Multifunctional shifting device

Abstract

The invention provides a multifunctional shifting device which comprises a shifting base, a lower body adjusting mechanism, a supporting mechanism, a seat adjusting mechanism and an upper body adjusting mechanism, and the shifting base is of a frame structure and can move on a working face, support all the mechanisms and assist a patient in moving; the rotation of a plurality of groups of parallel four-bar mechanisms in the lower body adjusting mechanism drives the supporting mechanism to realize free movement in the horizontal and / or vertical direction, so as to assist the patient to switch the sitting posture; the seat adjusting mechanism comprises a fourth driving part and a supporting cushion, the supporting cushion is driven by the fourth driving part to move in the length direction, and the patient can be transferred between the seat and the supporting cushion; the upper body adjusting mechanism provides support and lifts a person away from the seat or supports a cushion in the sitting and standing conversion and displacement process, is cooperated with other mechanisms to realize sitting and standing conversion, can be used as a rehabilitation walking training auxiliary tool or an advancing auxiliary tool to assist displacement, and is efficient, safe, wide in application range, suitable for various crowds and diversified in use scene.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation medical auxiliary equipment, and in particular relates to a multifunctional displacement device. Background Art

[0002] Sit-to-stand (STS), bed-to-toilet transfer and other body position transfer activities are the most common functional activities in people's daily lives. However, due to aging or various diseases such as stroke, knee osteoarthritis, polymyositis, muscle disease, and Parkinson's disease, the elderly have physical decline and lower limb dysfunction, making it difficult for them to complete sit-to-stand transfers independently. Therefore, they need lower limb rehabilitation assistive devices with multiple functions such as transfer and walking assistance to help them successfully complete STS exercises and lower limb rehabilitation training.

[0003] Sit-to-stand assistive devices can assist the elderly to complete basic transfers, walk, or help them recover lower limb functions. Based on the functional requirements to be achieved, there are currently several main structural designs in this research field:

[0004] Lift-type assistive sit-to-stand conversion, this type of assistive device lifts or tilts the patient through a long pole placed under the patient's armpit, or lifts the patient with a sling fixed to the patient's body to achieve the process of the patient turning from sitting to standing. The advantages of this design are simple structure and efficient movement, but there are problems such as single movement trajectory and low safety. At the same time, the patient will bear a greater burden during the operation of the assistive device.

[0005] Exoskeleton-type assistive sit-to-stand conversion, this type of assistive device controls the movement of the patient's lower limbs through a mechanical structure placed on the patient's legs, and can achieve the function of sit-to-stand conversion. The advantages of this design are stable operation and small footprint, but there are also some problems, such as high cost and insufficient fit with the patient's joints. The most critical thing is that the incoordination between the mechanism and human body movement will directly cause pain in the patient's leg joints.

[0006] The straddle-type assistive sit-to-stand conversion is a type of assistive device that uses a seat bar placed under the patient's crotch to lift the patient to achieve a sit-to-stand conversion. The seat lifting method is mostly vertical lifting or single-rod rotation lifting. The advantages of this design are that it does not put a heavy burden on the patient and the structure is simple. The disadvantages are low movement efficiency, a large space occupied by the lifting mechanism, and it is difficult for the patient to transfer from the seat to the seat bar.

[0007] In summary, current products have common problems such as low movement efficiency, large space occupation, heavy burden on patients' bodies, and difficulty for patients to transfer to the device. Summary of the invention

[0008] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a multifunctional shifting device, which can realize sit-to-stand conversion and assist in shifting when the patient is sitting on various seats without causing damage to the patient. It can adapt to the needs of patients with different body shapes, ensure the stability of the mechanism in each movement stage, have a simple structure, high working effect and high comfort.

[0009] To achieve the above-mentioned and other related purposes, the present invention provides a multifunctional shifting device, which is characterized by comprising:

[0010] A shift base, disposed on a first motion plane;

[0011] a lower body adjustment mechanism connected to the displacement base and arranged in a second motion plane, the second motion plane being perpendicular or approximately perpendicular to the first motion plane;

[0012] A support mechanism connected to one end of the lower body adjustment mechanism away from the displacement base and moving in the second movement plane;

[0013] a seat adjustment mechanism, slidably connected to the support mechanism, and laterally movable relative to the support mechanism in the second motion plane;

[0014] The upper body adjustment mechanism is connected to a side of the support mechanism away from the displacement base, and moves and / or rotates relative to the support mechanism in the second movement plane.

[0015] According to an embodiment provided by the present invention, the lower body adjustment mechanism comprises:

[0016] An adjustment component connected to the displacement base;

[0017] A driving assembly, arranged on the adjusting assembly and / or the shifting base and / or the supporting mechanism;

[0018] The supporting mechanism is connected to one end of the adjusting component away from the displacement base, and moves in the second movement plane under the drive of the driving component.

[0019] According to an embodiment provided by the present invention, the adjustment assembly is a connecting rod assembly, which is connected to the displacement base and includes:

[0020] A connecting rod connected to the displacement base;

[0021] Two first connecting rods arranged in parallel are rotatably connected to the connecting rod;

[0022] A first fixing member, rotatably connected to one end of the two first connecting rods away from the connecting rod;

[0023] Two second connecting rods arranged in parallel and rotatably connected to the first fixing member;

[0024] A second fixing member, rotatably connected to one end of the two second connecting rods away from the first fixing member;

[0025] Two third connecting rods arranged in parallel are rotatably connected to the second fixing member, and the supporting mechanism is rotatably connected to one end of the third connecting rod away from the second fixing member;

[0026] In the second motion plane, the driving assembly drives the supporting mechanism to move, and the supporting mechanism maintains translation during the movement.

[0027] According to an embodiment provided by the present invention, the driving assembly includes:

[0028] A first driving member, one end of which is rotatably connected to the connecting rod or the shift base, and the other end of which is rotatably connected to the first connecting rod or the first fixing member, driving the first connecting rod to rotate relative to the connecting rod in the second motion plane;

[0029] A second driving member, one end of which is rotatably connected to the first connecting rod or the connecting rod, and the other end of which is rotatably connected to the second connecting rod or the second fixing member, driving the second connecting rod to rotate relative to the first connecting rod in the second motion plane;

[0030] The third driving member has one end rotatably connected to the second connecting rod or the first fixing member, and the other end rotatably connected to the third connecting rod or the supporting mechanism, driving the third connecting rod to rotate relative to the second connecting rod in the second motion plane.

[0031] According to an embodiment provided by the present invention, the supporting mechanism comprises:

[0032] A horizontal support member, rotatably connected to one end of the two third connecting rods away from the second fixing member;

[0033] A vertical support member connected to one end of the horizontal support member;

[0034] The seat adjustment mechanism is connected to the horizontal support member and moves along the length direction of the horizontal support member, and the upper body adjustment mechanism is connected to the vertical support member.

[0035] According to an embodiment provided by the present invention, the seat adjustment mechanism comprises:

[0036] a fourth driving member connected to the horizontal supporting member;

[0037] The support cushion is connected to the fourth driving member and moves along the length direction of the horizontal support member in the second movement plane under the drive of the fourth driving member.

[0038] According to an embodiment provided by the present invention, the support cushion comprises:

[0039] A cushion rod connected to the fourth driving member and slidably connected to the horizontal supporting member;

[0040] Elastic connector;

[0041] A seat cushion connected to the seat cushion rod via the elastic connecting piece;

[0042] Under the action of external force, the elastic connecting member is deformed so that a relative displacement occurs between the seat cushion and the seat cushion rod.

[0043] According to an embodiment provided by the present invention, the upper body adjustment mechanism comprises:

[0044] A vertical drive assembly connected to the vertical support member;

[0045] The upper body adjustment component is connected to the vertical drive component and moves or rotates relative to the support mechanism in the second motion plane under the drive of the vertical drive component.

[0046] According to an embodiment provided by the present invention, the upper body adjustment component comprises:

[0047] A handrail drive assembly, disposed on the vertical drive assembly;

[0048] The armrest assembly is connected to the armrest drive assembly. Under the drive of the armrest drive assembly, the armrest assembly reciprocates left and right relative to the support mechanism in a third motion plane or reciprocates from a horizontal position to both sides in the third motion plane. The third motion plane is perpendicular to the first motion plane and the second motion plane.

[0049] According to an embodiment provided by the present invention, the connecting rod is rotatably connected to the displacement base, and an angle limiter is provided at the connection point, so that the lower body adjustment mechanism can achieve offset and limiting movement under the action of external force.

[0050] The multifunctional shifting device of the present invention cooperates with each other in various mechanisms, and can realize the transfer of patients between any seat and the multifunctional shifting device, and perform sit-to-stand conversion; a multi-link mechanism is used to adjust the supporting cushion, and its movement trajectory is more flexible, conforming to the natural movement trajectory of the human body, with high working efficiency and without causing damage to limbs or joints; the upper body adjustment mechanism and the lower body adjustment mechanism can freely adjust the height to meet the needs of patients of different body shapes or different body shapes, and have a wider range of applications; the control roller can realize the free movement of the device, and combined with the adjustment of various mechanisms, it can be used as a walking aid to assist patients to move forward and perform various activities, and can also cooperate with rehabilitation walking training, with strong functionality and diverse applicable scenarios; multiple mechanisms are connected as a whole to ensure the stability of movement in each stage, with high movement efficiency and small footprint, simple structure and low cost, high safety and comfort, and strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0052] Figure 1 A three-dimensional structural diagram of an embodiment of a multifunctional shifting device provided by the present invention;

[0053] Figure 2 A front view of an embodiment of a multifunctional shifting device provided by the present invention;

[0054] Figure 3 A simplified three-dimensional structural diagram of a shifting base of an embodiment of a multifunctional shifting device provided by the present invention;

[0055] Figure 4 A three-dimensional structural diagram of an embodiment of a multifunctional shifting device provided by the present invention;

[0056] Figure 5 A three-dimensional structural diagram of an armrest drive assembly of an embodiment of a multifunctional shifting device provided by the present invention;

[0057] Figure 6 A cross-sectional view of a seat adjustment mechanism and a support mechanism of an embodiment of a multifunctional shifting device provided by the present invention;

[0058] Figure 7 A three-dimensional structural diagram of an angle limiter and a damper of an embodiment of a multifunctional displacement device provided by the present invention;

[0059] Figure 8A three-dimensional structural cross-sectional view of an angle limiter and a damper of an embodiment of a multifunctional displacement device provided by the present invention;

[0060] Fig. 9 A three-dimensional structural diagram of an embodiment of a multifunctional shifting device provided by the present invention;

[0061] Fig.10 A three-dimensional structural diagram of a walking aid design of an embodiment of a multifunctional shifting device provided by the present invention;

[0062] Fig.11 A right side view of a walking aid design of an embodiment of a multifunctional shifting device provided by the present invention;

[0063] Fig.12 A left side view of a walking aid design of an embodiment of a multifunctional shifting device provided by the present invention.

[0064] Description of labels:

[0065] 100, shifting base; 200, lower body adjustment mechanism; 300, support mechanism; 400, seat adjustment mechanism; 500, upper body adjustment mechanism; 600, support frame; 700, walking aid mechanism;

[0066] 110, longitudinal rod; 120, cross rod; 130, tail rod; 140, roller;

[0067] 210, adjustment component; 220, drive component;

[0068] 211, connecting rod; 212, first connecting rod; 213, second connecting rod; 214, third connecting rod; 215, first fixing member; 216, second fixing member; 217, angle limiter; 218, damper;

[0069] 221, a first driving member; 222, a second driving member; 223, a third driving member;

[0070] 310, horizontal support member; 320, vertical support member;

[0071] 410, fourth driving member; 420, supporting cushion; 421, cushion rod; 422, cushion;

[0072] 510, vertical drive assembly; 520, handrail drive assembly; 530, handrail assembly;

[0073] 521, first connecting member; 522, sliding connecting member; 523, second connecting member; 524, fifth driving member; 525, handle assembly;

[0074] 531, lifting rod; 532, supporting armrest;

[0075] 610, fixed pulley; 710, strap; 720, thigh connection part; 730, calf connection part. DETAILED DESCRIPTION

[0076] The following describes the embodiments of the present invention through 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.

[0077] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings 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.

[0078] Sit-to-stand conversion aids can help the elderly or postoperative patients with limited mobility to achieve sit-to-stand conversion and shifting activities, but many sit-to-stand conversion aids have low movement efficiency and cannot effectively reduce the burden on patients' limbs during the conversion and shifting process. They are also not coordinated with human body movements and can easily cause damage to joints. They are not safe enough, or they take up a lot of space, are expensive, and are extremely inconvenient to use.

[0079] See also Figures 1 to 8The present invention proposes a multifunctional displacement device, which can transfer a patient located on any seat to the device and perform sit-stand conversion and displacement. The multifunctional displacement device includes a displacement base 100, a lower body adjustment mechanism 200, a support mechanism 300, a seat adjustment mechanism 400 and an upper body adjustment mechanism 500. The displacement base 100 is arranged on a first motion plane, which can drive the entire device to shift in the first motion plane, where the first motion plane can be, for example, the ground; the lower body adjustment mechanism 200 is connected to the displacement base 100 and is arranged on a second motion plane, where the second motion plane is perpendicular or approximately perpendicular to the first motion plane, the lower body adjustment mechanism 200 can move in the second motion plane and drive the support mechanism 300, the seat adjustment mechanism 400 and the upper body adjustment mechanism 500 to achieve free movement in the horizontal direction and / or vertical direction, lift or put down the patient for sit-stand conversion, and can also perform a small offset and reset relative to the displacement base 100 to assist rehabilitation walking training; the support mechanism The lower body adjustment mechanism 300 is connected to the end of the lower body adjustment mechanism 200 away from the displacement base 100, moves in the second motion plane, and realizes the conversion between the sitting position and the standing position by adjusting its height; the seat adjustment mechanism 400 is slidably connected to the support mechanism 300, and can slide laterally relative to the support mechanism 300 in the second motion plane, thereby resolving the conflict between the seat and the support mechanism 300 and realizing the transfer of the patient between the seat and the device; the upper body adjustment mechanism 500 is connected to the side of the support mechanism 300 away from the displacement base 100, moves and / or rotates relative to the support mechanism 300 in the second motion plane, and can lift or lower the patient from the seat or the seat adjustment mechanism 400 for transfer. The mechanisms cooperate with each other, and can transfer the patient between the seat and the device, realize the conversion of posture, and can also assist in rehabilitation walking training. The active movement of the displacement base 100 can also assist the mobility-impaired person to move, and the posture can be adjusted by the mechanisms to realize various activities.

[0080] See also Figure 1 to Figure 2According to an embodiment provided by the present invention, the shift base 100 can be, for example, a frame structure, which can leave enough space for lower body movement. In a specific embodiment, the shift base 100 can include, for example, two longitudinal rods 110, a cross bar 120 and two tail rods 130, which are arranged on both sides of the second movement plane, the two longitudinal rods 110 are arranged in parallel, the cross bar 120 is arranged between the two longitudinal rods 110 and connected to the ends of the two rods, leaving enough movement space between the two longitudinal rods 110; the two tail rods 130 are symmetrically connected to the two ends of the cross bar 120 and are located on the opposite sides of the two longitudinal rods 110, and the distance between the two tail rods 130 is greater than or equal to the length of the cross bar 120, which can provide more stable support for the entire device; the lower body adjustment mechanism 200 is arranged on the second movement plane, and when the patient sits on the seat adjustment mechanism 400, he can move his lower limbs in the space on both sides and maintain stability and balance. It is understandable that the displacement base 100 is an integrated support structure or a support structure in which the rods are connected to each other. In other embodiments, the displacement base 100 can also be other frame structures such as a rectangular frame or a displacement platform with a certain space.

[0081] See also Figures 1 to 4 According to an embodiment of the present invention, a plurality of rollers 140 are provided at the bottom of the displacement base 100, which can ensure the free movement function of the entire device. In addition to realizing the sit-stand conversion function, the device can also assist the patient in displacement and walking rehabilitation training. Specifically, for example, two universal wheels are provided at the two corners in front of the displacement base 100, and two directional wheels are provided at the two corners in the rear of the displacement base 100, so as to ensure the flexibility and stability of the overall movement and facilitate the adjustment of the forward direction; the front is the direction of displacement forward, and the patient can better maintain the direction under the action of the directional wheels in the front when walking, and the universal wheels in the rear ensure the flexibility of the device displacement. The rollers 140 can also be universal wheels to enhance the ability of lateral displacement. Under the action of the rollers 140, the device can be pushed to freely shift to approach patients on different seats, perform sit-stand conversion and position transfer, and when the patient is walking on the device, the rollers 140 can also assist in forward movement to achieve free displacement.

[0082] See also Figure 3 According to another embodiment provided by the present invention, in order to reduce the space occupied by the device, the shift base 100 is simplified, which includes a cross bar 120 and two tail rods 130 connected on both sides thereof, the lower body adjustment mechanism 200 is connected to the center of the cross bar 120 and is arranged in the second movement plane, and rollers 140 are respectively arranged on the tail rods 130 on both sides, which work together with the lower body adjustment mechanism 200 to maintain the balance of the device and realize the shifting function. The structure of the shift base 100 is simpler, which effectively reduces the space occupied by the device.

[0083] See also Figures 1 to 4According to an embodiment of the present invention, each roller 140 is an electric wheel. In addition to performing sit-to-stand conversion and assisted walking training, the device can also be used as a walking aid, controlling the rollers 140 on the displacement base 100 to actively move to assist the patient to move forward, and adjusting the posture of the patient on the device through other adjustment mechanisms to achieve various required activities. It should be noted that the lower body adjustment mechanism 200 is arranged at a symmetrical position of the base, and when one end of the lower body adjustment mechanism 200 is connected to the base cross bar 120, at least one roller 140 is correspondingly arranged at the other end away from the cross bar 120, which can be a universal wheel or a directional wheel, to ensure the stability of the entire device during the sit-to-stand conversion and displacement process, while better assisting walking training and achieving displacement.

[0084] See also Figures 1 to 4 According to an embodiment of the present invention, the lower body adjustment mechanism 200 includes an adjustment component 210 and a drive component 220. The adjustment component 210 is connected to the displacement base 100, and can move in the second motion plane to drive the support mechanism 300 connected thereto to move; the drive component 220 is disposed on the adjustment component 210 and / or the displacement base 100 and / or the support mechanism 300 to drive the movement of the adjustment component 210; the support mechanism 300 is connected to one end of the adjustment component 210 away from the displacement base 100, and moves in the second motion plane under the drive of the drive component 220, and drives the seat adjustment mechanism 400 connected thereto to move, so as to realize the posture conversion or adjustment of the patient located on the seat adjustment mechanism 400.

[0085] See also Figures 1 to 4 According to an embodiment of the present invention, the adjustment component 210 is a connecting rod component, which is connected to the displacement base 100, including a connecting rod 211, two parallel first connecting rods 212, two parallel second connecting rods 213, two parallel third connecting rods 214, a first fixing member 215 and a second fixing member 216. The connecting rods are connected by a revolute pair through the first fixing member 215 and the second fixing member 216. The translational movement of the support mechanism 300 in the plane is guaranteed by a parallel four-bar mechanism. The multi-bar group structure can not only more efficiently achieve a large range of displacement and adapt to the use of people of various body types, but also its curved trajectory movement is more in line with the change of the center of gravity of the human body during standing, and will not cause damage to the patient during the process of sitting-standing conversion and shifting, ensuring stability and comfort; the multi-bar group revolute pairs are connected in series, the rod group length is short, which greatly saves space and the motion trajectory is more flexible, and can achieve targeted and accurate adjustment of the patient's posture. The process of sitting-standing conversion is more efficient, safe and comfortable, and can also effectively reduce the burden on the patient's lower limbs while ensuring the effect of shifting and training.

[0086] Specifically, see Figures 1 to 4The connecting rod 211 is connected to the displacement base 100, and together with the displacement base 100, supports and shifts the entire device, and connects each adjustment mechanism to the displacement base 100 as a whole; two parallel first connecting rods 212 are rotatably connected to the connecting rod 211, and the first fixing member 215 is rotatably connected to one end of the two first connecting rods 212 away from the connecting rod 211; two parallel second connecting rods 213 are rotatably connected to the first fixing member 215, and the second fixing member 216 is rotatably connected to one end of the two second connecting rods 213 away from the first fixing member 215; two parallel third connecting rods 214 are rotatably connected to the second fixing member 216, the support mechanism 300 is rotatably connected to the end of the third connecting rod 214 away from the second fixing member 216; in the second motion plane, the first connecting rod 212 and / or the second connecting rod 213 and / or the third connecting rod 214 are driven to rotate by the driving assembly 220 to realize the planar motion of the support mechanism 300, and the support mechanism 300 maintains translation during the motion process, which can ensure the overall stable lifting or lowering. Under the action of multiple connecting rods, the support mechanism 300 can realize a large range of curved trajectory motion, and its motion trajectory conforms to the law of human body movement, and ensures stability and balance while adjusting the patient's posture, ensuring safety and comfort in use. In other embodiments, the adjustment assembly 210 can also be, for example, a single-link mechanism or a sliding displacement mechanism, etc., to achieve position adjustment of the support mechanism 300.

[0087] It can be understood that one end of the first connecting rod 212 is rotatably connected to the connecting portion on the connecting rod 211, and the other end is rotatably connected to the first fixing member 215. The two first connecting rods 212 and the connecting portions on both sides and the first fixing member 215 form a parallel four-bar mechanism. Since the connecting rod 211 is fixed to the shift base 100, when the first connecting rod 212 and the connecting rod 211 rotate relative to each other, the movement of the first fixing member 215 in the second motion plane remains translational; similarly, the two parallel second connecting rods 213 rotate relative to the first fixing member 215 When the two parallel third connecting rods 214 rotate relative to the second fixing member 216, they form a parallel four-bar mechanism with the second fixing member 216 on both sides and the supporting mechanism 300. Finally, the supporting mechanism 300 can realize the movement of the curved trajectory in the second motion plane driven by the rotation of each connecting rod, realize the position adjustment and the height adjustment, and the supporting mechanism 300 always keeps the translation during the movement, so as to ensure the stability and balance of the supporting mechanism 300.

[0088] See also Figures 1 to 4According to an embodiment of the present invention, the first fixing member 215 and the second fixing member 216 may be, for example, fan-shaped fixing members, which may be rotatably connected to each rod member through, for example, a plurality of pins to ensure the strength of the connection. An angle sensor may be provided at the first fixing member 215 and / or the second fixing member 216 and / or at the connection between the first connecting rod 212 and the connecting rod 211, which may measure and record the angle between each rod group during the movement, so as to plan the seat path, achieve precise coordination between mechanisms, better adapt to the movement posture of the human body, and improve the working efficiency and stability of the device.

[0089] See also Figures 1 to 4 According to an embodiment provided by the present invention, the driving assembly 220 includes a first driving member 221, a second driving member 222 and a third driving member 223. One end of the first driving member 221 is rotatably connected to the connecting rod 211 or the shifting base 100, and the other end is rotatably connected to the first connecting rod 212 or the first fixing member 215, driving the first connecting rod 212 to rotate relative to the connecting rod 211 in the second motion plane; one end of the second driving member 222 is rotatably connected to the first connecting rod 212 or the connecting rod 211, and the other end is rotatably connected to the second connecting rod 213 or the second fixing member 216, driving the second connecting rod 213 to rotate relative to the first connecting rod 212 in the second motion plane; one end of the third driving member 223 is rotatably connected to the second connecting rod 213 or the first fixing member 215, and the other end is rotatably connected to the third connecting rod 214 or the supporting mechanism 300, driving the third connecting rod 214 to rotate relative to the second connecting rod 213 in the second motion plane. When each connecting rod moves under the drive of the driving component 220, the connecting rod located above rotates with the connecting rod connected to the bottom thereof as a frame. The driving component 220 may be, for example, an electric push rod. When the push rod moves along the length direction, it drives the upper connecting rod to rotate relative to the lower connecting rod. The driving parts cooperate with each other to drive the connecting rods to rotate, thereby realizing the free movement of the support mechanism 300 in the horizontal direction and / or vertical direction within the second motion plane.

[0090] It should be noted that, under the action of each driving member, multiple groups of connecting rods rotate relative to each other and their movements cooperate with each other, so that the entire adjustment assembly 210 performs curved motion and drives the support mechanism 300 and other mechanisms connected thereto to stably rise or fall along a curved trajectory in the second motion plane. Its motion trajectory conforms to the principles of human movement, and the support mechanism 300 remains horizontal during the overall movement process, which effectively improves the working efficiency of the device while ensuring comfort of use.

[0091] See also Figures 1 to 4According to an embodiment provided by the present invention, the driving component 220 is externally connected to the control device. The path of the driving component 220 driving each rod group to move is preset and planned according to the patient's body shape and required movement. When performing sit-to-stand conversion, the control device is used to control each driving component to achieve a predetermined motion trajectory. The work efficiency is high and conforms to the laws of human movement. During rehabilitation training, the patient can also be conveniently adjusted to the optimal position according to the preset, reducing the burden on the lower limbs while effectively mobilizing the strength of various parts of the body to achieve effective training.

[0092] See also Figures 1 to 8 According to an embodiment of the present invention, the connecting rod 211 is rotatably connected to the displacement base 100, and an angle limiter 217 and a damper 218 are provided at the connection point, so that the lower body adjustment mechanism 200 can achieve left and right offset and reset movement under the action of human or non-human external driving force, etc., and can cooperate with the patient's hip swing to offset and reset to achieve walking during walking training and displacement. The offset angle is limited by the angle limiter 217 to prevent the lower body from deviating too much and affecting the balance, and it is more in line with the patient's walking posture, and cooperates with the human body to better achieve the walking action. At the same time, the damper 218 can provide a certain buffer during the offset process to maintain the stability and safety of the movement process. The entire device remains balanced and stable without shaking or tipping over, which can effectively improve the training effect and comfort.

[0093] Specifically, the connecting rod 211 is connected to the cross bar 120 of the displacement base 100 and is located in the second motion plane. The connecting rod 211 and the base jointly support the weight reduction mechanism and the upper body protection mechanism, ensure the balance and stability of the entire device, and jointly assist walking movement to improve the training effect. The connection surface between the connecting rod 211 and the cross bar 120 is perpendicular to the first motion plane and the second motion plane, so that the connecting rod 211 can achieve a slight rotation relative to the base within the connection surface, that is, left and right offset and reset movement, thereby driving each group of connecting rods and support components connected to the connecting rod 211 to achieve offset and reset movement.

[0094] See also Figures 1 to 8 According to an embodiment provided by the present invention, the angle limiter 217 is a limiting bolt, a first connecting block is provided on the bottom surface of the cross bar 120, and a second connecting block is correspondingly provided on the bottom surface of the connecting rod 211, a threaded hole is provided on the second connecting block, and the limiting bolt is connected and fixed to the second connecting block by threads; a connecting groove is provided at a corresponding position on the first connecting block, and the connecting groove can be an arc-shaped structure, for example, the other end of the limiting bolt is inserted into the connecting groove and can swing slightly, thereby driving the connecting rod 211 to achieve displacement within a certain range relative to the base; the limiting bolt extends out of the second connecting block and is fixed on its end surface by a nut, thereby achieving axial limitation of the connecting rod 211 and the movable base.

[0095] See also Figures 1 to 8 According to an embodiment of the present invention, a rectangular groove is provided along the bottom of one end of the connecting rod 211 close to the cross bar 120, the second connecting block is partially located in the rectangular groove, and the damper 218 is arranged at the connection between the second connecting block and the cross bar 120. Specifically, the damper 218 can be, for example, a damping nut, which fixes the cross bar 120 and the connecting rod 211 through bolts and nuts, and realizes the damping function through the damping ring between the bolts and the connecting holes, keeps the device stable and buffers the movement, and a step hole can be provided on the cross bar 120 to enhance the stability of the threaded connection, and a step is provided at the installation position of the nut to facilitate installation and ensure the connection strength. When the lower body adjustment mechanism 200 swings slightly relative to the base, the damper 218 is used to provide buffering and support during the swing, so as to realize an effective offset and reset process, ensure the stability of the device as a whole, and prevent it from shaking or tipping over violently; when not subject to external force, the entire device can also maintain stable balance under the action of the damper 218.

[0096] See also Figures 1 to 6 According to an embodiment of the present invention, the support mechanism 300 includes a horizontal support member 310 and a vertical support member 320. The horizontal support member 310 is rotatably connected to one end of the two third connecting rods 214 away from the second fixing member 216, and a seat adjustment mechanism 400 is arranged on the horizontal support member 310 for supporting the human body and reducing the burden on the lower limbs; the vertical support member 320 is connected to one end of the horizontal support member 310, and the upper body adjustment mechanism 500 is connected to the vertical support member 320, and is connected to the lower body adjustment mechanism 200 as a whole through the vertical support member 320; the seat adjustment mechanism 400 is connected to the horizontal support member 310, and moves along the length direction of the horizontal support member 310 to realize the transfer of the human body between the seat and the shifting device.

[0097] See also Figures 1 to 6 According to an embodiment provided by the present invention, the support mechanism 300 is an integrated L-shaped support frame, and its horizontal section, namely the horizontal support member 310, is connected to the adjustment component 210 to achieve support and position adjustment of the human body, thereby realizing sit-to-stand conversion; its vertical section, namely the vertical support member 320, is connected to the upper body adjustment mechanism 500, and moves relative to the upper body adjustment mechanism 500 to lift or lower the patient, thereby collaboratively realizing sit-to-stand conversion and position transfer.

[0098] See also Figures 1 to 6According to an embodiment provided by the present invention, the horizontal support member 310 is connected to one end of the third connecting rod 214 away from the second connecting rod 213. Specifically, for example, the bottom of the horizontal support member 310 has two side plates as fixed plates, and its lower edge line forms a certain angle with the horizontal direction, which is convenient for connection with the two rods of the third connecting rod 214. The third connecting rod 211 is connected to the side plate and is located in the middle of the horizontal support member 310 to ensure support strength and maintain balance; the horizontal support member 310 can maintain translation under the rotation adjustment of each connecting rod to ensure the stability and comfort of the device.

[0099] See also Figures 1 to 6 According to an embodiment provided by the present invention, the vertical support member 320 is perpendicular to the horizontal support member 310 and is fixedly connected to one end of the horizontal support member 310. The upper body adjustment mechanism 500 is connected to the vertical support member 320 and moves in the vertical direction to achieve height adjustment, so that the patient can be lifted or lowered from the seat or shifting device, and the movement of the upper body adjustment mechanism 500 and the seat adjustment mechanism 400 is coordinated to achieve sit-to-stand conversion and position transfer. At the same time, the height adjustment of the upper body adjustment mechanism 500 during the shifting and rehabilitation training process can adapt to people of different body shapes and different movement postures.

[0100] See also Figures 1 to 6 According to an embodiment of the present invention, the seat adjustment mechanism 400 includes a fourth driving member 410 and a support cushion 420. The fourth driving member 410 is connected to the horizontal support member 310, and the support cushion 420 is connected to the fourth driving member 410. The fourth driving member 410 is driven to move along the length direction of the horizontal support member 310 in the second motion plane and slide relative to the horizontal support member 310. Specifically, for example, a groove is provided on the upper surface of the horizontal support member 310, and the fourth driving member 410 and the support cushion 420 are arranged in the groove. The fourth driving member 410 can be, for example, an electric push rod, one end of which is fixed to the horizontal support member 310, and the other end is connected to the support cushion 420. The push rod moves along the length direction of the horizontal support member 310 and drives the support cushion 420 to reciprocate. When the patient needs to leave the seat, the device is moved in front of the patient, the upper body adjustment mechanism 500 is used to lift the patient, the support cushion 420 slides on the horizontal support member 310 and extends out of the groove, moves to the patient's crotch, and then the patient is loaded back to the original position and transferred from the seat to the shifting device, and the movable support cushion 420 is used to assist the transfer. The horizontal support member 310 is relatively short to avoid spatial conflict between the lower body adjustment mechanism 200 and the support mechanism 300 and the seat.

[0101] See also Figures 1 to 6According to an embodiment of the present invention, the support cushion 420 includes a cushion rod 421, a cushion 422 and an elastic connector. The seat cushion rod 421 is connected to the fourth driving member 410 and is slidably connected to the horizontal support member 310; the seat cushion 422 is arranged on the seat cushion rod 421 through an elastic connecting member, and slides on the horizontal support member 310 along with the seat cushion rod 421 under the drive of the fourth driving member 410. The seat cushion 422 can be, for example, an airbag seat cushion, made of materials such as rubber, with good flexibility, and an inflatable design to disperse pressure, reduce pressure on the patient's body, improve comfort and ensure a good supporting effect; the elastic connecting member can be, for example, a connecting spring, one end of which is connected to the seat cushion rod 421 and the other end is connected to the seat cushion 422. Under the action of external force, it is deformed so that a relative displacement occurs between the seat cushion 422 and the seat cushion rod 421. The connecting spring can, for example, be two groups of springs symmetrically distributed on both sides of the seat cushion rod 421 to ensure the supporting effect. At the same time, it can reduce the restraint of the supporting seat cushion 420 on the human body and have a certain buffering effect, so that the training effect is good and the comfort is high.

[0102] See also Figures 1 to 6 According to an embodiment of the present invention, the lower body adjustment mechanism 200, the support mechanism 300 and the seat adjustment mechanism 400 form a straddle-type weight-reducing mechanism, which does not impose a physical burden on the patient while ensuring the standing and shifting functions. In addition, during walking training, adjustments for rehabilitation training at different stages can effectively reduce the burden on the lower limbs while ensuring the training effect, and avoid limb or joint injuries. Please refer to Figures 1 to 6 According to an embodiment provided by the present invention, the upper body adjustment mechanism 500 includes a vertical drive component 510 and an upper body adjustment component. The vertical drive component 510 is connected to the vertical support member 320. The upper body adjustment component is connected to the vertical drive component 510 and moves and / or rotates in the vertical direction relative to the support mechanism 300 in the second motion plane under the drive of the vertical drive component 510.

[0103] See also Figures 1 to 6According to an embodiment of the present invention, the upper body adjustment component includes an armrest drive component 520 and an armrest component 530. The armrest drive component 520 is arranged on the vertical drive component 510, connected to one end of the vertical drive component 510 away from the displacement base 100, and is slidably connected or rotationally connected to the vertical drive component 510. Under the drive of the vertical drive component 510, the armrest drive component 520 can move up and down or rotate relative to the support mechanism 300; the armrest component 530 is connected to the armrest drive component 520, and under the drive of the armrest drive component 520, it reciprocates left and right relative to the support mechanism 300 in the third motion plane or reciprocates from the horizontal position to both sides in the third motion plane, so as to assist in realizing the transfer of the center of gravity of the patient, and the third motion plane is perpendicular to the first motion plane and the second motion plane. At the same time, the armrest component 530 can move up and down or rotate relative to the support mechanism 300 with the armrest drive component 520 to realize the height adjustment of the patient's upper body.

[0104] See also Figures 1 to 6 According to an embodiment of the present invention, the armrest assembly 530 is supported under the patient's arms. When performing a sit-to-stand transition, the armrest assembly 530 is driven by the vertical drive assembly 510 to move up and down or rotate relative to the support mechanism 300 so as to lift or lower the patient, and cooperates with the seat adjustment mechanism 400 and the lower body adjustment mechanism 200 to achieve sit-to-stand transition and position transfer; during walking training and shifting, the armrest assembly 530 is used to provide upper body support to maintain the patient's stability and safety. It is driven by the armrest drive assembly 520 to move horizontally or reciprocate from a horizontal position to both sides around the connecting axis between the armrest drive assembly 520 and the armrest assembly 530, which can assist the patient's shoulder swing to achieve center of gravity transfer for taking steps, and can also adjust the height of the upper limbs in the vertical direction to better adapt to patients of different body shapes.

[0105] It can be understood that during the sitting-standing conversion process, the upper body adjustment mechanism 500, the support mechanism 300 and the seat adjustment mechanism 400 move as a whole relative to the lower body adjustment mechanism 200, and the upper body adjustment mechanism 500 only serves as a protective device; when the patient is transferred between the seat and the device, the adjustment mechanisms cooperate with each other, and the mechanism used for adjustment drives the other mechanisms to move as a whole. For example, when the upper body adjustment mechanism 500 is in the process of lifting or lowering the patient, the lower body adjustment mechanism 200, the support mechanism 300 and the seat adjustment mechanism 400 serve as the base of the adjustable position, and the upper body adjustment mechanism 500 moves relative to the whole. While realizing its special adjustment function, each adjustment mechanism can move together with other mechanisms as a whole, shortening the travel without affecting the function, saving the space occupied by the whole device, and facilitating use.

[0106] See also Figures 1 to 3 and Figure 5 , Figure 6 According to an embodiment of the present invention, the vertical support member 320 is a hollow structure, and the vertical drive assembly 510 is disposed in the vertical support member 320, driving the armrest drive assembly 520 and the armrest assembly 530 to move in the vertical direction within the third motion plane. The vertical drive assembly 510 can be, for example, an electric push rod, one end of which is fixed to the vertical support member 320, and the other end is connected to the armrest drive assembly 520. When the push rod moves in a straight line, it drives the armrest drive assembly 520 and the armrest assembly 530 to move in the vertical direction, thereby driving the upper body adjustment mechanism 500 to achieve height adjustment as a whole.

[0107] See also Figure 4 According to another embodiment provided by the present invention, the handrail drive assembly 520 is rotationally connected to the vertical drive assembly 510. For example, the vertical drive assembly 510 includes two parallel connecting rods. One end of the vertical drive assembly 510 is rotationally connected to the vertical support member 320, and the other end is rotationally connected to the vertical support member 320 through two parallel connecting rods. The other end of the connecting rod is rotationally connected to the handrail drive assembly 520. The handrail drive assembly 520, the parallel connecting rod and the vertical support member 320 constitute a parallel four-bar mechanism. The vertical drive assembly 510 is rotationally connected to the connecting rod and drives it to rotate relative to the vertical support member 320, thereby driving the handrail drive assembly 520 to rotate relative to the support mechanism 300, thereby realizing the adjustment of the height of the handrail assembly 530.

[0108] See also Figures 1 to 6 According to an embodiment of the present invention, the armrest drive assembly 520 includes a first connector 521, a sliding connector 522, a second connector 523 and a fifth drive member 524. The first connector 521 is connected to the vertical drive assembly 510, and is slidably connected or rotationally connected to the vertical support member 320, and height adjustment is achieved under the drive of the vertical drive assembly 510; the sliding connector 522 is slidably connected to the first connector 521, and is perpendicular to the second motion plane; the second connector 523 is connected to the sliding connector 522, and is symmetrically distributed on both sides of the sliding connector 522; the fifth drive member 524 can be, for example, an electric push rod, one end of which is fixed to the first connector 521, and the other end is connected to the second connector 523, and is parallel to the sliding connector 522; the armrest assembly 530 is connected to the second connector 523, and the electric push rod drives the sliding connector 522 and the second connector 523 to reciprocate along the axial direction, and drives the armrest assembly 530 to reciprocate left and right in the third motion plane. It is understandable that the armrest drive assembly 520 and the seat adjustment mechanism 400 can be located on the same side or on different sides of the vertical support member 320. When the armrest drive assembly 520 and the seat adjustment mechanism 400 are located on different sides of the vertical support member 320, space can be effectively saved.

[0109] See also Figures 1 to 3 and Figure 5 , Figure 6According to an embodiment provided by the present invention, the first connecting member 521 and the vertical driving assembly 510 are respectively located at the upper and lower parts of the hollow part of the vertical support member 320, and a sliding groove is opened on the surface of the vertical support member 320 close to the armrest assembly 530. The protruding connecting part on the vertical support member 320 extends out of the sliding groove and is connected to the sliding connecting member 522, so as to drive the entire armrest driving assembly 520 and the armrest assembly 530 to move together with the first connecting member 521.

[0110] See also Figures 1 to 3 and Figure 5 , Figure 6 According to an embodiment of the present invention, handle assemblies 525 are symmetrically arranged on both side surfaces of the first connecting member 521 parallel to the second movement plane, and correspondingly, sliding grooves are also opened on both side surfaces of the vertical support member 320 to ensure the displacement of the first connecting member 521 in the vertical direction. The handle assembly 525 can be, for example, two curved handles, which are located on the opposite sides of the lower body adjustment mechanism 200 and the armrest assembly 530 and can serve as auxiliary support. When the device needs to be moved, the handle assembly 525 can be held to conveniently push the device to the destination position.

[0111] See also Figure 4 According to another embodiment provided by the present invention, the first connecting member 521 and the vertical driving component 510 are rotatably connected to the vertical support member 320 through two parallel connecting rods. The vertical driving component 510 is, for example, an electric push rod, one end of which is rotatably connected to the vertical support member 320, and the other end is rotatably connected to the parallel connecting rod. By utilizing a parallel four-bar mechanism, the push rod reciprocates to drive the connecting rod to rotate. When the connecting rod rotates relative to the vertical support member 320, it drives the first connecting member 521 to rotate relative to it, thereby realizing the height adjustment of the armrest assembly 530.

[0112] See also Figures 1 to 6 According to an embodiment provided by the present invention, the sliding connector 522 is arranged on the upper and lower sides of the fifth driving member 524, and it passes through the connecting hole of the vertical support member 320 to be connected thereto; the connecting member can be, for example, two connecting plates, which are respectively fixedly connected to the two ends of the sliding connector 522; one end of the fifth driving member 524 is fixed to the first connecting member 521, and the other end is connected to the connecting member, which reciprocates axially relative to the fixed end, and the driving connecting member drives the sliding connector 522 to slide axially in the connecting hole, so that the entire armrest driving assembly 520 and the armrest assembly 530 can realize left and right reciprocating motion in the third motion plane, drive the human shoulder to swing to realize the center of gravity transfer, and will not rotate relative to the vertical support member 320, thereby ensuring the stability of the support.

[0113] See also Figures 1 to 6According to an embodiment of the present invention, the armrest assembly 530 includes a lifting rod 531 and a supporting armrest 532. The lifting rod 531 is connected to the armrest driving assembly 520 and is perpendicular to the second motion plane. The supporting armrest 532 is connected to the lifting rod 531 and is symmetrically distributed on both sides of the lifting rod 531. Under the action of the armrest driving assembly 520 and the vertical driving assembly 510, the lifting rod 531 and the supporting armrest 532 reciprocate left and right in the third motion plane and move freely in the vertical direction.

[0114] See also Figures 1 to 6 According to an embodiment of the present invention, the lifting rod 531 is connected to the connecting member. When the fifth driving member 524 drives the sliding connecting member 522 and the connecting member to reciprocate along the axial direction, the lifting rod 531 is driven to reciprocate left and right in the third motion plane. Specifically, for example, the connecting member and the lifting rod 531 are connected by a sleeve. Since the support armrest 532 is used to support the upper body, the sleeve connection of the lifting rod 531 will be subjected to a large torque. A parallel connecting groove is set on the lifting rod 531 to connect with the sleeve to enhance the connection strength. Please refer to Figures 1 to 6 According to an embodiment of the present invention, the support armrest 532 extends out of the lower body adjustment mechanism 200 along its length direction. When the patient sits on the seat or cushion 422, he can put his arms on the support armrest 532, and there will be no conflict between the support mechanism 300 and the seat. When the armrest assembly 530 moves in the vertical direction in the third motion plane, the support armrest 532 lifts the patient away from the seat or cushion 422, and then transfers the patient to the cushion 422 or the seat position through the sliding of the seat adjustment mechanism 400 and puts him down. During rehabilitation walking training, the armrest assembly 530 reciprocates left and right in the third motion plane, and the patient puts his arms on the support armrest 532, and swings his shoulders with the left and right movement of the support armrest 532 to achieve the transfer of the center of gravity, and cooperates with the offset movement of the lower body adjustment mechanism 200 to achieve stepping.

[0115] See also Figures 1 to 6 According to an embodiment of the present invention, an underarm protective cover is provided on the support armrest 532, which can be made of soft materials such as sponge to prevent discomfort or injury due to long-term stress when supporting the arms, thereby improving the comfort of using the device.

[0116] See also Figures 1 to 8 According to an embodiment of the present invention, each driving member is connected to a control device to control each mechanism to move along a predetermined trajectory, thereby enabling efficient and convenient sitting-standing conversion and position adjustment.

[0117] See also Figures 1 to 8When in use, the patient initially sits on the bedside, for example, and someone else can hold the handle assembly 525 to push the device in front of the patient, and the vertical drive assembly 510 puts down the lifting rod 531 and the supporting armrest 532 and places them under the patient's armpits, and then drives the lifting rod 531 and the supporting armrest 532 to lift up and lift the patient's body off the bed surface; the fourth drive member 410 drives the supporting cushion 420 to slide out of the groove of the horizontal support member 310 and move to the patient's crotch, and then the vertical drive assembly 510 again moves the lifting rod 531 and the supporting armrest 532 slightly downward, so that the supporting cushion 420 supports the patient upward; the fourth drive member 410 drives the supporting cushion 420 to slide out of the groove of the horizontal support member 310 and move to the patient's crotch. The movable part 410 then moves the supporting cushion 420 back to the groove of the horizontal supporting part 310 and locks it. At this time, the upper body adjustment mechanism 500 is adjusted and fixed, and the patient is transferred from the seat to the shifting device; the patient sits on the cushion 422, and the supporting armrest 532 and the upper body adjustment mechanism 500 follow the overall movement of the lower body adjustment mechanism 200. The supporting armrest 532 stabilizes the balance of the patient's upper body, and the driving component 220 in the lower body adjustment mechanism 200 drives each connecting rod to move according to a predetermined trajectory. The cushion 422 carries the patient to achieve a trajectory movement that conforms to the natural standing of the human body, completing the transition from sitting to standing.

[0118] See also Figures 1 to 8 When the patient changes from a standing position to a sitting position, the driving component 220 in the lower body adjustment mechanism 200 drives each connecting rod to move along a predetermined trajectory, and the cushion 422 carries the patient back along the original trajectory to the initial sitting position; the fourth driving member 410 drives the supporting cushion 420 to slide out of the groove of the horizontal supporting member 310, and moves the patient to the bed surface, and then the vertical driving component 510 drives the lifting rod 531 and the supporting armrest 532 to move upward to lift the patient off the cushion 422, and the fourth driving member 410 drives the supporting cushion 420 to be pulled out from under the patient and reset; the vertical driving component 510 drives the lifting rod 531 and the supporting armrest 532 to move downward to slowly place the patient on the bedside, then detach from the patient and reset, completing the change from a standing position to a sitting position and transferring the patient from the shifting device to the seat.

[0119] See also Figures 1 to 8The patient is located on the cushion 422, with both arms placed on the support armrests 532. The height of each mechanism is adjusted according to the body shape and height to ensure comfort. The lower body adjustment mechanism 200 reduces the burden on the patient's lower limbs while ensuring that the patient can effectively mobilize the lower body strength to walk. At this time, the armrest drive assembly 520 drives the lifting rod 531 and the support armrest 532 to move back and forth to drive the patient's upper body to shift left and right to achieve the center of gravity transfer, and the lower body swings slightly. The lower body adjustment mechanism 200 is offset and reset together with the patient's lower body under the action of the angle limiter 217 and the damper 218, while reducing weight and assisting the patient to achieve walking movements. At the same time, the cushion 422 is also offset with the patient under the action of the connecting spring, reducing movement obstacles and improving comfort. In addition, when the patient sits on the cushion 422, the device can also be used as a walking aid, controlling the roller 140 to move the mobile base to the target position to achieve displacement, and then adjusting the patient's sitting or standing posture to facilitate various activities.

[0120] See also Figures 9 to 12 According to an embodiment of the present invention, a walking aid design is added to the multifunctional displacement device. Specifically, it includes a support frame 600 and two groups of symmetrically distributed walking aid mechanisms 700. Each group of walking aid mechanisms 700 includes a thigh connection part 720 and a calf connection part 730 connected by a strap 710. The support frame 600 is provided with a plurality of fixed pulleys 610. The straps 710 on the two groups of walking aid mechanisms 700 are connected to each other through the pulley group on the support frame 600. When the straps 710 on one side are pulled, the straps 710 on the other side and the parts connected thereto are driven to move. When the patient sits on the device, the thigh and calf are respectively located at the thigh connection part 720 and the calf connection part 730 and are fixed by the straps 710. During the movement of the device, if the patient's left leg contacts the ground and moves backward relative to the device, the strap on the left leg will give tension to the strap on the right leg through the pull ring and the fixed pulley group, thereby prompting the right leg to step forward, and vice versa, thereby prompting the left and right legs to step cyclically.

[0121] The multifunctional shifting device of the present invention adopts a multi-rod group in the lower body adjustment mechanism, which saves space and has a larger adjustment range. Its movement trajectory is flexible and conforms to the law of human movement. While effectively realizing its functions such as sit-stand conversion, it effectively avoids damage to the patient and improves the comfort and safety of the device. The upper body adjustment mechanism serves as a protection mechanism and cooperates with the seat adjustment mechanism to realize the transfer of the patient between the seat and the device. The movable seat cushion solves the spatial conflict problem between the seat and the device, and the working process is efficient and safe. The various mechanisms are connected as a whole. When the upper body adjustment mechanism lifts the patient, the lower body adjustment mechanism serves as a base with adjustable position. When the lower body adjustment mechanism lifts the patient, the upper body lifting mechanism only serves as a protection device, which shortens the stroke without affecting the function and saves the space occupied by the entire device. The entire device has a simple structure, and the various components are simple to match, easy to process and disassemble and repair, ensuring strength while saving costs, and the multiple adjustment mechanisms can adapt to people of various body types. In addition to sit-stand conversion and position transfer, it can also be used as a lower limb rehabilitation walking training aid and a walking aid. It has multiple functions, good effects, and wide versatility.

[0122] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

[0123] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. A multifunctional shifting device, characterized in that: include: A shift base, disposed on a first motion plane; a lower body adjustment mechanism connected to the displacement base and arranged in a second motion plane, the second motion plane being perpendicular or approximately perpendicular to the first motion plane; A support mechanism connected to one end of the lower body adjustment mechanism away from the displacement base and moving in the second movement plane; a seat adjustment mechanism, slidably connected to the support mechanism, and laterally movable relative to the support mechanism in the second motion plane; The upper body adjustment mechanism is connected to a side of the support mechanism away from the displacement base, and moves and / or rotates relative to the support mechanism in the second movement plane.

2. The multifunctional shifting device according to claim 1, characterized in that: The lower body adjustment mechanism comprises: An adjustment component connected to the displacement base; A driving assembly, arranged on the adjusting assembly and / or the shifting base and / or the supporting mechanism; The supporting mechanism is connected to one end of the adjusting component away from the displacement base, and moves in the second movement plane under the drive of the driving component.

3. The multifunctional shifting device according to claim 2, characterized in that: The adjustment assembly is a connecting rod assembly, which is connected to the displacement base and includes: A connecting rod connected to the displacement base; Two first connecting rods arranged in parallel are rotatably connected to the connecting rod; A first fixing member, rotatably connected to one end of the two first connecting rods away from the connecting rod; Two second connecting rods arranged in parallel and rotatably connected to the first fixing member; A second fixing member, rotatably connected to one end of the two second connecting rods away from the first fixing member; Two third connecting rods arranged in parallel are rotatably connected to the second fixing member, and the supporting mechanism is rotatably connected to one end of the third connecting rod away from the second fixing member; In the second motion plane, the driving assembly drives the supporting mechanism to move, and the supporting mechanism maintains translation during the movement.

4. The multifunctional shifting device according to claim 3, characterized in that: The drive assembly comprises: A first driving member, one end of which is rotatably connected to the connecting rod or the shift base, and the other end of which is rotatably connected to the first connecting rod or the first fixing member, driving the first connecting rod to rotate relative to the connecting rod in the second motion plane; A second driving member, one end of which is rotatably connected to the first connecting rod or the connecting rod, and the other end of which is rotatably connected to the second connecting rod or the second fixing member, driving the second connecting rod to rotate relative to the first connecting rod in the second motion plane; The third driving member has one end rotatably connected to the second connecting rod or the first fixing member, and the other end rotatably connected to the third connecting rod or the supporting mechanism, driving the third connecting rod to rotate relative to the second connecting rod in the second motion plane.

5. The multifunctional shifting device according to claim 3, characterized in that: The supporting mechanism comprises: A horizontal support member, rotatably connected to one end of the two third connecting rods away from the second fixing member; A vertical support member connected to one end of the horizontal support member; The seat adjustment mechanism is connected to the horizontal support member and moves along the length direction of the horizontal support member, and the upper body adjustment mechanism is connected to the vertical support member.

6. The multifunctional shifting device according to claim 5, characterized in that: The seat adjustment mechanism comprises: a fourth driving member connected to the horizontal supporting member; The support cushion is connected to the fourth driving member and moves along the length direction of the horizontal support member in the second movement plane under the drive of the fourth driving member.

7. The multifunctional shifting device according to claim 6, characterized in that: The support cushion comprises: A cushion rod connected to the fourth driving member and slidably connected to the horizontal supporting member; Elastic connector; A seat cushion connected to the seat cushion rod via the elastic connecting piece; Under the action of external force, the elastic connecting member is deformed so that a relative displacement occurs between the seat cushion and the seat cushion rod.

8. The multifunctional shifting device according to claim 5, characterized in that: The upper body adjustment mechanism comprises: A vertical drive assembly connected to the vertical support member; The upper body adjustment component is connected to the vertical drive component and moves or rotates relative to the support mechanism in the second motion plane under the drive of the vertical drive component.

9. The multifunctional shifting device according to claim 8, characterized in that: The upper body adjustment assembly includes: A handrail drive assembly, disposed on the vertical drive assembly; The armrest assembly is connected to the armrest drive assembly. Under the drive of the armrest drive assembly, the armrest assembly reciprocates left and right relative to the support mechanism in a third motion plane or reciprocates from a horizontal position to both sides in the third motion plane. The third motion plane is perpendicular to the first motion plane and the second motion plane.

10. The multifunctional shifting device according to claim 3, characterized in that: The connecting rod is rotatably connected to the displacement base, and an angle limiter is provided at the connection point, so that the lower body adjustment mechanism can achieve offset and limiting movement under the action of external force.

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