Multifunctional deformable auxiliary walking robot

Abstract

The multifunctional deformable auxiliary walking robot comprises a backrest assembly, a seat cushion assembly, an armrest assembly, a rear wheel rack and a front wheel rack, and a front side supporting plate is further fixedly installed at the telescopic end of a transverse movement telescopic driving element; a seat frame transverse shaft is arranged at the rear end of the seat cushion frame; the vertical parts of the armrest brackets and the bottom seat plate of the backrest frame are rotationally matched and mounted on the seat frame transverse shaft; a pair of parallel swing arm connecting rods is rotationally mounted between the front rack seat plate on each side and the vertical part of the handrail bracket; a locking mechanism is further installed on the vertical part of the handrail support, and an oblique telescopic driving element is further rotationally installed at the telescopic end of the transverse movement telescopic driving element. The auxiliary walking robot can be switched between a seat state and an auxiliary standing state and can also be switched between a deck chair state and a lying bed state, the functions are richer and more diversified, and when a patient needs to temporarily rest, the patient can lean against or lie on the auxiliary walking robot.

Description

Technical Field

[0001] The present invention relates to the technical field of assistive robots, in particular to a multifunctional deformable assistive walking robot. Background Art

[0002] There are countless people suffering from lower limb paralysis or lower limb disability due to various reasons such as trauma and disease. Both patients and their families are eager for patients to recover as soon as possible or restore their mobility as much as possible. In order to recover as soon as possible, patients need to undergo rehabilitation training. For this reason, patients often need to move from wheelchairs to rehabilitation training equipment with the help of family and friends. When patients need to lie down for a rest, they need to transfer to the bed with the help of relatives and friends, which is time-consuming, laborious and laborious. In addition, traditional rehabilitation training, because of habitual reliance on healthy side support, the affected side is not supported by weight and is prone to uneven gait, and walking imbalance and spinal deformity are easy to show after rehabilitation. In addition, the traditional related equipment in the department is large in size, occupies a large area, has a large investment and requires a lot of personnel (such as hanging type and treadmill type weight loss gait training). Therefore, how to develop rehabilitation equipment that can promote the rehabilitation of such people, or assist their normal actions, and cost less and use more conveniently has become a topic of concern to technicians in this field.

[0003] For example, the invention patent application with application publication number CN115998537A discloses a device that can realize standing and sitting functions. This scheme controls the support body to be in a sitting state or a standing state by extending and shortening the telescopic mechanism. When the telescopic mechanism is extended, the telescopic mechanism also rotates counterclockwise around the first fixed frame, which will drive the armrest frame assembly and the backrest frame assembly to move diagonally upward. At the same time, it also drives the connecting frame to rotate around the first fixed frame, thereby driving the seat frame assembly to rotate around the armrest frame assembly through the connecting rod. When the telescopic mechanism is extended to the extreme position, the seat frame assembly is in a vertical state and is located directly below the backrest frame assembly; similarly, when the telescopic mechanism is shortened, the telescopic mechanism also rotates clockwise around the first fixed frame, which will drive the armrest frame assembly and the backrest frame assembly to move diagonally downward. At the same time, it also drives the connecting frame to rotate around the first fixed frame, thereby driving the seat frame assembly to rotate around the armrest frame assembly through the connecting rod. When the telescopic mechanism is extended to the extreme position, the seat frame assembly is in a horizontal state and is located below the side of the backrest frame assembly.

[0004] However, the above technical solution can only be switched between sitting and standing states, and the functions that can be achieved are relatively few. Due to the structural design defects of the above solution, the backrest cannot be tilted or even turned into a horizontal state. When the patient needs to take a break, it cannot be switched to a reclining chair or bed state. Summary of the invention

[0005] The purpose of the present invention is to provide a multifunctional deformable auxiliary walking robot to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A multifunctional deformable auxiliary walking robot comprises a backrest assembly with a backrest frame, a seat cushion assembly with a seat cushion frame, an armrest assembly with an armrest bracket, a rear wheel frame and a front wheel frame, both sides of the rear wheel frame are docked with the front frame seat plate on the corresponding side of the front wheel frame through a transverse telescopic driving element, the telescopic end of the transverse telescopic driving element is also fixedly installed with a front side support plate, and a side connecting rod is rotatably installed between the front side support plate and the seat cushion frame; the rear end of the seat cushion frame has a seat frame transverse axis, and the vertical part of the armrest bracket and the bottom seat plate of the backrest frame are rotatably mounted on On the horizontal axis of the seat frame; a pair of parallel swing arm connecting rods are rotatably installed between the front frame seat plate on each side and the vertical part of the armrest bracket; a locking mechanism is also installed on the vertical part of the armrest bracket, and the locking mechanism is used to control the locking or unlocking between the bottom seat plate and the vertical part of the armrest bracket, and a driving member for driving the bottom seat plate to rotate around the horizontal axis of the seat frame is also installed on the inner side wall of the fixed end of the transverse telescopic driving element; an oblique telescopic driving element is also rotatably installed on the telescopic end of the transverse telescopic driving element, and the telescopic end of the oblique telescopic driving element is rotatably connected with the outer side wall of the vertical part of the armrest bracket.

[0008] As a further solution of the present invention, the bottom seat plate is provided with fan-shaped teeth and fan-shaped notches, the center of the fan-shaped teeth is located on the horizontal axis of the seat frame, and a locking notch groove is also provided at the fan-shaped notch; the fan-shaped teeth can be used to dock with the driving member, and under the action of the driving member, the bottom seat plate is rotated around the horizontal axis of the seat frame, that is, the backrest assembly is rotated around the horizontal axis of the seat frame, and the backrest assembly in a vertical state is changed to an inclined state or a horizontal state, and the design of the fan-shaped notch can provide an effective avoidance space to prevent the bottom seat plate from interfering with the unlocked locking pin shaft during the rotation process; the locking mechanism includes an electromagnetic telescopic pin shaft, and the telescopic end of the electromagnetic telescopic pin shaft is provided with a locking cross pin for cooperating with the locking notch groove, and a strip hole is provided at the vertical part of the armrest bracket corresponding to the locking pin shaft.

[0009] As a further solution of the present invention, the driving member adopts a driving short rack, and an intermediate gear is rotatably installed at the lower end of the vertical part of the armrest bracket. The intermediate gear is meshed with the fan-shaped teeth of the bottom seat plate, and the intermediate gear is also used to mesh with the driving short rack.

[0010] As a further solution of the present invention, the seat cushion assembly further comprises an upper seat cushion and a lower seat cushion, the upper seat cushion is fixedly mounted on the seat cushion frame, guide grooves are provided on the side walls of both sides of the seat cushion frame, and the lower seat cushion is slidably connected with the seat cushion frame along the guide grooves;

[0011] A long driving rack is also installed on the inner side wall of the fixed end of the transverse telescopic driving element, and a seat cushion extension driving mechanism is also installed on both sides of the seat cushion frame. The input end of the seat cushion extension driving mechanism is used for docking and driving with the long driving rack, and the output end of the seat cushion extension driving mechanism is used for pushing the lower seat cushion to extend or retract along the guide groove.

[0012] As a further solution of the present invention, a pair of guide grooves are provided on each side wall of the cushion frame, the guide grooves comprising a horizontal guide groove 1, an oblique guide groove and a horizontal guide groove 2 which are arranged in sequence from back to front, and the position of the horizontal guide groove 2 is higher than the position of the horizontal guide groove 1;

[0013] Guide seat plates are fixedly mounted on both sides of the lower end of the lower seat cushion, and a pair of guide shafts with staggered positions are arranged on the outer wall of the rear end of the guide seat plate. The guide shafts are used for slidingly fitting in the corresponding guide grooves.

[0014] As a further solution of the present invention, the seat cushion extension driving mechanism includes a driving pulley rotatably mounted on the rear end of the seat cushion frame and a driven pulley rotatably mounted on the front end of the seat cushion frame, a conveyor belt is sleeved between the driving pulley and the driven pulley, a lever member is fixedly mounted on the conveyor belt, and the lever member is slidably connected with a lever guide groove on the guide seat plate;

[0015] A driving gear is also fixedly mounted on the end of the central axis of the driving pulley, and the driving gear is used for meshing connection with the driving long rack.

[0016] As a further solution of the present invention, the rear wheel frame is further provided with a frame crossbeam, and a group of supporting rollers for cooperating with the backrest frame are embedded at both left and right ends of the frame crossbeam.

[0017] As a further solution of the present invention, a state locking electromagnetic pin shaft is also installed on the side wall of the front side support plate, and a strip hole for cooperating with the state locking electromagnetic pin shaft is provided on the side connecting rod.

[0018] As a further solution of the present invention, a rear end electromagnetic pin shaft is also installed at the rear end of the seat cushion frame, and the telescopic end of the rear end electromagnetic pin shaft is used to cooperate with the guide groove of the lever for locking; a front end electromagnetic pin shaft is also installed at the front end of the seat cushion frame, and the telescopic end of the front end electromagnetic pin shaft is used to cooperate with the pin hole corresponding to the guide seat plate.

[0019] As a further solution of the present invention, a pair of driving wheel assemblies are installed at the bottom end of the rear wheel frame, the driving wheel assembly includes a driving motor, a walking rear wheel is installed at the output end of the driving motor, and a pair of universal guide wheel assemblies are installed at the bottom end of the front wheel frame.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, when the locking mechanism releases the lock between the bottom seat plate and the vertical part of the armrest bracket, the transverse telescopic driving element can drive the front wheel frame, the front side support plate, the side connecting rod, the seat cushion assembly, the backrest assembly and the armrest assembly to move forward. On the other hand, during the forward movement of the armrest assembly, the bottom seat plate cooperates with the driving member at the fixed end of the transverse telescopic driving element. Under the action of the driving member, the bottom seat plate rotates around the horizontal axis of the seat frame, that is, the backrest assembly rotates around the horizontal axis of the seat frame, so that the backrest assembly switches from the vertical state to the reclining state or the lying bed state.

[0022] 2. When the backrest assembly is tilted, the center of gravity of the system consisting of the backrest assembly, the seat cushion assembly and the armrest assembly moves backward for a certain distance. If the positions of the rear wheel frame and the front wheel frame do not change, when the user lies back, there is a risk of tipping backward. However, under the extension drive of the transverse telescopic drive element in the invention, the distance between the rear wheel frame and the front wheel frame is gradually widened, and the rear wheel frame moves "backward" for a certain distance relative to the backrest assembly, the seat cushion assembly and the armrest assembly, thereby offsetting the problem of the center of gravity moving backward due to the tilting of the backrest assembly, making the support structure stable and reliable without the risk of tipping backward.

[0023] 3. The present invention is also provided with a lower seat cushion, which can be connected with the long driving rack at the fixed end of the transverse telescopic driving element through the seat cushion forward extension driving mechanism. When the transverse telescopic driving element gradually extends, the lower seat cushion can be gradually moved forward, and finally fully extended and flush with the upper seat cushion, thereby improving the comfort of the user's leg support provided by the present invention.

[0024] To sum up, the present invention can not only switch between the chair state and the assisted standing state, but also switch between the reclining chair state and the bed state, with more diverse functions. When the patient needs to take a break, he can lean or lie on the assisted walking robot of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention in a first viewing angle in a seat state;

[0026] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention in a second viewing angle in a seat state;

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention in the first viewing angle in the auxiliary standing state;

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention in the second viewing angle in the auxiliary standing state;

[0029] Figure 5It is a side view structural schematic diagram of the present invention in the assisted standing state;

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the present invention in the reclining chair state;

[0031] Figure 7 It is a schematic diagram of the three-dimensional structure of the upper part of the present invention in the reclining chair state;

[0032] Figure 8 For the present invention Figure 7 The enlarged structural diagram at A in the middle;

[0033] Fig. 9 It is a schematic diagram of the three-dimensional structure of the bottom seat plate and the driving member in the present invention;

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the present invention in a lying state;

[0035] Fig.11 It is a partially cutaway structural schematic diagram of the seat cushion assembly and the seat cushion forward extension driving mechanism in the present invention;

[0036] Fig.12 It is a state switching schematic diagram of the present invention.

[0037] In the figure: 1, front wheel frame; 11, swing arm connecting rod; 2, universal guide wheel assembly; 3, rear wheel frame; 31, transverse telescopic drive element; 311, front side support plate; 312, side connecting rod; 313, state locking electromagnetic pin shaft; 32, oblique telescopic drive element; 33, frame crossbeam; 34, supporting roller; 35, short driving rack; 36, long driving rack; 4, driving wheel assembly; 41, driving motor; 42, walking rear wheel; 5, backrest assembly; 51, backrest cushion; 52, backrest frame; 53, bottom seat plate; 531, locking notch groove; 6, seat cushion assembly ;61. Upper seat cushion;62. Seat cushion frame;621. Front electromagnetic pin shaft;622. Rear electromagnetic pin shaft;623. Guide groove;63. Lower seat cushion;64. Seat frame transverse axis;65. Guide seat plate;651. Pin hole;652. Guide shaft;7. Armrest assembly;71. Armrest;72. Input device;73. Armrest bracket;731. Electromagnetic telescopic pin shaft;732. Locking transverse pin;74. Intermediate gear;8. ​​Seat cushion extension drive mechanism;81. Driving gear;82. Active pulley;83. Conveyor belt;84. Push rod;85. Driven pulley. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figures 1 to 12 The present invention provides a technical solution: a multifunctional deformable auxiliary walking robot, comprising a backrest assembly 5 having a backrest frame 52 and a backrest pad 51, a seat cushion assembly 6 having a seat cushion frame 62, an armrest assembly 7 having an armrest bracket 73, a rear wheel frame 3 and a front wheel frame 1, both sides of the rear wheel frame 3 are docked with the front frame seat plate on the corresponding side of the front wheel frame 1 through a transverse telescopic driving element 31, and the telescopic end of the transverse telescopic driving element 31 is also fixedly installed with a front side support plate 311, and a side connecting rod 312 is rotatably installed between the front side support plate 311 and the seat cushion frame 62, specifically, one end of the side connecting rod 312 is rotatably connected to the front side support plate 311 through a pin shaft, and the other end of the side connecting rod 312 is rotatably connected to the seat cushion frame 62 through a pin shaft;

[0040] The rear end of the seat cushion frame 62 has a seat frame transverse axis 64, and the vertical portion of the armrest bracket 73 and a pair of bottom seat plates 53 of the backrest frame 52 are rotatably mounted on the seat frame transverse axis 64. Specifically, the bottom seat plate 53 is fixed to the lower end side wall of the backrest frame 52;

[0041] A pair of parallel swing arm links 11 are rotatably mounted between the front frame seat plate on each side of the front wheel frame 1 and the vertical portion of the armrest bracket 73. Specifically, the front ends of the two swing arm links 11 are rotatably connected to the corresponding positions of the front frame seat plate, the rear end of the lower swing arm link 11 is rotatably engaged with the end of the seat frame horizontal axis 64, and the rear end of the upper swing arm link 11 is rotatably mounted on the outer side wall of the vertical portion of the armrest bracket 73;

[0042] A locking mechanism is also installed on the vertical portion of the armrest bracket 73, and the locking mechanism is used to control the locking or unlocking between the bottom seat plate 53 and the vertical portion of the armrest bracket 73. A driving member for driving the bottom seat plate 53 to rotate around the seat frame horizontal axis 64 is also installed on the inner side wall of the fixed end of the transverse telescopic driving element 31;

[0043] The telescopic end of the transverse telescopic driving element 31 is also rotatably mounted with an oblique telescopic driving element 32 , and the telescopic end of the oblique telescopic driving element 32 is rotatably connected to the outer side wall of the vertical portion of the handrail bracket 73 .

[0044] The working principle of the present invention is: under the premise that the locking mechanism locks the bottom seat plate 53 and the vertical part of the armrest bracket 73, the oblique telescopic driving element 32 is used to push or pull the armrest bracket 73, the seat cushion assembly 6 and the backrest assembly 5 to switch them between the seat state and the auxiliary standing state. When the armrest bracket 73, the seat cushion assembly 6 and the backrest assembly 5 are in the seat state, the bottom seat plate 53 is docked with the driving member at the fixed end of the transverse telescopic driving element 31.

[0045] After the locking mechanism releases the lock between the bottom seat plate 53 and the vertical portion of the armrest bracket 73, the transverse telescopic driving element 31 can, on the one hand, drive the front wheel frame 1, the front side support plate 311, the side connecting rod 312, the seat cushion assembly 6, the backrest assembly 5 and the armrest assembly 7 to move forward. On the other hand, during the forward movement of the armrest assembly 7, the bottom seat plate 53 cooperates with the driving member at the fixed end of the transverse telescopic driving element 31. Under the action of the driving member, the bottom seat plate 53 rotates around the seat frame transverse axis 64, that is, the backrest assembly 5 rotates around the seat frame transverse axis 64, so that the backrest assembly 5 switches from the vertical state to the reclining chair state or the lying bed state.

[0046] When the backrest assembly 5 is tilted, the center of gravity of the system composed of the backrest assembly 5, the seat cushion assembly 6 and the armrest assembly 7 moves backward for a distance. If the positions of the rear wheel frame 3 and the front wheel frame 1 do not change, when the user lies back, there is a risk of tipping backward. In the invention, under the extension drive of the transverse telescopic drive element 31, the distance between the rear wheel frame 3 and the front wheel frame 1 is gradually widened, and the rear wheel frame 3 moves "backward" for a distance relative to the backrest assembly 5, the seat cushion assembly 6 and the armrest assembly, thereby offsetting the problem of the rearward shift of the center of gravity caused by the tilting of the backrest assembly 5, making the supporting structure stable and reliable, and there is no risk of tipping backward.

[0047] In order to control the locking or unlocking between the bottom seat plate 53 and the vertical portion of the armrest bracket 73, the bottom seat plate 53 is fixed to the lower side wall of the backrest frame 52 through the upper seat plate, and a fan-shaped tooth and a fan-shaped notch are provided on the bottom seat plate 53. The center of the fan-shaped tooth is located on the horizontal axis 64 of the seat frame, and a locking notch groove 531 is also provided at the fan-shaped notch.

[0048] The locking mechanism includes an electromagnetic telescopic pin 731, and the telescopic end of the electromagnetic telescopic pin 731 is provided with a locking transverse pin 732 for cooperating with the locking notch groove 531. The vertical portion of the armrest bracket 73 is provided with a strip hole corresponding to the locking pin 732. In this embodiment, the structure of the bottom seat plate 53 is reasonably designed, and it has fan-shaped teeth and fan-shaped notches. The fan-shaped teeth can be used to dock with the driving member. Under the action of the driving member, the bottom seat plate 53 rotates around the seat frame transverse axis 64, that is, the backrest assembly 5 rotates around the seat frame transverse axis 64, and the backrest assembly 5 in the vertical state is changed to an inclined state or a horizontal state. The design of the fan-shaped notch can provide an effective avoidance space to prevent the bottom seat plate 53 from interfering with the unlocked locking pin 732 during the rotation process.

[0049] The specific working principle of the locking mechanism is as follows: when the auxiliary walking robot needs to switch from the seat state to the reclining chair state or the lying bed state, the electromagnetic telescopic pin shaft 731 extends, and drives the locking cross pin 732 to move upward, thereby disengaging from the locking notch groove 531, and the lock between the vertical part of the bottom seat plate 53 and the armrest bracket 73 can be released; when the auxiliary walking robot switches from the reclining chair state to the seat state, in order to facilitate the subsequent switching of the auxiliary walking robot to the assisted standing state, the electromagnetic telescopic pin shaft 731 contracts, and drives the locking cross pin 732 to move downward, thereby getting stuck in the locking notch groove 531, and locking the vertical part of the bottom seat plate 53 and the armrest bracket 73.

[0050] As a specific solution, the driving member in the embodiment of the present invention specifically adopts a driving short rack 35, and the lower end of the vertical part of the armrest bracket 73 is rotatably mounted with an intermediate gear 74, and the intermediate gear 74 is meshed and connected with the fan-shaped teeth of the bottom seat plate 53, and the intermediate gear 74 is also used to mesh with the driving short rack 35. When the transverse telescopic driving element 31 gradually extends, the armrest bracket 73 and the intermediate gear 74 will move forward. Since the intermediate gear 74 is meshed with the driving short rack 35 at this time, under the action of the stationary driving short rack 35, the intermediate gear 74 will rotate, and the rotating intermediate gear 74 can drive the bottom seat plate 53 with fan-shaped teeth to rotate around the horizontal axis 64 of the seat frame, so that the backrest assembly 5 is switched from the vertical state to the reclining state or the lying bed state.

[0051] As a specific solution, in order to fully support the user's legs after the present invention switches to the lying state, the seat cushion assembly 6 also includes an upper seat cushion and a lower seat cushion, the upper seat cushion is fixedly mounted on the seat cushion frame 62, and guide grooves 623 are provided on the side walls of the seat cushion frame 62, and the lower seat cushion 63 is slidably connected with the seat cushion frame 62 along the guide grooves 623;

[0052] A long driving rack 36 is also installed on the inner side wall of the fixed end of the transverse telescopic driving element 31, and a seat cushion extension driving mechanism 8 is also installed on both sides of the seat cushion frame 62. The input end of the seat cushion extension driving mechanism 8 is used for docking and driving with the long driving rack 36, and the output end of the seat cushion extension driving mechanism 8 is used for pushing the lower seat cushion 63 to extend or retract along the guide groove 623.

[0053] When the transverse telescopic driving element 31 gradually extends, the seat cushion frame 62 will move forward, and under the action of the stationary long driving rack 36, the seat cushion forward extension driving mechanism 8 will drive and push the lower seat cushion 63 to extend forward along the guide groove 623.

[0054] As a specific solution, since the lower seat cushion 63 is located below the upper seat cushion 61 in the initial state, in order to make the lower seat cushion 63 flush with the upper seat cushion 61 after being fully extended, thereby improving the comfort of the user's leg support of the present invention, a pair of guide grooves 623 are provided on each side wall of the seat cushion frame 62, and the guide grooves 623 include a horizontal guide groove 1, an oblique guide groove and a horizontal guide groove 2 which are arranged in sequence from back to front, and the position of the horizontal guide groove 2 is higher than that of the horizontal guide groove 1;

[0055] The lower end of the lower seat cushion 63 is respectively fixedly mounted with guide seat plates 65, and the outer wall of the rear end of the guide seat plate 65 is provided with a pair of staggered guide shafts 652, which are used to slide in the corresponding guide grooves 623. By providing a pair of staggered guide shafts 652 to cooperate with the corresponding guide grooves 623, not only can the lower seat cushion always be kept horizontal, but also the lower seat cushion can be flush with the upper seat cushion after passing through the oblique guide groove, thereby improving the comfort of the user's leg support of the present invention.

[0056] As a specific solution, the seat cushion extension drive mechanism 8 includes a driving pulley 82 rotatably mounted on the rear end of the seat cushion frame 62 and a driven pulley 85 rotatably mounted on the front end of the seat cushion frame 62, a conveyor belt 83 is provided between the driving pulley 82 and the driven pulley 85, a shift rod 84 is fixedly mounted on the conveyor belt 83, and the shift rod 84 is slidably connected to the shift rod guide groove on the guide seat plate 65; a driving gear 81 is also fixedly mounted on the central axis end of the driving pulley 82, and the driving gear 81 is used to mesh with the driving long rack 36.

[0057] The working principle of the seat cushion extension drive mechanism 8 is as follows: when the transverse telescopic drive element 31 gradually extends, the seat cushion frame 62 will move forward, and under the action of the stationary long drive rack 36, the drive gear 81 will rotate due to the meshing of the drive gear 81 with the long drive rack 36, and the rotating drive gear 81 will sequentially drive the driving pulley 82, the conveyor belt 83 and the driven pulley 85 to move, and the conveyor belt 83 pushes the guide seat plate 65 to move forward along the guide groove 623 through the lever member 84, that is, drives the lower seat cushion 63 to move forward, and because the lever member 84 and the lever guide groove on the guide seat plate 65 are slidably matched, even if the guide seat plate 65 is subsequently raised under the action of the oblique guide groove, the lever member 84 can still maintain good drive with the guide seat plate 65. Similarly, when the transverse telescopic drive element 31 gradually shrinks, the lower seat cushion 63 can be gradually retracted below the upper seat cushion 61.

[0058] As a specific solution, when the backrest assembly 5 is switched to the lying bed state, in order to reliably support the backrest assembly 5 and avoid the risk of the user falling backwards after lying down, and not affecting the flexible forward movement of the backrest assembly 5, the rear wheel frame 3 also has a frame crossbeam 33, and a group of supporting rollers 34 for cooperating with the backrest frame 52 are embedded at both the left and right ends of the frame crossbeam 33. During specific operation, since the driving short rack 35 is relatively short, when the fan-shaped teeth of the bottom seat plate 53 exceed the driving short rack 35, the backrest assembly 5 is switched to the lying bed state, and the horizontal backrest frame 52 is supported by the supporting rollers 34. At this time, the lower seat cushion 63 is only partially extended, and the supporting position of the supporting rollers 34 under the backrest frame 52 is still relatively forward. In order to ensure the reliable support of the backrest frame 52 and make the lower seat cushion 63 fully extended at the same time, the transverse telescopic driving element 31 continues to extend until it reaches the preset position, such as Fig.10 and Fig.12 As shown, at this time, the supporting rollers 34 on the rear wheel frame 3 can reliably support the backrest frame 52.

[0059] As a specific solution, when the auxiliary walking robot of the present invention is in a reclining chair state or a lying bed state, in order to prevent the oblique telescopic driving element 32 from starting to extend due to user misoperation, in this embodiment, a state locking electromagnetic pin shaft 313 is also installed on the side wall of the front side support plate 311, and the side connecting rod 312 has a bar hole for cooperating with the state locking electromagnetic pin shaft 313. When the auxiliary walking robot of the present invention changes from the auxiliary standing state to the seat state, the side connecting rod 312 and the front side support plate 311 are folded together, and the telescopic end of the state locking electromagnetic pin shaft 313 extends out and is inserted into the bar hole of the side connecting rod 312, thereby locking the connecting rod mechanism composed of the front side support plate 311, the side connecting rod 312, the cushion frame 62 and the armrest bracket 73. Even if the oblique telescopic driving element 32 is triggered by mistake, it will not drive the above-mentioned connecting rod mechanism to produce action, thereby ensuring safety in use.

[0060] As a specific solution, the rear end of the seat cushion frame 62 is also equipped with a rear electromagnetic pin shaft 622, and the telescopic end of the rear electromagnetic pin shaft 622 is used to cooperate with the guide groove of the lever to lock. Fig.11 As shown, the telescopic end of the rear electromagnetic pin shaft 622 is L-shaped, and the guide seat plate 65 and the lower seat cushion 63 can be locked under the upper seat cushion 61 through the rear electromagnetic pin shaft 622, so as to prevent the lower seat cushion 63 from falling out by itself during the assisted standing operation of the auxiliary walking robot of the present invention; when unlocking is required, the telescopic end of the rear electromagnetic pin shaft 622 is extended to disengage from the lever guide groove, thereby releasing the lock on the guide seat plate 65; the front end of the seat cushion frame 62 is also equipped with a front electromagnetic pin shaft 621, and the telescopic end of the front electromagnetic pin shaft 621 is used to cooperate with the latch hole 651 corresponding to the guide seat plate 65. When the lower seat cushion 63 is fully extended, the telescopic end of the front electromagnetic pin shaft 621 is inserted into the latch hole 651 of the guide seat plate 65, thereby locking the extended state of the lower seat cushion 63; when unlocking is required, the telescopic end of the front electromagnetic pin shaft 621 is retracted to disengage from the latch hole 651.

[0061] As a specific solution, a pair of driving wheel assemblies 4 are installed at the bottom end of the rear wheel frame 3, and the driving wheel assembly 4 includes a driving motor 41. A walking rear wheel 42 is installed at the output end of the driving motor 41. The corresponding walking rear wheel 42 is driven to rotate by the driving motor 41, thereby realizing the walking of the auxiliary walking robot of the present invention. A pair of universal guide wheel assemblies 2 are installed at the bottom end of the front wheel frame 1.

[0062] In order to facilitate the user to control the actions of the electric control components such as the transverse telescopic drive element 31, the oblique telescopic drive element 32, the electromagnetic telescopic pin 731, the state locking electromagnetic pin 313, the rear electromagnetic pin 622, and the front electromagnetic pin 621, the armrest bracket 73 is equipped with an armrest 71, and the armrest 71 is equipped with an input device 72, the input device 72 is connected to the signal input end of the controller, and the signal output end of the controller is electrically connected to the transverse telescopic drive element 31, the oblique telescopic drive element 32, the electromagnetic telescopic pin 731, the state locking electromagnetic pin 313, the rear electromagnetic pin 622, and the front electromagnetic pin 621. The input device can be specifically a control rocker, a control handle, a physical control button, a touch screen, etc. The controller controls the transverse telescopic drive element 31, the oblique telescopic drive element 32, the electromagnetic telescopic pin 731, the state locking electromagnetic pin 313, the rear electromagnetic pin 622, and / or the front electromagnetic pin 621 to perform corresponding actions based on the control instructions of the input device.

[0063] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A multifunctional deformable walking-assisting robot, comprising a backrest assembly (5) having a backrest frame (52), a seat cushion assembly (6) having a seat cushion frame (62), an armrest assembly (7) having an armrest bracket (73), a rear wheel frame (3) and a front wheel frame (1), characterized in that: Both sides of the rear wheel frame (3) are butted with the front frame seat plate on the corresponding side of the front wheel frame (1) via a transverse telescopic driving element (31); a front side support plate (311) is fixedly mounted on the telescopic end of the transverse telescopic driving element (31); a side connecting rod (312) is rotatably mounted between the front side support plate (311) and the seat cushion frame (62); The rear end of the seat cushion frame (62) has a seat frame transverse axis (64), and the vertical portion of the armrest bracket (73) and the bottom seat plate (53) of the backrest frame (52) are both rotatably mounted on the seat frame transverse axis (64); A pair of parallel swing arm connecting rods (11) are rotatably mounted between the front frame seat plate on each side and the vertical portion of the armrest bracket (73); A locking mechanism is also installed on the vertical portion of the armrest bracket (73), and the locking mechanism is used to control the locking or unlocking between the bottom seat plate (53) and the vertical portion of the armrest bracket (73). A driving member for driving the bottom seat plate (53) to rotate around the seat frame transverse axis (64) is also installed on the inner side wall of the fixed end of the transverse telescopic driving element (31); The telescopic end of the transverse telescopic driving element (31) is also rotatably mounted with an oblique telescopic driving element (32), and the telescopic end of the oblique telescopic driving element (32) is rotatably connected to the outer side wall of the vertical portion of the handrail bracket (73).

2. The multifunctional deformable auxiliary walking robot according to claim 1, characterized in that: The bottom seat plate (53) is provided with fan-shaped teeth and fan-shaped notches, the center of the fan-shaped teeth is located on the horizontal axis (64) of the seat frame, and a locking notch groove (531) is also provided at the fan-shaped notch; The locking mechanism comprises an electromagnetic telescopic pin shaft (731), the telescopic end of the electromagnetic telescopic pin shaft (731) is provided with a locking transverse pin (732) for cooperating with the locking notch groove (531), and a strip hole is provided in the vertical portion of the handrail bracket (73) corresponding to the locking pin shaft.

3. The multifunctional deformable auxiliary walking robot according to claim 2, characterized in that: The driving member adopts a driving short rack (35), and an intermediate gear (74) is rotatably mounted on the lower end of the vertical portion of the handrail bracket (73). The intermediate gear (74) is meshed and connected with the fan-shaped teeth of the bottom seat plate (53), and the intermediate gear (74) is also used to mesh with the driving short rack (35).

4. The multifunctional deformable auxiliary walking robot according to claim 1, characterized in that: The seat cushion assembly (6) further comprises an upper seat cushion and a lower seat cushion, wherein the upper seat cushion is fixedly mounted on the seat cushion frame (62), guide grooves (623) are provided on the side walls of both sides of the seat cushion frame (62), and the lower seat cushion (63) is slidably connected to the seat cushion frame (62) along the guide grooves (623); A long driving rack (36) is also installed on the inner side wall of the fixed end of the transverse telescopic driving element (31), and seat cushion extension driving mechanisms (8) are also installed on both sides of the seat cushion frame (62). The input end of the seat cushion extension driving mechanism (8) is used for docking and driving with the long driving rack (36), and the output end of the seat cushion extension driving mechanism (8) is used for pushing the lower seat cushion (63) to extend or retract along the guide groove (623).

5. The multifunctional deformable auxiliary walking robot according to claim 4, characterized in that: A pair of guide grooves (623) are provided on each side wall of the cushion frame (62), wherein the guide grooves (623) include a horizontal guide groove 1, an oblique guide groove, and a horizontal guide groove 2 which are arranged in sequence from the back to the front, and the position of the horizontal guide groove 2 is higher than the position of the horizontal guide groove 1; Guide seat plates (65) are fixedly mounted on both sides of the lower end of the lower seat cushion (63), and a pair of guide shafts (652) with staggered positions are provided on the rear end outer wall of the guide seat plate (65). The guide shafts (652) are used to slide and fit in the corresponding guide grooves (623).

6. The multifunctional deformable auxiliary walking robot according to claim 5, characterized in that: The seat cushion extension driving mechanism (8) comprises a driving pulley (82) rotatably mounted on the rear end of the seat cushion frame (62) and a driven pulley (85) rotatably mounted on the front end of the seat cushion frame (62); a conveyor belt (83) is sleeved between the driving pulley (82) and the driven pulley (85); a lever member (84) is fixedly mounted on the conveyor belt (83); and the lever member (84) is slidably connected to a lever guide groove on the guide seat plate (65); A driving gear (81) is also fixedly mounted on the end of the central axis of the driving pulley (82), and the driving gear (81) is used for meshing connection with the driving long rack (36).

7. A multifunctional deformable auxiliary walking robot according to any one of claims 4 to 6, characterized in that: The rear wheel frame (3) also has a frame crossbeam (33), and a group of supporting rollers (34) for cooperating with the backrest frame (52) are embedded at both left and right ends of the frame crossbeam (33).

8. A multifunctional deformable auxiliary walking robot according to any one of claims 4 to 6, characterized in that: A state locking electromagnetic pin shaft (313) is also installed on the side wall of the front side support plate (311), and a strip hole for cooperating with the state locking electromagnetic pin shaft (313) is provided on the side connecting rod (312).

9. The multifunctional deformable auxiliary walking robot according to claim 6, characterized in that: The rear end of the seat cushion frame (62) is also equipped with a rear electromagnetic pin shaft (622), and the telescopic end of the rear electromagnetic pin shaft (622) is used to cooperate with the guide groove of the lever for locking; the front end of the seat cushion frame (62) is also equipped with a front electromagnetic pin shaft (621), and the telescopic end of the front electromagnetic pin shaft (621) is used to cooperate with the corresponding pin hole (651) of the guide seat plate (65).

10. A multifunctional deformable auxiliary walking robot according to any one of claims 4 to 6, characterized in that: A pair of driving wheel assemblies (4) are mounted at the bottom end of the rear wheel frame (3), the driving wheel assembly (4) comprising a driving motor (41), a walking rear wheel (42) being mounted at the output end of the driving motor (41), and a pair of universal guide wheel assemblies (2) are mounted at the bottom end of the front wheel frame (1).

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