Walking aid

Abstract

The invention provides a walking aid which comprises a bottom rack, an upper plate and a height adjusting assembly. The upper plate is arranged above the bottom rack in a manner of moving up and down by utilizing the height adjusting assembly; wherein the height adjusting assembly comprises a linear actuator, a plurality of supporting rods and a plurality of supporting seats; the linear actuator is fixed with the bottom rack, and an output shaft of the linear actuator is connected with the upper plate; the lower part of the supporting seat is rotatably connected with the bottom rack, and the upper part of the supporting seat is connected with the lower part of the supporting rod; an upper portion of the support bar is slidably connected to the upper plate. The walking aid disclosed by the invention is a walking aid with a variable configuration, and the height of the walking aid can be adjusted on the premise of keeping stability and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation devices, and in particular to a walking aid. Background Art

[0002] Walkers are a large category of medical rehabilitation devices designed for patients to provide repetitive walking training, improve their walking ability, and enhance their ability to take care of themselves. Many literatures have shown that the use of walkers helps patients reshape the correct muscle activation method in their lower limbs. The appropriate size and configuration of the walker are necessary conditions for the correct use of the walker, which is related to the load on the patient's lower limbs and the stability of the posture when using it.

[0003] The appropriate size configuration of the walker mainly considers the width between the handlebars of the walker and the height of the walker.

[0004] In the related art, there is a method of changing the width of the walker in a folding manner by adding a revolving pair structure or a hinge structure, that is, the user can fold the walker by applying force on both sides to adjust the width between the handles. This structure that relies on folding to change the width reduces the overall stability of the walker, that is, the walker cannot stably maintain a specific width. Specifically, when walking, the change in the force applied by the hand can easily overcome the resistance torque of the revolving pair or the hinge structure, thereby causing the walker to change in structure, and then causing the walker to lose its original stable mechanical structure, which poses certain safety hazards to patients in use.

[0005] In the related art, there are methods of adjusting the height of the walker by setting multiple holes on the two legs of the walker and connecting different inner and outer holes with screws; there are also methods of adjusting the height of the walker by setting multiple holes and multiple marbles on the two legs of the walker and connecting different holes and marbles. These walkers have the disadvantages of not being able to adjust the height continuously and only being able to achieve several specific heights in segments. Moreover, the height adjustment requires manual operation, which is laborious and inconvenient.

[0006] The related art also proposes to use some auxiliary devices to adjust the width or height of the handle, such as installing additional handle accessories or handle pads to increase the width or height. Installing additional auxiliary devices has the disadvantage of lack of convenience, and each adjustment requires manual operation. In addition, system errors are very likely to occur on both sides of the walker, resulting in asymmetry of the handles on both sides relative to the sagittal plane, resulting in uneven force on the patient's upper limbs when in contact, which also causes health damage.

[0007] In addition, the existing walker configuration cannot achieve human-computer interaction, and the configuration can only be adjusted based on experience, and it is impossible to achieve the most appropriate configuration changes according to the specific conditions of different patients.

[0008] Therefore, there is a need to provide an improved walking aid to overcome or reduce at least some of the disadvantages existing in the above-mentioned prior art. Summary of the invention

[0009] In the present invention, a walker is provided, wherein the walker comprises: a bottom frame, an upper plate and a height adjustment assembly; the upper plate is movably arranged above the bottom frame by means of the height adjustment assembly; wherein the height adjustment assembly comprises a linear actuator, a plurality of support rods, and a plurality of support seats; the linear actuator is fixed to the bottom frame, and the output shaft of the linear actuator is connected to the upper plate; the lower part of the support seat is rotatably connected to the bottom frame, and the upper part is connected to the lower part of the support rod; the upper part of the support rod is slidably connected to the upper plate.

[0010] Optionally, the height adjustment assembly further includes: a plurality of guide rails and a plurality of sliders, wherein the guide rails are fixed below the upper plate, one end of the slider is slidably engaged with the guide rails, and the other end is connected to the upper portion of the support rod.

[0011] Optionally, the plurality of guide rails include four guide rails extending in the left-right direction and arranged in sequence in the front-back direction, and the plurality of sliders include four sliders respectively arranged corresponding to the four guide rails;

[0012] The plurality of support rods include a first U-shaped support rod and a second U-shaped support rod; the two spaced upper portions of the first U-shaped support rod are respectively connected to two of the four sliders, and the two spaced upper portions of the second U-shaped support rod are respectively connected to the other two of the four sliders.

[0013] Optionally, the bottom frame includes a transverse pipe section and a lateral pipe section;

[0014] The support seat includes a first pipe segment, a second pipe segment and a third pipe segment, wherein one end of the first pipe segment forms a sleeve structure with the rear part of the lateral pipe segment using a first coupling and a first locking member, and there is a clearance fit between the first coupling and the lateral pipe segment; the third pipe segment forms a sleeve structure with the lower part of the support rod using a second coupling and a second locking member; the second pipe segment is used to connect the first pipe segment and the third pipe segment.

[0015] Optionally, the support seat also includes a fourth pipe segment, wherein the lower portion of the fourth pipe segment is an arcuate surface, and the arcuate surface can be rotatably fitted to the outer surface of the lateral pipe segment; and the upper portion of the fourth pipe segment is connected to the third pipe segment.

[0016] Optionally, the walker further includes: a moving mechanism, the moving mechanism including an electric wheel module and a shock-absorbing spring, wherein the electric wheel module is configured to drive the walker to move forward and backward; one end of the shock-absorbing spring is connected to the bottom frame, and the other end is connected to the electric wheel module.

[0017] Optionally, the walking aid further comprises: a slope detector for performing slope detection, the slope detector being arranged at the electric wheel module;

[0018] Wherein, the walking aid is configured to control the electric wheel module based on the obtained slope data.

[0019] Optionally, the walker also includes: two handles and a width adjustment assembly, the two handles are movably arranged on the upper plate using the width adjustment assembly, wherein the width adjustment assembly includes: a motor, a first gear mechanism, two worm gear mechanisms and two second gear mechanisms, the first gear mechanism is connected to the motor, and the left and right width of the first gear mechanism is adjustable; the handles are connected to the second gear mechanism; the worm gear mechanism is used to connect the first gear mechanism and the second gear mechanism.

[0020] Optionally, the first gear mechanism includes a first driving wheel and two first driven wheels, the output shaft of the motor is connected to the first driving wheel, and the left and right sides of the first driving wheel are respectively meshed with a first driven wheel;

[0021] Each second gear mechanism includes a second driving wheel and a second driven wheel, the second driving wheel meshes with the second driven wheel, and the second driven wheel is connected to a handle;

[0022] Each worm gear mechanism includes a worm, a worm wheel and a worm wheel shaft. The worm is connected to the first driven wheel, the worm wheel meshes with the worm, and the worm wheel shaft passes through the worm wheel and the second driving wheel.

[0023] Optionally, the walker further comprises: a depth camera, which is arranged on the upper plate and is used to obtain body characteristic parameters of the user;

[0024] Wherein, the walking aid is configured to control a height adjustment component and / or a width adjustment component based on the obtained body characteristic parameter data.

[0025] The walker of the present invention is a walker with a variable configuration. The height adjustment component is configured to include a linear actuator, multiple support rods, and multiple support seats. The linear actuator is fixed to the bottom frame, the output shaft of the linear actuator is connected to the upper plate, the lower part of the support seat is rotatably connected to the bottom frame, the upper part is connected to the lower part of the support rod, and the upper part of the support rod is slidably connected to the upper plate, so that the height of the walker can be adjusted while maintaining stability and safety.

[0026] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Features, advantages, and exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals refer to like elements, and in which:

[0028] Figure 1 2 is a three-dimensional schematic diagram of a walking aid according to an embodiment of the present invention.

[0029] Figure 2 yes Figure 1 Another perspective diagram of the walker.

[0030] Figure 3 yes Figure 1 A schematic diagram of some components of a walker.

[0031] Figure 4 yes Figure 1 Schematic diagram of another part of the walker.

[0032] Figure 5 yes Figure 1 Another partial schematic diagram of the walker.

[0033] Figure 6 It is a three-dimensional schematic diagram of the width adjustment component.

[0034] Figure 7 yes Figure 6 A schematic diagram of a partial component of a width adjustment assembly.

[0035] Figure 8 yes Figure 6 Schematic diagram of another part of the width adjustment assembly.

[0036] Fig. 9 yes Figure 6 Another partial schematic diagram of the width adjustment assembly.

[0037] In the accompanying drawings, the reference numerals are:

[0038] 200-walker;

[0039] 1- bottom frame: 301- first transverse pipe section; 302- second transverse pipe section; 303- first lateral pipe section; 304- second lateral pipe section;

[0040] 2- caster; 16- upper plate; 19- handle: 191- first handle section; 192- second handle section; 193- third handle section; 20- arm support plate; 21- handle fixing piece;

[0041] 400-height adjustment assembly: 3-linear actuator; 4-support seat: 401-first pipe section; 402-second pipe section; 403-third pipe section; 404-fourth pipe section; 5-first U-shaped support rod; 6-second U-shaped support rod; 10-guide rail; 11-slider; 12-support rod fixing piece; 71-first coupling; 81-first locking piece; 72-second coupling; 82-second locking piece;

[0042] 15-width adjustment assembly: 101-motor; 102-driving bevel gear; 103-driven bevel gear; 120-first gear mechanism; 104-first driving wheel; 105-first driven wheel; 115-first driving wheel shaft; 116-first driven wheel shaft; 109-first driving wheel cover; 130-worm gear mechanism; 106-worm; 107-worm wheel; 111-worm wheel shaft; 110-worm fixing piece; 112-sleeve; 113-first washer; 114-second washer; 117-coupling; 140-second gear mechanism; 108-second driving wheel; 119-second driven wheel; 118-housing: 181-base; 182-protrusion; 183-first side; 184-second side; 185-extension; 1850-mounting hole; 186-first top section; 187-second top section; 188-third top section; 189-partition;

[0043] 500-mobile mechanism: 9-spring fixing plate; 13-shock absorbing spring; 14-electric wheel module;

[0044] 17-Depth camera gimbal; 18-Depth camera. DETAILED DESCRIPTION

[0045] The following is a detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. The description of the exemplary embodiments is merely exemplary and is by no means a limitation of the present invention and its application or usage. Moreover, the sizes and proportions of the components in the figures are merely schematic and do not strictly correspond to actual products. In this document, for the convenience of description, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom" and the like are all in the form of Figure 1 It is described by the position in .

[0046] The present invention provides a walking aid 200, wherein: Figure 1As shown, the walker 200 includes: a bottom frame 1, an upper plate 16 and a height adjustment assembly 400; the upper plate 16 is arranged above the bottom frame 1 so as to be movable up and down by means of the height adjustment assembly 400; wherein the height adjustment assembly 400 includes a linear actuator 3, a plurality of support rods, and a plurality of support seats 4; the linear actuator 3 is fixed to the bottom frame 1, and the output shaft of the linear actuator 3 is connected to the upper plate 16; the lower part of the support seat 4 is rotatably connected to the bottom frame 1, and the upper part is connected to the lower part of the support rod; the upper part of the support rod is slidably connected to the upper plate 16, so that the upper plate 16 can be moved up and down by driving the linear actuator 3 to extend and retract to drive at least two support rods to slide relative to the upper plate 16 and the lower part of the support seat 4 to rotate circumferentially around the bottom frame 1 to achieve the up and down movement of the upper plate 16.

[0047] The walker 200 of the embodiment of the present invention is a walker 200 of variable configuration. The height adjustment assembly 400 is configured to include a linear actuator 3, a plurality of support rods, and a plurality of support seats 4. The linear actuator 3 is fixed to the bottom frame 1, and the output shaft of the linear actuator 3 is connected to the upper plate 16. The lower part of the support seat 4 is rotatably connected to the bottom frame 1, and the upper part is connected to the lower part of the support rod. The upper part of the support rod is slidably connected to the upper plate 16, so that the height of the walker 200 can be adjusted while maintaining stability and safety. The walker 200 can not only greatly alleviate the shortage of medical resources, but also reduce the training burden for the patient himself for a long time and focus on lower limb rehabilitation, maintain muscle coordination and accelerate rehabilitation, and promote personalized treatment.

[0048] The number of linear actuators 3 can be one or more. Preferably, the number of linear actuators 3 is two, and the two linear actuators 3 are arranged at intervals in the left and right directions. The linear actuator 3 can also be called an electric push rod, which can be composed of any structure in the prior art that can realize the linear motion of a component, for example, a small transmission component composed of a drive motor, a reduction gear, a screw, a nut guide sleeve, a push rod, a sliding seat, a spring, a housing and a turbine, a micro-control switch, etc. The number of support rods is at least two, usually two, and they are arranged on the left and right sides of the bottom frame 1. The number of support seats 4 and support rods is usually one-to-one corresponding, that is, one support seat 4 is arranged for one support rod. Multiple support rods and linear actuators 3 jointly support the upper plate 16. By driving the linear actuator 3 to extend and retract, the multiple support rods can be driven to slide relative to the upper plate 16 and the lower parts of the multiple support seats 4 can rotate circumferentially around the bottom frame 1 to realize the up and down movement of the upper plate 16.

[0049] The sliding connection between the upper portion of the support rod and the upper plate 16 can be achieved by utilizing any structure in the prior art that can achieve sliding between two components.

[0050] In some embodiments, the height adjustment assembly 400 of the walker 200 of the embodiment of the present invention may further include: a plurality of guide rails 10 and a plurality of sliders 11, wherein the guide rails 10 are fixed below the upper plate 16, and one end of the slider 11 is slidably matched with the guide rails 10, and the other end is connected to the upper part of the support rod. The guide rails 10 and the sliders 11 can be used to achieve a stable sliding connection between the upper part of the support rod and the upper plate 16 with a simple structural arrangement.

[0051] like Figure 2 and Figure 3 As shown, the multiple guide rails 10 include four guide rails 10 extending in the left-right direction and arranged in sequence in the front-back direction; the multiple sliders 11 include four sliders 11 respectively arranged corresponding to the four guide rails 10; the multiple support rods include a first U-shaped support rod 5 and a second U-shaped support rod 6; the two spaced upper portions of the first U-shaped support rod 5 are respectively connected to two of the four sliders 11, and the two spaced upper portions of the second U-shaped support rod 6 are respectively connected to the other two of the four sliders 11. Compared with the straight support rod, the U-shaped support rod has better stability. Figure 1 As shown, the front-to-back width of the first U-shaped support rod 5 is smaller than the front-to-back width of the second U-shaped support rod 6. Thus, the first U-shaped support rod 5 is located within the U-shaped region of the second U-shaped support rod 6, making the structural arrangement of the support rod part more compact. It is understood that the support rod may also be a structure of other shapes, such as a Y shape.

[0052] The bottom frame 1 of the walker 200 of the embodiment of the present invention may include a transverse pipe section and a lateral pipe section; the support seat 4 includes a first pipe section 401, a second pipe section 402 and a third pipe section 403, wherein one end of the first pipe section 401 forms a sleeve structure with the rear part of the lateral pipe section by using a first coupling 71 and a first locking member 81, and there is a clearance fit between the first coupling 71 and the lateral pipe section; the third pipe section 403 forms a sleeve structure with the lower part of the support rod by using a second coupling 72 and a second locking member 82; the second pipe section 402 is used to connect the first pipe section 401 and the third pipe section 403. The first locking member 81 and the second locking member 82 may be seat tube clamps. Generally, the bottom frame 1 may include two transverse pipe sections and two lateral pipe sections. The two transverse pipe sections include a first transverse pipe section 301 and a second transverse pipe section 302, and the first transverse pipe section 301 and the second transverse pipe section 302 extend in the left-right direction and are arranged at intervals in the front-back direction, wherein, as Figure 1As shown, the lower parts of the two linear actuators 3 are fixed on the second transverse pipe section 302. The two lateral pipe sections include a first lateral pipe section 303 and a second lateral pipe section 304, which extend in the front-to-back direction and are arranged at intervals on the left and right sides of the first transverse pipe section 301 and the second transverse pipe section 302 in the left-right direction. Taking the first lateral pipe section 303 as an example, the front part of the first pipe section 401 of the support seat 4 and the rear part of the first lateral pipe section 303 use the first coupling 71 and the first locking member 81 to determine the position of the support seat 4 in the front-to-back direction in the form of a sleeve, so that the support seat 4 can be moved in the front-to-back direction by loosening / tightening the first locking member 81 to change the length of the walker 200 in the front-to-back direction, wherein the first coupling 71 and the first lateral pipe section 303 of the bottom frame 1 are clearance-matched, so that the support seat 4 can rotate around the circumference of the first lateral pipe section 303, which is convenient for subsequent configuration changes. The first pipe section 401, the second pipe section 402 and the third pipe section 403 are usually connected by smooth transition. The first pipe section 401 may be a straight pipe section parallel to the first lateral pipe section 303 and extending in the front-to-back direction, the third pipe section 403 may be a straight pipe section extending obliquely in the up-down direction, and the second pipe section 402 may have a straight pipe section portion extending in the front-to-back direction, a first curved pipe section portion for connecting the straight pipe section portion and the first lateral pipe section 303, and a second curved pipe section portion for connecting the straight pipe section portion and the third pipe section 403.

[0053] refer to Figure 1 The support seat 4 may further include a fourth pipe segment 404, wherein the lower portion of the fourth pipe segment 404 is an arcuate surface, and the arcuate surface can be rotatably attached to the outer surface of the lateral pipe segment; the upper portion of the fourth pipe segment 404 is connected to the third pipe segment 403. By providing the fourth pipe segment 404, when the first pipe segment 401 of the support seat 4 rotates around the circumference of the lateral pipe segment, the fourth pipe segment 404 can also rotate around the circumference of the lateral pipe segment, and the two cooperate to make the rotation of the support seat 4 more stable. The fourth pipe segment 404 can be formed by two curved pipe segments with different bending directions, and a curved surface is formed at the lower portion of the curved pipe segment close to the lateral pipe segment.

[0054] In some embodiments, the walker 200 of the embodiment of the present invention may further include: a moving mechanism 500, the moving mechanism 500 includes an electric wheel module 14 and a shock absorbing spring 13, wherein the electric wheel module 14 is configured to drive the walker 200 to move forward and backward; one end of the shock absorbing spring 13 is connected to the bottom frame 1, and the other end is connected to the electric wheel module 14. The electric wheel module 14 generally includes a motor and two electric wheels, and the motor is used to drive the two electric wheels to rotate, thereby driving the entire walker 200 to move. The number of the shock absorbing springs 13 is generally two. Figure 1 and Figure 2As shown, a spring fixing plate 9 is provided at the second transverse pipe section 302 , the upper end of the damping spring 13 is against the lower end surface of the spring fixing plate 9 , and the lower end is connected to the electric wheel module 14 .

[0055] The walking aid 200 of the embodiment of the present invention may further include: a slope detector (not shown in the figure) for performing slope detection, and the slope detector is arranged at the electric wheel module 14; wherein the walking aid 200 is configured to control the electric wheel module 14 based on the obtained slope data. In this way, when encountering uphill and downhill terrain, the speed of the electric wheel driven by the motor can be adaptively adjusted according to the size of the slope, thereby improving the running stability of the walking aid 200 during use.

[0056] In some embodiments, Figure 1 , Figure 4 and Figure 5 As shown, the walker 200 of the embodiment of the present invention may further include: two handles 19, and a width adjustment assembly 15, wherein the two handles 19 are movably arranged on the upper plate 16 by means of the width adjustment assembly 15, wherein the width adjustment assembly 15 includes: a motor 101, a first gear mechanism 120, two worm gear mechanisms 130 and two second gear mechanisms 140, wherein the first gear mechanism 120 is connected to the motor 101, and the left and right widths of the first gear mechanism 120 are adjustable; the handles 19 are connected to the second gear mechanism 140; and the worm gear mechanism 130 is used to connect the first gear mechanism 120 and the second gear mechanism 140. The width adjustment component 15 of the walker 200 of the embodiment of the present invention adopts the motor 101, and the motor 101 can be rotated at any angle to transmit torque, so that continuous change of width can be achieved without adjusting to only a few specific widths; by using the worm gear mechanism 130, the torque can only be transmitted in one direction in the direction of the worm 106-worm wheel 107, which can make the width adjustment component 15 self-locking when in use; and the module and the number of teeth of the gear mechanism can be appropriately adjusted without affecting the assembly, so as to appropriately adjust the reduction ratio to change the sensitivity of the distance change of the handle 19.

[0057] like Figures 6 to 8As shown, in the width adjustment component 15, the first gear mechanism 120 includes a first driving wheel 104 and two first driven wheels 105, the output shaft of the motor 101 is connected to the first driving wheel 104, and the left and right sides of the first driving wheel 104 are respectively meshed with a first driven wheel 105; each second gear mechanism 140 includes a second driving wheel 108 and a second driven wheel 119, the second driving wheel 108 is meshed with the second driven wheel 119, and the second driven wheel 119 is connected to a handle 19; each worm gear mechanism 130 includes a worm 106, a worm wheel 107 and a worm wheel shaft 111, the worm 106 is connected to the first driven wheel 105, the worm wheel 107 is meshed with the worm 106, and the worm wheel shaft 111 is penetrated by the worm wheel 107 and the second driving wheel 108.

[0058] refer to Figure 1 In some embodiments, the walker 200 of the embodiment of the present invention may further include: a depth camera 18, which is arranged on the upper plate 16 and is used to obtain the user's body characteristic parameters; wherein the walker 200 is configured to control the height adjustment component 400 and / or the width adjustment component 15 based on the obtained body characteristic parameter data. Compared with ordinary walkers, the walker 200 of the embodiment of the present invention is more intelligent on the basis of being able to arbitrarily change the configuration size of the walker 200, and can make corresponding size changes according to the body characteristic parameters of different patients, that is, the walker 200 can be automatically and accurately adjusted to a suitable height or width according to the body shape and personal needs of different patients. Such corresponding size changes according to the body characteristic parameters of different patients are mainly performed by pre-scanning the human body with the depth camera 18 arranged on the upper plate 16, obtaining the characteristic parameters such as the height and limb length of the current patient through point cloud data and deep learning algorithms, and combining ergonomic theory and deep learning model feedback to obtain the configuration size of the walker 200 that is most suitable for the patient, and after confirmation, the configuration can be adaptively adjusted for the patient to use and exercise.

[0059] The components of the walking aid 200 according to the embodiment of the present invention will be described in more detail below with reference to the accompanying drawings.

[0060] like Figure 1 As shown, the walker 200 of the embodiment of the present invention includes: a bottom frame 1, casters 2, an upper plate 16, a handle 19, an arm support plate 20, a moving mechanism 500, a height adjustment component 400, a width adjustment component 15, a depth camera gimbal 17, and a depth camera 18.

[0061] The bottom frame 1 includes a plurality of chassis sleeves, namely a first transverse pipe section 301, a second transverse pipe section 302, a first lateral pipe section 303, and a second lateral pipe section 304. The first transverse pipe section 301 and the second transverse pipe section 302 extend in the left-right direction and are arranged at intervals in the front-back direction. The first lateral pipe section 303 and the second lateral pipe section 304 extend in the front-back direction and are arranged at intervals on the left and right sides of the first transverse pipe section 301 and the second transverse pipe section 302 in the left-right direction.

[0062] Four casters 2 are fixed below the bottom frame 1 by bolt connection.

[0063] The upper plate 16 is disposed above the bottom frame 1 so as to be movable up and down by using a height adjustment assembly 400 .

[0064] The handle 19 is connected to the upper plate 16 by bolts through the handle fixing member 21. Figure 3 In addition, the first handle section 191 of the handle 19 is also assembled with the arm support plate 20 through a sleeve to change the upper limb holding method. Figure 4 and Figure 5 As shown, the handle 19 may include a first handle section 191, a second handle section 192, and a third handle section 193, wherein the first handle section 191 extends substantially in the front-to-back direction; the third handle section 193 extends substantially in the front-to-back direction, and is lower than the first handle section 191 in the up-down direction, and is located in front of the first handle section 191 in the front-to-back direction; the second handle section 192 is used to connect the first handle section 191 and the third handle section 193. By configuring the handle 19 to include the first handle section 191, the second handle section 192, and the third handle section 193, the arrangement of the handle 19 with the upper plate 16, the arm support plate 20, and the width adjustment assembly 15 can be facilitated.

[0065] A depth camera platform 17 is also fixed to the upper plate 16 by bolt connection, and a depth camera 18 is fixed to the platform 17 by bolt connection. The depth camera 18 can obtain the user's body characteristic parameters; the walker 200 is configured to control the height adjustment component 400 and / or the width adjustment component 15 based on the obtained body characteristic parameter data.

[0066] The moving mechanism 500 includes a spring fixing plate 9, an electric wheel module 14, and a shock absorbing spring 13. The bottom frame 1 is also fixed with a spring fixing plate 9 at the second transverse sleeve by bolt connection. The electric wheel module 14 is fixed to the spring fixing plate 9 by bolting two shock absorbing springs 13, thereby being connected to the bottom frame 1 as a whole. The electric wheel module 14 includes a motor and two electric wheels, and the motor is used to drive the two electric wheels to rotate, thereby driving the entire walker 200 to move. There are two shock absorbing springs 13. A slope detector is also provided at the electric wheel module 14 for slope detection.

[0067] The height adjustment assembly 400 includes a linear actuator 3, a support seat 4, a first U-shaped support rod 5, a second U-shaped support rod 6, a guide rail 10, a slider 11, a support rod fixing member 12, a first coupling 71, a first locking member 81, a second coupling 72, and a second locking member 82.

[0068] Two linear actuators 3 are fixed to the bottom frame 1 at the second transverse sleeve by bolt connection. The output shafts of the linear actuators 3 are connected to the upper plate 16 for changing the height of the walker 200 .

[0069] A support seat 4 is respectively arranged at the first lateral pipe section 303 and the second lateral pipe section 304 of the bottom frame 1. Each support seat 4 includes a first pipe section 401, a second pipe section 402, a third pipe section 403, and a fourth pipe section 404. The first pipe section 401 is a straight pipe section extending in the front-to-back direction and parallel to the lateral pipe section, the third pipe section 403 may be a straight pipe section extending obliquely in the up-down direction, and the second pipe section 402 may have a straight pipe section portion extending in the front-to-back direction, a first curved pipe section portion for connecting the straight pipe section portion and the lateral pipe section, and a second curved pipe section portion for connecting the straight pipe section portion and the third pipe section 403. The rear portions of the first lateral pipe section 303 and the second lateral pipe section 304 of the bottom frame 1 are respectively connected to the first pipe section 401 of a support seat 4 in a sleeve manner through a first coupling 71 and a first locking member 81. The support seat 4 can be moved in the front-to-back direction by loosening / tightening the first locking member 81, thereby changing the length of the walker 200 in the sagittal axis, i.e., the front-to-back direction. At the same time, the first coupling 71 and the first lateral tube segment 303 and the second lateral tube segment 304 of the bottom frame 1 are clearance-fitted, so that the support seat 4 can rotate around the circumference, which is convenient for subsequent configuration changes. The fourth tube segment 404 can be formed by two curved tube segments with different bending directions, and an arc surface is formed at the lower part of the curved tube segment close to the lateral tube segment, and the arc surface can rotatably fit the outer surface of the lateral tube segment; the upper part of the fourth tube segment 404 is connected to the third tube segment 403.

[0070] The front-to-rear width of the first U-shaped support rod 5 is smaller than the front-to-rear width of the second U-shaped support rod 6, so that the first U-shaped support rod 5 is located in the U-shaped region of the second U-shaped support rod 6. The upper portions of the third pipe sections 403 of the two support seats 4 are respectively connected to the lower portions of the first U-shaped support rod 5 and the second U-shaped support rod 6, and the two are fixed in a sleeve manner through the second coupling 72 and the second locking member 82, so that the relative position between the two can be adjusted, that is, the length along the axial direction of the third pipe section 403 can be adjusted.

[0071] like Figure 2 and Figure 3 As shown, the plurality of guide rails 10 include four guide rails 10 extending in the left-right direction and arranged in sequence in the front-back direction, the plurality of sliders 11 include four sliders 11 respectively arranged corresponding to the four guide rails 10; the plurality of support rods include a first U-shaped support rod 5 and a second U-shaped support rod 6; the two spaced upper portions of the first U-shaped support rod 5 are connected to two of the four sliders 11 through a support rod fixing piece 12, and the two spaced upper portions of the second U-shaped support rod 6 are connected to the other two of the four sliders 11 through another support rod fixing piece 12. The support rod fixing piece 12 is fastened to the slider 11 by bolt connection.

[0072] refer to Figures 4 to 9 The width adjustment assembly 15 includes: a housing 118, a motor 101, a driving bevel gear 102, a driven bevel gear 103, a first gear mechanism 120, a worm gear mechanism 130, and a second gear mechanism 140. The width adjustment assembly 15 also includes: a first driving wheel shaft 115, a first driven wheel shaft 116, a first driving wheel cover 109, a worm fixing member 110, a sleeve 112, a first washer 113, a second washer 114, and a coupling 117.

[0073] The housing 118 of the width adjustment assembly 15 is connected to the four guide rails 10 and the upper plate 16 by bolt connection. The handle 19 is connected to the width adjustment assembly 15 by gear meshing to achieve the width adjustment function of the handle 19 of the walker 200.

[0074] The first gear mechanism 120 includes a first driving wheel 104 and two first driven wheels 105. Each second gear mechanism 140 includes a second driving wheel 108 and a second driven wheel 119. Each worm gear mechanism 130 includes a worm 106, a worm wheel 107 and a worm wheel shaft 111. Figure 7As shown, the output shaft of the motor 101 is connected to the driving bevel gear 102, and the driven bevel gear 103 is connected to the first driving wheel 104 through the first driving wheel shaft 115. The left and right sides of the first driving wheel 104 are respectively meshed with a first driven wheel 105. The second driving wheel 108 is meshed with the second driven wheel 119, and the second driven wheel 119 is connected to a handle 19. The worm 106 is connected to the first driven wheel 105, the worm wheel 107 is meshed with the worm 106, and the worm wheel shaft 111 is penetrated by the worm wheel 107 and the second driving wheel 108. Among them, the driving bevel gear 102 is arranged vertically; the driven bevel gear 103, the first driving wheel 104, and the first driven wheel 105 are arranged horizontally; the worm 106 is arranged vertically, and the worm wheel 107 is arranged horizontally. Specifically, the driven bevel gear 103 is interference fit with the first driving wheel shaft 115, and the first driving wheel 104 is interference fit with the first driving wheel shaft 115, so that the driven bevel gear 103, the first driving wheel shaft 115, and the first driving wheel 104 are a fixed part. The first driven wheel 105 and the first driven wheel shaft 116 are interference fit, the worm 106 and the first driven wheel shaft 116 are connected through the coupling 117, and the worm 106 and the coupling 117 are interference fit, and the first driven wheel shaft 116 and the coupling 117 are interference fit, so that the first driven wheel 105, the first driven wheel shaft 116, the coupling 117, and the worm 106 are a fixed part. The worm wheel 107 on the worm wheel shaft 111 is fixed in axial position by two first washers 113 to ensure correct fit with the worm 106, and the worm wheel 107 and the worm wheel shaft 111 are interference fit. The second driving wheel 108 is fixed in axial position by a second washer 114 and is interference fit with the worm gear shaft 111 .

[0075] The housing 118 includes a base 181, a protrusion 182, a first side 183, a second side 184, an extension 185, a first top section, a second top section 187, a third top section 188, and a partition 189. Three annular protrusions 182 are formed on the base 181 at intervals along the left-right direction to determine the positions of a first driving wheel shaft 115 and two first driven wheel shafts 116. There is a clearance fit between the first driving wheel shaft 115 and the protrusion 182, and between the first driven wheel shaft 116 and the protrusion 182. The front and rear sides of the base 181 extend upward to form a first side 183 and a second side 184, respectively, wherein a hole is dug on the first side 183 to facilitate the arrangement of the first driving wheel 104, etc. The extension 185 extends forward from the left and right sides of the hole, and a worm shaft mounting hole (not numbered in the figure) and a handle mounting hole 1850 are opened on the extension 185 and penetrate along the front-back direction. A first top section 186 is formed extending backward from the top of the first side portion 183, and a second top section 187 is formed extending forward from the top of the second side portion 184. The first top section 186 and the second top section 187 can be used to be fixed to the upper plate 16. In addition, a partition 189 is formed between the three annular protrusions 182 above the base 181, and a third top section 188 is formed above the two partitions 189. The partition 189 is used to separate the driving bevel gear 102, the driven bevel gear 103, the motor 101, the first driving wheel 104 located in the center from the first driven wheel 105 and the worm gear mechanism 130 located on both sides.

[0076] like Figure 8 As shown, the first driving wheel cover 109 includes an upper cover portion for covering the top of the first driving wheel 104, and two left and right vertical cover portions arranged corresponding to the partition 189 of the outer shell 118. The first driving wheel cover 109 is connected and fixed to the outer shell 118 by bolt connection.

[0077] Continue to refer Figure 8 The worm 106 is fixed by the worm fixing member 110 through the shaft hole connection, and the two are clearance-matched. The worm fixing member 110 is connected and fixed to the housing 118 by bolt connection. The worm gear shaft 111 and the housing 118 are fastened by the shaft sleeve 112 by bolt connection, wherein the worm gear shaft 111 and the shaft sleeve 112 are clearance-matched.

[0078] When the width adjustment component 15 is in use, the output shaft of the motor 101 is connected and fixed to the driving bevel gear 102, the torque is generated by the motor 101, and is vertically transmitted in the axial direction by the driving bevel gear 102 and the driven bevel gear 103; then, the torque is transmitted from the driven bevel gear 103 to the first driving wheel 104 through the first driving wheel shaft 115, and then transmitted to the first driven wheel 105 through gear transmission; then, the torque is transmitted from the first driven wheel 105 to the worm 106 through the first driven wheel shaft 116, and then transmitted to the worm wheel 107 through the worm gear transmission; then, the torque is transmitted from the worm wheel 107 to the second driving wheel 108 through the worm wheel shaft 111, and finally the second driving wheel 108 transmits the torque to the handle 19, so that the handle 19 rotates to change the angle, thereby changing the width between the handles 19.

[0079] The width adjustment assembly 15 can be used with two handles 19, and the torque starts from the motor 101, and is finally transmitted to the second driving wheel 108, and is transmitted to the handle 19 through the second driven wheel 119, so as to realize the radial rotation of the handle 19; and due to the existence of the gear reduction ratio, the high speed of the motor 101 finally presents an appropriate angular velocity on the handle 19. The running time of the motor 101 can also be calculated through key data such as the gear reduction ratio, the motor speed, and the required width of the handle 19, so as to realize the change of the width between the handles 19 by controlling the operation of the motor 101.

[0080] The variable configuration intelligent walking aid 200 of the embodiment of the present invention can at least realize the following adjustment functions:

[0081] (1) Changing the height of the walker 200: By powering on, the linear actuator 3 is driven to extend and retract, and at the same time, the upper parts of the first U-shaped support rod 5 and the second U-shaped support rod 6 that cross each other slide on the guide rail 10, and support and fix the upper half of the walker 200 and the bottom of the support seat 4 to rotate around the circumference of the bottom frame 1. When the crossing width of the first U-shaped support rod 5 and the second U-shaped support rod 6 is greater than the length of the guide rail 10, the second locking member 82 on the support seat 4 can be loosened manually to lengthen the first U-shaped support rod 5 and the second U-shaped support rod 6, and then the second locking member 82 can be tightened; on the contrary, when the crossing width of the first U-shaped support rod 5 and the second U-shaped support rod 6 is too small, the second locking member 82 on the support seat 4 can be loosened manually to shorten the first U-shaped support rod 5 and the second U-shaped support rod 6, and then the second locking member 82 can be tightened.

[0082] (2) Changing the front-to-back length of the walker 200: This method is mainly operated by manpower. The support base 4 can be moved forward or backward by loosening the first locking member 81, and then tightening the first locking member 81.

[0083] (3) Changing the width between the handles 19 of the walker 200: By powering on and driving the motor 101 in the width adjustment assembly 15, a series of gears and worm gears are meshed, and finally the torque is transmitted to the handles 19 to move the handles 19, thereby adjusting the width between the two handles 19.

[0084] The walker 200 of the embodiment of the present invention is a walker 200 of variable configuration. Under the premise of maintaining stability and safety, the walker 200 can adaptively adjust the configuration of the walker 200 according to the body shape and personal needs of different patients as conveniently as possible, including the overall height of the walker 200, the width and front-back position between the handles 19, the center of gravity of the whole machine, etc., to achieve an adaptive adjustment configuration without manual operation, and at the same time, maximize the personal rehabilitation comfort and rehabilitation efficiency, and achieve personalized rehabilitation treatment. Specifically, the walker 200 of the embodiment of the present invention is more intelligent than the ordinary walker, and can achieve adaptive adjustment of the configuration without manual operation. Among them, the cross-arranged support rods, worm gear transmission structures, etc. have self-locking characteristics, which can improve convenience while ensuring stability and safety; the configuration of the walker 200 of the embodiment of the present invention can be adjusted continuously, that is, any height, width between the handles 19 and other dimensions can be adjusted; the embodiment of the present invention has strong human-computer interaction, and the most suitable configuration for different patients can be obtained and achieved through algorithms and human body function theory analysis.

[0085] In the description of this application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "an example", "some embodiments", or "preferred embodiment" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0087] The embodiments of the present invention are described in detail above. However, aspects of the present invention are not limited to the above embodiments. Various modifications and substitutions may be applied to the above embodiments without departing from the scope of the present invention.

Claims

1. A walking aid, wherein: The walker includes: a bottom frame, an upper plate and a height adjustment assembly; the upper plate is movably arranged above the bottom frame by means of the height adjustment assembly; wherein the height adjustment assembly includes a linear actuator, a plurality of support rods, and a plurality of support seats; the linear actuator is fixed to the bottom frame, and the output shaft of the linear actuator is connected to the upper plate; the lower part of the support seat is rotatably connected to the bottom frame, and the upper part is connected to the lower part of the support rod; the upper part of the support rod is slidably connected to the upper plate.

2. The walking aid according to claim 1, wherein: The height adjustment assembly further comprises: a plurality of guide rails and a plurality of sliders, wherein the guide rails are fixed below the upper plate, one end of the slider is slidably matched with the guide rails, and the other end is connected to the upper part of the support rod.

3. The walking aid according to claim 2, wherein: The plurality of guide rails include four guide rails extending in the left-right direction and arranged in sequence in the front-back direction, and the plurality of sliders include four sliders respectively arranged corresponding to the four guide rails; The multiple support rods include a first U-shaped support rod and a second U-shaped support rod; the two spaced-apart upper portions of the first U-shaped support rod are respectively connected to two of the four sliders, and the two spaced-apart upper portions of the second U-shaped support rod are respectively connected to the other two of the four sliders.

4. The walking aid according to any one of claims 1 to 3, wherein: The bottom frame includes a transverse pipe section and a lateral pipe section; The support seat includes a first pipe segment, a second pipe segment and a third pipe segment, wherein one end of the first pipe segment forms a sleeve structure with the rear portion of the lateral pipe segment using a first coupling and a first locking member, and there is a clearance fit between the first coupling and the lateral pipe segment; the third pipe segment forms a sleeve structure with the lower portion of the support rod using a second coupling and a second locking member; and the second pipe segment is used to connect the first pipe segment and the third pipe segment.

5. The walking aid according to claim 4, wherein: The support seat also includes a fourth pipe segment, wherein the lower portion of the fourth pipe segment is an arcuate surface, and the arcuate surface is rotatably fitted to the outer surface of the lateral pipe segment; the upper portion of the fourth pipe segment is connected to the third pipe segment.

6. The walking aid according to any one of claims 1 to 3, wherein: The walker also includes: a moving mechanism, which includes an electric wheel module and a shock-absorbing spring, wherein the electric wheel module is configured to drive the walker to move forward and backward; one end of the shock-absorbing spring is connected to the bottom frame, and the other end is connected to the electric wheel module.

7. The walking aid according to claim 6, wherein: The walking aid further comprises: a slope detector for performing slope detection, wherein the slope detector is arranged at the electric wheel module; Wherein, the walking aid is configured to control the electric wheel module based on the obtained slope data.

8. The walking aid according to any one of claims 1 to 3, wherein: The walker also includes: two handles and a width adjustment assembly, wherein the two handles are movably arranged on the upper plate using the width adjustment assembly, wherein the width adjustment assembly includes: a motor, a first gear mechanism, two worm gear mechanisms and two second gear mechanisms, the first gear mechanism is connected to the motor, and the left and right width of the first gear mechanism is adjustable; the handles are connected to the second gear mechanism; the worm gear mechanism is used to connect the first gear mechanism and the second gear mechanism.

9. The walking aid according to claim 8, wherein: The first gear mechanism comprises a first driving wheel and two first driven wheels, the output shaft of the motor is connected to the first driving wheel, and the left and right sides of the first driving wheel are respectively meshed with one of the first driven wheels; Each of the second gear mechanisms comprises a second driving wheel and a second driven wheel, the second driving wheel meshes with the second driven wheel, and the second driven wheel is connected to one of the handles; Each of the worm gear mechanisms comprises a worm, a worm wheel and a worm wheel shaft. The worm is connected to the first driven wheel, the worm wheel meshes with the worm, and the worm wheel shaft passes through the worm wheel and the second driving wheel.

10. The walking aid according to claim 8, wherein: The walker further comprises: a depth camera, which is disposed on the upper plate and is used to obtain body characteristic parameters of the user; Wherein, the walking aid is configured to control the height adjustment component and / or the width adjustment component based on the obtained body characteristic parameter data.

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