Movable scooter capable of being switched between sitting mode and standing mode

Abstract

A mobile scooter capable of being switched between a sitting mode and a standing mode comprises a rack vertical rod, a combined type supporting chassis structure, a seat adjusting mechanism, an upper layer lifting mechanism, a pedal moving mechanism, a man-machine interaction module and a controller. The rack vertical rod is arranged on the combined type supporting chassis. The saddle cushion and the seat adjusting mechanism form an adjustable RCM parallel mechanism, the adjustable RCM parallel mechanism is arranged above the combined type supporting chassis structure through the seat adjusting mechanism, and the saddle cushion is always kept in a state parallel to the plane of the combined type supporting chassis when ascending or descending through the seat adjusting mechanism; the pedal is in sliding connection with the combined type supporting chassis through the pedal moving mechanism; the handrail is mounted at the top of the stand vertical rod through the upper-layer lifting mechanism; the controller is used for controlling and adjusting the seat adjusting mechanism and the upper layer lifting mechanism to achieve conversion between the sitting posture and the standing posture of the user. According to the invention, an intelligent solution with rehabilitation training and life assistance can be provided for patients with lower limb dysfunction.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation medical devices, and in particular to a mobile walker lower limb rehabilitation robot that integrates gait simulation and biomechanical feedback, and is suitable for rehabilitation training of lower limb motor dysfunction caused by stroke, spinal cord injury, etc. Background Art

[0002] Standing, the most fundamental and complex movement pattern in daily human activities, is not only the physiological foundation for walking, transferring, and other movements, but also a core ability for maintaining independence and social participation. This seemingly simple action requires the coordinated support of the musculoskeletal system, the dynamic balance regulation of the nervous system, and joint flexibility. Failure in any of these components can lead to standing dysfunction.

[0003] The current clinical rehabilitation field mainly relies on traditional wheelchairs to meet patients' mobility needs. Although this type of equipment can expand the range of motion, it has significant functional limitations: first, users need to continuously rely on upper limb support to maintain a sitting posture, resulting in the use of hand functions and difficulty in completing daily operations such as eating and picking up objects; second, long-term sitting posture can easily induce secondary injuries such as scoliosis and hip contracture; third, the lack of posture conversion mechanism means that patients still need assistance from others for basic life needs such as going to the toilet and transferring. Studies have shown that about 68% of wheelchair users are unable to complete the transition from sitting to standing independently, resulting in significantly lower social participation and quality of life than people who can stand. If patients with lower limb mobility disorders can be helped to solve the problem of independent movement and sitting-to-standing posture conversion while freeing their hands, it will greatly expand the patient's range of motion and improve their ability to take care of themselves. The design and development of related assistive devices has also become a hot topic in related fields.

[0004] Therefore, seeking more effective mobility assistive devices and new, inexpensive rehabilitation robotic equipment can not only break through the bottlenecks of traditional manual training, such as low standardization and long rehabilitation cycles, but also achieve quantifiable improvements in rehabilitation effectiveness and intensive allocation of medical resources through the precise mechanical feedback and data-driven training programs of smart devices. Summary of the Invention

[0005] Therefore, to address the aforementioned issues, the present invention aims to provide a simple, easy-to-use, and portable mobility scooter that can be switched between sitting and standing positions, regardless of location or time. Through intelligent control and multiple operating modes, the robot can be used in specific locations such as homes and meet the daily needs of people with mobility impairments.

[0006] The problems to be solved by the present invention are: Functional defects: Traditional lower limb assistive devices (such as crutches / wheelchairs) only provide static support and lack the function of training the range of motion of the lower limb joints; Non-adjustable structure: Traditional lower limb assistive devices (such as wheelchairs) have fixed seat cushion height and inclination, which can easily lead to concentrated pressure on the ischial bones, poor comfort, and difficulty in achieving universal fit; (3) Insufficient adaptability: Traditional lower limb rehabilitation equipment cannot dynamically adjust the power / resistance according to the patient's muscle strength changes, resulting in low walking efficiency; (4) High safety risk: Traditional lower limb walking aids rely on physical limiters to fix the human body and cannot dynamically respond to sudden imbalances. The equipment lacks real-time biomechanical monitoring, and the pelvic stability control is weak, which can easily cause secondary injuries; (5) Complex operation: The adjustment of traditional lower limb rehabilitation robot equipment mostly relies on professional therapists, and the threshold for use in home scenarios is high.

[0007] The technical solution to the above problem is: a mobile scooter that can switch between sitting and standing positions, including armrests, a seat cushion and foot pedals; also including a frame upright, a composite supporting chassis structure, a seat adjustment mechanism, an upper lifting mechanism, a pedal moving mechanism, a human-computer interaction module and a controller; The frame uprights are arranged on the composite support chassis; the vehicle seat cushion and the seat adjustment mechanism constitute an adjustable RCM parallel mechanism, which is arranged above the composite support chassis structure through the seat adjustment mechanism. The vehicle seat cushion is always kept parallel to the plane of the composite support chassis when raised or lowered through the seat adjustment mechanism; the foot pedal is slidably connected to the composite support chassis through the pedal moving mechanism; the armrest is installed on the top of the frame uprights through the upper lifting mechanism; the human-computer interaction module is electrically connected to the controller; the controller is used to control and adjust the seat adjustment mechanism and the upper lifting mechanism to realize the user's conversion between sitting and standing postures.

[0008] Its further technical solution is: the composite supporting chassis structure includes a frame base and a mobile unit integrated at its bottom; There are two frame uprights, and the two frame uprights are respectively installed on the frame base through two trusses; the frame uprights are hinged to the trusses, and the trusses are fixed to the frame base; The seat adjustment mechanism includes a frame connecting rod b, two electric push rods b and two seat cushion parallel links; the two seat cushion parallel links form a parallelogram hinge structure a through a front link and a rear connecting block, the front link is fixedly connected to the seat bracket of the vehicle seat cushion, and the rear connecting block is fixed to the frame base; the vehicle seat cushion is fixed to the seat bracket, and the vehicle seat cushion always remains parallel to the plane of the frame base when raised or lowered through the parallelogram hinge structure a; the seat cushion parallel links and the vehicle seat cushion form an adjustable RCM parallel mechanism; one end of the frame connecting rod b is hinged on the seat cushion parallel link, and the other end is hinged between the two frame uprights; the two electric push rods b are respectively located on both sides of the frame connecting rod b, corresponding to the two frame uprights, the fixed end of the electric push rod b is fixedly connected to the truss, and its telescopic end is hinged to the corresponding frame upright; the seat cushion parallel links and the vehicle seat cushion form an adjustable RCM parallel mechanism; The upper lifting mechanism includes two triangular vehicle head connecting plates, two chest protector parallel connecting rods, an electric push rod a and a chest protector support ring; the two triangular vehicle head connecting plates are located on the inner sides of the tops of the two frame uprights and are hinged to the frame uprights; the two chest protector parallel connecting rods are located on the inner sides of the two triangular vehicle head connecting plates, are hinged to the two triangular vehicle head connecting plates through a rotating pair, and the other ends thereof are hinged to the connecting seat through a rotating pair to form a parallelogram hinge structure b; the chest protector support ring is fixed on the connecting seat, and the chest protector support ring is ensured to be parallel to the frame base when raised or lowered by the parallelogram hinge structure b; the fixed end pin shaft of the electric push rod a is connected between the two frame uprights, and its telescopic end is hinged to the chest protector parallel connecting rod; the handrail is suspended on the top of the two triangular vehicle head connecting plates; The pedal moving mechanism includes two pedal links, a frame link a, two pedal rails, and two knee pads; the two pedal rails are respectively arranged on the outer sides of the two trusses; each pedal link corresponds to a pedal rail; the bottom of the pedal link is slidably connected to the pedal rail via a slider, and a knee pad is provided on the top of the pedal link; the top of the frame link a is hinged between the two frame uprights, and the bottom sides of the frame link a are respectively hinged to the two pedal links; the foot pedal is mounted on the pedal link; The human-computer interaction module includes a touch screen and control buttons. The touch screen is suspended on the armrest through a display screen bracket, and the control buttons are arranged around the armrest; The controller is electrically connected to the touch screen, the control button, the electric push rod b and the electric push rod a respectively; When the user changes posture, the electric push rod b drives the frame upright to rotate, changes the angle of the frame upright, drives the frame connecting rod b to synchronously push the seat cushion parallel connecting rod to rotate, so that the bicycle seat cushion always remains parallel to the plane of the frame base when rising or falling; at the same time, when the frame upright rotates, the frame connecting rod a is linked to the pedal connecting rod, so that the pedal connecting rod moves horizontally on the foot pedal slide rail, driving the foot pedal to move smoothly; the chest protector parallel connecting rod is driven to rotate by the electric push rod a, raising or lowering the chest protector support ring, and assisting the human body to stand up or sit down; the user can realize the function of switching between sitting and standing postures.

[0009] A further technical solution is: the chest protector support ring is an arc-shaped splint structure, and a pressure sensor is provided on the inner side thereof, which is electrically connected to the controller; the chest protector parallel link is integrated with a distance measuring sensor, which is electrically connected to the controller; a strain gauge sensor is embedded in the bottom of the foot pedal, which is electrically connected to the controller; the controller collects the pressure distribution data of the user's chest, back, knee joints and soles in real time through the sensor, establishes a mapping model between training data and rehabilitation scores, performs motor function assessment through the cloud server, and generates a multi-dimensional rehabilitation report including joint range of motion, muscle recovery coefficient, and balance ability indicators.

[0010] A further technical solution is that both the electric push rod b and the electric push rod a are driven by motors; and the motors are electrically connected to a controller.

[0011] A further technical solution is as follows: the arc-shaped chest protector support ring is equipped with an adjustable tightening belt; the chest protector parallel connecting rod adopts a sleeve-type design; The surface of the foot pedal is provided with anti-slip grooves and limiting grooves, and is connected to the frame upright by a spring hinge; the pedal connecting rod is a multi-section telescopic sleeve structure; the surface of the knee pad is covered with a silicone buffer layer; the car seat cushion is equipped with a three-way locking mechanism: the height is adjusted along the seat column, and the angle is precisely adjusted through the base turntable.

[0012] Its further technical solution is: the frame base adopts channel steel longitudinal beams and steel pipe cross beams to connect and arrange into a rectangular structure, the rectangular structure is composed of two channel steel longitudinal beams arranged in parallel, and the two channel steel longitudinal beams are connected by three steel pipe cross beams.

[0013] Its further technical solution is: the mobile unit is composed of two driving wheels and four universal wheels; the two driving wheels are coaxially arranged, vertically installed on both sides of the longitudinal center axis of the frame base, and located below the channel steel longitudinal beam; the two driving wheels are respectively equipped with hub motors, and the driving wheels are driven by the hub motors. Each driving wheel is equipped with a shock-absorbing spring, and the shock-absorbing spring is designed with a nonlinear stiffness coefficient; a universal wheel is arranged at each end of the longitudinal beam of the frame base; a brake device is integrated on the universal wheel; the hub motor is electrically connected to the controller.

[0014] A further technical solution is: the armrest has a built-in vibration feedback module, which prompts the patient to take a rest through a tactile alarm when an abnormal force pattern is detected; and the vibration feedback module is electrically connected to the controller.

[0015] Its further technical solution is: the display screen is pre-set with standard rehabilitation programs for hemiplegic gait reconstruction and muscle strength enhancement training and a virtual emergency stop button, and supports touch-drag parameter adjustment; the control buttons include an emergency stop switch, a mode switch key and a resistance adjustment knob, forming a dual operation channel with the display screen touch interface.

[0016] Its further technical solution is: the controller is equipped with a programmable controller and a sensor interface, and is equipped with an intelligent control system; the intelligent control system has three training modes: gait training mode, assisted standing mode, and vehicle walking mode.

[0017] Due to the adoption of the above technical solution, the mobile scooter capable of switching between sitting and standing positions according to the present invention has the following beneficial effects compared with the prior art: (1) Efficient and stable training assistance: The electric push rod uses a motor as its power source to provide patients with continuous and stable rehabilitation training services. It is not limited by the therapist's time and energy. Patients can train at any time according to their own conditions, which greatly improves training efficiency.

[0018] (2) Optimized transmission structure: A three-axis linkage training mechanism is used, with the motor driving the electric push rod to reciprocate (sagittal plane), the pedal deflection (frontal plane), and the knee pad height adjustment (vertical plane), simulating the three-dimensional motion characteristics of natural walking. The parallelogram articulated structure is used as the main transmission unit, which simplifies the transmission system, reduces the cost and difficulty of equipment maintenance, and improves reliability and service life.

[0019] (3) Personalized training program: It has multiple usage modes and can be switched intelligently according to the patient's pedaling force threshold, autonomous movement intention and rehabilitation progress. It can adjust the training parameters based on the data collected by the monitoring feedback system to achieve personalized rehabilitation training.

[0020] (4) Convenient user experience: The device is relatively small and easy to move, making it convenient for use at home and in medical institutions. The operation is simple, and the robot mode selection and parameter setting can be completed by touching the display screen, which reduces the threshold for use.

[0021] (5) Safe and comfortable design: The seat cushion, footrest and armrest are designed according to ergonomics to improve the patient's training comfort. Equipped with safety protection mechanisms such as motor overload protection and emergency stop button to ensure the safety of patient training.

[0022] This mobile scooter integrates five functional modules: a composite supporting chassis structure, a seat adjustment mechanism, an upper lifting mechanism, a pedal movement mechanism, and a human-computer interaction module. By accurately capturing plantar pressure signals and gait rhythm, it achieves dynamic adjustment of the motion trajectory and intelligent switching of walking modes. The controller system has established three application modes: gait training, assisted standing, and vehicle walking. It supports fine-grained adjustment of gait parameters and customized personalized walking plans under motor drive to ensure the exclusive use needs of patients at different rehabilitation stages. This invention can provide patients with lower limb dysfunction with an intelligent solution that combines rehabilitation training and life assistance, and is expected to become an important innovative achievement in promoting the intelligent upgrading of rehabilitation medical technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic structural diagram of a mobile scooter capable of switching between sitting and standing positions according to the present invention; Figure 2 This is a schematic diagram of the chassis structure of a mobile scooter capable of switching between sitting and standing positions according to the present invention; Figure 3 This is a schematic diagram of the seat adjustment structure of a mobile scooter capable of switching between sitting and standing positions according to the present invention; Figure 4 This is a schematic diagram of the upper lifting structure of a mobile scooter capable of switching between sitting and standing positions according to the present invention; Figure 5 This is a schematic diagram of the pedal movement structure of a mobile scooter capable of switching between sitting and standing positions according to the present invention; In the picture: 1-touch screen, 2-display bracket, 3-armrest, 4-control button, 5-triangular front connecting plate, 6-bolt, 7-chest protector parallel link, 8-chest protector support ring, 9-pedal link, 10-knee pad, 11-foot pedal, 12-frame base, 13-universal wheel, 14-front link, 15-seat cushion, 16-electric push rod b, 17-frame upright, 18-hub motor, 19-shock absorber spring, 20-frame link b, 21-seat parallel link, 22-pedal slide rail, 23-electric push rod a, 24-frame link a, 25-truss, 26-rear block, 27-connecting seat. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0025] like Figure 1 As shown: A mobile scooter that can switch between sitting and standing positions, including armrests 3, a seat cushion 15 and a foot pedal 11; also including a frame upright 17, a composite support chassis structure, a seat adjustment mechanism, an upper lifting mechanism, a pedal movement mechanism, a human-computer interaction module and a controller; The frame upright 17 is arranged on the composite support chassis; the vehicle seat cushion 5 and the seat adjustment mechanism constitute an adjustable RCM (Remote Center of Motion, RCM) parallel mechanism, which is arranged above the composite support chassis structure through the seat adjustment mechanism. The vehicle seat cushion 5 always remains parallel to the plane of the composite support chassis when raised or lowered through the seat adjustment mechanism; the foot pedal 11 is slidably connected to the composite support chassis through the pedal moving mechanism; the armrest 3 is installed on the top of the frame upright 17 through the upper lifting mechanism; the human-computer interaction module is electrically connected to the controller; the controller is used to control and adjust the seat adjustment mechanism and the upper lifting mechanism to realize the user's transition between sitting and standing positions.

[0026] The specific structure of the mobile scooter that can switch between sitting and standing positions in this embodiment is as follows: like Figure 2 As shown in FIG. 1 , the composite supporting chassis structure includes a frame base 12 and a mobile unit integrated at its bottom. The mobile unit is composed of two driving wheels and four universal wheels 13 .

[0027] The frame base 12 is constructed using channel steel longitudinal beams connected by steel pipe crossbeams to form a rectangular structure. This rectangular structure consists of two parallel channel steel longitudinal beams connected by three steel pipe crossbeams. Two drive wheels are coaxially arranged and mounted perpendicularly on either side of the longitudinal centerline of the frame base 12, below the channel steel longitudinal beams. Each drive wheel is equipped with a hub motor 18, which drives the wheel. Each drive wheel is equipped with a shock-absorbing spring 19 designed with a nonlinear stiffness coefficient. A universal wheel 13 is positioned at each end of the longitudinal beam of the frame base 12. Each universal wheel 13 has an integrated brake device. The hub motor 18 is electrically connected to a controller.

[0028] Here are some examples: Chassis structure: The frame base 12 adopts a 700mm x 600mm rectangular layout and features six independent wheel trains. The core power of the composite support chassis is provided by two sets of coaxially arranged drive wheels. A 0.13m diameter hub motor 18 is installed vertically on the central longitudinal axis of the chassis. Shock-absorbing springs 19 ensure continuous ground contact on complex road surfaces, and a differential control strategy is used to achieve forward movement, steering, and zero-radius turning functions. Four sets of universal wheels 13 are arranged around the perimeter as auxiliary steering mechanisms. TPR casters with a total height of 126mm are integrated with brakes, forming a stable support system with mounting points at both ends of the channel steel longitudinal beam. The thermoplastic rubber properties of the casters provide both anti-slip friction and elastic shock absorption. The frame base 12 adopts a welded structure of channel steel longitudinal beams and steel pipe cross beams. Wiring channels are reserved inside the channel steel to improve space utilization. The overall rigidity and functionality are balanced, providing dual guarantees for safe operation of the equipment and user operational stability. It is convenient for operators to flexibly control the robot's direction and speed according to the patient's rehabilitation training needs to ensure training safety.

[0029] The universal wheel used in the driving wheel has an intelligent locking function. The intelligent locking mechanism automatically fixes the hub motor during training and is released with one button when moving, preventing the mobile scooter from sliding and ensuring the safety of the user.

[0030] There are two frame uprights 17, and the two frame uprights 17 are respectively installed on the frame base 12 through two trusses 25; the frame uprights 17 are hinged to the trusses 25, and the trusses 25 are fixed to the frame base 12; the two frame uprights 17 are provided with a plurality of connecting cross bars; the two trusses 25 span the three steel pipe cross beams of the frame base 12 and are fixedly connected to the steel pipe cross beams; the bottom of the frame uprights 17 is hinged to the trusses 25.

[0031] like Figure 3As shown: the seat adjustment mechanism includes a frame link b20, two electric push rods b16 and two cushion parallel links 21; the two cushion parallel links 21 form a parallelogram hinge structure a through a front link 14 and a rear link block 26, the front link 14 is fixedly connected to the seat bracket of the vehicle seat cushion 15, and the rear link block 26 is fixed to the frame base 12; the vehicle seat cushion 15 is fixed to the seat bracket, and the vehicle seat cushion 15 starts to move when it is raised or lowered through the parallelogram hinge structure a. The frame connecting rod b20 is hinged at one end to the seat parallel link 21 and at the other end between the two frame uprights 17. Two electric push rods b16 are located on either side of the frame connecting rod b20, corresponding to the two frame uprights 17. The fixed ends of the electric push rods b16 are fixedly connected to the truss 25, and their telescopic ends are hinged to the corresponding frame uprights 17. The seat parallel link 21 and the vehicle seat 15 form an adjustable RCM parallel mechanism. The electric push rods b16 are electrically connected to a controller.

[0032] The seat adjustment mechanism primarily provides weight support, providing vertical support to the patient while seated, helping to alleviate weight-bearing stress on the lower limb muscles, hip, knee, and ankle joints. The seat cushion 15 features a three-way locking mechanism: the height can be adjusted by extending or retracting the seat bracket to accommodate users of varying heights and leg lengths; the angle can be precisely adjusted using a dial on the base. The cushion is made of soft, breathable material to enhance patient comfort during training.

[0033] like Figure 4 As shown: the upper lifting mechanism includes two triangular head connecting plates 5, two chest parallel connecting rods 7, an electric push rod a23 and a chest support ring 8; the two triangular head connecting plates 5 are located on the top inner side of the two frame uprights 17 and are hinged to the frame uprights 17; the two chest parallel connecting rods 7 are located on the inner side of the two triangular head connecting plates 5, and are hinged to the two triangular head connecting plates 5 through a rotating pair, and the other end of the two chest parallel connecting rods 7 are hinged to the connecting seat 27 through a rotating pair. The chest protector support ring 8 is fixed to the connecting seat 27, and the parallelogram hinge structure b ensures that the chest protector support ring 8 remains parallel to the frame base 12 when raised or lowered. The chest protector parallel link 7 is driven by an electric push rod a23. The fixed end of the electric push rod a23 is pin-connected between the two frame uprights 17, and its telescopic end is hinged to the chest protector parallel link 7. The handrail 3 is suspended from the top of the two triangular head connecting plates 5. The chest protector parallel link 7 adopts a sleeve design. The electric push rod a23 is electrically connected to the controller.

[0034] The upper lifting mechanism can support part of the user's weight and provide a vertically upward supporting force to balance the user's own gravity. The position of the chest support ring 8 can be adjusted by changing the length of the telescopic chest parallel link 7 to accommodate users with different heights and arm lengths. The chest support ring 8 adopts an arc-shaped splint structure wrapped with memory foam, and a pressure sensor array is provided on the inner side. The pressure sensor array is electrically connected to the controller. When the detected pressure value exceeds the preset threshold, the controller issues an instruction to immediately cut off the power supply of the electric push rod a23 and activate the mechanical locking device. The arc-shaped chest support ring 8 has an adjustable tightening strap for fixing the upper body of the user. The chest parallel link 7 adopts a sleeve type design with a stroke range of 300 - 550 mm, which is suitable for 95% of adult waist circumferences. The chest support ring 8 is internally provided with a memory foam cushion with uniform pressure distribution. Pelvic stability control: The chest parallel link 7 is integrated with a laser range finder sensor, which is electrically connected to the controller to monitor the pelvic tilt angle in real time and automatically pause the training when it exceeds the safe range. The armrest 3 is internally provided with a vibration feedback module, which gives a tactile alarm to prompt the patient to rest when an abnormal exertion mode is detected; the vibration feedback module is electrically connected to the controller.

[0035] As Figure 5 shown: The pedal moving mechanism includes two pedal links 9, one frame link a24, two foot pedal slides 22 and two knee pads 10; the two foot pedal slides 22 are respectively arranged on the outer sides of the two trusses 25; each pedal link 9 corresponds to one foot pedal slide 22; the pedal link is in a "C" shape and includes an upper cross bar, a vertical bar and a lower cross bar. The upper end of the vertical bar is connected to one end of the upper cross bar, and the lower end of the vertical bar is connected to one end of the lower cross bar; the bottom of the pedal link 9 (the other end of the lower cross bar) is slidably connected to the foot pedal slide 22 through a slider, and a knee pad 10 is arranged at its top (the other end of the upper cross bar); the top of the frame link a24 is an arc section, and the bottom is a horizontal section. The arc section is located in the middle of the horizontal section; the top of the frame link a24 is hinged between two frame vertical rods 17, and both sides of the bottom of the frame link a24 are respectively hinged to the two pedal links 9 (such as the lower ends of the vertical bars); the foot pedal 11 is installed on the pedal link 9 (the lower cross bar).

[0036] The pedal movement mechanism ensures that the feet move with the human body's state when switching between sitting and standing positions, preventing the user's center of gravity from moving forward and backward, and improving the stability of the robot. The knee pads 10 are installed on both sides of the body through the retractable pedal connecting rod 9, and cooperate with the foot pedals 11 to form a lower limb support structure. The surface of the foot pedal 11 is provided with anti-slip grooves and limiting grooves, and is connected to the pedal connecting rod 9 by a spring hinge, allowing ±15° adaptive deflection to match the inward and outward rotation of the foot during the gait cycle. The pedal connecting rod 9 is a multi-section telescopic sleeve structure with an adjustment range of 200-400mm. The knee pads 10 are covered with a silicone cushioning layer. In the vertical facet joint control system, pedal link 9 is a multi-section telescopic sleeve structure (adjustable range 200-400mm), precisely controlling the knee flexion angle (0°-30°). Pedal link 9 is connected to frame link a24 and frame upright 17. When electric push rods b16 and a23 push frame upright 17, foot pedal 11 also moves accordingly, automatically adjusting the knee joint position according to the patient's height. A pressure sensor integrated into pedal 11 monitors changes in pedal pressure in real time, enabling dynamic adjustment. A thin-film strain gauge sensor is embedded in the bottom of pedal 11 and electrically connected to the controller to calculate the left and right foot symmetry index, which is used to quantify gait balance.

[0037] In this embodiment, both the electric push rods b16 and a23 are driven by motors electrically connected to a controller. The push rods are equipped with a 42V DC brushless motor 14 and a photoelectric encoder, achieving a positioning accuracy of ±0.5° and a maximum output torque of 35 N·m.

[0038] The human-computer interaction module includes a touch screen 1 and control buttons 4. The touch screen 1 is suspended on the armrest 3 through a display bracket 2, and the control buttons 4 are arranged around the armrest 3. The touch screen 1 and the control buttons 4 are connected to the controller through a CAN bus.

[0039] The touch screen 1 includes a built-in training parameter preset module, covering a variety of standard rehabilitation programs (such as hemiplegic gait reconstruction and muscle strength training), two sets of custom modes, and a virtual emergency stop button, supporting touch operation. Patients and operators can easily select training modes, view data and progress such as training time, step count, and pedal force changes, and can also control the mobile scooter using the control button 4. The control button 4 includes an emergency stop switch, a mode switch key, and a resistance adjustment knob, forming a dual operation channel with the touch interface of the display screen 1. The dual protection of the physical emergency stop switch (control button 4) and the virtual emergency stop button (display screen 1) has a response time of less than 0.3 seconds. When the motor current exceeds the rated current for 3 seconds, the power is automatically cut off and the mechanical brake is activated, with a braking distance of less than 5 cm.

[0040] The controller is configured with a programmable controller and a sensor interface, and is equipped with an intelligent control system; the sensors collect real-time pressure distribution data on the user's chest, back, knee joints and soles of the feet, establish a mapping model between training data and rehabilitation scores, perform motor function assessments through a cloud server, and generate a multi-dimensional rehabilitation report including joint range of motion, muscle recovery coefficient, and balance ability indicators.

[0041] The mobile scooter of this embodiment, which can switch between sitting and standing positions, can realize the conversion of patients between "sitting" and "standing" postures. It mainly relies on three parts: a seat adjustment mechanism, an upper lifting mechanism and a pedal moving mechanism. Three electric push rods are respectively installed on the seat adjustment mechanism and the upper lifting mechanism, and provide power for them to drive the movement of related mechanisms, ultimately realizing lifting and lowering movements.

[0042] When using this mobile scooter that can be switched between sitting and standing positions, the user can switch from a sitting position to a standing position by holding the armrests 3 with both hands and pressing the standing change button 4 on the control panel. The three electric push rods (i.e., two electric push rods b16 and one electric push rod a23) move simultaneously. The electric push rod b16 shortens and the electric push rod a23 extends, driving the frame uprights from tilting to vertical, thereby driving the frame connecting rod b20 to synchronously drive the seat cushion parallel connecting rod 21 to rotate, so that the vehicle seat cushion 15 is lowered to the lowest position and parallel to the chassis 12. At the same time, when the frame uprights 17 rotate, the frame connecting rod a24 rotates counterclockwise under the action of gravity (see Figure 1 ), through the horizontal movement of the pedal link 9 on the pedal rail 22, the pedal 11 is driven to move smoothly to ensure that the user's center of gravity does not shift; the electric push rod a23 continues to extend, pushing the chest guard parallel link 7 to rotate counterclockwise (see Figure 1 ), raising the chest protector support ring 8, prompting the user to stand up, completing the transition from a sitting to a standing position. Specifically, when standing, the seat cushion 15 is lowered by the adjustment of the frame link b20 and the cushion parallel link 21. The footrest 11 is now positioned rearward (suitable for standing), and the electric push rods b16 and a23 adjust the angles of the frame uprights 17 and the chest protector parallel link 7 to accommodate the user's height. When transitioning to a sitting position, these mechanisms adjust accordingly to suit the user's posture.

[0043] Control system and training modes: The control system has three training modes: gait training mode, assisted standing mode, and vehicle walking mode. In gait training mode, the pedal movement mechanism is indirectly driven by a motor via the frame uprights 17. The pedal link 9 is linked to the frame link a24, causing the foot pedal 11 to swing periodically along a preset trajectory. The patient can independently perform gait training and strengthen their leg walking strength. In assisted standing mode, the user grasps the armrest 3 and presses the standing change button 4. The three electric push rods operate in coordination, with push rod b16 shortening and push rod a23 extending, driving the frame link and frame uprights to adjust their positions, lowering the vehicle seat 15 to the lowest position. Simultaneously, the frame link a24 drives the pedal link 9 to maintain the user's center of gravity, and the push rod a23 pushes the chest guard parallel link 7 to raise the chest guard support ring 8, achieving a smooth transition from sitting to standing. In vehicle walking mode, the dual-hub motor 18 receives control commands via the CAN bus to implement vehicle walking functions such as variable speed walking, turning, and obstacle negotiating. The pedals 11, seat 15, and chest support ring 8 integrate multiple sensors to collect real-time data on pedaling force and sitting posture, feeding it back to the control system. Based on this data, the system dynamically adjusts pedal travel and chest support ring angle, optimizing the neural feedback mechanism and enabling personalized rehabilitation programs. A three-axis linkage mechanism coordinates the motor-driven reciprocating motion of the electric actuator (sagittal plane), pedal deflection (coronal plane), and knee pad height adjustment (vertical plane), simulating the three-dimensional characteristics of natural walking. Based on real-time data on waist angle, knee support force, and plantar pressure, the motor torque is automatically adjusted for intelligent control.

[0044] Before use, the user adjusts the position of the armrests 3 using the triangular front connecting plate 5 according to their physical condition, so that when holding the armrests 3 with both hands, the arms feel natural and comfortable, providing support and allowing easy operation. The chest support ring 8 is adjusted to secure the user's upper limbs. The seat cushion is adjusted so that the user's feet can rest naturally and flatly on the footrests 11 while sitting on the seat, with the knees slightly bent. When adjusting the angle, ensure that the user's buttocks fit well against the seat cushion 15, preventing slippage or discomfort.

[0045] When in use, the user sits on the adjusted seat, holds the armrests 3 with both hands, and steps on the footrests 11. Turn on the device power, and select the appropriate usage mode (gait training mode, assisted standing mode, vehicle body walking mode) through the display screen 1 or control button 4 for training or assisted walking.

[0046] After the training is finished, the user presses the button 4 on the device, the motor 14 stops running, and the pedals 11 gradually stop moving. The user stands up from the seat, and the current use is completed.

[0047] The present invention provides a mobile scooter that can switch between sitting and standing positions, achieving precise gait reproduction through a three-axis coordinated control system in the sagittal, coronal, and vertical planes. The sagittal plane fixation and drive system uses the frame upright 17 as a rigid foundation, and constructs a dynamically stable support structure through components such as the triangular head connecting plate 5, the chest parallel link 7, the electric push rod b16, the vehicle seat cushion 15, and the chest support ring 8. The trunk support is achieved through the motion trajectory of the parallelogram hinge structure, and dynamic counterweight compensation is achieved in combination with the rotating pair. The coronal plane motion control system adopts a composite transmission structure. The pedal link 9 is connected to the frame upright 17 through the frame link a24. When the electric push rod b16 and the electric push rod a23 push the frame upright 17 to rotate, the bottom of the pedal link 9 slides back and forth on the foot pedal slide rail 22 through a slider, thereby achieving the back and forth swing of the foot pedal 11. At the same time, through the frame link b20, the patient can achieve the transition from sitting to standing by adjusting the cushion parallel link 21. In the vertical joint control system, the pedal link 9 is a multi-section telescopic sleeve structure (adjustment range 200-400mm) to accurately control the knee flexion angle (0°-30°).

[0048] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A mobile scooter capable of switching between sitting and standing positions, comprising armrests (3), a seat cushion (15) and a footrest (11); characterized in that: It also includes a frame upright (17), a composite supporting chassis structure, a seat adjustment mechanism, an upper lifting mechanism, a pedal moving mechanism, a human-machine interaction module and a controller; The frame upright (17) is arranged on the composite support chassis; the vehicle seat cushion (5) and the seat adjustment mechanism constitute an adjustable RCM parallel mechanism, which is arranged above the composite support chassis structure through the seat adjustment mechanism, and the vehicle seat cushion (5) always maintains a state parallel to the composite support chassis plane when rising or falling through the seat adjustment mechanism; the foot pedal (11) is slidably connected to the composite support chassis through the pedal moving mechanism; the armrest (3) is installed on the top of the frame upright (17) through the upper lifting mechanism; the human-computer interaction module is electrically connected to the controller; the controller is used to control and adjust the seat adjustment mechanism and the upper lifting mechanism to realize the conversion of the user's sitting posture and standing posture.

2. A mobile scooter capable of switching between sitting and standing positions according to claim 1, characterized in that: The composite supporting chassis structure comprises a frame base (12) and a mobile unit integrated at its bottom; There are two frame uprights (17), and the two frame uprights (17) are respectively mounted on the frame base (12) through two trusses (25); the frame uprights (17) are hinged to the trusses (25), and the trusses (25) are fixed on the frame base (12); The seat adjustment mechanism comprises a frame connecting rod b (20), two electric push rods b (16) and two cushion parallel connecting rods (21); the two cushion parallel connecting rods (21) form a parallelogram hinge structure a through a front connecting rod (14) and a rear connecting block (26); the front connecting rod (14) is fixedly connected to the seat bracket of the vehicle seat cushion (15), and the rear connecting block (26) is fixed to the frame base (12); the vehicle seat cushion (15) is fixed to the seat bracket, and the vehicle seat cushion (15) always remains parallel to the plane of the frame base (12) when it is raised or lowered through the parallelogram hinge structure a. state; the cushion parallel link (21) and the vehicle cushion (15) constitute an adjustable RCM parallel mechanism; one end of the frame link b (20) is hinged on the cushion parallel link (21), and the other end is hinged between the two frame uprights (17); two electric push rods b (16) are respectively located on both sides of the frame link b (20) and corresponding to the two frame uprights (17), the fixed end of the electric push rod b (16) is fixedly connected to the truss (25), and the telescopic end thereof is hinged to the corresponding frame upright (17); the cushion parallel link (21) and the vehicle cushion (15) constitute an adjustable RCM parallel mechanism; The upper lifting mechanism comprises two triangular head connecting plates (5), two chest protection parallel connecting rods (7), an electric push rod a (23) and a chest protection support ring (8); the two triangular head connecting plates (5) are located on the inner side of the top of the two frame uprights (17) and are hinged to the frame uprights (17); the two chest protection parallel connecting rods (7) are located on the inner side of the two triangular head connecting plates (5), are hinged to the two triangular head connecting plates (5) through a rotating pair, and the other end of the chest protection parallel connecting rods (7) is hinged to the two triangular head connecting plates (5) through a rotating pair. The connecting seat (27) is hinged to form a parallelogram hinge structure b; the chest protector support ring (8) is fixed on the connecting seat (27), and the chest protector support ring (8) is ensured to be parallel to the frame base (12) when raised or lowered through the parallelogram hinge structure b; the fixed end pin of the electric push rod a (23) is connected between the two frame uprights (17), and its telescopic end is hinged to the chest protector parallel link (7); the handrail (3) is suspended on the top of the two triangular head connecting plates (5); The pedal moving mechanism comprises two pedal links (9), a frame link a (24), two pedal rails (22) and two knee pads (10); the two pedal rails (22) are respectively arranged on the outer side surfaces of the two trusses (25); each pedal link (9) corresponds to a pedal rail (22); the bottom of the pedal link (9) is slidably connected to the pedal rail (22) through a slider, and a knee pad (10) is arranged on the top of the pedal link (9); the top of the frame link a (24) is hinged between the two frame uprights (17), and the two sides of the bottom of the frame link a (24) are respectively hinged to the two pedal links (9); the foot pedal (11) is mounted on the pedal link (9); The human-computer interaction module comprises a touch screen (1) and control buttons (4), wherein the touch screen (1) is suspended on the armrest (3) via a display screen bracket (2), and the control buttons (4) are arranged around the armrest (3); The controller is electrically connected to the touch screen (1), the control button (4), the electric push rod b (16) and the electric push rod a (23) respectively; When the user changes posture, the electric push rod b (16) drives the frame upright rod (17) to rotate, changes the angle of the frame upright rod (17), drives the frame connecting rod b (20) to synchronously drive the seat cushion parallel connecting rod (21) to rotate, so that the vehicle seat cushion (15) always remains parallel to the plane of the frame base (12) when it is raised or lowered; at the same time, when the frame upright rod (17) rotates, the frame connecting rod a (24) is linked through the pedal connecting rod (9), so that the pedal connecting rod (9) moves horizontally on the foot pedal slide rail (22), driving the foot pedal (11) to move smoothly; the chest guard parallel connecting rod (7) is driven to rotate through the electric push rod a (23), raising or lowering the chest guard support ring (8), and assisting the human body to stand up or sit down; the user realizes the function of switching between sitting and standing postures.

3. The mobile scooter capable of switching between sitting and standing positions according to claim 2, characterized in that: The chest support ring (8) is an arc-shaped splint structure, and a pressure sensor is provided on the inner side thereof, and the pressure sensor is electrically connected to the controller; the chest parallel connecting rod (7) is integrated with a distance sensor, and the distance sensor is electrically connected to the controller; a strain gauge sensor is embedded in the bottom of the foot pedal (11), and the strain gauge sensor is electrically connected to the controller; the controller collects pressure distribution data of the user's chest, back, knee joint and sole in real time through the sensor, establishes a mapping model between training data and rehabilitation score, performs motor function assessment through the cloud server, and generates a multi-dimensional rehabilitation report including joint range of motion, muscle recovery coefficient, and balance ability indicators.

4. The mobile scooter capable of switching between sitting and standing positions according to claim 2, characterized in that: The electric push rod b (16) and the electric push rod a (23) are both driven by motors; the motors are electrically connected to a controller.

5. The mobile scooter capable of switching between sitting and standing positions according to claim 3, characterized in that: The arc-shaped chest protector support ring (8) is equipped with an adjustable tightening belt; the chest protector parallel connecting rod (7) adopts a sleeve-type design; The surface of the foot pedal (11) is provided with anti-skid patterns and limiting grooves, and is connected to the frame upright (17) via a spring hinge; the pedal connecting rod (9) is a multi-section telescopic sleeve structure; the surface of the knee pad (10) is covered with a silicone buffer layer; the vehicle seat cushion (15) is equipped with a three-way locking mechanism: the height is adjusted along the seat upright, and the angle is precisely adjusted via a base turntable.

6. The mobile scooter capable of switching between sitting and standing positions according to claim 2, characterized in that: The frame base (12) is arranged into a rectangular structure by connecting a channel steel longitudinal beam and a steel pipe cross beam. The rectangular structure is composed of two channel steel longitudinal beams arranged in parallel, and the two channel steel longitudinal beams are connected by three steel pipe cross beams.

7. The mobile scooter capable of switching between sitting and standing positions according to claim 6, characterized in that: The mobile unit is composed of two driving wheels and four universal wheels (13); the two driving wheels are coaxially arranged and vertically installed on both sides of the longitudinal center axis of the frame base (12) and located below the channel steel longitudinal beam; the two driving wheels are respectively installed with hub motors (18), and the driving wheels are driven by the hub motors (18). Each driving wheel is equipped with a shock-absorbing spring (19), and the shock-absorbing spring (19) is designed with a nonlinear stiffness coefficient; a universal wheel (13) is arranged at each end of the longitudinal beam of the frame base (12); a brake device is integrated on the universal wheel (13); and the hub motor (18) is electrically connected to a controller.

8. The mobile scooter capable of switching between sitting and standing positions according to claim 2, characterized in that: The armrest (3) has a built-in vibration feedback module, which prompts the patient to rest through a tactile alarm when an abnormal force pattern is detected; The vibration feedback module is electrically connected to the controller.

9. The mobile scooter capable of switching between sitting and standing positions according to claim 2, characterized in that: The display screen (1) is preset with a standard rehabilitation program for hemiplegic gait reconstruction and muscle strength training and a virtual emergency stop button, and supports touch-and-drag parameter adjustment; the control button (4) includes an emergency stop switch, a mode switching button, and a resistance adjustment knob, forming a dual operation channel with the touch interface of the display screen (1).

10. The mobile scooter capable of switching between sitting and standing positions according to claim 1, characterized in that: The controller is equipped with a programmable controller and a sensor interface, and is equipped with an intelligent control system; the intelligent control system has three training modes: gait training mode, assisted standing mode, and vehicle walking mode.

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