An intelligent axillary crutch walking aid and its usage method

Abstract

The present invention discloses an intelligent armpit stick walker and a method for using the same, and relates to the field of medical devices. A first support member, a second support member having one end hinged to the first support member, a third support member slidably connected to the second support member, a first drive assembly arranged at the hinge between the first support member and the second support member, and a second drive assembly arranged at the connection between the third support member and the second support member are provided. When in use, the user clamps the first support member under the armpit, and the third support member presses against a target step. The first drive assembly and the second drive assembly assist or replace the user's healthy leg with more uniform and accurate force to shift the center of gravity, and optimize the user's center of gravity movement trajectory through the mutual movement of the first support member, the second support member, and the third support member, thereby reducing the risk of the user falling off the stairs due to unstable center of gravity when going down the stairs.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and specifically, to an intelligent axillary crutch walking aid and a using method thereof. Background Art

[0002] An axillary crutch is a walking aid mainly used to help people with limited mobility maintain balance and support body weight. There are significant potential hazards when a user descends a staircase using an axillary crutch. Usually, the user needs to first bend down to abut the axillary crutches on both sides against the target step, use the healthy leg to push the upper body to shift the center of gravity to the axillary crutches, and finally, with the support of the axillary crutches on both sides, the healthy leg kicks the ground to drive the lower body, so that the healthy leg lands on the target step and forms a support. During this process, the trajectory of the user's center of gravity is difficult to control, and there is a risk of the leg being lifted off the ground, further increasing the difficulty of controlling the center of gravity. As a result, the user is prone to losing balance and falling from the staircase, causing serious injuries. Summary of the Invention

[0003] The present invention provides an intelligent axillary crutch walking aid and a using method thereof, which are improved in view of the problem of the risk of falling when using an axillary crutch to descend a staircase in the prior art, and can reduce the risk of the user falling from the staircase due to unstable center of gravity during the process of descending the staircase.

[0004] To achieve the above object, in a first aspect, the present invention provides an intelligent axillary crutch walking aid, comprising:

[0005] A first support member;

[0006] A second support member, one end of which is hinged to the first support member;

[0007] A third support member, which is slidably connected to the second support member along a first direction;

[0008] A driving device, the driving device includes a first driving component and a second driving component. The first driving component is disposed corresponding to the hinge axis of the first support member and the second support member, and the first driving component is used to drive the second support member to rotate relative to the first support member; the second driving component is disposed corresponding to the connection portion of the third support member and the second support member, and the second driving component is used to drive the third support member to slide relative to the second support member;

[0009] Wherein, the first direction is the direction of the line connecting one end and the other end of the hinged connection between the second support member and the first support member. When the intelligent cane walker of the present invention is used, the driving device is started, so that the end of the first support member facing away from the second support member, the hinged connection between the first support member and the second support member, and the end of the third support member are located in the same straight line, and this state is recorded as the straight state; at this time, the first support member is clamped under the user's armpit, and the user extends his arm forward, so that the hinged connection between the first support member and the second support member is located above the target step in the vertical direction, the first driving component is started, so that the third support member is parallel to the vertical direction, and the second driving component is started, so that the third support member slides away from the second support member and the third support member is moved. The end abuts against the target step; the driving device restores the smart cane walker to the straightened state, and at the same time, the second driving assembly causes the second support member to slide toward the third support member, so that in the process of the smart cane walker restoring the straightened state, the movement trajectory of the end of the first support member away from the second support member is in the horizontal direction, so that the user's armpit supported by the end of the first support member moves smoothly in the horizontal direction and descends when reaching the top of the target step, thereby optimizing the trajectory of the user's center of gravity movement in the process of going down the stairs, reducing the risk of the user falling from the stairs due to unstable center of gravity in the process of going down the stairs. In addition, in the process of the user using the smart cane walker to go down the stairs, the driving device assists or replaces the function of the user's healthy leg driving the transfer of center of gravity. The driving device can drive the user to transfer the center of gravity with a more uniform and accurate force, which is conducive to improving the safety of the user in the process of going down the stairs.

[0010] As an optional technical solution, the first support member includes a first side and a second side that are arranged opposite to each other, and the second support member is hinged to the first side;

[0011] The intelligent cane walker further includes an axillary pillow, which is slidably connected to the second side along a second direction, and a buffer structure is provided between the axillary pillow and the second side;

[0012] The second direction is the direction of a line connecting the first side and the second side. The axillary pillow can reduce the impact on the human body when the intelligent axillary cane walker is used to move, thereby improving comfort.

[0013] As an optional technical solution, the buffer structure includes two support arms arranged opposite to each other and a shock absorbing guide rail, the support arms are arranged on the second side, the extension lines of the axes of the two support arms pass through the hinge point between the first support member and the second support member, and the sides of the two support arms facing each other cooperate with the axillary pillow; a paddle is provided on the sides of the two support arms facing each other, and the paddle is used to apply an elastic force to the axillary pillow away from the second side;

[0014] The shock-absorbing guide rail is disposed between the two support arms along the second direction, and the shock-absorbing guide rail is slidably connected to the axillary pillow. After the user's body contacts the axillary pillow, the axillary pillow will first contact the deflector plate, and then the deflector plate is forced to retract, so as to achieve the shock-absorbing and pressure-reducing effect of the axillary pillow. At the same time, the design of the shock-absorbing guide rail enables the axillary pillow to always move along the extending direction of the shock-absorbing guide rail after an external force is applied by the user, preventing the axillary pillow from disengaging from the first support member.

[0015] As an alternative technical solution, the first driving assembly includes a first rotary driving member and / or a first telescopic driving member; the first rotary driving member is disposed at the hinge joint of the first support member and the second support member;

[0016] The first telescopic driving member is disposed corresponding to the hinge joint of the first support member and the second support member, and one end thereof is connected to the first support member and the other end is connected to the second support member. When the first rotary driving member and the first telescopic driving member stop driving the first support member and the second support member to rotate relative to each other, they can play a role in relatively fixing the first support member and the second support member. The first rotary driving member and the first telescopic driving member can be used in combination to not only complement each other to provide sufficient driving force, but also when one of them fails, the other can still lock the first support member and the second support member to each other, which is beneficial to improving the safety of the intelligent axillary crutch walking aid.

[0017] As an alternative technical solution, a limiting rod is provided on the first support member, and at least a part of the rotation trajectory of the second support member intersects with the limiting rod;

[0018] The first telescopic driving member is disposed radially along the hinge axis of the second support member and the first support member opposite to the limiting rod. When the intelligent axillary crutch walking aid of this technical solution is in use, the orientation of the side provided with the limiting rod is the same as the orientation of the user. The limiting rod can prevent the first support member from further rotating when the first support member rotates to contact the limiting rod, preventing the second support member from rotating excessively and causing the user to fall from the front side of the intelligent axillary crutch walking aid, which is beneficial to improving the safety of the intelligent axillary crutch walking aid in this technical solution.

[0019] As an alternative technical solution, the first driving assembly includes the first telescopic driving member; a connecting block is provided on the first support member, and the number of the connecting blocks is multiple. The multiple connecting blocks are stacked in the direction from one end to the other end of the connection between the first support member and the second support member. The end of the first telescopic driving member is detachably connected to one or more of the multiple connecting blocks. Without changing the first telescopic driving member, when the first telescopic driving member is connected to the connecting block close to the hinge joint between the first support member and the second support member, the force arm of the first telescopic driving member is shorter, and the first telescopic driving member bears a larger load, and can drive the first support member and the second support member to rotate relative to each other at a faster angular velocity, which is suitable for users with a lighter weight or a less serious injury; when the first telescopic driving member is connected to the connecting block far from the hinge joint between the first support member and the second support member, the force arm of the first telescopic driving member is longer, and the first telescopic driving member bears a smaller load, and can drive the first support member and the second support member to rotate relative to each other at a slower angular velocity, which is suitable for users with a heavier weight or a more serious injury; it can be seen that the setting of the connecting block is beneficial to the adaptation of the intelligent axillary crutch walking aid to people with different weights and different needs.

[0020] As an alternative technical solution, a rack is provided on the third support member, the rack is arranged along the first direction, and the second driving assembly meshes with the rack.

[0021] As an alternative technical solution, a first supporting leg is provided at the end of the third support member facing away from the second support member. The first supporting leg is hinged to the third support member, and the hinge axis of the first supporting leg and the third support member is parallel to the hinge axis of the first support member and the second support member;

[0022] The driving device further includes a third driving assembly, the third driving assembly is arranged corresponding to the hinge axis of the first supporting leg and the third support member, and the third driving assembly is used to drive the first supporting leg to rotate relative to the third support member. When the end of the third support member abuts against a target step, the third driving assembly drives the first supporting leg to fall, so that the first supporting leg abuts against the next step of the target step, which is beneficial to preventing the intelligent axillary crutch walking aid from tipping forward during the process of going downstairs.

[0023] As an alternative technical solution, a second supporting leg is further provided at the end of the third support member facing away from the second support member. The second supporting leg is arranged opposite to the first supporting leg, and the second supporting leg is fixedly connected to the third support member. When the end of the third support member abuts against a target step, the second supporting leg can provide support on the side of the third support member close to the user, which is beneficial to preventing the intelligent axillary crutch walking aid from tipping backward.

[0024] In a second aspect, the present invention also discloses a method for using an intelligent axillary crutch walking aid, which is applied to the intelligent axillary crutch walking aid described in any of the above technical solutions, and includes:

[0025] The driving device is started, and the first support member is rotated so that one end of the first support member facing away from the second support member, the hinge joint of the first support member and the second support member, and the end of the third support member are located on the same straight line, and this state is recorded as the straight state of the intelligent axillary crutch walking aid;

[0026] Clamp the end of the first support member facing away from the second support member under the armpit of the user;

[0027] Rotate the first support member so that the hinge joint of the first support member and the second support member is vertically above the target step;

[0028] The first driving assembly rotates the second support member and the third support member so that the connection line between the connection point of the first support member and the second support member and the end of the third support member is parallel to the vertical direction; the second driving assembly drives the third support member to slide away from the second support member so that the end of the third support member abuts against the target step;

[0029] The driving device is started to restore the intelligent axillary crutch walking aid to the straight state, and the second driving assembly drives the third support member to slide towards the second support member.

[0030] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0031] In the intelligent axillary crutch walking aid of the present invention, by providing a first support member, a second support member hinged at one end to the first support member, a third support member slidably connected to the second support member, a first driving assembly provided at the hinge joint of the first support member and the second support member, and a second driving assembly provided at the connection joint of the third support member and the second support member, during use, the user clamps the first support member under the armpit, the third support member abuts against the target step, the first driving assembly and the second driving assembly assist or replace the user's healthy leg to exert force to transfer the center of gravity with more uniform and accurate force, and optimize the user's center of gravity movement trajectory through the mutual movement of the first support member, the second support member, and the third support member, thereby reducing the risk that the user falls from the stairs due to unstable center of gravity during the process of going downstairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the present invention, but do not limit the embodiments of the present invention;

[0033] Figure 1 Schematic diagram of the straight state of the intelligent axillary crutch walking aid in the present invention;

[0034] Figure 2 is Figure 1 Cross-sectional view of the first support member along the axial direction of the hinge axis with the second support member in

[0035] Figure 3 is Figure 1 Schematic diagram of the first support member in

[0036] Figure 4 is Figure 3 Schematic diagram of the first support member from another perspective in

[0037] Figure 5 is Figure 1 Schematic diagram of the second support member and the third support member in

[0038] Figure 6 is Figure 1 Schematic diagram of the third support member in

[0039] Figure 7 is Figure 1 Schematic diagram of the intelligent axillary crutch walking aid when going downstairs.

[0040] Explanation of reference numerals:

[0041] First support member - 1; First drive assembly - 11; First rotary drive member - 111; First telescopic drive member - 112; First side - 12; Second side - 13; Axillary pillow - 14; Shock-absorbing guide rail - 15; Support arm - 16; Dial - 161; Limit rod - 17; Connecting block - 18; Handle - 19; Switch - 191;

[0042] Second support member - 2; Angle sensor - 21;

[0043] Third support member - 3; Second drive assembly - 31; First supporting foot - 32; Third drive assembly - 33; Second supporting foot - 34; Stability judgment sensor - 35; Third supporting foot - 36;

[0044] First direction - X; Second direction - Y. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] In the present invention, the orientation or positional relationship indicated by terms such as "upper", "lower", "front", "rear", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.

[0047] Moreover, in addition to being used to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0048] In addition, the terms "mounted", "arranged", "provided with", "connected", "linked" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection, it may be directly connected, or indirectly connected through an intermediate medium, or there may be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, the meaning of "a plurality" is two or more.

[0050] Embodiment 1

[0051] As Figures 1-7 shown, this embodiment provides an intelligent axillary crutch walking aid, including a first support member 1, a second support member 2, a third support member 3 and a driving device. One end of the second support member 2 is hinged to the first support member 1; the third support member 3 is slidably connected to the second support member 2 along the first direction X; the driving device includes a first driving assembly 11 and a second driving assembly 31. The first driving assembly 11 is arranged corresponding to the hinge axis of the first support member 1 and the second support member 2, and the first driving assembly 11 is used to drive the second support member 2 to rotate relative to the first support member 1; the second driving assembly 31 is arranged corresponding to the connection part of the third support member 3 and the second support member 2, and the second driving assembly 31 is used to drive the third support member 3 to slide relative to the second support member 2;

[0052] Wherein, the first direction X is the direction of the line connecting one end and the other end of the second support member 2 hinged to the first support member 1. When the intelligent axillary crutch walker of the present invention is in use, the driving device is activated, so that one end of the first support member 1 facing away from the second support member 2, the hinge joint of the first support member 1 and the second support member 2, and the end of the third support member 3 are located on the same straight line, and this state is recorded as the straight state; at this time, the first support member 1 is clamped under the armpit of the user, the user stretches the arm forward, and the hinge joint of the first support member 1 and the second support member 2 is located above the target step in the vertical direction. The first driving assembly 11 is activated to make the third support member 3 parallel to the vertical direction, and the second driving assembly 31 is activated to make the third support member 3 slide away from the second support member 2 and make the end of the third support member 3 abut against the target step; the driving device restores the intelligent axillary crutch walker to the straight state, and at the same time the second driving assembly 31 makes the second support member 2 slide towards the third support member 3, so that during the process of the intelligent axillary crutch walker restoring to the straight state, the movement trajectory of the end of the first support member 1 facing away from the second support member 2 is along the horizontal direction. Under the combined coupling action of the first driving assembly 11 and the second driving assembly 31, the armpit of the user supported by the end of the first support member 1 moves smoothly in the horizontal direction and descends when reaching above the target step, so as to optimize the trajectory of the center of gravity movement during the process of the user going down the stairs, and reduce the risk of the user falling from the stairs due to unstable center of gravity during the process of going down the stairs. In addition, during the process of the user using the intelligent axillary crutch walker to go down the stairs, the driving device assists or replaces the function of the user's healthy leg to drive and transfer the center of gravity. The driving device can drive the user to transfer the center of gravity with more uniform and accurate force, which is beneficial to improving the safety of the user during the process of going down the stairs.

[0053] It should be noted that the intelligent axillary crutch walker of the present invention can be applied not only to the scenario of going down the stairs, but also to scenarios such as going up the stairs and walking on flat ground. By making the first support member 1 and the second support member 2 rotate relative to each other and the second support member 2 and the third support member 3 slide relative to each other through the driving device, it can assist the user to transfer the center of gravity and stabilize the center of gravity movement trajectory in the above scenarios, so as to achieve safe and labor-saving movement.

[0054] Optionally, a handle 19 is provided on the first support member 1, and a switch 191 is provided on the handle 19. The switch 191 is signal-connected to the first driving assembly 11 and the second driving assembly 31; the number of handles 19 can be multiple, and a switch 191 is provided on one or several of the handles 19. In the case where the driving device is not required to assist, the user can hold the handle 19 without the switch 191 to move, preventing accidental touch.

[0055] Optionally, an angle sensor 21 is provided on the second support member 2. The angle sensor 21 is used to obtain the inclination angle of the current intelligent axillary crutch walking aid. By obtaining the inclination angle of the intelligent axillary crutch walking aid, the rotation angle of the first driving component 11 can be indicated. After the second support member 2 rotates under the action of the first driving component 11, the axial direction of the third support member 3 is parallel to the vertical direction, thereby improving the convenience of using the intelligent axillary crutch walking aid. The angle sensor 21 can be a gyroscope or a level, etc., and this embodiment does not limit it here.

[0056] In some embodiments, the third support member 3 can also be provided with a guide rail along the sliding direction to cooperate with the second support member 2.

[0057] Embodiment 2

[0058] As Figures 1-3 shown, on the basis of Embodiment 1, the first support member 1 includes a first side 12 and a second side 13 that are oppositely arranged, and the second support member 2 is hinged to the first side 12;

[0059] The intelligent axillary crutch walking aid further includes an axillary pillow 14. The axillary pillow 14 is slidably connected to the second side 13 along the second direction Y, and a buffer structure is provided between the axillary pillow 14 and the second side 13;

[0060] wherein, the second direction Y is the connecting line direction of the first side 12 and the second side 13. The axillary pillow 14 can weaken the impact on the human body when using the intelligent axillary crutch walking aid, thereby improving comfort.

[0061] As an alternative embodiment, the buffer structure includes two oppositely arranged support arms 16 and a shock-absorbing guide rail 15. The support arms 16 are arranged on the second side 13. The extension lines of the axes of the two support arms 16 pass through the hinge point of the first support member 1 and the second support member 2. The opposite sides of the two support arms 16 cooperate with the axillary pillow 14; on the opposite sides of the two support arms 16, there are provided dial plates 161, and the dial plates 161 are used to apply an elastic force away from the second side 13 to the axillary pillow 14;

[0062] The shock-absorbing guide rail 15 is arranged between the two support arms 16 along the second direction Y, and the shock-absorbing guide rail 15 is slidably connected to the axillary pillow 14. After the user's body contacts the axillary pillow 14, the axillary pillow 14 will first contact the dial plate 161, and then the dial plate 161 will be forced to retract, thereby realizing the buffer and decompression effect of the axillary pillow 14. At the same time, with the design of the shock-absorbing guide rail 15, the axillary pillow 14 always moves along the extension direction of the shock-absorbing guide rail 15 after the user applies an external force, preventing the axillary pillow 14 from disengaging from the first support member 1.

[0063] Among them, the dial plate 161 should be connected to an elastic component such as a spring or an airbag.

[0064] Among them, the end of the shock-absorbing guide rail 15 may be provided with an enlarged limiting portion for preventing the armpit pillow 14 from coming off; one or more guide grooves or guide rails may be provided in the groove cooperating with the shock-absorbing guide rail 15

[0065] As an alternative implementation manner, the first driving assembly 11 includes a first rotary driving member 111 and / or a first telescopic driving member 112; the first rotary driving member 111 is arranged at the hinge joint of the first support member 1 and the second support member 2;

[0066] The first telescopic driving member 112 is arranged corresponding to the hinge joint of the first support member 1 and the second support member 2, and one end is connected to the first support member 1 and the other end is connected to the second support member 2. When the first rotary driving member 111 and the first telescopic driving member 112 stop driving the relative rotation of the first support member 1 and the second support member 2, they can play a role in relatively fixing the first support member 1 and the second support member 2. The first rotary driving member 111 and the first telescopic driving member 112 can complement each other to provide sufficient driving force when used together, and when one of them fails, the other can still lock the first support member 1 and the second support member 2 to each other, which is beneficial to improving the safety of the intelligent axillary crutch walking aid.

[0067] Among them, the first rotary driving member 111 may be a motor or a rotary cylinder cooperating with transmission structures such as bearings and couplings, and the first telescopic driving member 112 may be a linear cylinder or a hydraulic rod, etc.

[0068] As an alternative implementation manner, a limiting rod 17 is provided on the first support member 1, and at least part of the rotation trajectory of the second support member 2 intersects with the limiting rod 17;

[0069] The first telescopic driving member 112 is arranged opposite to the limiting rod 17 along the radial direction of the hinge axis of the second support member 2 and the first support member 1. When the intelligent axillary crutch walking aid of this implementation manner is in use, the side where the limiting rod 17 is provided faces the same direction as the user. The limiting rod 17 can prevent the first support member 1 from further rotating when the first support member 1 rotates to contact the limiting rod 17, and prevent the second support member 2 from rotating excessively, resulting in the user falling from the front side of the intelligent axillary crutch walking aid, which is beneficial to improving the safety of the intelligent axillary crutch walking aid in this implementation manner.

[0070] As an alternative embodiment, the first driving component 11 includes a first telescopic driving member 112; a connecting block 18 is provided on the first support member 1, and the number of the connecting blocks 18 is multiple. The multiple connecting blocks 18 are stacked in the direction from one end to the other end of the first support member 1 connected to the second support member 2. The end of the first telescopic driving member 112 is detachably connected to one or more of the multiple connecting blocks 18. Without changing the first telescopic driving member 112, when the first telescopic driving member 112 is connected to the connecting block 18 close to the hinge joint of the first support member 1 and the second support member 2, the force arm of the first telescopic driving member 112 is shorter, and the first telescopic driving member 112 bears a larger load, and can drive the first support member 1 and the second support member 2 to rotate relative to each other at a faster angular velocity; when the first telescopic driving member 112 is connected to the connecting block 18 far from the hinge joint of the first support member 1 and the second support member 2, the force arm of the first telescopic driving member 112 is longer, and the first telescopic driving member 112 bears a smaller load, and can drive the first support member 1 and the second support member 2 to rotate relative to each other at a slower angular velocity, so as to be adapted to people with different weights and different needs.

[0071] As Figure 5 , Figure 6 shown, as an alternative embodiment, a rack is provided on the third support member 3, the rack is arranged along the first direction X, and the second driving component 31 meshes with the rack.

[0072] Wherein the second driving component 31 can be a transmission structure such as a motor cooperating with a gear or a turbine that can mesh with the rack.

[0073] As an alternative embodiment, a first support foot 32 is provided at the end of the third support member 3 facing away from the second support member 2. The first support foot 32 is hinged to the third support member 3, and the hinge axis of the first support foot 32 and the third support member 3 is parallel to the hinge axis of the first support member 1 and the second support member 2;

[0074] The driving device further includes a third driving component 33. The third driving component 33 is arranged corresponding to the hinge axis of the first support foot 32 and the third support member 3. The third driving component 33 is used to drive the first support foot 32 to rotate relative to the third support member 3. When the end of the third support member 3 abuts against the target step, the third driving component 33 drives the first support foot 32 to fall, so that the first support foot 32 abuts against the next step of the target step, which is beneficial to preventing the intelligent axillary crutch walking aid from tipping forward during the process of going downstairs. Among them, the third driving component 33 can be a linear cylinder or a hydraulic rod.

[0075] Optionally, on both sides of the end of the third support member 3 along the axial direction of the hinge axis of the first support member 1 and the second support member 2, stability judgment sensors 35 are provided. The stability judgment sensors 35 are used to obtain the force and inclination angle when the end of the third support member 3 abuts against the target step. The stability judgment sensors 35 are electrically connected to the second drive assembly 31 and the third drive assembly 33. When the end of the third support member 3 slides away from the second support member 2 under the action of the second drive assembly 31 and abuts against the surface of the target step, and the first support leg 32 abuts against the next lower step of the target step, the stability judgment sensors 35 can judge whether the third support member 3 firmly abuts against the target step in a stable posture. Only after the judgment results of the stability judgment sensors 35 on both sides are both stable, the first drive assembly 11 and the second drive assembly 31 will make the intelligent axillary crutch walking aid return to the straight state and assist the user in shifting the center of gravity. The stability judgment sensor 35 can be an integrated sensor module combined with a sensor for judging the inclination angle such as an accelerometer or a gyroscope and a sensor for measuring the direct force such as a force sensor.

[0076] As an optional implementation manner, a second support leg 34 is further provided at the end of the third support member 3 facing away from the second support member 2. The second support leg 34 is disposed opposite to the first support leg 32, and the second support leg 34 is fixedly connected to the third support member 3. When the end of the third support member 3 abuts against the target step, the second support leg 34 can provide support on the side of the third support member 3 close to the user, which is beneficial to preventing the intelligent axillary crutch walking aid from tipping backward.

[0077] Further, third support legs 36 can be provided on both sides of the end of the third support member 3 along the hinge axis of the first support member 1 and the second support member 2 to prevent the intelligent axillary crutch walking aid from tipping over laterally.

[0078] In addition, anti-slip pads can be provided at the parts in direct contact with the ground such as the first support leg 32, the second support leg 34, the third support leg 36, and the end of the third support member 3 to increase the friction force.

[0079] Embodiment 3

[0080] This embodiment discloses a method for using an intelligent axillary crutch walking aid, which is applied to the intelligent axillary crutch walking aid in any of the above embodiments, and includes:

[0081] S10: The driving device is started, and the first support member 1 is rotated so that one end of the first support member 1 facing away from the second support member 2, the hinge joint of the first support member 1 and the second support member 2, and the end of the third support member 3 are located on the same straight line, and this state is recorded as the straight state of the intelligent axillary crutch walking aid;

[0082] S20: The ends of the first support members 1 of the intelligent axillary crutch walking aids on the left and right sides are clamped under the armpits of the user;

[0083] S30: Rotate the first support member 1 so that the hinge joint between the first support member 1 and the second support member 2 is vertically above the target step.

[0084] S40: The first drive assembly 11 rotates the second support member 2 and the third support member 3 so that the line connecting the hinge joint between the first support member 1 and the second support member 2 and the end of the third support member 3 is parallel to the vertical direction; the second drive assembly 31 drives the third support member 3 to slide away from the second support member 2 so that the ends of the third support members 3 on both the left and right sides of the intelligent crutch walking aids abut against the target step.

[0085] S50: The drive device is activated to restore the intelligent crutch walking aid to the straight state, and the second drive assembly 31 drives the third support member 3 to slide towards the second support member 2.

[0086] Specifically, step S40 includes:

[0087] S41: The user stretches the arm forward to drive the intelligent crutch walking aid to tilt.

[0088] S42: The angle sensor 21 obtains the inclination angle of the first support member 1, and the first drive assembly 11 drives the second support member 2 and the third support member 3 to rotate according to the inclination angle of the first support member 1 so that the line connecting the hinge joint between the first support member 1 and the second support member 2 and the end of the third support member 3 is parallel to the vertical direction.

[0089] S43: The second drive assembly 31 drives the third support member 3 to slide away from the second support member 2 so that the end of the third support member 3 abuts against the target step, and the second support foot 34 supports on the surface of the target step.

[0090] S44: The third drive group 33 is activated to make the first support foot 32 abut against the next lower step of the target step.

[0091] S45: The stability judgment sensors 35 of the intelligent crutch walking aids on both the left and right sides judge whether the third support member 3 firmly abuts against the target step in a stable posture.

[0092] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0093] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent axillary crutch walking aid, characterized in that, Comprising: A first support member; A second support member, one end of the second support member being hinged to the first support member; A third support member, the third support member being slidably connected to the second support member in a first direction; A driving device, the driving device comprising a first driving assembly and a second driving assembly, the first driving assembly being disposed corresponding to the hinge axis of the first support member and the second support member, the first driving assembly being configured to drive the second support member and the first support member to rotate relative to each other; the second driving assembly being disposed corresponding to the connection between the third support member and the second support member, the second driving assembly being configured to drive the third support member to slide relative to the second support member; The first driving assembly includes a first rotary driving member and / or a first telescopic driving member; the first rotary driving member is disposed at the hinge of the first support member and the second support member; The first telescopic driving member is disposed corresponding to the hinge of the first support member and the second support member, and one end is connected to the first support member and the other end is connected to the second support member; A connecting block is provided on the first support member, the number of the connecting blocks is multiple, the multiple connecting blocks are stacked in the direction from one end to the other end of the connection between the first support member and the second support member, and the end of the first telescopic driving member is detachably connected to one or more of the multiple connecting blocks; Wherein, the first direction is the direction of the line connecting one end and the other end of the hinge of the second support member and the first support member.

2. The intelligent axillary crutch walking aid according to claim 1, characterized in that, The first support member includes a first side and a second side disposed opposite to each other, and the second support member is hinged to the first side; The intelligent axillary crutch walking aid further includes an axillary pillow, the axillary pillow is slidably connected to the second side in a second direction, and a buffer structure is provided between the axillary pillow and the second side; Wherein, the second direction is the direction of the line connecting the first side and the second side.

3. The intelligent axillary crutch walking aid according to claim 2, wherein The buffer structure includes two oppositely disposed support arms and a shock-absorbing guide rail, the support arms are disposed on the second side, the extension lines of the axes of the two support arms pass through the hinge point of the first support member and the second support member, and the opposite sides of the two support arms cooperate with the axillary pillow; a dial plate is provided on the opposite sides of the two support arms, and the dial plate is configured to apply an elastic force away from the second side to the axillary pillow; The shock-absorbing guide rail is disposed between the two support arms in the second direction, and the shock-absorbing guide rail is slidably connected to the axillary pillow.

4. The intelligent axillary crutch walking aid according to claim 1, characterized in that, A limiting rod is provided on the first support member, and at least part of the rotation trajectory of the second support member intersects the limiting rod; The first telescopic driving member is disposed radially with respect to the hinge axis of the second support member and the first support member and opposite to the limiting rod.

5. The intelligent axillary crutch walking aid according to claim 1, characterized in that, A rack is provided on the third support member, the rack is disposed in the first direction, and the second driving assembly meshes with the rack.

6. The intelligent axillary crutch walking aid according to claim 1, characterized in that, A first supporting foot is provided at the end of the third support member facing away from the second support member, the first supporting foot is hinged to the third support member, and the hinge axis of the first supporting foot and the third support member is parallel to the hinge axis of the first support member and the second support member; The driving device further includes a third driving component, which is arranged corresponding to the hinge axis of the first supporting leg and the third supporting member, and the third driving component is used to drive the first supporting leg to rotate relative to the third supporting member.

7. The intelligent axillary crutch walking aid according to claim 6, characterized in that, A second supporting leg is further provided at the end of the third supporting member facing away from the second supporting member. The second supporting leg is arranged opposite to the first supporting leg, and the second supporting leg is fixedly connected to the third supporting member.

8. A method for using an intelligent axillary crutch walking aid, characterized in that, Applied to the intelligent axillary crutch walking aid according to any one of claims 1-7, comprising: When the driving device is started, the first supporting member is rotated so that one end of the first supporting member facing away from the second supporting member, the hinge joint of the first supporting member and the second supporting member, and the end of the third supporting member are located on the same straight line, and this state is recorded as the straightening state of the intelligent axillary crutch walking aid; Clamp one end of the first supporting member facing away from the second supporting member under the armpit of the user; Rotate the first supporting member so that the hinge joint of the first supporting member and the second supporting member is vertically above the target step; The first driving component rotates the second supporting member and the third supporting member so that the connection line between the connection point of the first supporting member and the second supporting member and the end of the third supporting member is parallel to the vertical direction; the second driving component drives the third supporting member to slide away from the second supporting member so that the end of the third supporting member abuts against the target step; When the driving device is started, the intelligent axillary crutch walking aid is restored to the straightening state, and the second driving component drives the third supporting member to slide towards the second supporting member.

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