A dynamically adaptive walking aid system

Abstract

The application is suitable for the field of walking aid technology, and provides a dynamic adaptation walking aid system, which comprises a main bearing frame, left and right split seat supporting pads and a wheel-track composite passing mechanism, and the lower part of the main bearing frame is provided with the wheel-track composite passing mechanism, wherein: a sitting-standing conversion mechanism is used for adjusting the height, front and back position and turning angle of the left and right split seat supporting pads, and is used for adapting to a sitting mode, a sitting-standing switching mode, a standing walking aid mode, a low-speed following mode and a back-to-sitting mode; the wheel-track composite passing mechanism is used for wheel walking on ordinary flat roads and track high-low difference passing on complex terrains. Through the cooperation of the sitting-standing conversion mechanism and the wheel-track composite passing mechanism, when the user needs to move in a sitting position, stand up, walk in a standing position, sit back after fatigue, cross a threshold, a step and other high-low difference terrains, switching between different devices and assistance of nursing personnel are not needed, the use is simple, and the use continuity and autonomy of the user can be improved.

Description

Technical Field

[0001] This invention belongs to the field of mobility assistance technology, and in particular relates to a dynamic adaptation mobility assistance system. Background Technology

[0002] With the increasing aging of the population and the growing demand for rehabilitation medicine and assisted mobility, various mobility aids, rehabilitation assistive devices and smart mobile devices are being used more and more widely.

[0003] However, most existing walking aids are designed for a specific fixed usage state and are mainly suitable for scenarios that assist in standing and walking. When users need to move from a seated position, stand up, stand up, sit back when fatigued, or cross thresholds, steps, or other terrains with elevation differences, they often need to switch between different devices or rely on caregivers for assistance. This not only makes the process cumbersome but also easily affects the continuity and autonomy of use. Summary of the Invention

[0004] The purpose of this invention is to provide a dynamically adaptable mobility assistance system, which aims to solve the problems in the prior art.

[0005] The embodiments of the present invention are implemented as follows:

[0006] A dynamically adaptable mobility assistance system includes a main load-bearing frame, left and right split seat support pads, and a wheel-track composite passage mechanism. A backrest support mechanism, an elbow support mechanism, and a seating / standing conversion mechanism are mounted on the upper part of the main load-bearing frame. The wheel-track composite passage mechanism is mounted on the lower part of the main load-bearing frame. A seatbelt is mounted on the backrest support mechanism. The left and right split seat support pads are mounted on the seating / standing conversion mechanism.

[0007] The sitting-standing conversion mechanism is used to adjust the height, front-back position and flip angle of the left and right split seat support pads, and is used to adapt to sitting mode, sitting-standing switching, standing-assistance mode, low-speed following mode and returning to sitting mode.

[0008] The wheel-track composite travel mechanism is used for wheeled travel on ordinary flat roads and for track travel with varying track heights on complex terrain.

[0009] Preferably, the sitting-to-standing conversion mechanism specifically includes:

[0010] A pair of seat cushion mounting plates are provided, and the pair of seat cushion mounting plates are used to install and support the left and right split seat support pads.

[0011] The front support arm is provided in pairs. The top of the pair of front support arms is hinged to the seat cushion mounting plate. It is used to drive the left and right split seat support cushions to rise, move forward or change angle during the sitting and standing process.

[0012] A seat support frame, the upper part of which is connected to a pair of seat cushion mounting plates, and the lower part of which is connected to the bottom end of the front support arm.

[0013] The rear guide support frame is installed on both sides of the lower part of the seat support frame and is used to guide the rear of the seat to move along a preset trajectory during the sitting and standing process;

[0014] A seat tilt assist telescopic rod, one end of which is connected to a pair of front support arms;

[0015] A seat flip hinge support is movably mounted on a seat support frame, and the end of the seat flip assist telescopic rod away from the front support arm is connected to the seat flip hinge support.

[0016] A movable guide arm, one end of which is hinged to the seat support frame;

[0017] A bottom mounting base is mounted on the main load-bearing frame, and the end of the movable guide connecting arm away from the seat lifting load frame is hinged to the bottom mounting base;

[0018] A rear guide control telescopic rod, one end of which is connected to a movable guide connecting arm, is used to drive or assist the movable guide connecting arm in swinging.

[0019] Preferably, a pair of side support plates are installed on the main load-bearing frame, and each pair of side support plates has a first limiting groove and a second limiting groove. The rear guide load-bearing frame slides with the first limiting groove and the second limiting groove through a pin or a sliding member, and transfers the rear load of the seat to the main load-bearing frame and the pair of side support plates.

[0020] Preferably, each of the pair of side support plates is equipped with an upper frame connector and a lower frame connector. The upper frame connector is used to connect the upper part of the side support plate to the main load-bearing frame, and the lower frame connector is used to connect the lower part of the side support plate to the main load-bearing frame.

[0021] Preferably, one end of the seat tilting assist telescopic rod is connected to the lower lateral synchronous shaft, which is installed between a pair of front lifting arms; the upper lateral synchronous shaft is installed at one end of the seat lifting support frame that connects to a pair of seat cushion mounting plates.

[0022] Preferably, the elbow support armrest mechanism specifically includes:

[0023] The handrail has a rotating hinge shaft, and a pair of the handrail rotating hinge shafts are provided. A pair of frame side mounting seats are provided on the main load-bearing frame, and the pair of handrail rotating hinge shafts are installed in the pair of frame side mounting seats.

[0024] Telescopic support arms, wherein a pair of telescopic support arms are provided, and the pair of telescopic support arms are connected to a pair of side mounting seats of the frame via a pair of handrail rotatable hinge shafts, for adjusting the height and front-to-back position of the handrails;

[0025] Telescopic guide components, wherein a pair of telescopic guide components are provided, and the pair of telescopic guide components are installed inside or outside a pair of telescopic support arms and are locked in conjunction with a pair of handrail locking components;

[0026] The handrail body is provided in pairs, and the pair of handrail bodies are installed on the top of a pair of telescopic guide members;

[0027] Forearm support pads, wherein a pair of forearm support pads are provided, and a pair of forearm support pads are mounted on a pair of armrest bodies for supporting the user's forearm or elbow;

[0028] The gripping part is provided in pairs, and the pair of gripping parts are connected to one end of the pair of armrest bodies for users to grip;

[0029] The operation input device is provided in pairs, and the pair of operation input devices is installed at one end of a pair of grips for receiving control commands from the user.

[0030] Preferably, the wheel-track composite passage mechanism specifically includes:

[0031] The front shock-absorbing steering wheel assembly is installed on the front part of the underside of the main load-bearing frame and is used to provide front-end support and steering capability during low-speed movement, standing assistance and sitting-standing transitions.

[0032] The rear main wheel assembly is installed at the rear of the underside of the main load-bearing frame and is used for load-bearing and wheeled movement on ordinary flat roads.

[0033] The track belt body is provided in a pair. The pair of track belt bodies are wrapped around the outside of a pair of front guide wheels, a pair of central load-bearing wheels, a pair of track rear drive wheels and a pair of track tensioning wheels, so as to form continuous contact with the ground and improve the support stability and traction capacity when passing through uneven ground, slippery ground or complex terrain.

[0034] A track support frame, wherein a pair of track support frames are provided, the pair of track support frames being used to support a pair of track bodies, a pair of front guide wheels, a pair of middle load-bearing wheels, a pair of track rear drive wheels, and a pair of track tensioning wheels; a transverse connecting beam is connected between the pair of track support frames.

[0035] Track attitude adjustment push rod, wherein a pair of track attitude adjustment push rods are provided, one end of the pair of track attitude adjustment push rods is connected to the transverse connecting beam, and the other end is connected to the main load-bearing frame;

[0036] Track locking components, wherein a pair of track locking components are provided, and the pair of track locking components are installed at one end of a pair of track attitude adjustment push rods near the main load-bearing frame, for locking when the track is deployed or retracted;

[0037] A shared drive motor is connected to the wheel-track composite transmission assembly to transmit power to the rear main wheel set and / or a pair of track rear drive wheels.

[0038] Preferably, the backrest support mechanism specifically includes:

[0039] A back support column, one end of which is connected to the seat support frame;

[0040] A back support plate is installed at the end of the back support column away from the seat support frame.

[0041] Preferably, a pair of anti-slip pedals and a pair of headlights are installed on the front side of the lower part of the main load-bearing frame.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] (1) The present invention can achieve the following when the user needs to experience sitting movement, getting up, standing assistance, fatigue return to sitting, and crossing terrain with height differences such as thresholds and steps, without switching between different devices or requiring the assistance of nursing staff. It is simple to use and can improve the user's continuity and autonomy.

[0044] (2) The present invention can dynamically adjust the height, front and back position and flip angle of the seat support component according to the user's different modes such as sitting and walking, sitting and standing, standing and walking, fatigue and sitting back, or passing through height difference, so that the center of gravity of the human body is always kept within the safe bearing range, and the stability and safety of sitting and standing and sitting back are improved.

[0045] (3) The present invention can first enhance the support of the human body based on the human body support status for complex terrains such as thresholds, ramps and steps, and then control the wheel track composite passage mechanism to pass through the chassis, so that the human body support adjustment and chassis passage capacity form a coordinated control, thereby effectively improving the stability of the human body and the overall safety during the passage through complex terrain. Attached Figure Description

[0046] Figure 1A three-dimensional structural diagram of the dynamically adaptable walking assistance system provided in an embodiment of the present invention;

[0047] Figure 2 Three-dimensional structure of the sitting-standing conversion mechanism provided in the embodiments of the present invention Figure 1 ;

[0048] Figure 3 Three-dimensional structure of the sitting-standing conversion mechanism provided in the embodiments of the present invention Figure 2 ;

[0049] Figure 4 A side view of the dynamically adaptable walking assistance system provided in an embodiment of the present invention;

[0050] Figure 5 Partial structure of the wheel-track composite passage mechanism provided in the embodiments of the present invention Figure 1 ;

[0051] Figure 6 Partial structure of the wheel-track composite passage mechanism provided in the embodiments of the present invention Figure 2 ;

[0052] Figure 7 Partial structure of the wheel-track composite passage mechanism provided in the embodiments of the present invention Figure 3 ;

[0053] Figure 8 Partial structure of the wheel-track composite passage mechanism provided in the embodiments of the present invention Figure 4 .

[0054] In the attached diagram: 1. Main load-bearing frame; 11. Side mounting bracket of the frame; 12. Anti-slip pedal; 13. Headlight; 2. Backrest support mechanism; 21. Rear back support column; 22. Rear back support plate; 3. Seat belt; 4. Elbow support armrest mechanism; 41. Operating input device; 42. Grip; 43. Forearm support pad; 44. Armrest body; 45. Telescopic guide; 46. Armrest locking device; 47. Telescopic support arm; 48. Armrest rotation hinge shaft; 5. Left and right split seat support pads; 6. Seat-to-stand conversion mechanism; 61. Seat cushion mounting plate; 62. Seat lift support frame; 63. Front lift swing arm; 64. Upper transverse synchronous shaft; 65. Lower transverse synchronous shaft; 66. Rear guide support frame; 67. Seat tilt assist extension. 68. Retractable rod; 69. Movable guide connecting arm; 610. Bottom mounting base; 611. Seat tilting hinge support; 612. Side support plate; 613. First limiting groove; 614. Second limiting groove; 615. Upper frame connecting seat; 616. Lower frame connecting seat; 617. Rear guide control telescopic rod; 71. Wheel-track composite passage mechanism; 72. Front shock-absorbing directional wheel set; 73. Rear main wheel set; 74. Front guide wheel; 75. Middle load-bearing wheel; 76. Track rear drive wheel; 77. Track tensioning wheel; 78. Track body; 79. Track support frame; 70. Track attitude adjustment push rod; 711. Track locking component; 712. Shared drive motor; 713. Wheel-track composite transmission assembly; 714. Transverse connecting beam. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0056] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0057] In one embodiment of the present invention, such as Figure 1 and Figure 2 As shown:

[0058] A dynamically adaptable mobility assistance system includes a main load-bearing frame 1, left and right split seat support pads 5, and a wheel-track composite passage mechanism 7. A backrest support mechanism 2, an elbow support armrest mechanism 4, and a seating / standing conversion mechanism 6 are mounted on the upper part of the main load-bearing frame 1. The wheel-track composite passage mechanism 7 is mounted on the lower part of the main load-bearing frame 1. A seat belt 3 is mounted on the backrest support mechanism 2. The left and right split seat support pads 5 are mounted on the seating / standing conversion mechanism 6.

[0059] The sitting-standing conversion mechanism 6 is used to adjust the height, front-back position and flip angle of the left and right split seat support pads 5, and to adapt to sitting mode, sitting-standing switching, standing-assistance mode, low-speed following mode and returning to sitting mode.

[0060] The wheel-track composite passage mechanism 7 is used for wheeled travel on ordinary flat roads and for passage through track height differences on complex terrain.

[0061] In one embodiment of the present invention, a backrest support mechanism 2 is installed on the upper part of the main load-bearing frame 1, a seat belt 3 is installed on the backrest support mechanism 2, and an elbow support armrest mechanism 4 and a sitting-standing conversion mechanism 6 are installed on the upper part of the main load-bearing frame 1. The sitting-standing conversion mechanism 6 is equipped with left and right split seat support pads 5. A wheel-track composite passage mechanism 7 is installed on the lower part of the main load-bearing frame 1. The sitting-standing conversion mechanism 6 is used to adjust the height, front and rear position and flip angle of the left and right split seat support pads 5 to adapt to sitting mode, sitting-standing switching, standing-assisted walking mode, low-speed following mode and returning to sitting mode. The wheel-track composite passage mechanism 7 can travel on wheels on ordinary flat roads, and travel on tracks with different heights on complex terrain.

[0062] When in operation, the user sits on the left and right split seat support pads 5, and the user's pelvis or waist and abdomen area is restrained by the seat belt 3 to prevent the body from moving forward, slipping or losing stability when switching between sitting and standing, standing to assist walking, or crossing different elevation differences. In the sitting mode, sitting to standing mode, standing to assist walking mode, low speed following mode and returning to sitting mode, the height, front and back position and flip angle of the left and right split seat support pads 5 can be adjusted by the sitting to standing mechanism 6. The wheel-track composite travel mechanism 7 allows the user to travel on wheels on ordinary flat roads and to cross different elevation differences on tracks in complex terrain.

[0063] In yet another embodiment of the invention, such as Figures 1 to 8 As shown:

[0064] The sitting / standing conversion mechanism 6 specifically includes:

[0065] A pair of seat cushion mounting plates 61 are provided, and the pair of seat cushion mounting plates 61 are used to install and support the left and right split seat support pads 5.

[0066] The front support arm 63 is provided in pairs. The top of the pair of front support arms 63 is hinged to the seat cushion mounting plate 61. It is used to drive the left and right split seat support pads 5 to rise, move forward or change angle during the sitting and standing process.

[0067] A seat support frame 62, the upper part of which is connected to a pair of seat cushion mounting plates 61, and the lower part of which is connected to the bottom end of the front support swing arm 63.

[0068] The rear guide support frame 66 is installed on both sides of the lower part of the seat support support frame 62 and is used to guide the rear part of the seat to move along a preset trajectory during the sitting and standing conversion process.

[0069] A seat tilt assist telescopic rod 67, one end of which is connected to a pair of front support arms 63;

[0070] A seat flip hinge support 610 is movably mounted on a seat support frame 62, and one end of the seat flip assist telescopic rod 67 away from the front support swing arm 63 is connected to the seat flip hinge support 610.

[0071] A movable guide connecting arm 68, one end of which is hinged to the seat support frame 62;

[0072] A bottom mounting base 69 is mounted on the main load-bearing frame 1, and the end of the movable guide connecting arm 68 away from the seat lifting load-bearing frame 62 is hinged to the bottom mounting base 69.

[0073] A rear guide control telescopic rod 616, one end of which is connected to a movable guide connecting arm 68, is used to drive or assist the movable guide connecting arm 68 to swing.

[0074] A pair of side support plates 611 are installed on the main load-bearing frame 1. Each pair of side support plates 611 has a first limiting groove 612 and a second limiting groove 613. The rear guide support frame 66 is slidably engaged with the first limiting groove 612 and the second limiting groove 613 by a pin or a sliding member, and transmits the rear load of the seat to the main load-bearing frame 1 and the pair of side support plates 611.

[0075] Each of the pair of side support plates 611 is equipped with an upper frame connector 614 and a lower frame connector 615. The upper frame connector 614 is used to connect the upper part of the side support plate 611 to the main load-bearing frame 1, and the lower frame connector 615 is used to connect the lower part of the side support plate 611 to the main load-bearing frame 1.

[0076] One end of the seat flipping assist telescopic rod 67 is connected to the lower transverse synchronous shaft 65, which is installed between a pair of front lifting swing arms 63; the seat lifting support frame 62 is connected to a pair of seat cushion mounting plates 61 and has an upper transverse synchronous shaft 64 installed at one end.

[0077] The elbow support mechanism 4 specifically includes:

[0078] A pair of handrail rotating hinge shafts 48 are provided. A pair of frame side mounting seats 11 are provided on the main load-bearing frame 1. The pair of handrail rotating hinge shafts 48 are installed in the pair of frame side mounting seats 11.

[0079] Telescopic support arm 47, a pair of telescopic support arms 47 are provided, and the pair of telescopic support arms 47 are connected to a pair of frame side mounting seats 11 via a pair of handrail rotation hinge shafts 48, for adjusting the height and front and rear position of the handrail;

[0080] Telescopic guide 45, a pair of telescopic guide 45 are provided, the pair of telescopic guide 45 are installed inside or outside a pair of telescopic support arms 47, and are locked in conjunction with a pair of handrail locking members 46;

[0081] A pair of handrail bodies 44 are provided, and the pair of handrail bodies 44 are installed on the top of a pair of telescopic guide members 45;

[0082] Forearm support pad 43, a pair of forearm support pads 43 are provided, and a pair of forearm support pads 43 are mounted on a pair of armrest bodies 44 for supporting the user's forearm or elbow.

[0083] A gripping part 42 is provided in pairs, and the pair of gripping parts 42 are connected to one end of a pair of armrest bodies 44 for use by the user to grip;

[0084] The operation input element 41 is provided in pairs, and the pair of operation input elements 41 is installed at one end of a pair of grips 42 for receiving control commands from the user.

[0085] The wheel-track composite passage mechanism 7 specifically includes:

[0086] The front shock-absorbing steering wheel assembly 71 is installed on the front part of the underside of the main load-bearing frame 1 and is used to provide front-end support and steering capability during low-speed movement, standing assistance and sitting-standing conversion.

[0087] The rear main wheel assembly 72 is installed at the rear of the underside of the main load-bearing frame 1 and is used for load-bearing and wheeled movement on ordinary flat roads.

[0088] Track belt body 77, wherein a pair of track belt bodies 77 are provided, and the pair of track belt bodies 77 are wrapped around the outside of a pair of front guide wheels 73, a pair of middle load-bearing wheels 74, a pair of track rear drive wheels 75 and a pair of track tensioning wheels 76, for forming continuous contact with the ground and improving the support stability and traction capacity when passing through uneven ground, slippery ground or complex terrain.

[0089] Track support frame 78, wherein a pair of track support frames 78 are provided, the pair of track support frames 78 are used to support a pair of track bodies 77, a pair of front guide wheels 73, a pair of middle load-bearing wheels 74, a pair of track rear drive wheels 75 and a pair of track tensioning wheels 76; a transverse connecting beam 713 is connected between the pair of track support frames 78.

[0090] Track posture adjustment push rod 79, a pair of track posture adjustment push rods 79 are provided, one end of the pair of track posture adjustment push rods 79 is connected to the transverse connecting beam 713, and the other end is connected to the main load-bearing frame 1;

[0091] Track locking member 710, a pair of track locking members 710 are provided, the pair of track locking members 710 are installed at one end of a pair of track attitude adjustment push rods 79 near the main load-bearing frame 1, and are used to lock when the track is deployed or retracted.

[0092] A common drive motor 711 is connected to the wheel-track composite transmission assembly 712 for transmitting power to the rear main wheel set 72 and / or a pair of track rear drive wheels 75.

[0093] The backrest support mechanism 2 specifically includes:

[0094] Back support column 21, one end of which is connected to seat support frame 62;

[0095] The back support plate 22 is installed at the end of the back support column 21 away from the seat support frame 62.

[0096] A pair of anti-slip pedals 12 and a pair of front lights 13 are installed on the front side of the lower part of the main load-bearing frame 1.

[0097] In one embodiment of the present invention, a pair of seat cushion mounting plates 61 are provided, which mount and support the left and right split seat support pads 5. A pair of front support arms 63 are provided, with the top ends of the pair of front support arms 63 hinged to the seat cushion mounting plates 61, enabling the left and right split seat support pads 5 to be raised, moved forward, or have their angles changed during the user's sitting and standing transitions. The upper part of the seat support frame 62 is connected to the pair of seat cushion mounting plates 61, and the lower part of the seat support frame 62 is connected to the bottom end of the front support arms 63. The rear guide support frame 66 is installed on both sides of the lower part of the seat support frame 62. An upper frame connecting seat 614 and a lower frame connecting seat 615 are each mounted on a pair of side support plates 611. The lower frame connecting seat 614 connects the upper part of the side support plate 611 to the main load-bearing frame 1, and the lower frame connecting seat 615 connects the lower part of the side support plate 611 to the main load-bearing frame 1. Each pair of side support plates 611 has a first limiting groove 612 and a second limiting groove 613. The rear guide support frame 66 slides with the first limiting groove 612 and the second limiting groove 613 via a pin or sliding member, guiding the rear of the seat along a preset trajectory during the user's sitting / standing transition, and transferring the load of the rear of the seat to the main load-bearing frame 1 and the pair of side support plates 611. One end of the seat tilt assist telescopic rod 67 is connected to a pair of front lifting swing arms 63 via a lower transverse synchronous shaft 65. The lower transverse synchronous shaft 65 is mounted on the pair of front lifting swing arms. Between the arms 63, the driving force of the seat tilt assist telescopic rod 67 is synchronously distributed to a pair of front lifting swing arms 63. The other end of the seat tilt assist telescopic rod 67 is connected to the seat tilt hinge support 610, which is movably mounted on the seat lifting support frame 62. One end of the movable guide connecting arm 68 is hinged to the seat lifting support frame 62, and the other end is hinged to the bottom mounting base 69, which is mounted on the main load-bearing frame 1. One end of the rear guide control telescopic rod 616 is connected to the movable guide connecting arm 68, which can drive or assist the movable guide connecting arm 68 to swing. An upper transverse synchronous shaft is mounted on one end of the seat lifting support frame 62 that connects to a pair of seat cushion mounting plates 61. 64. This allows a pair of seat cushion mounting plates 61 to move synchronously with the left and right split seat support cushions 5 during sitting and standing transitions. A pair of side mounting seats 11 are provided on the main load-bearing frame 1. A pair of armrest hinge shafts 48 are installed in the pair of side mounting seats 11. A pair of telescopic support arms 47 are connected to the pair of side mounting seats 11 via the armrest hinge shafts 48, allowing adjustment of the armrest height and fore-aft position. A pair of telescopic guides 45 are installed inside or outside the pair of telescopic support arms 47, engaging with a pair of armrest locking members 46. A pair of armrest bodies 44 are mounted on the top of the pair of telescopic guides 45. A pair of forearm support pads 43 are installed on the pair of armrest bodies 44, providing support for the user's forearms or elbows.A pair of grips 42 are connected to one end of a pair of handrail bodies 44, allowing users to hold them. A pair of operation inputs 41 are installed at one end of the pair of grips 42, capable of receiving user control commands. A front shock-absorbing steering wheel set 71 is installed on the front of the underside of the main load-bearing frame 1, providing front support and steering capability during low-speed movement, standing assistance, and sitting-standing transitions. A rear main wheel set 72 is installed on the rear of the underside of the main load-bearing frame 1, enabling load-bearing and wheeled movement on ordinary flat roads. A pair of track belts 77 are wound around a pair of front guide wheels 73, a pair of central load-bearing wheels 74, and a pair of rear drive wheels 75. The outer sides of track tensioners 76 and track 5 can form continuous contact with the ground, improving support stability and traction when traversing uneven surfaces, slippery ground, or complex terrain. The front guide wheel 73 guides the smooth rotation of the track body 77, assisting in entering the contact area with uneven surfaces or obstacles. The middle load-bearing wheel 74 supports the lower grounding end of the track, distributing the load on the user and the entire machine, improving track grounding stability. The rear drive wheel 75 receives the transmitted power, driving the track body 77. The track tensioners 76 adjust or maintain the tension of the track body 77, reducing track slack, skipping teeth, or derailment. Risk: A pair of track support frames 78 support a pair of track bodies 77, a pair of front guide wheels 73, a pair of central load-bearing wheels 74, a pair of track rear drive wheels 75, and a pair of track tensioning wheels 76. A transverse connecting beam 713 connects the pair of track support frames 78. One end of a pair of track attitude adjustment push rods 79 is connected to the transverse connecting beam 713, and the other end is connected to the main load-bearing frame 1. A pair of track locking elements 710 are installed at the end of the pair of track attitude adjustment push rods 79 near the main load-bearing frame 1, and can lock when the tracks are deployed or retracted. A common drive motor 711 is connected to the wheel-track composite transmission assembly 712. The system can transmit power to the rear main wheel set 72 and / or a pair of tracked rear drive wheels 75 via the wheel-track composite transmission assembly 712. One end of the rear support column 21 is connected to the seat support frame 62, and the other end of the rear support column 21 is equipped with a rear support plate 22. A pair of anti-slip pedals 12 and a pair of front lights 13 are installed on the front side of the lower part of the main load-bearing frame 1. The anti-slip pedals 12 provide footrests for the user while seated, and the front lights 13 provide forward illumination in low-light environments, at night, or in dimly lit indoor conditions, and also assist the user in observing the ground, obstacles, and travel path.

[0098] During operation, different dynamic adaptations are performed under different states. Specifically:

[0099] In the seated position, the user sits on the left and right split seat support pads 5, which is in a low and relatively horizontal seated position. The user can control forward, backward, turn, stop, brake, or enter the level difference crossing preparation state through the operation input 41 on the grip part 42. On a normal flat road surface, the rear main wheel set 72 undertakes the main load-bearing and walking functions. The common drive motor 711 outputs driving force to the rear main wheel set 72 through the wheel track composite transmission assembly 712. In the seated position, the system determines whether the user is in a stable seated position, whether the left and right split seat support pads 5 are in a seated position, whether the seat belt 3 is being worn safely, whether movement is allowed, and whether there are obstacles or level differences in front. If the user's seated position is stable, low-speed seated movement is allowed; if the user's posture is abnormal, the left and right split seat support pads 5 are not in a seated position, or an emergency stop is triggered, the drive is restricted or braking is applied.

[0100] When transitioning from a seated to a standing position, the user inputs a sitting-to-standing command via the operation input 41 on the grip 42. The system then determines whether the elbow support armrest mechanism 4 provides upper limb support, whether the seatbelt 3 is in a safe restraint state, whether the wheel-track composite passage mechanism 7 is braked or in a prohibited movement state, whether the left and right split seat support cushions 5 are in their initial seated position, and whether the user's posture is suitable for standing. If these conditions are met, the system coordinates the operation of the seat tilt assist telescopic rod 67 and the rear guide control telescopic rod 616. The seat tilt assist telescopic rod 67 pushes the seat lifting support frame 62 or a pair of seat cushion mounting plates 61 to tilt, gradually changing the left and right split seat support cushions 5 from a horizontal seated position to an inclined position. In the semi-sitting state, the rear guide support frame 66 moves along a preset trajectory under the constraint of the movable guide connecting arm 68 and the limiting groove to prevent overtravel, deviation or loss of posture control. The adaptation point in this state is: if the user's upper limb support is stable and the body posture is stable, the left and right split seat support pads 5 continue to rise, move forward and flip along the preset trajectory; if insufficient upper limb support, forward / backward / side tilt, abnormal seat support or abnormal push rod is detected, the conversion speed is reduced, paused at the semi-sitting support position, the current support posture is maintained, and a prompt or brake is triggered. In this way, the sitting and standing conversion is not a simple rise and fall, but a closed-loop auxiliary process of "command input - support condition confirmation - gradual lifting - real-time detection - posture compensation - standing confirmation".

[0101] In the standing walking assistance state, after the user stands up, they enter the standing walking assistance mode. At this time, the user supports the upper limbs through the elbow support armrest mechanism 4 and controls the enable or direction input through the grip part 42. The back support mechanism 2 is located behind the user, and the seat belt 3 serves as a passive safety restraint. The left and right split seat support pads 5 do not need to be completely removed, but can be adjusted to the lower back of the user's buttocks or thighs to form a low intervention, light support or enhanced support state. The core of dynamic adaptation in the standing walking assistance state is to change the degree of intervention of the seat support according to the user's walking state: (1) Low intervention following state: When the user's gait is stable, the elbow support is normal, and the posture is stable, the left and right split seat support pads 5 are at the following positions. (1) Lower or light contact position to reduce interference with natural walking and allow low-speed following; (2) Light support walking state: When it is detected that the user's walking speed decreases, the elbow support increases, the posture fluctuates more or the left and right support is uneven, the user's buttocks or proximal thighs are lightly supported by controlling the slight lifting or adjustment of the seat support to reduce the burden on the lower limbs; (3) Enhanced support protection state: When fatigue, imbalance, insufficient support, or risk of leaning backward or forward is detected, the user can be re-supported by controlling the further lifting, forward movement or flipping of the seat support to a semi-sitting support position. At the same time, the wheel track composite passage mechanism 7 reduces speed or stops, and the back support mechanism 2 provides rear protection.

[0102] In low-speed following mode, there are three modes: allowed following, restricted following, and prohibited following. Allowed following conditions include: the user's grip or assistive walking function is effective, the elbow support is within a reasonable range, the user's posture is stable, the seat support is in a safe, ready-to-support or lightly supported position, the seatbelt 3 is securely worn, braking and emergency stops are not triggered, the wheel-track composite traverse mechanism 7 is functioning normally, and the terrain risk is low. Restricted following conditions include: increased fluctuations in user's force, slight instability in posture, decreased walking speed or increased fatigue tendency, increased terrain risk, and slight compensation movement of the seat support. When the following mechanism is restricted, the maximum speed, acceleration, steering angular velocity, or human-machine safety distance can be reduced. The following prohibition conditions may include: the user is not holding or not enabling the device, the sitting-to-standing transition is in progress, the standing-to-sitting transition is in progress, the risk of insufficient support exceeds the threshold, the user's posture is obviously abnormal, the seat belt 3 is not in a safe state, braking or emergency stop is triggered, the elevation difference passage preparation or track passage is in progress, the track is not in place or not locked, the risk of accidental following is increased. When following is prohibited, the wheel-track composite passage mechanism 7 does not perform following drive and can enter the braking, prompting, or manual confirmation state.

[0103] When a user becomes fatigued and transitions from standing to sitting, they can input a sitting command via the input device 41. At this point, low-speed follow drive is disabled to achieve braking or low-speed stabilization. Then, it checks whether the user is still holding the hand and elbows in support. The seat support moves from a low-intervention or light-support position to a hip and thigh support position. The left and right split seat support pads 5 are gradually raised or their angle adjusted to approach the user's hips or proximal thighs, causing the user's center of gravity to gradually shift from the lower limbs and elbows to the seat support. Then, the seat tilt assist telescopic rod 67 and the rear guide control extension... The retraction lever 616 retracts in coordination, causing the pair of seat cushion mounting plates 61 to lower the left and right split seat support pads 5 along a controlled trajectory and return them to the seated bearing state. Once the user is fully seated, the transition state is released, and the user enters either the sitting mode or the waiting mode. If the user sits down too quickly, the left and right split seat support pads 5 can be raised in advance to support the user. If the user's posture is unstable, the descent is paused and support is maintained. If the elbow support suddenly decreases, the support is increased and the brake is applied. If the seat cushion bearing capacity is confirmed to have reached the threshold, it means that the user has regained a stable position, and at this point, the transition state can be exited.

[0104] In elevation difference crossing mode, the user can input elevation difference crossing command through the operation input device 41, or automatically detect thresholds, small steps, elevation differences, or complex terrain and prompt the user for confirmation. Elevation difference crossing should not directly start the tracks, but should first enter a safety preparation process. Preparation conditions may include: the user is in a sitting position, semi-sitting reinforced support, or other high stability support state; the safety belt 3 is in a safe wearing state; the backrest support is effective; standing assistance following is prohibited; wheel movement is lowered or stopped; braking enters the preparation state. Subsequently, the track posture adjustment push rod 79 drives the transverse connecting beam 713 to drive the tracks to unfold or adjust to an effective grounding posture. After the unfolding is confirmed, the track locking device 710 confirms locking, and the common drive motor 711 outputs power to the rear drive wheel 75 of the tracks through the wheel-track composite transmission assembly 712 for low-speed track crossing. After crossing is completed, the tracks are retracted, and at this time, the wheel-sitting or waiting state is restored.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dynamically adaptable mobility assistance system, comprising a main load-bearing frame (1), left and right split seat support pads (5), and a wheel-track composite mobility mechanism (7), characterized in that, The upper part of the main load-bearing frame (1) is equipped with a backrest support mechanism (2), an elbow support armrest mechanism (4), and a seating conversion mechanism (6). The lower part of the main load-bearing frame (1) is equipped with a wheel-track composite passage mechanism (7). A seat belt (3) is installed on the backrest support mechanism (2). The left and right split seat support pads (5) are installed on the seating conversion mechanism (6). The sitting-standing conversion mechanism (6) is used to adjust the height, front-back position and flip angle of the left and right split seat support pads (5) to adapt to sitting mode, sitting-standing switching, standing-assistance mode, low-speed following mode and returning to sitting mode. The wheel-track composite passage mechanism (7) is used for wheeled travel on ordinary flat roads and for passage through track height differences on complex terrain.

2. The dynamic adaptation assistive walking system according to claim 1, characterized in that, The sitting-to-standing conversion mechanism (6) specifically includes: A pair of seat cushion mounting plates (61) are provided, and the pair of seat cushion mounting plates (61) are used to install and support the left and right split seat support pads (5). The front support arm (63) is provided in pairs. The top of the pair of front support arms (63) is hinged to the seat cushion mounting plate (61) and is used to drive the left and right split seat support pads (5) to rise, move forward or change angle during the sitting and standing process. A seat support frame (62) is provided, with a pair of seat cushion mounting plates (61) connected to the upper part of the seat support frame (62), and the lower part of the seat support frame (62) is connected to the bottom end of the front support swing arm (63). The rear guide support frame (66) is installed on both sides of the lower part of the seat support support frame (62) and is used to guide the rear part of the seat to move along a preset trajectory during the sitting and standing process; A seat flip-up assist telescopic rod (67), one end of which is connected to a pair of front support arms (63); A seat flip hinge support (610) is movably mounted on a seat support frame (62), and the end of the seat flip assist telescopic rod (67) away from the front support arm (63) is connected to the seat flip hinge support (610). The movable guide connecting arm (68) is hinged at one end to the seat support frame (62); Bottom mounting base (69) is mounted on the main load-bearing frame (1), and the end of the movable guide connecting arm (68) away from the seat lifting load-bearing frame (62) is hinged to the bottom mounting base (69); A rear guide control telescopic rod (616) is provided, one end of which is connected to a movable guide connecting arm (68) for driving or assisting the movable guide connecting arm (68) to swing.

3. The dynamic adaptation walking assistance system according to claim 2, characterized in that, A pair of side support plates (611) are installed on the main load-bearing frame (1). Each pair of side support plates (611) has a first limiting groove (612) and a second limiting groove (613). The rear guide load-bearing frame (66) slides with the first limiting groove (612) and the second limiting groove (613) through a pin or a sliding member, and transmits the rear load of the seat to the main load-bearing frame (1) and the pair of side support plates (611).

4. The dynamic adaptation assistive walking system according to claim 3, characterized in that, Each of the pair of side support plates (611) is equipped with an upper frame connector (614) and a lower frame connector (615). The upper frame connector (614) is used to connect the upper part of the side support plate (611) to the main load-bearing frame (1), and the lower frame connector (615) is used to connect the lower part of the side support plate (611) to the main load-bearing frame (1).

5. The dynamic adaptation assistive walking system according to claim 2, characterized in that, One end of the seat flipping assist telescopic rod (67) is connected to the lower transverse synchronous shaft (65), which is installed between a pair of front lifting swing arms (63); the seat lifting support frame (62) is connected to a pair of seat cushion mounting plates (61) with an upper transverse synchronous shaft (64) installed at one end.

6. The dynamic adaptation assistive walking system according to claim 1, characterized in that, The elbow support armrest mechanism (4) specifically includes: Handrail rotating hinge shaft (48), a pair of handrail rotating hinge shafts (48) are provided, a pair of frame side mounting seats (11) are provided on the main load-bearing frame (1), and a pair of handrail rotating hinge shafts (48) are installed in a pair of frame side mounting seats (11); Telescopic support arms (47), a pair of telescopic support arms (47) are provided, and the pair of telescopic support arms (47) are connected to a pair of frame side mounting seats (11) through a pair of handrail rotation hinge shafts (48) for adjusting the height and front and rear position of the handrail; Telescopic guide (45), a pair of telescopic guides (45) are provided, and the pair of telescopic guides (45) are installed inside or outside a pair of telescopic support arms (47) and locked in conjunction with a pair of handrail locking members (46); Handrail body (44), a pair of handrail bodies (44) are provided, and the pair of handrail bodies (44) are installed on the top of a pair of telescopic guides (45); Forearm support pad (43), a pair of forearm support pads (43) are provided, and a pair of forearm support pads (43) are mounted on a pair of armrest bodies (44) for supporting the user's forearm or elbow; A grip (42) is provided in pairs, and the pair of grips (42) are connected to one end of a pair of armrest bodies (44) for use by the user to grip; The operation input (41) is provided in pairs, and the pair of operation inputs (41) is installed at one end of a pair of grips (42) for receiving control commands from the user.

7. The dynamic adaptation assistive walking system according to claim 1, characterized in that, The wheel-track composite passage mechanism (7) specifically includes: The front shock-absorbing steering wheel assembly (71) is installed on the front of the main load-bearing frame (1) and is used to provide front-end support and steering capability during low-speed movement, standing assistance and sitting-standing conversion. The rear main wheel assembly (72) is installed on the rear side of the main load-bearing frame (1) and is used for load-bearing and wheeled travel on ordinary flat roads. Track body (77), the track body (77) is provided in pairs, the pair of track bodies (77) are wrapped around the outside of a pair of front guide wheels (73), a pair of middle load-bearing wheels (74), a pair of track rear drive wheels (75) and a pair of track tensioning wheels (76), for forming continuous contact with the ground, improving the support stability and traction when passing through elevation differences, slippery ground or complex terrain; Track support frame (78), wherein a pair of track support frames (78) are provided, the pair of track support frames (78) are used to support a pair of track belts (77), a pair of front guide wheels (73), a pair of middle load-bearing wheels (74), a pair of track rear drive wheels (75) and a pair of track tensioning wheels (76); a transverse connecting beam (713) is connected between the pair of track support frames (78). Track posture adjustment push rod (79), a pair of track posture adjustment push rods (79) are provided, one end of the pair of track posture adjustment push rods (79) is connected to the transverse connecting beam (713), and the other end is connected to the main load-bearing frame (1); Track locking member (710), a pair of track locking members (710) are provided, and the pair of track locking members (710) are installed at one end of a pair of track attitude adjustment push rods (79) near the main load-bearing frame (1) for locking when the track is deployed or retracted; A common drive motor (711) is connected to the wheel-track composite transmission assembly (712) to transmit power to the rear main wheel set (72) and / or a pair of track rear drive wheels (75).

8. The dynamic adaptation assistive walking system according to claim 2, characterized in that, The backrest support mechanism (2) specifically includes: A back support column (21) is provided, one end of which is connected to the seat support frame (62). The back support plate (22) is installed at the end of the back support column (21) away from the seat support frame (62).

9. The dynamic adaptation assistive walking system according to claim 1, characterized in that, A pair of anti-slip pedals (12) and a pair of headlights (13) are installed on the front side of the lower part of the main load-bearing frame (1).

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