from an inclined state to a horizontal state. After the device changes to a horizontal state, the first motor 403 at the bottom of the front wheel frame 401 and the third motor 304 at the bottom of the middle wheel frame 301 provide the forward power of the device, so that the front wheel frame 401 and the middle wheel frame 301 become the center of gravity support points, and then the fourth motor 502 starts to rotate forward, driving the vertical screw rod 504 to rotate, so that the vertical The screw rod 504 will move upward in the second moving screw block 505, thereby retracting the rear wheel frame 501 upward, and the front wheel frame 401 and the middle wheel frame 301 provide forward power to move forward, so that the front wheel frame 401, the middle wheel frame 301 and the moving wheels at the bottom of the rear wheel frame 501 are on the same step surface, completing the first stair climbing stage, and repeating the above process allows the entire device to achieve the function of climbing stairs. After the front wheel frame 401 and the middle wheel frame 301 become the center of gravity support points, the overall device can avoid the possibility of losing balance when climbing stairs, and the device can also be used on overpasses or steps in parks.

[0054] Example 2, a walking aid for the elderly based on a multifunctional mechanical device in this embodiment is described centering on the differences from Example 1.

[0055] In this embodiment, the moving wheels at the bottom of the front wheel frame 401 are smaller than the moving wheels at the bottom of the middle wheel frame 301 and the rear wheel frame 501, so that the lifting and lowering of the front wheel frame 401 can be achieved more conveniently.

[0056] Example 3, in this embodiment, a walking aid for the elderly based on a multifunctional mechanical device is described centering on the differences from Example 1.

[0057] In this embodiment, the gear on the first motor output shaft at the bottom of the front wheel frame and the gear on the wheel axle at the bottom of the front wheel frame are driven by chain; the gear on the third motor output shaft at the bottom of the middle wheel frame and the gear on the wheel axle at the bottom of the middle wheel frame are driven by chain; the gear on the fifth motor output shaft at the bottom of the rear wheel frame and the gear on the wheel axle at the bottom of the rear wheel frame are driven by chain. Through the chain drive, the transmission efficiency is improved, the operation of the device is made more stable and reliable, and it can better provide forward power when climbing stairs.

[0058] Example 4, a walking aid for the elderly based on a multifunctional mechanical device in this embodiment is described centering on the differences from Example 1.

[0059] In this embodiment, Figure 21-23 As shown, shafts 17 are fixed on both sides of the seat 6, and third shaft seats 16 are fixedly installed on both side walls of the interior of the frame 1. The shafts 17 on both sides of the seat 6 are rotatably sleeved in the third shaft seats 16. A limit shell 21 is provided at the bottom of the seat 6, and the limit shell 21 is fixedly connected to the seat 6. A flexible rope 19 is provided in the limit shell 21. The top of the flexible rope 19 is fixedly connected to the bottom of the seat 6, and limit blocks 20 are fixed on both sides of the flexible rope 19. A counterweight 18 is fixed to the bottom of the flexible rope 19. Under the action of the counterweight 18 under the seat 6, the center of gravity of the seat 6 can be downward. When the frame 1 is in an inclined state when climbing stairs, the seat 6 is on the counterweight 18. Under the action of , the center of gravity remains downward, and through the cooperation of the shaft rod 17 and the third shaft seat 16, the frame 1 will not drive the seat 6 when it is in a tilted state, and the seat 6 can remain in a horizontal state, avoiding the situation where the center of gravity of the seat 6 changes with the tilt of the frame 1, and the user will tilt with the frame 1 when sitting on the seat 6, thereby ensuring the safety of the user and improving the safety factor of the user. The limit block 20 and the limit shell 21 can also limit the movement of the counterweight block 18. When the user uses the device normally, it can also ensure that the center of gravity of the seat 6 is always downward, so that the seat 6 remains in a horizontal state, making the user's travel safer.

[0060] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A walking aid for the elderly based on a multifunctional mechanical device, comprising a frame, the frame is a hollow structure, a seat is arranged on the frame, a power supply and a controller are arranged under the seat, the power supply and the controller are respectively fixedly connected to the frame, characterized in that: The wing spreading mechanism also includes a wing spreading mechanism, a rotating mechanism, a lifting mechanism, a steering fixed seat, a connecting block and an information collection component. The steering fixed seat is arranged on both sides of the frame, and the steering fixed seat is fixedly connected to the frame; the wing spreading mechanism is arranged in the frame, and the wing spreading mechanism is located under the seat. The wing spreading mechanism includes a front wheel frame, a fixed seat, a V-shaped articulated frame and a moving component. A moving wheel is provided at the bottom of the front wheel frame, and the moving wheel is fixedly installed on the front wheel frame through a wheel axle. A first motor is provided on the front wheel frame, and the output shaft of the first motor is connected to the wheel axle in driving manner. Rotating rods are provided at both ends of the front wheel frame, and the first axle seat is fixed on the fixed seat. The rotating rod is rotatably sleeved in the first shaft seat, and the fixed seat is fixed on the two side walls inside the frame. The moving component includes a screw frame arranged above the front wheel frame, the inner end of the screw frame is fixedly connected to the inner rear wall of the frame, and a second motor is arranged at the outer end of the screw frame. The information collection component is arranged at the top of the outer end of the screw frame, and a transverse screw is horizontally arranged in the screw frame. The transverse screw is rotatably sleeved in the screw frame, and a first moving screw block is sleeved on the transverse screw, and the outer end of the transverse screw extends out of the screw frame. The output shaft of the second motor is transmission-connected to the outer end of the transverse screw, and the V-shaped hinge frame is arranged on the screw frame The top and bottom ends of the V-shaped articulated frame are respectively articulated with the first movable screw block and the front wheel frame, and an articulated seat is provided at the top center of the front wheel frame, and the bottom end of the V-shaped articulated frame is articulated with the articulated seat; the rotating mechanism is arranged on both sides of the frame, and the rotating mechanism includes a middle wheel frame, a steering gear and a driving assembly, the middle wheel frame is arranged on the outside of the steering fixed seat, a moving wheel is provided at the bottom of the middle wheel frame, and the moving wheel is fixedly installed on the middle wheel frame through a wheel axle, a third motor is provided on the middle wheel frame, and the output shaft of the third motor is transmission-connected to the wheel axle at the bottom of the middle wheel frame, the steering gear is arranged on the inner side of the top of the middle wheel frame, and the steering gear is connected to the middle wheel frame The wheel frame is fixedly connected, an annular boss is provided on the inner axis of the steering gear, a through hole corresponding to the annular boss is provided on the steering fixed seat, the steering gear is rotatably mounted on the steering fixed seat through the annular boss, the driving assembly is arranged above the steering fixed seat, the driving assembly includes a driving motor and a driving wheel, the driving motor is fixedly connected to the outer wall of the frame through a connecting block, the driving wheel is fixed on the output shaft of the driving motor, and the driving wheel is meshed with the steering gear, and also includes a second shaft seat, the output shaft of the driving motor is rotatably mounted in the second shaft seat, and the second shaft seat is fixedly connected to the outer wall of the frame through a connecting block;The lifting mechanism is arranged at the rear side of the frame, and the lifting mechanism includes two rear wheel frames arranged in parallel, and the two rear wheel frames are connected as a whole by a cross bar, and a moving wheel is arranged at the bottom of the rear wheel frame, and the moving wheel is fixedly installed on the rear wheel frame through a wheel axle, and a fifth motor is arranged on the rear wheel frame, and the output shaft of the fifth motor is connected to the wheel axle at the bottom of the rear wheel frame by transmission, and a fourth motor is arranged on the top of the rear wheel frame, and a vertical screw rod is mounted on the rear wheel frame for vertical rotation, and a second moving screw block is mounted on the vertical screw rod, and the second moving screw block is fixedly connected to the rear side wall of the frame, and the top end of the vertical screw rod extends out of the rear wheel frame, and the output shaft of the fourth motor is connected to the top end of the vertical screw rod by transmission, and an operating switch is arranged on the front side of the frame. ; 2. The walking aid for the elderly based on a multifunctional mechanical device according to claim 1, characterized in that: The transmission connection is gear transmission or chain transmission.

3. The walking aid for the elderly based on a multifunctional mechanical device according to claim 1, characterized in that: The steering fixing seat is fixedly connected to the outer side wall of the frame through a connecting block.

4. The walking aid for the elderly based on a multifunctional mechanical device according to claim 1, characterized in that: It also includes a connecting plate, which is arranged on the outside of the steering gear and is fixedly connected to the steering gear. The inner side of the top of the middle wheel frame is fixedly connected to the connecting plate.

5. The walking aid for the elderly based on a multifunctional mechanical device according to claim 1, characterized in that: The information collection component includes an ultrasonic sensor device and a camera monitoring device, and the ultrasonic sensor device and the camera monitoring device are electrically connected to the controller respectively.

6. The walking aid for the elderly based on a multifunctional mechanical device according to claim 1, characterized in that: The controller is a single chip microcomputer.

7. The walking aid for the elderly based on a multifunctional mechanical device according to claim 1, characterized in that: The fourth motors on the top of the two rear wheel frames in the lifting mechanism run synchronously.

8. The walking aid for the elderly based on a multifunctional mechanical device according to claim 1, characterized in that: The moving wheels at the bottom of the front wheel frame are smaller than the moving wheels at the bottom of the middle wheel frame and the rear wheel frame.

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