CN111803337A - Anti-tipping walking aid and method of use - Google Patents

Abstract

The present invention provides a walking aid capable of preventing tipping and a method of using the device. The walking aid device includes an anti-tip device, the anti-tip device includes a suction cup module, the suction cup module is arranged at the lower part of the chassis of the walking aid device, and the suction cup module can absorb the ground to fix the chassis on the ground. The anti-tipping device includes a tipping detection module, and the tipping detection module can detect whether the walking aid has a tendency to tip over. The suction cup module includes a suction cup lifting module, which is connected between the suction cup and the chassis of the walking device, and can drive the suction cup to ascend/descend. When the suction cup is adsorbed on the ground, the suction cup lifting module can pull the chassis of the walking aid to fix the walking aid on the ground. When in use, the dumping detection module detects in real time whether there is a dumping trend. When there is a tendency to tip over, the suction cup lifting module extends, and the suction cup moves to the ground, contacting and adsorbing the ground. After the suction cup sucks the ground, the suction cup lifting module shortens, pulls the chassis, and fixes the chassis on the ground.

Description

Anti-tipping walking aid and method of use

technical field

The present invention relates to a walking aid device and a method of use, in particular to a walking aid device and a method of use with an anti-overturning function.

Background technique

There are many walking aids that assist the disabled and the elderly to walk. The anti-tipping function of the walking aid is an important measure to ensure the safe use of the walking aid. The anti-overturning measures of the disclosed walking aid include increasing the distance between the supporting feet or wheels of the chassis, increasing the counterweight on the chassis, and the like.

These measures can only prevent the walking aid from tipping over under certain conditions. Once the total center of gravity of the walking aid and the human body exceeds the supporting surface of the walking aid, the above measures cannot prevent the walking aid from tipping over.

SUMMARY OF THE INVENTION

The present invention provides a walking aid capable of preventing tipping, and a method of using the device.

The anti-tipping walking aid device can include at least one anti-tipping device, the anti-tipping device includes at least one suction cup module, the suction cup module can be arranged on the lower part of the chassis of the walking aid device, and the suction cup module can absorb the ground to fix the chassis on the ground. The anti-tipping device includes at least one tipping detection module, and the tipping detection module can detect whether the walking aid has a tendency to tip over. The suction cup module includes at least one negative pressure suction cup, and the negative pressure suction cup can be connected with a negative pressure generating device to generate negative pressure in the suction cup. The suction cup module includes at least one suction cup lifting module, and the suction cup lifting module is connected between the suction cup and the chassis of the walking device, and can drive the suction cup to ascend/descend. When the suction cup is adsorbed on the ground, the suction cup lifting module can pull the chassis of the walking aid to fix the walking aid on the ground. The tipping detection module comprises at least one load/deformation sensor arranged on the walker support, preferably on the support structure of the walker motion module. The tipping detection module includes at least one distance sensor capable of detecting the distance between the chassis of the walking aid and the ground.

When in use, the dumping detection module detects in real time whether there is a dumping trend. When a tipping tendency is detected, the suction cup lifting module extends, driving the suction cup to move to the ground, and the suction cup contacts and adsorbs the ground. When the suction cup is adsorbed on the ground, the lifting module of the suction cup is shortened, pulling the chassis of the walking aid device, preventing the chassis from moving away from the ground, and fixing the chassis on the ground.

The anti-tip walking aid of the present invention can detect the tipping tendency of the walking aid and prevent the walking aid from tipping. Even if the total center of gravity of the human body and the walking aid exceeds the supporting surface of the walking aid, the above device can prevent the walking aid from tipping over.

Description of drawings

Figure 1 is a schematic diagram of an anti-tip walking aid;

Fig. 2 is the structure diagram of negative pressure suction cup;

3 is a schematic structural diagram of a suction cup lifting module;

4 is a schematic structural diagram of a suction cup lifting module;

5 is a schematic structural diagram of a suction cup lifting module;

6 is a schematic structural diagram of a suction cup lifting module;

Figure 7 is a schematic diagram of a dumping detection module;

Figure 8 is a schematic diagram of a dumping detection module;

The same numbers in the drawings represent the same or similar components.

Detailed ways

In Figure 1, a person 1 can stand/sit on the walking aid, or a person can stand on the ground and support the walking aid. The walking aid includes a frame, the frame includes at least one chassis 2, and a human body support device 3 is arranged on the chassis, which can support and fix the human body, and can connect the walking device and the human body. At least one running mechanism 4 is arranged on the chassis. The running gear can include a driving wheel and a driven wheel, and the running gear can be connected to the chassis through a support assembly. The drive wheels can be electric and can drive the walking aid to move. The walking aid can include known structures such as a power supply module and a control module. The walking aid includes at least one anti-tipping device. The anti-tipping device includes at least one tipping detection module 6, and the tipping detection module can detect whether the walking aid device is tipped. The anti-overturning device includes at least one suction cup module 5, and the suction cup module can be arranged at the lower part of the chassis of the walking device. The suction cup module can comprise at least one suction cup, preferably three. 3 suction cups are arranged in a triangle on the chassis. It can be 2 in the front of the chassis and 1 in the rear; or 1 in the front and 2 in the rear. 1 suction cup for the front/rear is preferably arranged on the centre line of the chassis. The suction cups can be arranged on the front/rear/inside/outside, preferably inside, of the driving wheel/driven wheel/support foot. When the walking aid has 4 wheels, it is preferable to arrange 1 suction cup at the inner position of each wheel. When not working, there is a distance between the suction cup and the ground, and the preferred distance is >3CM. When working, the suction cup can move to the ground and absorb the ground, so as to connect the chassis of the walking device to the ground, so that the chassis cannot be far from the ground. The suction cup is preferably an air negative pressure suction cup, and the negative pressure suction cup is connected with a negative pressure generating device, which can generate negative pressure in the suction cup. When working, the negative pressure suction cup is close to the ground, and a negative pressure is formed between the suction cup and the ground, and the suction cup is pressed on the ground under the action of atmospheric pressure.

The suction cup module includes at least one suction cup lifting module, at least one end of the suction cup lifting module is connected with the suction cup, and at least one end is connected with the walking aid chassis. The lifting module can shorten/extend, and can drive the suction cup to ascend/descend. When there is a risk of tipping of the walking aid, the suction cup lifting module can drive the suction cup to move to the ground, fit the ground, and the suction cup starts to work and adsorb the ground. When the suction cup is adsorbed on the ground, the suction cup lifting module can be shortened, pulling the chassis to make the chassis close to the ground. Because of the support of the wheels/supporting feet, the distance between the chassis and the ground remains fixed, and the chassis cannot be tilted and will not fall over.

The anti-tipping device includes at least one control module 9 , including at least one tipping detection module 6 . The tipping detection module 6 can measure whether the walking aid has a tipping tendency and transmit the measurement result to the control module 9 . When the tipping detection module 6 detects that the walking aid has a tipping tendency, the control module 9 can control the suction cup upgrade module to drive the suction cup to move to the ground and start the suction cup to start working, such as starting the negative pressure device. The suction cup is close to the ground and sticks to the ground. There is an adsorption sensor in the suction cup, which can detect whether the suction cup has been adsorbed on the ground. The adsorption sensor transmits the detection result to the control module. When it is detected that the suction cup has been adsorbed on the ground, the control module controls the suction cup lifting module to shrink and pull the chassis closer to the ground. The tipping detection module includes at least one tipping sensor. The tipping sensor can comprise at least one load/deformation sensor arranged on the support structure of the mobility module of the walker. The tipping sensor can include at least one distance sensor capable of detecting the distance between the walker chassis and the ground and sending the distance data to the control module. A distance threshold can be set. When the distance between the distance sensor and the ground is greater than the distance threshold, it is determined that there is a tendency to tip over. The distance threshold is preferably the distance between the sensor and the ground when the walking aid is not carried. When the tipping sensor is a load sensor, when the tipping sensor is not tipped, the weight of the walking device acts on the load sensor, and the load measured by the sensor is not zero. A load threshold can be set. When the load measured by the sensor is less than the threshold, it is determined that there is a tendency to tip over. When the tipping sensor is a deformation sensor, when it is not tipped, the weight of the walking aid causes the deformation sensor to deform. A deformation threshold can be set, and when the deformation detected by the deformation sensor is less than the deformation threshold, it is determined that there is a risk of tipping. Load sensors can include piezoelectric sensors, weight sensors, and pressure sensors. Deformation sensors can include stress sensors, angle sensors, and length sensors. The distance sensor can include an ultrasonic ranging module, a TOF ranging module, an optical ranging module, a radar ranging module, and a mechanical probe ranging module.

When the tipping detection module includes three tipping sensors, if any tipping sensor detects a tipping tendency, it is determined that the walking aid has a tipping tendency. When 4 tipping sensors are included, at least 2 sensors can detect the tipping tendency to determine that the mobility aid has a tipping risk. When only one sensor detects the tipping tendency, it is not determined that the mobility aid has a tipping risk. This is to prevent a sensor from detecting a tipping tendency when there are potholes on the road, such as a wheel hanging in the air or a distance sensor in a pothole.

In Figure 2, the suction cup is a negative pressure suction cup. The negative pressure suction cup includes at least one casing 501, and the casing is preferably a rigid casing. At least one adsorption surface 503 is included, and at least one air hole is arranged on the adsorption surface. The adsorption surface can be flexible/semi-rigid/rigid. The suction surface and the shell form a suction cup cavity. Air can flow into the suction cup cavity through the air holes on the suction surface. At least one sealing ring 505 is arranged around the adsorption surface, and the sealing ring can be a flexible/semi-rigid material. When the negative pressure suction cup is close to the ground, the sealing ring can fit the ground, preventing the outside air from flowing into the space between the suction cup and the ground, and preventing the air from flowing into the suction cup cavity. The negative pressure suction cup can be airtightly connected with at least one exhaust pump 521, and the exhaust pump can discharge the air in the suction cup cavity to form a negative pressure between the suction cup and the ground. Under the action of atmospheric pressure, the negative pressure suction cup is adsorbed on the ground. The exhaust pump can be connected to the suction cup through an airtight conduit 507 . At least one check valve 522 can be arranged between the exhaust pump and the suction cup to prevent backflow of air from the exhaust pump to the suction cup. The exhaust pump can be a known air pump or vacuum pump. The suction cup includes at least one air pressure measurement module, and the pressure measurement module includes at least one pressure sensor 513 and at least one control module 511 . The pressure measurement module can measure the air pressure in the suction cup, and the air pressure information can be transmitted to the control module of the anti-overturning device to detect whether the suction cup is firmly attached to the ground. A pressure threshold can be set. When the measured air pressure in the suction cup cavity is greater than the pressure threshold, it is determined that the suction cup is not adsorbed on the ground, and the suction cup lifting module is extended to drive the suction cup to move to the ground to make the negative pressure suction cup fit. on the ground. When the negative pressure suction cup is close to the ground, the exhaust pump reduces the air pressure in the suction cup cavity. When the air pressure value measured by the pressure measurement module is less than the air pressure threshold, it is determined that the suction cup has been firmly attached to the ground. At this time, the suction cup lifting module can be retracted to drive the chassis to move to the ground to prevent tipping. The suction cup module also includes well-known components such as power supply, piping, and seals.

In FIG. 3 , the suction cup 5 is a negative pressure suction cup, which is connected to the negative pressure device 520 through a check valve 522 and an airtight pipeline. The negative pressure device 520 includes at least one exhaust pump 521 capable of exhausting the air in the suction cup. The suction cup lifting module includes at least one robotic arm assembly 701 . The suction cup 5 is mechanically connected to the chassis 2 of the frame of the walking device through the mechanical arm assembly 701 . The robotic arm assembly can be electric, hydraulic, or pneumatic. The robotic arm assembly can be extended/contracted under the control of the control device to drive the suction cup 5 away from/closer to the chassis 2 . When the robotic arm assembly is extended, the suction cup moves away from the chassis and approaches the ground. When the arm assembly is retracted, the suction cup is close to the chassis. If the suction cup is attached to the ground, the robotic arm assembly can pull the chassis closer to the ground, preventing the walker from tipping over. A filter and dust removal device can be arranged on the adsorption surface and/or the check valve and/or the airtight pipeline, or a centrifugal dust removal device can be arranged on the air circulation pipeline to remove impurities in the air. The filter element of the filter dust removal device can be a paper filter element, a sponge filter element, and an electrostatic adsorption device.

In FIG. 4 , the suction cup lifting module includes at least one telescopic rod assembly 703 . The suction cup 5 is connected to the chassis 2 through the telescopic rod assembly 703 . The telescopic rod assembly can include mechanical push rods, hydraulic cylinders, and pneumatic cylinders. The telescopic rod assembly can drive the suction cup 5 to ascend/descend relative to the chassis 2 . The housing of the suction cup 5 is connected to the negative pressure device 520 .

In FIG. 5 , the housing of the suction cup 5 is connected to one end of the telescopic rod assembly 703 . The other end of the telescopic rod is connected with the chassis 2 . A flexible and retractable sealing sleeve 705 is arranged between the shell of the suction cup 5 and the lower surface of the chassis. The sealing sleeve 705 is airtightly connected to the suction cup housing and the surface of the chassis. A support element is arranged in the sealing sleeve to keep the sealing sleeve from being crushed by air pressure. Preferably, the sealing sleeve is an annular cylindrical shape, the sealing sleeve can expand and contract axially, and an annular/spiral rigid support member, such as a metal ring, can be arranged in the sealing sleeve. At least one air hole 531 is arranged on the shell of the suction cup 5 in the sealing sleeve 705 , and air can flow into the sealing sleeve 705 from the suction cup cavity through the air hole 531 . A sealing cavity 540 is arranged on the chassis, and the negative pressure generating device is connected to the sealing cavity 540 . At least one air hole 532 is arranged on the surface of the chassis inside the sealing sleeve. One end of the air hole 532 is open in the sealing cavity 540 and one end is in the sealing sleeve. The air in the sealing sleeve 705 can flow into the sealing cavity 540 through the air hole 532 . The telescopic rod 703 can be arranged inside the sealing sleeve 705 or can be arranged outside the sealing sleeve. When the negative pressure device is working, the air enters the suction cup cavity through the air hole 530, enters the sealing sleeve 705 through the air hole 531, enters the sealing cavity 540 through the air hole 532, and is discharged into the negative pressure generating device. When the suction cup is adsorbed on the ground, the suction cup cavity, the sealing sleeve and the sealing cavity are all under negative pressure. Under the action of atmospheric pressure, the sealing sleeve 705 is subjected to a force of axial compression, which pulls the suction cup and the chassis closer, thereby pulling the chassis to the ground. This structure can utilize the atmospheric pressure to generate an anti-overturning pulling force, reduce the requirement for the pulling force generated by the telescopic rod assembly 703, and simplify the mechanical structure. Moreover, the structure can automatically pull the chassis to the ground under the action of atmospheric pressure after the suction cup is adsorbed on the ground, thereby simplifying the control system.

In FIG. 6 , a telescopic rod assembly 703 and a sealing sleeve 705 are arranged between the suction cup 5 and the chassis 2 . The telescopic rod assembly can be replaced with a robotic arm assembly. At least one air hole 531 is arranged on the shell of the suction cup 5 in the sealing sleeve 705 , and air can flow into the suction cup cavity from the sealing sleeve 705 through the air hole 531 . The suction cup is connected to the negative pressure device 520 . When the control device detects the occurrence of tipping, the telescopic rod assembly drives the suction cup to move to the ground, and the negative pressure device is activated. At this time, the air flows into the suction cup cavity through the air holes 530 on the adsorption surface, and is discharged by the negative pressure device. Because the air can continuously flow in, the air pressure in the suction cup cavity will not be lower than the air pressure threshold. The air pressure in the sealing sleeve is equal to the air pressure in the suction cup cavity. When the suction surface of the suction cup is attached to the ground, the air between the suction cup and the ground is discharged, the suction cup is adsorbed on the ground, and the air in the sealing sleeve 705 is also discharged through the air hole 531 . The air pressure in the sealing sleeve 705 is reduced, and under the action of atmospheric pressure, the sealing sleeve 705 is axially compressed, and the chassis 2 is pulled toward the ground.

In FIG. 7 , wheels 40 are arranged on the chassis 2 , and the wheels 40 are connected with the support shaft 43 through the bracket 41 . The bushing 45 is connected to the chassis 2 . The support shaft 43 is located in the shaft sleeve 45 and can slide up and down in the axial direction in the shaft sleeve. In the bushing, a pressure sensor 49 is arranged between the end surface of the support shaft and the lower surface of the chassis, and the pressure sensor 49 can detect the pressure value of the support shaft acting on the pressure sensor. When the walking aid is normally located on the ground, due to the weight of the walking aid and the human body, the pressure sensor is squeezed by the support shaft and the chassis to measure the pressure. When tipping occurs, the wheel 40 leaves the ground, the support shaft slides down, and the load on the pressure sensor disappears. According to the pressure value on the pressure sensor, it can be judged whether the walking aid is overturned.

In FIG. 8 , the distance measuring device 61 is arranged on the lower surface of the chassis 2 . The distance measuring device can measure the distance between the chassis and the ground to determine whether the distance exceeds the distance threshold. If it exceeds, it is determined that the chassis leaves the ground beyond the normal range, and the walking aid falls over.

When the ground is covered with ferromagnetic material, the suction cup can be an electromagnetic suction cup.

Claims (7)

1. An anti-tipping device that can be arranged in a walking aid is characterized in that: At least one suction cup module is included, the suction cup module can be arranged at the lower part of the chassis of the walking device, and the suction cup module can absorb the ground to fix the chassis on the ground; At least one tipping detection module is included, and the tipping detection module can detect whether the walking aid has a tendency to tip over. 2. The anti-overturning device as claimed in claim 1 is characterized in that: The suction cup module includes at least one negative pressure suction cup, and the negative pressure suction cup can be connected with a negative pressure generating device to generate negative pressure in the suction cup. 3. The anti-overturning device as claimed in claim 1 is characterized in that: The suction cup module includes at least one suction cup lifting module, the suction cup lifting module is connected between the suction cup and the walking device chassis, and can drive the suction cup to ascend/descend; When the suction cup is adsorbed on the ground, the suction cup lifting module can pull the chassis of the walking aid to fix the walking aid on the ground. 4. The anti-overturning device as claimed in claim 1 is characterized in that: The tipping detection module includes at least one load/deformation sensor arranged on the support structure of the walking aid motion module. 5. The anti-overturning device as claimed in claim 1 is characterized in that: The tipping detection module includes at least one distance sensor, and the distance sensor can detect the distance between the chassis of the walking aid and the ground. 6. An anti-dumping walking aid as claimed in claim 1-5, the dumping detection module comprises 3 dumping sensors, and the dumping detection method comprises: If any tipping sensor detects a tipping tendency, it is determined that the walking aid has a tipping tendency. 7. An anti-dumping walking aid as claimed in claim 1-5, the dumping detection module comprises 4 dumping sensors, and the dumping detection method comprises: When only 1 sensor detects a tipping trend, the mobility aid is not considered to be at risk of tipping; At least 2 sensors detect a tipping trend in order to determine that the mobility aid is at risk of tipping.

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