CN109893408A - A kind of intelligence walk helper and method - Google Patents
A kind of intelligence walk helper and method Download PDFInfo
- Publication number
- CN109893408A CN109893408A CN201910187303.1A CN201910187303A CN109893408A CN 109893408 A CN109893408 A CN 109893408A CN 201910187303 A CN201910187303 A CN 201910187303A CN 109893408 A CN109893408 A CN 109893408A
- Authority
- CN
- China
- Prior art keywords
- wheel
- planetary gear
- planet
- walk helper
- button
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of intelligent walk helpers, including rack, start button, stop button, above go downstairs button, planet front-wheel, motor, telescopic rod, universal wheel, battery, start button, stop button and upper button downstairs are set to frame upper end, planet front-wheel is set to front end of rack, motor is set to rack lower end and is fixedly connected, telescopic rod is set to rear end of rack, and telescopic rod lower end is equipped with universal wheel, and battery is set to front end of rack and is fixedly connected.The present invention provides a kind of intelligent walk helper, user can starting and stopping with autonomous control intelligence walk helper, it is autonomous to open and close mode downstairs, not only it had realized freedom of movement on level road but also had been able to achieve automatic up-down stairs, certain hollow section can also be crossed over, major function is to aid in handicapped old man normal walking on level land and stair, prevents old man from falling down, structure is simple, easy to operate.
Description
Technical field
The present invention relates to a kind of walk helpers, in particular to one kind can be with the intelligent walk helper and method of automatic up-down stairs.
Background technique
In life, the universal problem of the elderly is exactly legs and feet inconvenience, unstable on foot, is easy to fall down, stair activity
Difficulty, stroll of going out for the aging elderly and the disabled is at a difficult thing.
Walk helper currently on the market is varied, but these walk helpers have many places inconvenient for use, mostly
The physical strength that walk helper does not have auxiliary wheel that the manual moving walking aid of user oneself is needed to consume handicapped person, to a certain degree
On so that handicapped old man has been aggravated burden, although some walk helpers added auxiliary wheel, alleviate and walk on old man's level road
Burden, but do not solve the problems, such as stair activity when.For this problem, in order to assist old man and disabled person normally to go out
Take a walk and stair activity, the present invention provide a kind of intelligent walk helper, can starting and stopping with autonomous control intelligence walk helper, from
In main opening and closing go downstairs mode, not only realized freedom of movement on level road be but also able to achieve automatic up-down stairs, additionally it is possible to leap certain hole
Hollow section, major function are to aid in handicapped old man normal walking on level land and stair, prevent old man from falling down, the present invention
The structure of intelligent walk helper is simple, easy to operate, at low cost.
Summary of the invention
It is able to achieve above and below automatic again to solve the above problems, freedom of movement on level road may be implemented in intelligence walk helper of the present invention
Stair, additionally it is possible to cross over certain hollow section, help handicapped old man normal walking on level land and stair, prevent old
People falls down.
The present invention provides a kind of intelligent walk helper, the equipment include rack, start button, stop button, button of above going downstairs,
Planet front-wheel, motor, telescopic rod, universal wheel, battery；Start button, stop button and upper button downstairs are set to frame upper end,
The effect of start button and stop button is to manually control intelligent walk helper to start and stop, and above downstairs the effect of button is manual
Mode of going downstairs in control starts and stops, and planet front-wheel is set to front end of rack, and planet front-wheel is driving mechanism, and motor is set to rack
Lower end is simultaneously fixedly connected, and telescopic rod is set to rear end of rack, and telescopic rod can be flexible according to step height, and telescopic rod lower end is equipped with ten thousand
To wheel, battery is set to front end of rack and is fixedly connected, and battery is powered to motor.
Planet front-wheel includes stepper motor, planet carrier, thread spindle, internal tooth casing, centre wheel, active planetary gear, driven row
Star gear, tire, stepper motor are fixedly connected with planet carrier, and stepper motor main shaft is fixedly connected with thread spindle, and battery is to step
It powers into motor, thread spindle and internal tooth casing cooperate, and internal tooth casing outer ring is fixedly connected with bearing inner race, and bearing outer ring and centre wheel are solid
Fixed connection, by stepper motor drive thread spindle control centre wheel axially movable with active planetary gear and driven planetary gear
Separation, then planet front-wheel moves in a straight line, to realize the mobile function of level road, is driven in thread spindle control by stepper motor
Heart wheel is engaged with active planetary gear and driven planetary gear axially movable, during driven planetary gear with active planetary gear is
The heart moves in a circle, then planet front-wheel does eccentric motion, to realize the function of stair activity, electric machine main shaft and planet carrier connect
It connects, electric machine main shaft is fixedly connected with active planetary gear, and driven planetary gear is connect with planet carrier, active planetary gear and driven
Planetary gear is fixedly connected with corresponding tire.
A kind of operation method of intelligent walk helper, it is characterised in that: user is autonomous in control system according to respective demand
The step pitch moved every time is set, and when hand steered intelligence walk helper moves, intelligent walk helper starts to move after user starts start button
Dynamic, motor driven active planetary gear rotation, active planet gear drives tyre rotation keeps intelligent walk helper mobile, helps when intelligently
Stopping when row device is moved to setting step pitch, is intelligently helped if needing temporary parking that can start stop button at once in operational process
Row device stops；When moving on level road, button of going downstairs in user's closing, control system drives thread spindle control by stepper motor
Centre wheel processed is separated with active planetary gear and driven planetary gear axially movable, active planet gear drives tyre rotation,
Then the motion profile at planet front-wheel center is straight line to intelligent walk helper linear motion；When stair activity, user is opened
Dynamic upper button downstairs, control system by stepper motor drive thread spindle control centre take turns axially movable with active planetary gear
It is engaged with driven planetary gear, active planetary gear and driven planetary gear drive intelligent walk helper mobile jointly, driven planet
Gear is moved in a circle centered on active planetary gear, then planet front-wheel does eccentric motion, the i.e. movement at planet front-wheel center
Track is a sinusoidal trajectory, and universal wheel reaches as the stroke of the height adjustment telescopic rod of step makes universal wheel fall in step
Balanced action is supported, then intelligent walk helper completes the movement of up/down steps.
Compared with prior art, the invention has the following advantages that
The step pitch of intelligent walk helper each run can be independently arranged in intelligence walk helper of the present invention, can be with autonomous control intelligence
Walk helper starts and stops, and the planet front-wheel of intelligent walk helper is a kind of using planetary gear as the creative design of driving wheel, leads to
Crossing control centre's wheel, realization is engaged or is separated with active planetary gear and driven planetary gear axially movable, before realizing planet
Wheel can move horizontally but also do eccentric motion, then intelligent walk helper realization can not only move in level road but also can automatic up/down stairs
Ladder.
Detailed description of the invention
Fig. 1 is the overall structure diagram of intelligent walk helper of the invention；
Fig. 2 is the planet fore wheel structure schematic diagram of intelligent walk helper of the invention；
Fig. 3 is the center actuation schematic diagram of intelligent walk helper of the invention；
Specific embodiment
By the technology contents that the present invention will be described in detail, construction feature, reached purpose and efficacy, below in conjunction with embodiment
And attached drawing is cooperated to be described in detail.
Refering to fig. 1, Fig. 2 and Fig. 3, a kind of intelligent walk helper of the present invention include rack 1, start button 2, stop button 3, on
Downstairs button 4, planet front-wheel 5, motor 6, telescopic rod 7, universal wheel 8, battery；Start button 2, stop button 3 and it is upper downstairs
Button 4 is set to 1 upper end of rack, and the effect of start button 2 and stop button 3 is to manually control intelligent walk helper to start and stop,
The effect of upper button 4 downstairs is that the mode downstairs that manually controls starts and stops, and planet front-wheel 5 is before 1 front end of rack, planet
Wheel 5 is driving mechanism, and motor 6 is set to 1 lower end of rack and is fixedly connected, and telescopic rod 7 is set to 1 rear end of rack, and telescopic rod 7 can be with
Flexible according to step height, 7 lower end of telescopic rod is equipped with universal wheel 8, and battery is set to 1 front end of rack and is fixedly connected, battery
It powers to motor 6.
Planet front-wheel 5 includes stepper motor 51, planet carrier 52, thread spindle 53, internal tooth casing 54, bearing 55, centre wheel 56, master
Dynamic planetary gear 57, driven planetary gear 58, tire 59, stepper motor 51 are fixedly connected with planet carrier 52, and stepper motor 51 is main
Axis is fixedly connected with thread spindle 53, and battery is powered to stepper motor 51, and thread spindle 53 and internal tooth casing 54 cooperate, internal tooth casing 54
Outer ring is fixedly connected with 55 inner ring of bearing, and 55 outer ring of bearing is fixedly connected with centre wheel 56, by stepper motor 51 when walking level road
Driving 53 control centre of thread spindle wheel 56 is separated with active planetary gear 57 and driven planetary gear 58 axially movable, then is gone
Star front-wheel 5 moves in a straight line, to realize the function of level road movement, drives thread spindle 53 by stepper motor 51 when stair activity
Control centre's wheel 56 is engaged with active planetary gear 57 and driven planetary gear 58 axially movable, driven planetary gear 58 with
It moving in a circle centered on active planetary gear 57, then planet front-wheel 5 does eccentric motion, thus realize the function of stair activity,
6 main shaft of motor is connect with planet carrier 52, and 6 main shaft of motor is fixedly connected with active planetary gear 57, driven planetary gear 58 and row
Carrier 52 connects, and active planetary gear 57 and driven planetary gear 58 are fixedly connected with corresponding tire 59.
A kind of operation method of intelligent walk helper, it is characterised in that: user is autonomous in control system according to respective demand
The step pitch moved every time is set, and when hand steered intelligence walk helper moves, intelligent walk helper starts after user starts start button 2
Mobile, motor 6 drives active planetary gear 57 to rotate, and the rotation of 57 tire on the drive wheels 59 of active planetary gear moves intelligent walk helper
It is dynamic, the stopping when the intelligent walk helper is moved to setting step pitch, if needing temporary parking that can start at once in operational process
Stop button 3 guarantees that intelligent walk helper stops；When moving on level road, button 4 of going downstairs in user's closing, control system passes through
Stepper motor 51 drive 53 control centre of thread spindle wheel 56 axially movable with active planetary gear 57 and driven planetary gear 58
Separation, the rotation of 57 tire on the drive wheels 59 of active planetary gear, then the motion profile at 5 center of planet front-wheel is straight line to intelligence
Walk helper linear motion；When stair activity, button 4 of going downstairs in user's starting, control system drives spiral shell by stepper motor 51
53 control centre of Wen Zhou wheel 56 is engaged with active planetary gear 57 and driven planetary gear 58 axially movable, active planetary gear
57 drive intelligent walk helper mobile jointly with driven planetary gear 58, and driven planetary gear 58 is centered on active planetary gear 57
It moving in a circle, then planet front-wheel 5 does eccentric motion, i.e. the motion profile at 5 center of planet front-wheel is a sinusoidal trajectory, and ten thousand
Reach support balanced action as the stroke of the height adjustment telescopic rod 7 of step makes universal wheel 56 fall in step to wheel 56, then
Intelligent walk helper completes the movement of up/down steps.
Claims (3)
1. intelligent walk helper, it is characterised in that including rack, start button, stop button, above go downstairs button, planet front-wheel, electricity
Machine, telescopic rod, universal wheel, battery；The start button, the stop button and the upper button downstairs are set to the rack
Upper end, the planet front-wheel are set to the front end of rack, and the motor is set to the rack lower end and is fixedly connected, described flexible
Bar is set to the rear end of rack, and the telescopic rod can be flexible according to step height, and the telescopic rod lower end is equipped with described universal
Wheel, the battery are set to the front end of rack and are fixedly connected.
2. intelligent walk helper according to claim 1, it is characterised in that the planet front-wheel include stepper motor, planet carrier,
Thread spindle, internal tooth casing, bearing, centre wheel, active planetary gear, driven planetary gear, tire, stepper motor are fixed with planet carrier
Connection, stepper motor main shaft are fixedly connected with thread spindle, and thread spindle and internal tooth casing cooperate, and internal tooth casing outer ring is fixed with bearing inner race
Connection, bearing outer ring are fixedly connected with centre wheel, and the electric machine main shaft is connect with planet carrier, the electric machine main shaft and active planet
Gear is fixedly connected, and driven planetary gear is connect with planet carrier, active planetary gear and driven planetary gear and corresponding tire
It is fixedly connected.
3. a kind of operation method of intelligent walk helper according to claim 1, it is characterised in that: user is according to respective demand
The step pitch moved every time is independently set in control system, and when the hand steered intelligent walk helper moves, user starts the beginning
The intelligence walk helper starts to move after button, active planetary gear rotation described in the motor driven, the active planet tooth
Tyre rotation described in wheel drive keeps the intelligent walk helper mobile, the stopping when the intelligent walk helper is moved to setting step pitch,
The intelligence walk helper stops if needing temporary parking that can start the stop button at once in operational process；On level road
When mobile, user closes the upper button downstairs, and control system drives the thread spindle to control institute by the stepper motor
It states centre wheel to separate with the active planetary gear and the driven planetary gear axially movable, the active planetary gear drives
The tyre rotation is moved, then the motion profile at planet front-wheel center is straight line to the intelligent walk helper straight line fortune
It is dynamic；When stair activity, user's starting upper button downstairs, control system drives the thread spindle by the stepper motor
It controls the centre wheel to engage with the active planetary gear and the driven planetary gear axially movable, the active planet
Gear and the driven planetary gear drive the intelligent walk helper mobile jointly, and the driven planetary gear is with the active row
It moves in a circle centered on star gear, then the planet front-wheel does eccentric motion, the i.e. motion profile at planet front-wheel center
It is a sinusoidal trajectory, the universal wheel falls in the universal wheel with the stroke that the height of step adjusts the telescopic rod
Step reaches support balanced action, then the intelligent walk helper completes the movement of up/down steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187303.1A CN109893408A (en) | 2019-02-28 | 2019-02-28 | A kind of intelligence walk helper and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187303.1A CN109893408A (en) | 2019-02-28 | 2019-02-28 | A kind of intelligence walk helper and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109893408A true CN109893408A (en) | 2019-06-18 |
Family
ID=66952190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910187303.1A Pending CN109893408A (en) | 2019-02-28 | 2019-02-28 | A kind of intelligence walk helper and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109893408A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547951A (en) * | 2019-10-15 | 2019-12-10 | 乐山市人民医院 | auxiliary stair climbing device |
| CN110974678A (en) * | 2019-12-25 | 2020-04-10 | 安徽伽马莱恩机器人有限公司 | Knee acupuncture point massage instrument |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN113317933A (en) * | 2021-05-31 | 2021-08-31 | 西安理工大学 | Electric stair climbing transportation stretcher |
| CN113425564A (en) * | 2021-07-01 | 2021-09-24 | 山东省农业科学院畜牧兽医研究所 | Pet dog is with supplementary running gear |
| CN114748317A (en) * | 2022-04-06 | 2022-07-15 | 四川省骨科医院 | Walking aid device for orthopedic nursing |
| CN117643538A (en) * | 2024-01-29 | 2024-03-05 | 山东中泰医疗器械有限公司 | Anti-falling rehabilitation training nursing frame |
-
2019
- 2019-02-28 CN CN201910187303.1A patent/CN109893408A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547951A (en) * | 2019-10-15 | 2019-12-10 | 乐山市人民医院 | auxiliary stair climbing device |
| CN110547951B (en) * | 2019-10-15 | 2024-03-12 | 乐山市人民医院 | Auxiliary stair climbing device |
| CN110974678A (en) * | 2019-12-25 | 2020-04-10 | 安徽伽马莱恩机器人有限公司 | Knee acupuncture point massage instrument |
| CN112535616A (en) * | 2020-11-25 | 2021-03-23 | 哈尔滨工业大学 | Stair climbing type walking-aid robot |
| CN112535616B (en) * | 2020-11-25 | 2022-10-14 | 哈尔滨工业大学 | Stair-climbing type walking-assisting robot |
| CN113317933A (en) * | 2021-05-31 | 2021-08-31 | 西安理工大学 | Electric stair climbing transportation stretcher |
| CN113425564A (en) * | 2021-07-01 | 2021-09-24 | 山东省农业科学院畜牧兽医研究所 | Pet dog is with supplementary running gear |
| CN114748317A (en) * | 2022-04-06 | 2022-07-15 | 四川省骨科医院 | Walking aid device for orthopedic nursing |
| CN117643538A (en) * | 2024-01-29 | 2024-03-05 | 山东中泰医疗器械有限公司 | Anti-falling rehabilitation training nursing frame |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109893408A (en) | A kind of intelligence walk helper and method | |
| CN104970931B (en) | A kind of multifunctional electric wheelchair | |
| CN206434496U (en) | A kind of three purposes electric wheel-chair vehicles | |
| CN105434121B (en) | Electric stair climbing wheelchair | |
| CN105105990A (en) | Walking accompanying device of old person assisting robot | |
| CN107411901A (en) | Intelligent multifunction electric wheel-chair vehicle | |
| CN109771161B (en) | Portable power-assisted wheelchair | |
| CN107696914B (en) | Manned robot | |
| CN112773621A (en) | Support structure, chassis structure, intelligent stair climbing wheelchair and method for climbing stairs | |
| CN205515253U (en) | Building wheelchair is climbed to two tracks of single section based on swing of walking wheel | |
| CN203303259U (en) | Electric wheelchair capable of automatically climbing stairs | |
| CN108969223A (en) | A kind of novel crawler-type stair-climbing wheel chair | |
| CN106109124A (en) | A kind of convenience climbs the wheelchair in building up and down | |
| CN2453881Y (en) | Multipurpose wheeled chair | |
| CN206660029U (en) | A kind of full function rehabilitation wheelchair | |
| CN205339346U (en) | Building wheelchair was climbed to four tracks two festivals based on swing of walking wheel | |
| CN210277647U (en) | Intelligent walking aid | |
| CN104606032B (en) | Multipurpose rollator | |
| CN201268348Y (en) | Electric bicycle with upstairs and downstairs functions | |
| CN206324939U (en) | Stair climbing wheelchair | |
| CN215385281U (en) | Displacement robot | |
| CN201029997Y (en) | Multi-function wheel chair | |
| CN114569352A (en) | Stair climbing wheelchair | |
| CN200973788Y (en) | Electric wheelchair capable of climbing stairs upward and downward and getting over small obstacles | |
| CN208942616U (en) | Multifunctional electric wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |