A linkage shifting device

Abstract

The present invention discloses a linkage displacement device, comprising a mobile base; a support frame, the support frame is arranged on the mobile base; and a linkage bearing mechanism, comprising a parallelogram lifting mechanism and a linkage displacement mechanism; the parallelogram lifting mechanism is arranged on the support frame; the linkage displacement mechanism is arranged on a side of the parallelogram lifting mechanism away from the support frame; the linkage displacement mechanism is equipped to convert the lifting motion of the parallelogram lifting mechanism into a linear reciprocating motion, so as to realize a curved motion similar to a person's sitting-standing transfer. The present invention can be used to simulate a person's standing posture and action process from a sitting state.

Description

Technical Field

[0001] The invention relates to the technical field of displacement and sports equipment, in particular to a linkage type displacement device. Background Art

[0002] Currently, the transfer machines on the market are mostly used to assist caregivers in transferring the position of users, for example, transferring users between sofas, beds, toilets, etc., but the existing transfer structures are complex and the operation is cumbersome, especially requiring caregivers to assist in completing the cumbersome putting on and wearing actions; in addition, there is no uniform standard height for sofas, chairs, and beds on the market, and the traditional transfer machines are still at the fixed height stage, which makes it difficult to match the height of sofas, beds, and toilets. The overall care is still inconvenient and needs to be carried out by caregivers in the form of moving, carrying, and hugging; in addition, the transfer machines on the market currently lack auxiliary functions for standing up and assisting walking.

[0003] In addition, the existing transfer machine cannot well simulate the movement process of a person from a sitting state to a standing state, and cannot well simulate the movement process of a person from a standing state to a sitting state, which affects the user experience. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a linkage type shifting device.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a linkage shifting device, comprising:

[0006] Mobile base;

[0007] a support frame, the support frame being disposed on the mobile base; and

[0008] A linkage type bearing mechanism, including a parallelogram lifting mechanism and a linkage shifting mechanism;

[0009] The parallelogram lifting mechanism is arranged on the support frame;

[0010] The linkage shifting mechanism is arranged on a side of the parallelogram lifting mechanism away from the supporting frame;

[0011] The linkage shifting mechanism is configured to convert the lifting motion of the parallelogram lifting mechanism into a linear reciprocating motion, so as to realize a curved motion similar to that when a person transfers from sitting to standing.

[0012] In an optional embodiment of the present invention, the linkage shifting mechanism includes a gear transmission component and a crank slider mechanism;

[0013] The crank slider mechanism comprises a crank, a first connecting rod and a sliding component, one end of the crank is fixedly connected to the gear transmission component, the other end of the crank is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to the sliding component, the sliding component is slidably arranged at one end of the parallelogram lifting mechanism away from the support frame, and can perform linear reciprocating motion relative to the parallelogram lifting mechanism;

[0014] The gear transmission component is disposed on the parallelogram lifting mechanism, and the gear transmission component is configured to convert the lifting motion of the parallelogram lifting mechanism into the rotation of the crank.

[0015] In an optional embodiment of the present invention, the parallelogram lifting mechanism includes a frame, a first connecting rod, a second connecting rod, a second connecting rod, a first linear actuator and two load-bearing rods; the frame is arranged at the upper end of the support frame, one end of the first connecting rod and the second connecting rod are respectively hinged to the frame, the other ends of the first connecting rod and the second connecting rod are respectively hinged to the second connecting rod, one end of the first linear actuator is hinged to the support frame or the frame, the other end of the first linear actuator is hinged to the middle part of the first connecting rod or the second connecting rod, the frame, the first connecting rod, the second connecting rod and the second connecting rod constitute a parallelogram mechanism, the two load-bearing rods are spaced apart on both sides of the end of the second connecting rod away from the support frame, the sliding component is slidably arranged on the two load-bearing rods, and can reciprocate linearly along the load-bearing rods.

[0016] In an optional embodiment of the present invention, the frame includes a frame body, a connecting member and an angle adjustment assembly; the connecting member is hinged to the frame body to form a revolute pair, one end of the first connecting rod and the second connecting rod that is not hinged to the second connecting rod is respectively hinged to the connecting member, and the angle adjustment assembly is arranged between the frame body and the connecting member; the angle between the frame body and the connecting member is adjusted by the angle adjustment assembly, thereby realizing the adjustment of the pitch angle of the parallelogram lifting mechanism.

[0017] In an optional embodiment of the present invention, the angle adjustment assembly includes a rotating member and an adjusting bolt and an adjusting nut that match each other; the rotating member is rotatably arranged on the frame body; one end of the adjusting bolt forms a rotating pair with the connecting member, and the screw section of the adjusting bolt passes through the rotating member and is fixed by the adjusting nut.

[0018] In an optional embodiment of the present invention, the gear transmission component includes a first gear and a second gear that mesh with each other, and the diameter of the first gear is larger than the diameter of the second gear; the first gear is fixedly mounted on the second connecting rod, and the axis of the hinge between the first connecting rod or the second connecting rod and the second connecting rod is colinear with the rotation axis of the first gear; the second gear is located on one side of the first gear, the second gear is rotatably arranged on the first connecting rod or the second connecting rod, and the second gear is fixedly connected to the end of the crank that is not hinged to the first connecting rod.

[0019] In an optional embodiment of the present invention, the sliding component includes an armpit support, or an elbow support, or a suspension / binding component, or a combination of an armpit support and a suspension / binding component, or a combination of an elbow support and a suspension / binding component.

[0020] In an optional embodiment of the present invention, the sliding component includes a chest auxiliary pad.

[0021] In an optional embodiment of the present invention, the sliding component includes a height-adjustable armrest.

[0022] In an optional embodiment of the present invention, the height of the support frame is adjustable.

[0023] In an optional embodiment of the present invention, the linkage type displacement device further comprises a bearing seat mechanism for a user to sit on, wherein the bearing seat mechanism is arranged on the support frame and is located between the mobile base and the linkage type bearing mechanism.

[0024] In an optional embodiment of the present invention, the bearing seat mechanism includes a bearing seat bracket, a bearing seat, a guide mechanism and a second linear actuator; the guide mechanism is arranged on the bearing seat bracket, the guide mechanism and the bearing seat bracket form a moving pair, and the guide mechanism can move up and down relative to the bearing seat bracket; the bearing seat is arranged on the guide mechanism and can move synchronously with the guide mechanism; the second linear actuator is arranged between the guide mechanism and the mobile base, and the second linear actuator is used to drive the guide mechanism to move up and down between the bearing seats to achieve height adjustment of the bearing seat.

[0025] In an optional embodiment of the present invention, the movable base includes a base, a first bearing base and a second bearing base, the two bearing bases and the base form a movable pair, and the distance between the two bearing bases is adjustable.

[0026] The linkage bearing mechanism of the linkage shifting device of the present invention cooperates with the parallelogram lifting mechanism, the gear transmission component and the crank slider mechanism. While realizing height adjustment through the parallelogram lifting mechanism, the sliding component of the crank slider mechanism can make linear reciprocating motion in a generally horizontal direction, thereby realizing a curved motion similar to that of a person transferring from sitting to standing, simulating the movement process of a person completing a standing posture from a sitting state and simulating the movement process of a person from a standing posture to a sitting state.

[0027] The linkage type shifting device of the present invention can be operated and used relatively simply by the user through the armpit supports, or elbow supports, or / and the suspension / binding components on both sides, thus reducing the operation of the caregivers.

[0028] The linkage type shifting device of the present invention can realize the coordinated use of the linkage type bearing mechanism and the opening and closing type bearing seat mechanism.

[0029] The linkage displacement device of the present invention can be configured to have an adjustable length for people of different heights while ensuring that the rotation range of the parallelogram lifting mechanism is constant. The linkage displacement device is suitable for people of a wider range of heights and for more occasions.

[0030] The linkage type shifting device of the present invention can realize the shifting function and can provide walking assistance and weight reduction functions in a short time, so that the user can realize the shifting simply and quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Shown is a three-dimensional view of the linkage displacement device of the present invention.

[0032] Figure 2 Display as Figure 1 A partial enlarged schematic diagram of .

[0033] Figure 3 Shown is a front view of the linkage shifting device of the present invention.

[0034] Figure 4 Shown is a three-dimensional view of a support frame of the linkage displacement device of the present invention.

[0035] Figure 5 The diagram shows the relative positions of the slider guide rail assembly and the support frame of the linkage shifting device of the present invention.

[0036] Figure 6 It is a partial schematic diagram of the linkage type supporting mechanism of the linkage type shifting device of the present invention.

[0037] Figure 7 Another partial schematic diagram of the linkage type supporting mechanism of the linkage type shifting device of the present invention is shown.

[0038] Figure 8The figure shows a three-dimensional view of a modified embodiment of the linkage displacement device of the present invention.

[0039] Fig. 9 A three-dimensional diagram showing another modified embodiment of the linkage displacement device of the present invention is shown.

[0040] Component number description

[0041] Mobile base 10, base 101, first bearing base 102, second bearing base 103, third connecting rod 104, fourth connecting rod 105, third linear actuator 106, slider guide rail assembly 107, guide rail 1071, slider 1072, hinge component 1073, support frame 20, first support frame 201, second support frame 202, fourth linear actuator 203, linkage bearing mechanism 30, frame 301, frame body 3011, connecting piece 3012, angle adjustment assembly 3013, first connecting rod 302, second connecting rod 303, second connecting rod 304, first linear actuator 305, bearing rod 306, crank connecting rod assembly 307, crank 3071, first connecting rod Rod 3072, gear transmission component 308, first gear 3081, second gear 3082, sliding component 309, armpit support 3091, auxiliary pad support 3092, chest auxiliary pad support 3093, opening and closing bearing seat mechanism 40, first bearing seat bracket 401, first bearing seat 402, second bearing seat 403, guide mechanism 404, second linear actuator 405, folding bearing seat mechanism 40', bearing seat 406, bearing seat body 4061, bearing seat connecting rod 4062, second bearing seat bracket 407, retaining mechanism 408, third connecting rod 4081, fourth connecting rod 4082, fifth linear actuator 4083. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0043] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0044] See also Figure 1-6 As shown, this embodiment introduces a linkage type shifting device, which includes a mobile base 10, a support frame 20 and a linkage type bearing mechanism 30, wherein the support frame 20 is arranged on the mobile base 10, and the linkage type bearing mechanism 30 is arranged on the support frame 20.

[0045] See also Figure 1 and 3 As shown, in this embodiment, the mobile base 10 includes a base 101 and two bearing bases, the two bearing bases respectively form a moving pair with the base 101, and the distance between the two bearing bases is adjustable. Specifically, the two bearing bases are arranged on both sides of the base 101, respectively serving as a first bearing base 102 and a second bearing base 103, a moving pair is formed between the first bearing base 1021 and the base 101, and a moving pair is formed between the second bearing base 103 and the base 101, and the distance between the first bearing base 102 and the second bearing base 103 can be adjusted by a distance adjustment mechanism.

[0046] See also Figure 1-5 As shown, in this embodiment, the spacing adjustment mechanism includes a slider guide assembly, a third connecting rod 104, a fourth connecting rod 105, a third linear actuator 106 and a slider guide assembly 107. The slider guide assembly 107 includes a guide rail 1071, a slider 1072 and a hinge component 1073. The guide rail 1071 and the slider 1072 are arranged inside the support frame 20. The slider 1072 is arranged on the guide rail 1071 and can slide along the guide rail 1071. The hinge component 1073 includes three hinge components, which are respectively arranged on three sides of the slider 1072. The three hinge components 1073 are fixedly connected to the slider 1072, and the hinge components 1073 are arranged to penetrate the guide groove arranged on the support frame 20. One end of the third connecting rod 104 is hinged to the first bearing base 102, and the other end is hinged to one of the hinge components 1073; one end of the fourth connecting rod 105 is hinged to the second bearing base 103, and the other end is hinged to another hinge component 1073; one end of the third linear actuator 106 is hinged to the base 101, and the other end is hinged to the third hinge component 1073, wherein the hinge component 1073 hinged to the third connecting rod 104 and the hinge component 1073 hinged to the fourth connecting rod 105 are located on both sides of the hinge component 1073 hinged to the third linear actuator 106. The slider 1072 is driven by the third linear actuator 106 to move up and down along the guide rail 1071, so as to achieve synchronous extension and retraction of the two bearing bases to adjust the distance between the two bearing bases.

[0047] It is understandable that, in some embodiments, the distance adjustment mechanism may also adopt a worm gear mechanism to adjust the distance between the two supporting bases.

[0048] In specific settings, such as Figure 1 and 3 As shown, fixed wheels or universal wheels or electric wheels with different installation heights can be set at the bottom of the two bearing bases (installed according to specific needs), and one or more wheels can be equipped with brake mechanisms according to specific needs. This design can reduce the distance between the two bearing bases and the ground and is suitable for more situations.

[0049] See also Figure 1-3 As shown, in the present embodiment, the linkage bearing mechanism 30 includes a parallelogram lifting mechanism and a linkage shifting mechanism, the parallelogram lifting mechanism is arranged on the support frame 20; the linkage shifting mechanism is arranged on the side of the parallelogram lifting mechanism away from the support frame 20, and the linkage shifting mechanism is equipped to convert the lifting motion of the parallelogram lifting mechanism into a linear reciprocating motion to achieve a curved motion similar to a person's transition from sitting to standing, thereby simulating a person's completion of a standing posture from a sitting state and simulating the movement process of a person from a standing posture to a sitting state.

[0050] In this embodiment, the linkage shift mechanism includes a gear transmission component 308 and a crank slider mechanism. The crank slider mechanism includes a crank 3071, a first connecting rod 3072 and a sliding component 309, one end of the crank 3071 is fixed to the gear transmission component 308, the other end 3071 is hinged to one end of the first connecting rod 3072, the other end of the first connecting rod 3072 is hinged to the sliding component 309, the sliding component 309 is slidably arranged at one end of the parallelogram lifting mechanism away from the support frame 20, and can perform linear reciprocating motion relative to the parallelogram lifting mechanism; the gear transmission component 308 is arranged on the parallelogram lifting mechanism, and the gear transmission component 308 is assembled to convert the lifting motion of the parallelogram lifting mechanism into the rotation of the crank 3071.

[0051] See also Figure 1-3As shown, in this embodiment, the parallelogram lifting mechanism includes a frame 301, a first connecting rod 302, a second connecting rod 303, a second connecting rod 304, a first linear actuator 305 and two bearing rods 306; the frame 301 can be set on the upper end of the support frame 20 by welding or bolt connection, one end of the first connecting rod 302 and the second connecting rod 303 are respectively hinged to the frame 301, the other ends of the first connecting rod 302 and the second connecting rod 303 are respectively hinged to the second connecting rod 304, one end of the first linear actuator 305 is hinged to the support frame 20 or the frame 301, and the first linear actuator 305 is hinged to the support frame 20 or the frame 301. The other end of the linear actuator 305 is hinged to the middle of the first connecting rod 302 or the second connecting rod 303. The frame 301, the first connecting rod 302, the second connecting rod 303 and the second connecting rod 304 form a parallelogram mechanism. The two bearing rods 306 are arranged at intervals on both sides of the end of the second connecting rod 304 away from the support frame 20 to form a U-shaped structure. The sliding component 309 is slidably arranged on the two bearing rods 306 and can reciprocate along the bearing rods 306. The height adjustment of the linkage bearing mechanism 30 is achieved through the first linear actuator 305, thereby achieving the adjustment of the height of the bearing rods 306. It should be noted that the frame 301 and the support frame 20 can be two independent components that are then assembled together by welding or bolting, or they can be an integral whole, that is, the frame 301 is a part of the support frame 20.

[0052] Optionally, in order to adjust the pitch angle of the lifting mechanism, the frame 301 may further include an angle adjustment component 3013 for adjusting the pitch angle of the lifting mechanism. Specifically, the frame 301 includes a frame body 3011, a connecting member 3012, and an angle adjustment component 3013; the connecting member 3012 is hinged with the frame body 3011 to form a revolute pair, the ends of the first connecting rod 302 and the second connecting rod 303 that are not hinged with the second connecting rod 304 are respectively hinged on the connecting member 3012, and the angle adjustment component 3013 is arranged between the frame body 3011 and the connecting member 3012, and the angle adjustment component 3013 is used to adjust the angle between the frame body 3011 and the connecting member 3012, so as to change the pitch angle of the lifting mechanism, thereby changing the angle between the bearing rod 306 and the horizontal plane.

[0053] As an example, the angle adjustment assembly 3013 includes an adjustment bolt, an adjustment nut and a rotating member. The rotating member (eg Figure 2The rotating shaft (in the middle) is rotatably arranged on the frame body 3011, and a light hole is provided on the rotating member for the screw section of the adjusting bolt to pass through; one end of the adjusting bolt and the connecting member 3012 form a rotating pair, and the screw section of the adjusting bolt passes through the light hole on the rotating member and is fixed by the adjusting nut. The length of the screw section of the adjusting bolt between the connecting member 3012 and the rotating member can be adjusted by the adjusting nut to adjust the angle between the frame body 3011 and the connecting member 3012, thereby changing the pitch angle of the lifting mechanism, thereby changing the angle between the bearing rod 306 and the horizontal plane.

[0054] See also Figure 1 , 3 As shown in Figure 6, in this embodiment, the gear transmission component 308 includes a first gear 3081 and a second gear 3082 that mesh with each other, and the diameter of the first gear 3081 is larger than the diameter of the second gear 3082, that is, the first gear 3081 is a large gear, and the second gear 3082 is a small gear. The first gear 3081 is fixed on the second connecting rod 304, and the axis of the hinge between the first connecting rod 302 (or the second connecting rod 303) and the second connecting rod 304 coincides with the rotation axis of the first gear 3081; the second gear 3082 is located on one side of the first gear 3081, the second gear 3082 is rotatably arranged on the first connecting rod 302 or the second connecting rod 303, and the second gear 3082 is fixedly connected to the end of the crank that is not hinged to the first connecting rod, so that when the first linear actuator 305 drives the parallelogram mechanism to lift and lower the mechanism, the second gear 3082 drives the crank to rotate, so as to drive the crank slider mechanism to move along the bearing rod 306. As an example, in order to improve the compactness of the gear transmission component 308 and reduce the volume of the gear transmission component 308, the first gear 3081 may be, for example, a sector gear.

[0055] See also Figure 1 , 3 As shown in FIG6 , in this embodiment, the sliding component 309 includes two armpit supports 3091 arranged at intervals, and the two armpit supports 3091 are respectively located above a bearing rod 306, and the armpit supports 3091 are used to support the user's armpits. The user can use the armpit supports 3091 on both sides to complete the operation more simply, reducing the cumbersome binding operation.

[0056] See also Figure 1 , 3As shown in Figure 6, in this embodiment, the sliding component 309 further includes a chest auxiliary pad 3093, which is located between the two armpit pads 3091 and connected to the two armpit pads 3091. The chest auxiliary pad 3093 corresponds to the front chest position of the user. The chest auxiliary pad 3093 arranged forward can move the center of gravity of the user forward to prevent the center of gravity of the user from moving backward and causing danger.

[0057] See also Figure 1 , 3 As shown in Figure 6, in this embodiment, the sliding component 309 also includes two side auxiliary pads 3092 arranged at intervals. The two side auxiliary pads 3092 are respectively located below a supporting rod 306 and are used to assist the pads to rest on both sides of the user.

[0058] See also Figure 7 As shown, in an optional embodiment, the sliding component 309 further includes two armrests 3094 arranged at intervals, and the armrests 3094 are arranged below the bearing rod 306. The armrests 3094 are used for users to hold and play a supporting role. The height of the armrests 3094 can be adjusted by the star-shaped handle corresponding to different hole positions to meet the use needs of users with shorter arms.

[0059] It should be noted that, in some embodiments, the sliding component 309 may also be an elbow support instead of the armpit support 3091, and the elbow support is used to support the user's elbow, and the underarm support is changed to the elbow support. Of course, a combination of an elbow support and a suspension / binding component may also be used.

[0060] It should be noted that, in some embodiments, the sliding component 309 may also be a suspension / binding component instead of the armpit support 3091. Of course, a combination of the armpit support 3091 and the suspension / binding component may also be directly used.

[0061] When in use, the mobile base 10 is moved to the user's position, the height of the load-bearing rod 306 is adjusted by the first linear actuator 305, the load-bearing rod 306 is placed under the user's armpit, and the caregiver or user controls the first linear actuator 305 to increase the height. During the driving process of the first linear actuator 305, the load-bearing rod 306 can maintain a certain posture angle to achieve height lifting. During the height lifting process of the load-bearing rod 306, the sliding component 309 realizes linear motion along the load-bearing rod 306 to achieve linkage, which well simulates the movement process of a person from a sitting state to a standing posture.

[0062] It should be noted that the support frame 20 can also be configured as follows: Fig. 9The length-adjustable structure shown can meet the use needs of people of different heights. Specifically, the support frame 20 includes a first support frame 201, a second support frame 202 and a fourth linear actuator 203, the first support frame 201 is arranged on the base 101 of the mobile base 10, the lower end of the second support frame 202 is plugged into the first support frame 201, and a moving pair is formed between the second support frame 202 and the first support frame 202, one end of the fourth linear actuator 203 is hinged to the first support frame 201, and the other end is hinged to the second support frame 202, and the length of the second support frame 202 inserted into the first support frame 201 can be adjusted by the fourth linear actuator 203, thereby realizing the adjustment of the height of the support frame 20.

[0063] See also Figure 1 and 3 As shown, in this embodiment, the linkage displacement device further includes an opening and closing bearing seat mechanism 40, and the bearing seat mechanism 40 is for the user to sit on. The bearing seat mechanism 40 includes a first bearing seat bracket 401, a bearing seat, a guide mechanism 404 and a second linear actuator 405; the first bearing seat bracket 401 is arranged on the support frame 20 and is located between the linkage bearing mechanism 30 and the movable base 10; the guide mechanism 404 is arranged on the first bearing seat bracket 401, and the guide mechanism 404 and the first bearing seat bracket 401 form a moving pair, and the guide mechanism 404 can be raised and lowered relative to the first bearing seat bracket 401 within a certain range to achieve height adjustment; the bearing seat is arranged on the guide mechanism 404, and It can be raised and lowered synchronously with the guide mechanism 404; the second linear actuator 405 is arranged between the guide mechanism 404 and the mobile base 10, one end of the second linear actuator 405 is connected to the base 101 of the mobile base 10, and the other end of the second linear actuator 405 is connected to the middle part of the guide mechanism 404, and the second linear actuator 405 is used to drive the guide mechanism 404 to rise and fall relative to the first bearing seat bracket 401 to complete the adjustment of the height of the guide mechanism 404, thereby completing the adjustment of the height of the bearing seat to meet the user's demand for height adjustment of the bearing seat.

[0064] See also Figure 1 and 3As shown, in this embodiment, the bearing seat includes a first bearing seat 402 and a second bearing seat 403 that can be opened and closed with each other; the first bearing seat 402 and the second bearing seat 403 are respectively located on both sides of the guide mechanism 404, and are respectively movably connected with the guide mechanism 404. When the first bearing seat 402 and the second bearing seat 403 are closed, the bearing seat is in a supporting position, and a user can sit on the bearing seat; when the first bearing seat 402 and the second bearing seat 403 are separated, the bearing seat is in an avoidance position, and a user enters or leaves the bearing seat from the empty space between the first bearing seat 402 and the second bearing seat 403. Specifically, the first bearing seat 402 and the second bearing seat 403 are respectively hinged with the guide mechanism 404, and the first bearing seat 402 and the second bearing seat 403 can respectively rotate around the guide mechanism 404 to realize the opening and closing movement, so that the bearing seat is converted between the supporting position and the avoidance position.

[0065] It can be understood that, in some embodiments, the first bearing seat 402 and the second bearing seat 403 can also form a moving pair with the guide mechanism 404 respectively, and the first bearing seat 402 and the second bearing seat 403 can move toward each other along a straight line (that is, move towards each other) to achieve the closing of the two, and the first bearing seat 402 and the second bearing seat 403 can move away from each other along a straight line (that is, move away from each other) to achieve the separation of the two.

[0066] It is understandable that, in some embodiments, the second linear actuator 405 may not be provided, that is, the height of the bearing seat of the bearing seat mechanism 40 may be kept fixed.

[0067] When in use, the bearing seat mechanism 40 is used in conjunction with the linkage bearing mechanism 30. First, the first bearing seat 402 and the second bearing seat 403 are opened, and the linkage shifting device is pushed in front of the user. The user is lifted to a small height by the linkage bearing mechanism 30. When the user is lifted to a suitable height, the first bearing seat 402 and the second bearing seat 403 are closed, and the linkage bearing mechanism 30 is lowered to a suitable height by the first linear actuator 305. In addition, the linkage bearing mechanism 30 can also be used alone as a device to assist in sit-stand transfer.

[0068] It should be noted that, in some embodiments, the following Figure 8 The foldable support mechanism 40' shown replaces Figure 1-3 The open and close bearing seat mechanism 40 shown in FIG. Figure 8As shown, the foldable bearing seat mechanism includes a second bearing seat bracket 407, a bearing seat 406 and a retaining mechanism 408; the second bearing seat bracket 407 can be fixed to the support frame 20 by welding or bolts, the bearing seat 406 is movably connected to the bearing seat bracket, and the bearing seat 406 has a first position and a second position relative to the second bearing seat bracket 407. When the bearing seat 406 is in the first position, the bearing seat 406 is used to support the user's buttocks when the user straddles; when the bearing seat 406 is in the second position, the bearing seat 406 is in a folded state; the retaining mechanism 408 is arranged between the second bearing seat bracket 407 and the bearing seat 406, and the retaining mechanism 408 is assembled to keep the bearing seat 406 in the first position and can release the bearing seat 406 from the first position.

[0069] like Figure 8 As shown, the bearing seat 406 includes a bearing connecting rod 4062 and a bearing seat body 4061, one end of the bearing connecting rod 4062 is hinged to the second bearing seat bracket 407, and the bearing seat body 4061 is movably installed on (e.g., plugged into) the other end of the bearing connecting rod 4062, and can slide along the length direction of the bearing connecting rod 4062 to adjust the relative position of the bearing seat body 4061 and the bearing connecting rod 4062. Of course, the bearing seat body 4061 can also be fixedly connected to the other end of the bearing connecting rod 4062.

[0070] like Figure 8 As shown, the holding mechanism 408 includes a third link 4081, a fourth link 4081 and a fifth linear actuator 4083; one end of the third link 4081 is hinged to the middle of the bearing seat, and the other end of the third link 4081 is hinged to one end of the fourth link 4081; one end of the fifth linear actuator 4083 is hinged to the bearing seat bracket, and the other end of the fifth linear actuator 4083 is hinged to the middle of the fourth link 4081 or the third link 4081. It should be noted that in order to avoid interference between the fifth linear actuator 4083 and other components of the holding mechanism 408 during operation, the fifth linear actuator 4083 is arranged on one side of the holding mechanism 408.

[0071] It is understandable that, in some embodiments, the linkage displacement device may also be Fig. 9 The bearing seat mechanism 40 is not provided as shown. The linkage bearing mechanism 30 can be used alone with the armrest 3094 to help the user complete the standing process and play a certain walking and weight-reducing role for the user in a short time.

[0072] In summary, the linkage bearing mechanism of the linkage displacement device of the present invention is used in conjunction with the parallelogram lifting mechanism, the gear transmission component and the crank slider mechanism. While the height adjustment is achieved through the parallelogram lifting mechanism, the sliding component of the crank slider mechanism can make a linear reciprocating motion in a substantially horizontal direction, realizing a curved motion similar to the transition from a sitting position to a standing position, simulating the movement of a person from a sitting position to a standing position and simulating the movement process of a person from a standing position to a sitting position. The linkage displacement device of the present invention allows the user to easily complete the operation through the armpit supports, or elbow supports, or / and the suspension / binding components on both sides, reducing the operation of the caregiver. The linkage displacement device of the present invention can realize the coordinated use of the linkage bearing mechanism and the opening and closing bearing seat mechanism. The linkage displacement device of the present invention, for people of different heights, while ensuring that the parallelogram lifting mechanism has a certain rotation amplitude, the length of the support frame can be set to be adjustable, which is suitable for people of a wider range of heights and for more occasions. The linkage type shifting device of the present invention can realize the shifting function and can provide walking assistance and weight reduction functions in a short time, so that the user can realize the shifting simply and quickly.

[0073] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0074] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0075] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0076] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0077] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0078] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0079] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0080] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0081] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A linkage shifting device, characterized in that: include: Mobile base; A support frame, the support frame is arranged on the mobile base; as well as A linkage type bearing mechanism, including a parallelogram lifting mechanism and a linkage shifting mechanism; The parallelogram lifting mechanism is arranged on the support frame; The linkage shifting mechanism is arranged on a side of the parallelogram lifting mechanism away from the supporting frame; The linkage shifting mechanism is configured to convert the lifting motion of the parallelogram lifting mechanism into a linear reciprocating motion, so as to achieve a curved motion similar to that of a person transferring from sitting to standing; The linkage shifting mechanism comprises a gear transmission component and a crank slider mechanism; The crank slider mechanism comprises a crank, a first connecting rod and a sliding component, one end of the crank is fixedly connected to the gear transmission component, the other end of the crank is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to the sliding component, the sliding component is slidably arranged at one end of the parallelogram lifting mechanism away from the support frame, and can perform linear reciprocating motion relative to the parallelogram lifting mechanism; The parallelogram lifting mechanism comprises a frame, a first connecting rod, a second connecting rod, a second connecting rod, a first linear actuator and two bearing rods; the frame is arranged at the upper end of the support frame, one end of the first connecting rod and the second connecting rod are respectively hinged on the frame, the other ends of the first connecting rod and the second connecting rod are respectively hinged on the second connecting rod, one end of the first linear actuator is hinged on the support frame or the frame, the other end of the first linear actuator is hinged on the middle part of the first connecting rod or the second connecting rod, the frame, the first connecting rod, the second connecting rod and the second connecting rod constitute a parallelogram mechanism, the two bearing rods are spaced apart on both sides of the end of the second connecting rod away from the support frame, the sliding component is slidably arranged on the two bearing rods, and can reciprocate linearly along the bearing rods; The gear transmission component includes a first gear and a second gear that mesh with each other, and the diameter of the first gear is larger than the diameter of the second gear; the first gear is fixedly mounted on the second connecting rod, and the axis of the hinge between the first connecting rod or the second connecting rod and the second connecting rod is colinear with the rotation axis of the first gear; the second gear is located on one side of the first gear, the second gear is rotatably arranged on the first connecting rod or the second connecting rod, and the second gear is fixedly connected to the end of the crank that is not hinged to the first connecting rod; The sliding component comprises an armpit support, or an elbow support, or a suspension / binding component, or a combination of an armpit support and a suspension / binding component, or a combination of an elbow support and a suspension / binding component.

2. The linkage shifting device according to claim 1, characterized in that: The frame includes a frame body, a connecting piece and an angle adjustment assembly; the connecting piece is hinged to the frame body to form a revolute pair, one end of the first connecting rod and the second connecting rod that is not hinged to the second connecting rod is respectively hinged to the connecting piece, and the angle adjustment assembly is arranged between the frame body and the connecting piece; the angle between the frame body and the connecting piece is adjusted by the angle adjustment assembly, thereby realizing the adjustment of the pitch angle of the parallelogram lifting mechanism.

3. The linkage displacement device according to claim 1, characterized in that: The sliding member includes a height-adjustable armrest.

4. The linkage shifting device according to claim 1, characterized in that: The linkage type displacement device also includes a bearing seat mechanism for a user to sit on, wherein the bearing seat mechanism is arranged on the support frame and is located between the mobile base and the linkage type bearing mechanism.

5. The linkage displacement device according to claim 4, characterized in that: The bearing seat mechanism includes a bearing seat bracket, a bearing seat, a guide mechanism and a second linear actuator; the guide mechanism is arranged on the bearing seat bracket, the guide mechanism and the bearing seat bracket form a moving pair, and the guide mechanism can move up and down relative to the bearing seat bracket; the bearing seat is arranged on the guide mechanism and can move synchronously with the guide mechanism; the second linear actuator is arranged between the guide mechanism and the mobile base, and the second linear actuator is used to drive the guide mechanism to move up and down between the bearing seats to realize the height adjustment of the bearing seat.

6. The linkage shifting device according to claim 1, characterized in that: The movable base comprises a base, a first bearing base and a second bearing base. The two bearing bases and the base form a movable pair, and the distance between the two bearing bases is adjustable.

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