walking aid

Abstract

The application provides a walking aid, wherein the walking aid comprises a bottom frame, an upper plate and a height adjusting assembly; the upper plate is movably arranged above the bottom frame by the height adjusting assembly; wherein the height adjusting 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 an 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; and the upper part of the support rod is slidably connected to the upper plate. The walking aid of the application is a variable configuration walking aid, which can adjust the height of the walking aid while maintaining stability and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation devices, in particular, to a walking aid. BACKGROUND

[0002] A walking aid is a kind of medical rehabilitation device that can provide repetitive walking training for patients, improve the walking ability of patients, and improve the self-care ability of patients. Many documents show that the use of a walking aid helps patients to reshape the correct muscle activation mode of the lower limbs. The appropriate size configuration of the walking aid is a necessary condition for correct use of the walking aid, which relates to the load and stability of the posture of the lower limbs of the patient when using it.

[0003] The appropriate size configuration of the walking aid mainly considers the width between the handles of the walking aid and the height of the walking aid.

[0004] In related technologies, the width of the walking aid is changed in a folding manner by adding a rotating pair structure or a hinge structure, that is, the user can fold the walking aid by applying force to 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 walking aid, that is, the walking aid cannot stably maintain a specific width. Specifically, during walking, changes in hand force can easily overcome the moment of resistance of the rotating pair or hinge structure, causing the structure of the walking aid to change, and thus the walking aid loses its original stable mechanical structure, which poses a certain safety hazard to the patient in use.

[0005] In related technologies, a plurality of hole positions are provided on the two leg parts of the walking aid, and the height of the walking aid is adjusted by using screws to butt joint different inner and outer hole positions. There are also a plurality of hole positions and a plurality of marbles provided on the two leg parts of the walking aid, respectively, and the height of the walking aid is adjusted by butt jointing different hole positions and marbles. These walking aids have the disadvantages that the height adjustment is not continuous, can only achieve several specific heights in sections, and the height adjustment needs to be manually operated, which is laborious and inconvenient.

[0006] Related technologies also propose using 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 lacking convenience, as manual operation is required for each adjustment, and system errors can easily occur on both sides of the walking aid, causing the handles on both sides to be asymmetric relative to the sagittal plane, resulting in uneven force on the upper limbs of the patient when contacting, which also poses a health hazard.

[0007] In addition, the adjustment of the existing walking aid configuration cannot achieve human-computer interaction, and the configuration adjustment can only rely on experience, and cannot achieve the most suitable configuration change for different patients.

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

[0009] In this invention, a walking aid is provided, comprising: a bottom frame, an upper plate, and a height adjustment assembly; the upper plate is movably mounted above the bottom frame using the height adjustment assembly; the height adjustment assembly includes a linear actuator, multiple support rods, and multiple 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 also includes: multiple guide rails and multiple sliders, with the guide rails fixed below the upper plate, one end of the slider slidingly engaging with the guide rail, and the other end connected to the upper part of the support rod.

[0011] Optionally, the multiple guide rails include four guide rails that extend in the left-right direction and are arranged sequentially in the front-back direction, and the multiple sliders include four sliders that are respectively set corresponding to the four guide rails.

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

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

[0014] The support base includes a first pipe section, a second pipe section, and a third pipe section. One end of the first pipe section forms a sleeve structure with the rear part of the side pipe section using a first coupling and a first locking member. The first coupling and the side pipe section are in clearance fit. The third pipe section forms a sleeve structure with the lower part of the support rod using a second coupling and a second locking member. The second pipe section is used to connect the first pipe section and the third pipe section.

[0015] Optionally, the support also includes a fourth pipe section, wherein the lower part of the fourth pipe section is an arc-shaped surface that rotatably fits the outer surface of the lateral pipe section; the upper part of the fourth pipe section is connected to the third pipe section.

[0016] Optionally, the walker also includes a movement 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 back and forth; 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 also includes: a slope detector for slope detection, the slope detector being located at the electric wheel module;

[0018] The walking aid is configured to control an 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 mounted on the upper plate using the width adjustment assembly. 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 its left and right widths are adjustable. The handles are connected to the second gear mechanisms. The worm gear mechanisms are used to connect the first gear mechanism and the second gear mechanism.

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

[0021] Each second gear mechanism includes a second driving gear and a second driven gear, the second driving gear meshing with the second driven gear, and the second driven gear being 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 a first driven wheel, the worm wheel meshes with the worm, and the worm wheel shaft passes through the worm wheel and a second driving wheel.

[0023] Optionally, the walking aid also includes a depth camera, which is mounted on the upper plate to acquire the user's body feature parameters;

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

[0025] The walking aid of the present invention is a variable configuration walking aid. By setting the height adjustment component 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 walking aid can be adjusted while maintaining stability and safety.

[0026] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0027] The features, advantages, and exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals indicate the same elements, and wherein:

[0028] Figure 1 This 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 three-dimensional diagram of the walking aid.

[0030] Figure 3 yes Figure 1 A schematic diagram of a component of a walking aid.

[0031] Figure 4 yes Figure 1 A schematic diagram of another component of the walking aid.

[0032] Figure 5 yes Figure 1 A schematic diagram of another component of the walking aid.

[0033] Figure 6 This is a 3D schematic diagram of the width adjustment component.

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

[0035] Figure 8 yes Figure 6 A schematic diagram of another component of the width adjustment assembly.

[0036] Figure 9 yes Figure 6 A schematic diagram of another component of the width adjustment assembly.

[0037] In the attached figures, the reference numerals are as follows:

[0038] 200-walking aid;

[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-Castwheel; 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 Base; 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 Member; 71-First Coupling; 81-First Locking Member; 72-Second Coupling; 82-Second Locking Member;

[0042] 15-Width Adjustment Component: 101-Motor; 102-Driving Bevel Gear; 103-Driven Bevel Gear; 120-First Gear Mechanism; 104-First Driving Gear; 105-First Driven Gear; 115-First Driving Gear Shaft; 116-First Driven Gear Shaft; 109-First Driving Gear Cover; 130-Worm Gear Mechanism; 106-Worm; 107-Worm Gear; 111-Worm Gear Shaft; 110-Worm Fixing Component; 112-Shaft Sleeve; 113-First washer; 114-Second washer; 117-Coupling; 140-Second gear mechanism; 108-Second driving gear; 119-Second driven gear; 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-Separator;

[0043] 500-Moving mechanism: 9-Spring fixing plate; 13-Shock-absorbing spring; 14-Electric wheel module;

[0044] 17 - Depth camera gimbal; 18 - Depth camera. Detailed Implementation

[0045] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is by no means a limitation of the present invention or its application or use. Furthermore, the dimensions and proportions of the components in the drawings are merely schematic and do not strictly correspond to actual products. In this document, for ease of description, terms such as "upper," "lower," "left," "right," "front," "rear," "top," and "bottom" are used. Figure 1 It is described by its location in the middle.

[0046] This invention provides a walking aid 200, wherein, as Figure 1As shown, the walking aid 200 includes: a bottom frame 1, an upper plate 16, and a height adjustment assembly 400; the upper plate 16 is movably mounted above the bottom frame 1 using the height adjustment assembly 400; wherein, the height adjustment assembly 400 includes a linear actuator 3, multiple support rods, and multiple 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 rods; the upper part of the support rods 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, causing 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.

[0047] The walking aid 200 of this embodiment is a variable-configuration walking aid 200. By configuring the height adjustment component 400 to include a linear actuator 3, multiple support rods, and multiple support seats 4, the linear actuator 3 is fixed to the bottom frame 1, and its output shaft is connected to the upper plate 16. The lower part of the support seat 4 is rotatably connected to the bottom frame 1, and its upper part is connected to the lower part of the support rods. The upper part of the support rods is slidably connected to the upper plate 16, allowing the height of the walking aid 200 to be adjusted while maintaining stability and safety. This walking aid 200 not only greatly alleviates the shortage of medical resources but also allows patients to reduce their training burden in the long term, focus on lower limb rehabilitation, maintain muscle coordination, accelerate rehabilitation, and promote personalized treatment.

[0048] The number of linear actuators 3 can be one or more. Preferably, there are two linear actuators 3, which are spaced apart in the left-right direction. 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, such as a small transmission component composed of a drive motor, reduction gear, screw, nut guide sleeve, push rod, sliding seat, spring, housing and turbine, micro control switch, etc. The number of support rods is at least two, usually two, arranged on the left and right sides of the bottom frame 1. The number of support seats 4 and support rods is usually in one-to-one correspondence, that is, one support rod corresponds to one support seat 4. The multiple support rods and the linear actuators 3 jointly support the upper plate 16. By driving the linear actuators 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 around the bottom frame 1 to realize the up-down movement of the upper plate 16.

[0049] The sliding connection between the upper part of the support rod and the upper plate 16 can be achieved using any existing structure that enables sliding between two components.

[0050] In some embodiments, the height adjustment assembly 400 of the walker 200 of this 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, one end of the slider 11 is slidably engaged with the guide rail 10, and the other end is connected to the upper part of the support rod. The guide rails 10 and sliders 11 can 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 plurality of guide rails 10 includes four guide rails 10 extending in the left-right direction and arranged sequentially in the front-back direction; the plurality of sliders 11 includes four sliders 11 respectively corresponding to the four guide rails 10; the plurality of support rods includes a first U-shaped support rod 5 and a second U-shaped support rod 6; the two spaced-apart upper parts of the first U-shaped support rod 5 are respectively connected to two of the four sliders 11, and the two spaced-apart upper parts of the second U-shaped support rod 6 are respectively connected to the other two sliders 11. The U-shaped support rods offer better stability compared to straight support rods. 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 area of ​​the second U-shaped support rod 6, making the structural arrangement of the support rod section more compact. It can be understood that the support rod can also be other shaped structures, such as Y-shaped.

[0052] The bottom frame 1 of the walking aid 200 in this embodiment of the invention may include a transverse tube segment and a lateral tube segment; the support base 4 includes a first tube segment 401, a second tube segment 402, and a third tube segment 403, wherein one end of the first tube segment 401 forms a sleeve structure with the rear part of the lateral tube segment using a first coupling 71 and a first locking member 81, and the first coupling 71 and the lateral tube segment are clearance-fitted; the third tube segment 403 forms a sleeve structure with the lower part of the support rod using a second coupling 72 and a second locking member 82; the second tube segment 402 is used to connect the first tube segment 401 and the third tube segment 403. The first locking member 81 and the second locking member 82 may be a seat clamp. Typically, the bottom frame 1 may include two transverse tube segments and two lateral tube segments. The two transverse tube segments include a first transverse tube segment 301 and a second transverse tube segment 302, which extend in the left-right direction and are spaced apart in the front-back direction, wherein, as Figure 1As shown, the lower parts of the two linear actuators 3 are fixed to the second transverse tube section 302. These two lateral tube sections include a first lateral tube section 303 and a second lateral tube section 304. The first lateral tube section 303 and the second lateral tube section 304 extend in the front-rear direction and are spaced apart in the left-right direction on the left and right sides of the first transverse tube section 301 and the second transverse tube section 302. Taking the first lateral tube section 303 as an example, the front part of the first tube section 401 of the support base 4 and the rear part of the first lateral tube section 303 are positioned in the front-rear direction using a first coupling 71 and a first locking member 81 in a sleeve-like manner. This allows the support base 4 to be moved in the front-rear direction by loosening / tightening the first locking member 81, thereby changing the length of the walker 200 in the front-rear direction. The first coupling 71 and the first lateral tube section 303 of the bottom frame 1 are in a clearance fit, allowing the support base 4 to rotate circumferentially around the first lateral tube section 303, facilitating subsequent configuration changes. The first pipe segment 401, the second pipe segment 402, and the third pipe segment 403 are typically connected by a smooth transition. The first pipe segment 401 may be a straight pipe segment extending in the front-back direction parallel to the first lateral pipe segment 303, and the third pipe segment 403 may be a straight pipe segment extending obliquely in the vertical direction. The second pipe segment 402 may have a straight pipe segment portion extending in the front-back direction, a first curved pipe segment portion for connecting the straight pipe segment portion and the first lateral pipe segment 303, and a second curved pipe segment portion for connecting the straight pipe segment portion and the third pipe segment 403.

[0053] refer to Figure 1 The support base 4 may further include a fourth pipe segment 404, wherein the lower part of the fourth pipe segment 404 is an arc-shaped surface that rotatably fits the outer surface of the lateral pipe segment; the upper part of the fourth pipe segment 404 is connected to the third pipe segment 403. By providing the fourth pipe segment 404, during the circumferential rotation of the first pipe segment 401 of the support base 4 around the lateral pipe segment, the fourth pipe segment 404 also rotates around the circumferential rotation of the lateral pipe segment, and the two work together to make the rotation of the support base 4 more stable. The fourth pipe segment 404 may be formed by two curved pipe segments with different bending directions, and an arc-shaped surface is formed at the lower part of the curved pipe segment near the lateral pipe segment.

[0054] In some embodiments, the walking aid 200 of this invention may further include a moving mechanism 500, which includes an electric wheel module 14 and a shock-absorbing spring 13. The electric wheel module 14 is configured to drive the walking aid 200 to move back and forth. 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 typically includes a motor and two electric wheels. The motor drives the two electric wheels to rotate, thereby moving the entire walking aid 200. The number of shock-absorbing springs 13 is typically 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 shock-absorbing spring 13 abuts 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 this embodiment may further include a slope detector (not shown in the figure) for slope detection, which is disposed 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. Thus, when encountering uphill or downhill terrain, the rotational speed of the electric wheel driven by the motor can be adaptively adjusted according to the slope, thereby improving the operational stability of the walking aid 200 during use.

[0056] In some embodiments, such as Figure 1 , Figure 4 and Figure 5 As shown, the walking aid 200 of this embodiment may further include: two handles 19 and a width adjustment assembly 15. The two handles 19 are movably disposed at the upper plate 16 by means of the width adjustment assembly 15. 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. The first gear mechanism 120 is connected to the motor 101 and its left and right widths are adjustable. The handles 19 are connected to the second gear mechanisms 140. The worm gear mechanisms 130 are used to connect the first gear mechanism 120 and the second gear mechanism 140. The width adjustment component 15 of the walker 200 in this embodiment of the invention uses a motor 101, which can rotate at any angle to transmit torque, thereby enabling continuous width changes instead of adjusting only a few specific widths. By using a worm gear mechanism 130, the torque can only be transmitted unidirectionally through the worm 106-worm wheel 107 direction, making the width adjustment component 15 self-locking during use. Furthermore, without affecting assembly, the module and number of teeth of the gear mechanism can be appropriately adjusted to adjust the reduction ratio and change the sensitivity of the handle 19 spacing.

[0057] like Figures 6 to 8As shown, in the width adjustment assembly 15, the first gear mechanism 120 includes a first driving gear 104 and two first driven gears 105. The output shaft of the motor 101 is connected to the first driving gear 104, and a first driven gear 105 is meshed on the left and right sides of the first driving gear 104 respectively. Each second gear mechanism 140 includes a second driving gear 108 and a second driven gear 119. The second driving gear 108 meshes with the second driven gear 119, and the second driven gear 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 gear 105, the worm wheel 107 meshes with the worm 106, and the worm wheel shaft 111 passes through the worm wheel 107 and the second driving gear 108.

[0058] refer to Figure 1 In some embodiments, the walking aid 200 of this invention may further include: a depth camera 18, which is disposed on the upper plate 16 and used to acquire the user's body feature parameters; wherein, the walking aid 200 is configured to control the height adjustment component 400 and / or the width adjustment component 15 based on the acquired body feature parameter data. Compared with ordinary walking aids, the walking aid 200 of this invention is more intelligent in addition to being able to arbitrarily change the configuration size of the walking aid 200. It can make corresponding size changes according to the body feature parameters of different patients, that is, it can automatically and precisely adjust the walking aid 200 to a suitable height or width according to the body shape and personal needs of different patients. This corresponding size change according to the body feature parameters of different patients is mainly achieved by the depth camera 18 disposed on the upper plate 16 performing a pre-human body scan, obtaining the current patient's height, limb length and other feature parameters through point cloud data and deep learning algorithms, and combining ergonomics theory and deep learning model feedback to obtain the most suitable configuration size of the walking aid 200 for the patient. After confirmation, the configuration can be adaptively adjusted for the patient to use and exercise.

[0059] The composition of the walking aid 200 according to an 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 walking aid 200 of this embodiment 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 multiple chassis sleeves, namely a first transverse tube section 301, a second transverse tube section 302, a first lateral tube section 303, and a second lateral tube section 304. The first transverse tube section 301 and the second transverse tube section 302 extend in the left-right direction and are arranged at intervals in the front-back direction. The first lateral tube section 303 and the second lateral tube section 304 extend in the front-back direction and are arranged at intervals in the left-right direction on the left and right sides of the first transverse tube section 301 and the second transverse tube section 302.

[0062] Four casters 2 are fixed to the bottom of the frame 1 by bolts.

[0063] The upper plate 16 is mounted above the bottom frame 1 and can be moved up and down using the height adjustment component 400.

[0064] The handle 19 is connected to the upper plate 16 by bolts via the handle fastener 21, such as Figure 3 As shown. Furthermore, the first handle section 191 of the handle 19 is also assembled with the arm support plate 20 via a sleeve to change the upper limb grip method. For example... 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. The first handle section 191 extends generally in the front-back direction; the third handle section 193 extends generally in the front-back direction and is lower than the first handle section 191 in the vertical direction, and is located in front of the first handle section 191 in the front-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 gimbal 17 is also fixed to the upper plate 16 by bolts, and the depth camera 18 is fixed to the gimbal 17 by bolts. The depth camera 18 can acquire the user's body feature parameters; the walking aid 200 is configured to control the height adjustment component 400 and / or the width adjustment component 15 based on the acquired body feature parameter data.

[0066] The moving mechanism 500 includes a spring fixing plate 9, an electric wheel module 14, and shock-absorbing springs 13. The bottom frame 1 is also fixed to the spring fixing plate 9 at the second transverse sleeve via bolts. The electric wheel module 14 is fixed to the spring fixing plate 9 by bolts via two shock-absorbing springs 13, thus connecting it to the bottom frame 1 as a whole. The electric wheel module 14 includes a motor and two electric wheels. The motor drives the two electric wheels to rotate, driving the entire walking aid 200 to move. There are two shock-absorbing springs 13. A slope detector is also installed at the electric wheel module 14 for slope detection.

[0067] The height adjustment assembly 400 includes a linear actuator 3, a support base 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 shaft of the linear actuator 3 is connected to the upper plate 16 to change the height of the walker 200.

[0069] A support base 4 is respectively provided at the first lateral pipe section 303 and the second lateral pipe section 304 of the bottom frame 1. Each support base 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-back direction parallel to the lateral pipe section. The third pipe section 403 may be a straight pipe section extending obliquely in the vertical direction. The second pipe section 402 may have a straight pipe section extending in the front-back direction, a first curved pipe section section for connecting the straight pipe section section and the lateral pipe section, and a second curved pipe section section for connecting the straight pipe section section and the third pipe section 403. The rear parts 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 the support base 4 in a sleeve manner through a first coupling 71 and a first locking member 81. The support base 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. Simultaneously, the first coupling 71 has a clearance fit with the first lateral tube section 303 and the second lateral tube section 304 of the bottom frame 1, allowing the support base 4 to rotate circumferentially, facilitating subsequent configuration changes. The fourth tube section 404 can be formed by two curved tube sections with different bending directions. An arc-shaped surface is formed at the lower part of the curved tube section near the lateral tube section, and the arc-shaped surface rotatably fits the outer surface of the lateral tube section; the upper part of the fourth tube section 404 is connected to the third tube section 403.

[0070] The front-to-back width of the first U-shaped support rod 5 is smaller than that of the second U-shaped support rod 6, thus placing the first U-shaped support rod 5 within the U-shaped area of ​​the second U-shaped support rod 6. The upper parts of the third pipe sections 403 of the two support seats 4 are respectively connected to the lower parts of the first U-shaped support rod 5 and the second U-shaped support rod 6, and the two are fixed by a sleeve 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 includes four guide rails 10 extending in the left-right direction and arranged sequentially in the front-back direction; the plurality of sliders 11 includes four sliders 11 respectively corresponding to the four guide rails 10; the plurality of support rods includes a first U-shaped support rod 5 and a second U-shaped support rod 6; the two spaced-apart upper parts of the first U-shaped support rod 5 are connected to two of the four sliders 11 through a support rod fixing member 12, and the two spaced-apart upper parts of the second U-shaped support rod 6 are connected to the other two of the four sliders 11 through another support rod fixing member 12. The support rod fixing member 12 and the sliders 11 are fastened together by bolts.

[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 gear fixing member 110, a bushing 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 bolts. The handle 19 is connected to the width adjustment assembly 15 by gear engagement to realize the width adjustment function of the handle 19 of the walker 200.

[0074] The first gear mechanism 120 includes a first driving gear 104 and two first driven gears 105. Each second gear mechanism 140 includes a second driving gear 108 and a second driven gear 119. Each worm gear mechanism 130 includes a worm 106, a worm gear 107, and a worm gear shaft 111. Figure 7As shown, the output shaft of motor 101 is connected to driving bevel gear 102, and driven bevel gear 103 is connected to first driving gear 104 via first driving gear shaft 115. A first driven gear 105 meshes with each of the left and right sides of the first driving gear 104. A second driving gear 108 meshes with a second driven gear 119, which is connected to a handle 19. Worm gear 106 is connected to the first driven gear 105, and worm wheel 107 meshes with worm gear 106. Worm wheel shaft 111 passes through worm wheel 107 and second driving gear 108. Specifically, driving bevel gear 102 is vertically oriented; driven bevel gear 103, first driving gear 104, and first driven gear 105 are horizontally oriented; worm gear 106 is vertically oriented, and worm wheel 107 is horizontally oriented. Specifically, the driven bevel gear 103 is interference-fitted with the first driving gear shaft 115, and the first driving gear 104 is also interference-fitted with the first driving gear shaft 115. Thus, the driven bevel gear 103, the first driving gear shaft 115, and the first driving gear 104 form a single fixed component. The first driven gear 105 is interference-fitted with the first driven gear shaft 116, and the worm 106 is connected to the first driven gear shaft 116 via a coupling 117. The worm 106 is also interference-fitted with the coupling 117, and the first driven gear shaft 116 is also interference-fitted with the coupling 117. Thus, the first driven gear 105, the first driven gear shaft 116, the coupling 117, and the worm 106 form a single fixed component. The worm wheel 107 on the worm gear shaft 111 is fixed in axial position by two first washers 113 to ensure proper fit with the worm 106, while the worm wheel 107 is also interference-fitted with the worm gear shaft 111. The second drive wheel 108 is fixed in axial position by a second washer 114 and is interference-fitted with the worm gear shaft 111.

[0075] The outer casing 118 includes a base 181, protrusions 182, a first side portion 183, a second side portion 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 spaced apart along the left-right direction on the base 181 to define the positions of a first driving gear shaft 115 and two first driven gear shafts 116. A clearance fit exists between the first driving gear shaft 115 and the protrusions 182, and between the first driven gear shafts 116 and the protrusions 182. The front and rear sides of the base 181 extend upward to form the first side portion 183 and the second side portion 184, respectively. The first side portion 183 has a hole for facilitating the arrangement of the first driving gear 104, etc. The extension 185 extends forward from the left and right sides of the hole, and has a worm gear shaft mounting hole (not labeled in the figure) and a handle mounting hole 1850 that runs through the front-rear direction. A first top section 186 extends rearward from the top of the first side portion 183, and a second top section 187 extends 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 fix the upper plate 16. Furthermore, a partition 189 is formed above the base 181 between three annular protrusions 182, and a third top section 188 is formed above the two partitions 189. The partitions 189 separate the centrally located driving bevel gear 102, driven bevel gear 103, motor 101, and first driving wheel 104 from the first driven wheels 105 and worm gear mechanism 130 located on either side.

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

[0077] Continue to refer to Figure 8 The worm 106 is fixed by the worm fixing member 110 through a shaft hole connection, with a clearance fit between the two. The worm fixing member 110 is connected and fixed to the housing 118 by bolts. The worm gear shaft 111 and the housing 118 are fastened by bolts through the bushing 112, wherein the worm gear shaft 111 and the bushing 112 have a clearance fit.

[0078] When the width adjustment component 15 is in use, the output shaft of the motor 101 is fixedly connected to the driving bevel gear 102. The torque is generated by the motor 101 and transmitted vertically 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 to the first driven wheel 105 through gear transmission. Then, the torque is transmitted from the first driven wheel 105 to the worm gear 106 through the first driven wheel shaft 116, and then to the worm wheel 107 through 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. Finally, the second driving wheel 108 transmits the torque to the handle 19, causing the handle 19 to rotate to change the angle, thereby changing the width between the handles 19.

[0079] The width adjustment component 15 can be used with two handles 19. The torque originates from the motor 101, is transmitted to the second drive wheel 108, and then to the handles 19 via the second driven wheel 119, enabling the handles 19 to rotate radially. Due to the gear reduction ratio, the high speed of the motor 101 is reflected in the handles 19 at an appropriate angular velocity. The operating time of the motor 101 can be calculated using key data such as the gear reduction ratio, motor speed, and required handle width, allowing the width between the handles 19 to be changed by controlling the operation of the motor 101.

[0080] The variable-configuration smart walking aid 200 of this invention can achieve at least 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. At the same time, the upper parts of the first U-shaped support rod 5 and the second U-shaped support rod 6 slide on the guide rail 10, supporting and fixing the upper part of the walker 200 and the bottom of the support base 4 to rotate around the bottom frame 1. When the cross 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 piece 82 on the support base 4 can be manually loosened to lengthen the first U-shaped support rod 5 and the second U-shaped support rod 6, and then the second locking piece 82 can be tightened. Conversely, when the cross width of the first U-shaped support rod 5 and the second U-shaped support rod 6 is too small, the second locking piece 82 on the support base 4 can be manually loosened to shorten the first U-shaped support rod 5 and the second U-shaped support rod 6, and then the second locking piece 82 can be tightened.

[0082] (2) Changing the front and rear length of the walker 200: This method is mainly operated manually. By loosening the first locking part 81, the support base 4 can be moved forward or backward, and then the first locking part 81 can be tightened.

[0083] (3) Change the width between the handles 19 of the walker 200: By energizing and driving the motor 101 in the width adjustment assembly 15, a series of gears and worm gears are engaged, 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 walking aid 200 of this embodiment is a variable-configuration walking aid 200. While maintaining stability and safety, this walking aid 200 adaptively adjusts its configuration to suit the body shape and individual needs of different patients as conveniently as possible. This includes adjusting the overall height of the walking aid 200, the width and front-back position of the handles 19, and the center of gravity of the entire machine. This achieves adaptive adjustment without human intervention, maximizing individual rehabilitation comfort and efficiency, and realizing personalized rehabilitation treatment. Specifically, the walking aid 200 of this embodiment is more intelligent than ordinary walking aids, enabling adaptive configuration adjustment without human control. The cross-arranged support rods and worm gear transmission structure have self-locking characteristics, ensuring stability and safety while improving convenience. The configuration of the walking aid 200 of this embodiment can be continuously adjusted, allowing for adjustments to any height, width, and other dimensions such as the handles 19. This embodiment also features strong human-computer interaction, using algorithms and human body efficiency theory to analyze and achieve the most suitable configuration for different patients.

[0085] In the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0086] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "one example," "some embodiments," or "preferred embodiment," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

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

Claims

1. A walking aid, wherein, The walking aid includes: a bottom frame, a top plate, and a height adjustment assembly; the top plate is movably mounted above the bottom frame using the height adjustment assembly; wherein, the height adjustment assembly includes a linear actuator, multiple support rods, and multiple support seats; the linear actuator is fixed to the bottom frame, and the output shaft of the linear actuator is connected to the top 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 top plate; The height adjustment assembly also includes: multiple guide rails and multiple sliders, the guide rails are fixed below the upper plate, one end of the slider is slidably engaged with the guide rail, and the other end is connected to the upper part of the support rod; The plurality of guide rails includes four guide rails extending in the left-right direction and arranged sequentially in the front-back direction, and the plurality of sliders includes four sliders respectively corresponding to the four guide rails; The plurality of support rods include a first U-shaped support rod and a second U-shaped support rod; the two spaced-apart upper parts of the first U-shaped support rod are respectively connected to two of the four sliders, and the two spaced-apart upper parts of the second U-shaped support rod are respectively connected to the other two of the four sliders. The walking aid further includes: two handles and a width adjustment assembly. The two handles are movably mounted on the upper plate using the width adjustment assembly. 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 its left and right widths are adjustable. The handles are connected to the second gear mechanisms. The worm gear mechanisms connect the first gear mechanism and the second gear mechanism. The first gear mechanism includes a first driving gear and two first driven gears. The output shaft of the motor is connected to the first driving gear, and one first driven gear meshes with each of the left and right sides of the first driving gear. Each of the second gear mechanisms includes a second driving gear and a second driven gear, the second driving gear meshing with the second driven gear, and the second driven gear being connected to one of the handles; Each of the worm gear mechanisms 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.

2. The walking aid according to claim 1, wherein, The bottom frame includes transverse pipe sections and lateral pipe sections; The support base includes a first pipe section, a second pipe section, and a third pipe section. One end of the first pipe section forms a sleeve structure with the rear part of the lateral pipe section using a first coupling and a first locking member, and the first coupling and the lateral pipe section are in clearance fit. The third pipe section forms a sleeve structure with the lower part of the support rod using a second coupling and a second locking member. The second pipe section is used to connect the first pipe section and the third pipe section.

3. The walking aid according to claim 2, wherein, The support base also includes a fourth pipe segment, wherein the lower part of the fourth pipe segment is an arc-shaped surface, and the arc-shaped surface rotatably fits the outer surface of the lateral pipe segment; the upper part of the fourth pipe segment is connected to the third pipe segment.

4. The walking aid according to claim 1, wherein, The walking aid further includes a moving mechanism, which includes an electric wheel module and a shock-absorbing spring. The electric wheel module is configured to drive the walking aid to move back and forth. One end of the shock-absorbing spring is connected to the bottom frame, and the other end is connected to the electric wheel module.

5. The walking aid according to claim 4, wherein, The walking aid also includes a slope detector for slope detection, wherein the slope detector is located at the electric wheel module; The walking aid is configured to control the electric wheel module based on the obtained slope data.

6. The walking aid according to any one of claims 1 to 5, wherein, The walking aid also includes a depth camera, which is mounted on the upper plate and is used to acquire the user's body feature parameters. The walking aid is configured to control the height adjustment component and / or the width adjustment component based on obtained body feature parameter data.

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