Wheelchair walking aid

Abstract

The invention provides a wheelchair walking aid, and relates to the technical field of rehabilitation equipment, the wheelchair walking aid comprises a folding support device, an exoskeleton device, a front roller assembly and a first driving mechanism; the folding supporting device has a riding state for bearing the buttocks of a user and a training state for cancelling bearing of the buttocks of the user, and the folding supporting device comprises rear rollers supported on the ground in the riding state and the training state; the exoskeleton device is connected with the folding supporting device and provided with a pedal, the front roller assembly is located on the outer side of the pedal and connected with the exoskeleton device through a first driving mechanism, and the first driving mechanism is configured to drive the front roller assembly to move and enable one of the front roller assembly and the pedal to make contact with the ground. According to the wheelchair walking aid, the load of the exoskeleton device in the training state can be reduced, meanwhile, it can be guaranteed that the gravity center of a user is in the wheelchair walking aid when the user tends to roll in the training process, and roll is avoided.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to a wheelchair assistive device. Background Technology

[0002] As society ages rapidly and the elderly population continues to grow, widespread decline in physical function and reduced or even complete loss of mobility are becoming increasingly common. Simultaneously, due to changes in modern lifestyles and accelerated urbanization, the incidence of diseases such as stroke and joint replacement is rapidly increasing, with the patient population becoming younger. Furthermore, the number of cases of limb disability caused by various accidents is also rising, leading to an explosive growth in demand for postoperative rehabilitation treatment.

[0003] Driven by this demand, various rehabilitation assistive devices have emerged on the market, among which electric wheelchair exoskeleton robots have seen rapid development in recent years. These robots typically integrate two major functional modules: rehabilitation training and mobility assistance, providing step training and wheelchair mobility services. However, in current electric wheelchair exoskeleton robots, during training, contact the ground only through the footplates within the exoskeleton device. The exoskeleton device must bear the weight of the remaining structures, resulting in a heavy load. Furthermore, when the user exhibits a tendency to tilt during training, the electric wheelchair exoskeleton robot cannot respond promptly, making it prone to tipping over. Summary of the Invention

[0004] The purpose of this invention is to provide a wheelchair assistive device that can reduce the load on the exoskeleton device during training, while ensuring that the user's center of gravity remains inside the wheelchair assistive device when the user has a tendency to tilt during training, thus avoiding tilting.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a wheelchair assistive device, including a folding support device, an exoskeleton device, a front roller assembly, and a first drive mechanism; The folding support device has a mobility mode for supporting the user's hips and a training mode for removing support from the user's hips. The folding support device includes a rear roller that supports the ground in both the mobility mode and the training mode. The exoskeleton device is connected to the folding support device and has a pedal. The front roller assembly is located outside the pedal and is connected to the exoskeleton device through the first drive mechanism. The first drive mechanism is configured to drive the front roller assembly to move and make one of the front roller assembly and the pedal contact the ground.

[0006] In an optional embodiment, the folding support device includes a base support assembly, a seat body, a support rod assembly, and a second drive mechanism. The base support assembly includes the rear rollers. The seat body is rotatably connected to the base support assembly via the support rod assembly. The second drive mechanism is rotatably connected between the base support assembly and the seat body. The second drive mechanism is configured to drive the seat body to rotate relative to the support rod assembly, so that the support device switches between the transportation state and the training state.

[0007] In an optional embodiment, the second drive mechanism includes a first telescopic structure and a second telescopic structure, both ends of which are respectively hinged to the bottom support assembly and the stool body. The first telescopic structure and the second telescopic structure are in the same plane in terms of their telescopic directions, and the first telescopic structure is located in front of the second telescopic structure along the driving direction.

[0008] In an optional embodiment, the bottom support assembly includes a first mounting rod and a second mounting rod, the first mounting rod being located in front of the second mounting rod along the driving direction, the support rod group and the first telescopic structure being hinged to the first mounting rod, and the second telescopic structure being hinged to the second mounting rod.

[0009] In an optional embodiment, the hinge points of the support rod assembly, the first telescopic structure, and the second telescopic structure with the seat body are distributed sequentially from front to back along the travel direction.

[0010] In an optional embodiment, the support rod assembly includes a support rod, which includes a base rod, an elastic component, and a telescopic rod. One end of the base rod is rotatably connected to the base support assembly, the other end of the base rod is slidably engaged with one end of the telescopic rod along its own extension direction, and the other end of the telescopic rod is rotatably connected to the stool body; The elastic component is disposed between the base rod and the telescopic rod, and the elastic component is configured to apply an elastic force to the telescopic rod to prevent the telescopic rod from penetrating the base rod when the folding support device is in the training state.

[0011] In an optional embodiment, the first drive mechanism includes a first driver and a transmission assembly. The first driver is mounted on the exoskeleton device, and the transmission assembly is connected between the first driver, the exoskeleton device, and the front roller assembly. The first driver is configured to drive the front roller assembly to move in a horizontal and vertical direction via the transmission assembly, wherein the horizontal direction is perpendicular to the direction of travel.

[0012] In an optional embodiment, the first driver has a power output end that moves in a vertical direction, and the transmission assembly includes a transition structure and a swing arm assembly. The two ends of the transition structure are rotatably connected to the power output end of the first driver and the front roller assembly, respectively, and the two ends of the swing arm assembly are rotatably connected to the exoskeleton device and the front roller assembly, respectively.

[0013] In an optional embodiment, the exoskeleton device includes a hip joint assembly, a knee joint assembly, and an ankle joint assembly. The hip joint assembly is connected to the folding support device, and both ends of the knee joint assembly are connected to the hip joint assembly and the ankle joint assembly, respectively. The ankle joint assembly includes the pedal.

[0014] In an optional embodiment, the folding support device is provided with a pose sensor configured to detect the user's pose information; The wheelchair assist device includes a central control unit, which is configured to control the folding support device and the first drive mechanism to operate according to the posture information.

[0015] The wheelchair assistive device provided by this invention can produce the following beneficial effects: When the folding support device is in mobility mode, the rear and front roller assemblies support the ground, and the folding support device supports the user's hips, allowing the wheelchair walker to be used as a wheelchair. When the folding support device is in training mode, the rear rollers support the ground, the folding support device no longer supports the user's hips, and the user's feet can step on the pedals. The pedals are in contact with the ground, and the exoskeleton device drives the pedals to simulate walking movements for rehabilitation training. When the user tends to tilt to one side, the first drive mechanism drives the front roller assembly on the outside of the pedals to move and make the front roller assembly replace the pedals in contact with the ground, correcting the user's center of gravity and ensuring that the user's center of gravity is inside the wheelchair walker, thus preventing tilting.

[0016] Compared to existing technologies, the folding support device in the wheelchair assistive device provided by this invention can still provide support for the wheelchair assistive device during training, without requiring the exoskeleton device to bear the weight of all structures, thus reducing the load on the exoskeleton device. At the same time, when the user has a tendency to tilt during training, the first drive mechanism and the front roller assembly can ensure that the user's center of gravity is inside the wheelchair assistive device, thus avoiding tilting. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A three-dimensional structural diagram of the wheelchair assistive device provided in the embodiment of the present invention in the mobility state; Figure 2 A side view of the wheelchair assistive device provided in an embodiment of the present invention in a mobility state; Figure 3 A side view of the wheelchair assistive device provided in an embodiment of the present invention in a training state; Figure 4 A three-dimensional structural diagram of the wheelchair assistive device provided in the embodiment of the present invention in the training state. Figure 1 ; Figure 5 A cross-sectional view of the support rod assembly provided in an embodiment of the present invention; Figure 6 A three-dimensional structural diagram of the wheelchair assistive device provided in the embodiment of the present invention in the training state. Figure 2 ; Figure 7 for Figure 6 A magnified view of part A.

[0019] Icons: 1-Folding support device; 11-Bottom support assembly; 111-Rear roller; 112-First mounting rod; 113-Second mounting rod; 114-Base plate; 115-Battery; 116-Central control unit; 12-Seat body; 121-First crossbar; 122-Second crossbar; 123-Third crossbar; 13-Support rod assembly; 131-Bottom rod; 1311-First limiting protrusion; 132-Elastic component; 1321-First elastic element; 1322-Second elastic element; 133-Telescopic rod; 1331-Second limiting protrusion; 1332-Third limiting protrusion; 14-Second... Drive mechanism; 141-First telescopic structure; 142-Second telescopic structure; 15-First connecting rod; 16-Backrest; 17-Armrest; 171-Remote control handle; 172-LiDAR; 173-Position sensor; 18-Second connecting rod; 2-Exoskeleton device; 21-Hip joint assembly; 22-Knee joint assembly; 23-Ankle joint assembly; 231-Pedal; 3-Front roller assembly; 31-Bracket; 4-First drive mechanism; 41-First driver; 42-Transmission assembly; 421-Adapter structure; 422-Swing arm assembly; 4221-First swing arm; 4222-Second swing arm. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] A first aspect of the present invention provides a wheelchair assistive device, such as... Figure 1 and Figure 2 As shown, it includes a folding support device 1, an exoskeleton device 2, a front roller assembly 3, and a first drive mechanism 4; The folding support device 1 has a walking state for supporting the user's hips and a training state for canceling the support of the user's hips. The folding support device 1 includes a rear roller 111 that supports the ground in both the walking state and the training state. The exoskeleton device 2 is connected to the folding support device 1 and has a pedal 231. The front roller assembly 3 is located outside the pedal 231 and is connected to the exoskeleton device 2 through the first drive mechanism 4. The first drive mechanism 4 is configured to drive the front roller assembly 3 to move and make one of the front roller assembly 3 and the pedal 231 contact the ground.

[0025] like Figure 2 As shown, when the folding support device 1 is in the mobility mode, the rear roller 111 and the front roller assembly 3 are supported on the ground, the folding support device 1 supports the user's hips, and the wheelchair assistive device can be used as a wheelchair; as Figure 3 As shown, when the folding support device 1 is in training mode, the rear roller 111 supports the ground, the folding support device 1 cancels the support on the user's buttocks, the user's feet can step on the pedal 231, the pedal 231 contacts the ground, and the exoskeleton device 2 moves to drive the pedal 231 to simulate walking movements for rehabilitation training.

[0026] During training, when the user tends to lean to the left or right, the first drive mechanism 4 drives the front roller assembly 3 on the outside of the pedal 231 to move and make the front roller assembly 3 replace the pedal 231 to contact the ground, thus correcting the user's center of gravity and ensuring that the user's center of gravity is inside the wheelchair walker, avoiding lateral tilting.

[0027] Therefore, in the wheelchair assistive device provided in the above embodiments, the rear rollers 111 can still provide support for the wheelchair assistive device during training, eliminating the need for the exoskeleton device 2 to bear the weight of the entire structure and reducing the load on the exoskeleton device 2. Simultaneously, when the user tends to tilt during training, the first drive mechanism 4 and the front roller assembly 3 ensure that the user's center of gravity remains inside the wheelchair assistive device, preventing tilting and ensuring personal safety.

[0028] The structure of the folding support device 1 is described in detail below: It should be noted that any structure capable of switching between the aforementioned transportation state and the aforementioned training state can be the folding support device 1 mentioned in the above embodiments. For example, the folding support device 1 includes a support body and a seat cushion. The seat cushion is connected to the support body through one or more hinge structures. The hinge structures can rotate around an axis to realize the unfolding and folding of the seat cushion. It may also include a rotary motor or an electric push rod to drive the unfolding and folding of the seat cushion.

[0029] For example Figure 4 As shown, the folding support device 1 includes a bottom support assembly 11, a seat body 12, a support rod assembly 13, and a second drive mechanism 14.

[0030] The bottom support assembly 11 serves as the lower structure of the entire folding support device 1. It includes a base plate 114 and rear rollers 111 mounted on the base plate 114. The rear rollers 111 are located at the rear of the wheelchair assistive device and are used to support the ground in both the mobility and training states, ensuring that the wheelchair assistive device maintains stable support during the switching process and does not rely on the exoskeleton device 2 to bear the entire weight.

[0031] like Figure 4As shown, the bottom support assembly 11 also includes a first mounting rod 112 and a second mounting rod 113 mounted on the bottom plate 114, with the first mounting rod 112 located in front of the second mounting rod 113 along the driving direction.

[0032] The first mounting rod 112 and the second mounting rod 113 can provide mounting positions for the support rod assembly 13 and the second drive mechanism 14, so that the support rod assembly 13 and the second drive mechanism 14 can be connected to the bottom support assembly 11 respectively.

[0033] A battery 115 can also be installed on the base plate 114, which can provide power to the exoskeleton device 2, the first drive mechanism 4, the second drive mechanism 14 and other structures.

[0034] In alternative implementations, such as Figure 2 As shown, the front end of the seat body 12 along the direction of travel of the wheelchair assistive device is rotatably connected to the bottom support assembly 11 via the support rod assembly 13. Specifically, as... Figure 4 As shown, one end of the support rod assembly 13 is hinged to the first mounting rod 112, and the other end is hinged to the first crossbar 121 on the bottom surface of the stool body 12, thereby allowing the stool body 12 to rotate within a certain range relative to the bottom support assembly 11. This structural design allows the stool body 12 to switch from a horizontal bearing posture to a vertical training posture depending on the usage state.

[0035] In addition, the support rod assembly 13 can increase the overall rigidity of the wheelchair assistive device. Especially during training, when the user tends to tilt to one side, the support rod assembly 13 can absorb lateral forces and prevent damage to the second drive mechanism 14.

[0036] In alternative implementations, such as Figure 5 As shown, the support rod assembly 13 includes support rods, which can be configured as one or more. When multiple support rods are configured, they are preferably distributed on both sides of the second drive mechanism 14, thereby absorbing lateral forces from both sides of the second drive mechanism 14.

[0037] Specifically, such as Figure 5 As shown, the support rod may include a base rod 131, an elastic component 132, and a telescopic rod 133; one end of the base rod 131 is rotatably connected to the first mounting rod 112, and the other end of the base rod 131 is sleeved on the outside of the telescopic rod 133 and slides in cooperation with one end of the telescopic rod 133 along its own extension direction; the other end of the telescopic rod 133 is rotatably connected to the first crossbar 121; the elastic component 132 is disposed between the base rod 131 and the telescopic rod 133, and the elastic component 132 is configured to apply an elastic force to the telescopic rod 133 to prevent the telescopic rod 133 from penetrating the base rod 131 when the folding support device 1 is in the training state.

[0038] When the wheelchair walker is in training mode, the user steps on the pedal 231 to perform gait simulation training, which may generate a certain lateral force. At this time, the elastic resistance provided by the elastic component 132 can buffer and support the telescopic rod 133, absorb part of the lateral force, and prevent the second drive mechanism 14 from bearing all the lateral force, thereby effectively protecting the second drive mechanism 14 from damage by the lateral force, and improving the stability and safety of the user during the training process.

[0039] In alternative implementations, such as Figure 5 As shown, the elastic component 132 includes a first elastic element 1321 and a second elastic element 1322. The first elastic element 1321 and the second elastic element 1322 are both sleeved on the outside of the telescopic rod 133 and arranged sequentially along the axial direction of the telescopic rod 133.

[0040] The inner wall of the end of the base rod 131 away from the bottom support assembly 11 is provided with a first limiting protrusion 1311. The end of the telescopic rod 133 extending into the base rod 131 is provided with a second limiting protrusion 1331. The telescopic rod 133 is also provided with a third limiting protrusion 1332, which is located between the first limiting protrusion 1311 and the second limiting protrusion 1331 along the axial direction of the telescopic rod 133. The first elastic element 1321 is located between the first limiting protrusion 1311 and the third limiting protrusion 1332 along the axial direction of the telescopic rod 133, and the second elastic element 1322 is located between the third limiting protrusion 1332 and the second limiting protrusion 1331 along the axial direction of the telescopic rod 133.

[0041] In use, the tension or pressure on the telescopic rod 133 is applied to the first elastic element 1321 or the second elastic element 1322 through the third limiting protrusion 1332, thereby absorbing lateral forces. Figure 4 Taking an example, when the wheelchair walker tends to tilt to the right, the right telescopic rod 133 presses down on the second elastic element 1322 inside the right base rod 131 via the third limiting protrusion 1332, while the left telescopic rod 133 presses up on the first elastic element 1321 inside the left base rod 131 via the third limiting protrusion 1332, thereby absorbing lateral force, and vice versa. When the wheelchair walker does not tend to tilt to the left or right, both the first elastic element 1321 and the second elastic element 1322 inside the two support rods can be in a naturally extended state.

[0042] The above-described embodiment, by configuring the elastic component 132 to include a first elastic element 1321 and a second elastic element 1322, can fully absorb the lateral force generated by tilting to the left or right, improve the overall stability of the wheelchair assistive device and the user's comfort, and effectively extend the service life of the second drive mechanism 14.

[0043] The first elastic element 1321 and the second elastic element 1322 may be, but are not limited to, helical springs.

[0044] In alternative implementations, such as Figure 4 As shown, the second drive mechanism 14 is disposed between the bottom support assembly 11 and the seat body 12, and forms a rotatable connection with both. The output end of the second drive mechanism 14 is rotatably connected to the seat body 12, and its fixed end is rotatably connected to the bottom support assembly 11. By driving the output end to move, the seat body 12 is driven to rotate around the hinge point of the support rod assembly 13.

[0045] When the wheelchair assistive device is in the mobility mode, the second drive mechanism 14 can control the seat body 12 to maintain a basically horizontal state. The seat body 12 can support the user's buttocks. At this time, the rear roller 111 and the front roller assembly 3 jointly support the ground, and the wheelchair assistive device can be used as a mobility tool.

[0046] When the wheelchair walker is switched to training mode, such as Figure 2 and Figure 3 As shown, the second drive mechanism 14 is activated, causing the seat body 12 to rotate upwards, moving it away from the position supporting the user's buttocks and gradually setting it vertically. The support rod assembly 13 rotates counterclockwise relative to the bottom support assembly 11, positioning the seat body 12 in the space above and in front of the bottom support assembly 11, thus eliminating the support function for the user's buttocks. The user can then place their feet on the pedal 231 of the exoskeleton device 2 for rehabilitation training. At this time, the rear rollers 111 remain in contact with the ground, providing auxiliary support and reducing the load pressure on the exoskeleton device 2.

[0047] In alternative implementations, such as Figure 4 As shown, the second drive mechanism 14 includes a first telescopic structure 141 and a second telescopic structure 142; one end of the first telescopic structure 141 is hinged to the first mounting rod 112, and the other end is hinged to the second crossbar 122 on the bottom surface of the stool body 12; one end of the second telescopic structure 142 is hinged to the second mounting rod 113, and the other end is hinged to the third crossbar 123 on the bottom surface of the stool body 12.

[0048] Specifically, the extension and retraction directions of the first telescopic structure 141 and the second telescopic structure 142 are in the same plane, ensuring that the torques applied to the seat body 12 by the two structures during operation are coordinated, thereby improving the smoothness and reliability of the state switching process. In addition, the first telescopic structure 141 is located in front of the second telescopic structure 142 along the driving direction, so that the two telescopic structures are reasonably distributed in space, avoiding structural interference, and also helping to improve the overall driving efficiency.

[0049] The first telescopic structure 141 and the second telescopic structure 142 can be any technology suitable for telescopic drive, such as a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. When it is necessary to switch states, the first telescopic structure 141 and the second telescopic structure 142 operate synchronously or sequentially, driving the seat body 12 to rotate relative to the support rod assembly 13, thereby switching the folding support device 1 from the transportation state to the training state, or from the training state back to the transportation state.

[0050] For example, when switching from a commuter mode to a training mode, the control system extends the first telescopic structure 141 and the second telescopic structure 142. Since the first telescopic structure 141 is located in front of the second telescopic structure 142 along the travel direction, the extension distance of the first telescopic structure 141 is less than the extension distance of the second telescopic structure 142. This pushes the seat body 12 upward and tilts forward, relieving it from supporting the user's buttocks and creating space for the user to walk under the seat body 12. Conversely, when switching back to the commuter mode, the first telescopic structure 141 retracts and the second telescopic structure 142 retracts, causing the seat body 12 to move downward and restore its supporting function.

[0051] In the mode of transportation, the first crossbar 121, the second crossbar 122, and the third crossbar 123 are arranged sequentially from front to back along the direction of travel. That is, the hinge points of the support rod group 13, the first telescopic structure 141, and the second telescopic structure 142 with the seat body 12 are arranged sequentially from front to back along the direction of travel. This allows the first telescopic structure 141 and the second telescopic structure 142 to extend simultaneously when the folding support device 1 switches from the mode of transportation to the mode of training, flipping the seat body 12 upward and pushing it fully to the front of the bottom support assembly 11. This provides sufficient space behind the pedal 231, thus avoiding the space required for stepping and ensuring that the user can take the correct gait without being constrained by space.

[0052] In the folding support device 1 provided by the above embodiments, the folding support device 1 achieves flexible switching between mobility and training states through the coordinated cooperation of the bottom support component 11, the seat body 12, the support rod group 13 and the second drive mechanism 14, which improves the overall stability and safety of the wheelchair assistive device while meeting the diverse needs of users.

[0053] In alternative implementations, such as Figure 4As shown, the folding support device 1 also includes a first connecting rod 15 and a backrest 16. The backrest 16 is connected to the seat body 12 via the first connecting rod 15. The angle of the first connecting rod 15 relative to the seat body 12 is adjustable, either manually or electrically. When electrically adjusted, a rotating motor can be provided between the first connecting rod 15 and the seat body 12 to adjust the angle of the first connecting rod 15. This allows the backrest 16 to provide space for the user to stand when the folding support device switches from a commuting mode to a training mode.

[0054] Based on the above implementation, an armrest 17 can be connected to the backrest 16, and a remote control handle 171 can be provided on the armrest 17. In the mobility mode, the hub motor of the rear roller 111 provides the driving force, and the operation of the wheelchair assistive device is controlled by the remote control handle 171. A lidar 172 can be provided on the armrest 17, and autonomous navigation function can be realized through map navigation of a mobile APP and lidar 172.

[0055] The remote control 171 can be equipped with a built-in remote call module, allowing you to call your emergency contact immediately in case of an emergency.

[0056] like Figure 3 As shown, a pose sensor 173 may be provided on the armrest 17, and the pose sensor 173 is configured to detect the user's pose information. Figure 4 As shown, the wheelchair assistive device includes a central control unit 116 mounted on a base plate 114. The central control unit 116 is configured to control the operation of the folding support device 1 and the first drive mechanism 4 according to the posture information.

[0057] For example, when traversing a sloping surface, the central control unit 116 automatically adjusts the angle of the seat body 12 based on feedback from the posture sensor, ensuring the seat surface remains horizontal and preventing backward tilting. Similarly, if the posture sensor 173 detects a tendency for the user to lean forward, the central control unit 116 controls the first telescopic structure 141 and the second telescopic structure 142 to retract, lowering the user's center of gravity and ensuring it remains within the device, preventing forward tilting. Furthermore, if the posture sensor 173 detects a tendency for the user to lean sideways, the first drive mechanism 4 drives the front roller assembly 3 to contact the ground, ensuring the center of gravity remains within the device and preventing side tilting. This closed-loop process ensures personal safety during training.

[0058] The aforementioned central control unit may include a microcontroller system, a PLC controller, or an embedded microprocessor. The central control unit may integrate a GPS module, allowing the user's family members to track the location in real time.

[0059] The structure of the first drive mechanism 4 is described in detail below: In an optional embodiment, the first drive mechanism 4 includes a first driver 41 and a transmission assembly 42. The first driver 41 is mounted on the exoskeleton device 2, and the transmission assembly 42 is connected between the first driver 41, the exoskeleton device 2 and the front roller assembly 3. The first driver 41 is configured to drive the front roller assembly 3 to move in the horizontal and vertical directions via the transmission assembly 42.

[0060] The horizontal direction refers to the transverse direction perpendicular to the forward direction of the wheelchair walker, i.e., the left-right direction; the vertical direction is the up-down direction. Through the linkage of the transmission component 42, the front roller assembly 3 can move outward or inward in the horizontal direction, and can be lifted up or lowered down in the vertical direction.

[0061] When the wheelchair assistive device is in mobility mode, the first drive 41 drives the front roller assembly 3 to descend to contact the ground via the transmission component 42, and together with the rear roller 111, supports the wheelchair assistive device. When the wheelchair assistive device is switched to training mode and the user tends to tilt to the left or right, the first drive 41 drives the transmission component 42 to move the front roller assembly 3 outward in the horizontal direction and simultaneously move it downward in the vertical direction, so that the front roller assembly 3 contacts the ground and replaces the pedal 231 to bear part or all of the weight, thereby helping the user to return to the center of gravity and prevent tilting.

[0062] The aforementioned transmission components 42 include, but are not limited to, linkage mechanisms, gear transmission mechanisms, lead screw and nut transmission mechanisms, slide rail guide mechanisms, or combinations thereof.

[0063] In alternative implementations, such as Figure 6 and Figure 7 As shown, the first actuator 41 has a power output end that moves vertically. This power output end can be an actuator capable of linear reciprocating motion in the vertical direction, such as an electric push rod, a hydraulic cylinder, or the output shaft of a linear motor. The transmission assembly 42 includes a transition structure 421 and a swing arm assembly 422. The two ends of the transition structure 421 are rotatably connected to the power output end of the first actuator 41 and the front roller assembly 3, respectively. The two ends of the swing arm assembly 422 are rotatably connected to the exoskeleton device 2 and the front roller assembly 3, respectively.

[0064] When the first actuator 41 is activated, its power output end moves downward in the vertical direction, driving the transition structure 421 to move downward, thereby pulling the front roller assembly 3 downward and contacting the ground. Simultaneously, due to the presence of the swing arm assembly 422, the front roller assembly 3 can be displaced horizontally during descent, ensuring accurate contact with the ground and completing the switching support function with the pedal 231. When the first actuator 41 reverses its movement, the front roller assembly 3 is lifted, and the pedal 231 returns to its contact state with the ground.

[0065] The aforementioned first drive mechanism 4 can achieve multi-degree-of-freedom motion control of the front roller assembly 3, ensuring that it can flexibly switch between different working states, thus ensuring the overall stability of the wheelchair assistive device and improving the safety and comfort of the user during rehabilitation training.

[0066] The adapter structure 421 may include a shock absorber, the two ends of which are hinged to the power output end of the first driver 41 and the front roller assembly 3, respectively.

[0067] The shock absorber can be a hydraulic shock absorber or an elastic damping shock absorber, which has a certain axial compression and tension capacity and can automatically adjust its displacement according to changes in external load, thereby absorbing vibration and impact forces. One end of the shock absorber is rotatably connected to the power output end of the first driver 41 via a first hinge shaft, and the other end is rotatably connected to the support structure of the front roller assembly 3 via a second hinge shaft. The hinged connection allows the shock absorber to rotate relative to the connecting end to adapt to the attitude changes of the front roller assembly 3 during movement.

[0068] Among them, such as Figure 7 As shown, the rocker arm assembly 422 includes a first rocker arm 4221 and a second rocker arm 4222. The first rocker arm 4221 and the second rocker arm 4222 are of equal length and arranged in parallel. Both ends of the first rocker arm 4221 and the second rocker arm 4222 are respectively hinged to the bracket 31 in the front roller assembly 3 and the exoskeleton device 2, so that the exoskeleton device 2, the first rocker arm 4221, the second rocker arm 4222 and the front roller assembly 3 form a four-bar linkage.

[0069] Since the part of the exoskeleton device 2 connected to the first drive mechanism is always vertical during training, the motion characteristics of the above-mentioned four-bar linkage enable the front roller assembly 3 to move in both vertical and horizontal directions under the drive of the first drive mechanism 4, while keeping the support 31 vertical and preventing it from deflecting relative to the exoskeleton device 2.

[0070] The front roller assembly 3 has an omnidirectional wheel mounted on its bracket 31. The outer diameter of the omnidirectional wheel is smaller than that of the rear roller 111, which ensures that the wheelchair has a small turning radius and can pass through narrow spaces.

[0071] The structure of exoskeleton device 2 is described in detail below: In an optional embodiment, the exoskeleton device 2 includes a hip joint assembly 21, a knee joint assembly 22, and an ankle joint assembly 23. The hip joint assembly 21 is connected to the folding support device 1. The two ends of the knee joint assembly 22 are connected to the hip joint assembly 21 and the ankle joint assembly 23, respectively. The ankle joint assembly 23 includes a footplate 231.

[0072] Among them, such as Figure 6As shown, the folding support device 1 includes a second connecting rod 18 connected to the backrest 16. The hip joint assembly 21 may include a third drive mechanism and a thigh exoskeleton. The third drive mechanism is connected between the second connecting rod 18 and the thigh exoskeleton. The third drive mechanism includes a drive motor and a reducer. The drive motor is connected to the thigh exoskeleton through the reducer. The output shaft of the drive motor rotates, causing the thigh exoskeleton to rotate relative to the second connecting rod 18, thereby simulating the movement of the human hip joint.

[0073] Similarly, the knee joint assembly 22 may include a fourth drive mechanism and a lower leg exoskeleton. The fourth drive mechanism is connected between the thigh exoskeleton and the lower leg exoskeleton. The fourth drive mechanism includes a drive motor and a reducer. The drive motor is connected to the lower leg exoskeleton through the reducer. The output shaft of the drive motor rotates, causing the lower leg exoskeleton to rotate relative to the thigh exoskeleton, thereby simulating the movement of the human knee joint.

[0074] Similarly, the ankle joint assembly 23 may include a fifth drive mechanism, which is connected between the lower leg exoskeleton and the pedal. The fifth drive mechanism includes a drive motor and a reducer. The drive motor is connected to the pedal 231 through the reducer. The output shaft of the drive motor rotates, causing the pedal 231 to swing back and forth relative to the lower leg exoskeleton, simulating the landing and lifting movements of the foot.

[0075] The first drive mechanism 4 can be installed on the lower leg exoskeleton.

[0076] When the wheelchair walker is in training mode, the user's feet are on the footrest 231. The hip joint assembly 21, knee joint assembly 22, and ankle joint assembly 23 of the exoskeleton device 2 work together to simulate the lower limb movement trajectory during normal walking, thereby helping the user complete gait training. In mobility mode, the front roller assembly 3 and the rear roller 111 jointly support the wheelchair walker, the footrest 231 is off the ground, and the exoskeleton device 2 is in a non-operating state, serving only as structural support.

[0077] In summary, the exoskeleton device 2, through the cooperation of the hip joint component 21, the knee joint component 22 and the ankle joint component 23, can realize the independent drive and coordinated movement of each joint of the lower limb, thereby providing users with a good rehabilitation training experience and meeting the flexible switching needs of wheelchair assistive devices between the two modes of mobility and training.

[0078] The exoskeleton device 2 described above can have multiple training modes. In the active and passive stepping training mode, the hub motor of the rear roller 111 can move to counteract the rolling resistance generated by the bottom support component 11, so that the user does not feel the resistance generated by the wheelchair assistive device when stepping.

[0079] In summary, the aforementioned wheelchair assistive devices ensure that users can take the correct gait, are not constrained by space, have a simple structure that greatly simplifies manufacturing, and are lightweight, easy to operate, and feature-rich.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheelchair assistive device, characterized in that, It includes a folding support device (1), an exoskeleton device (2), a front roller assembly (3), and a first drive mechanism (4). The folding support device (1) has a mobility state for supporting the user's hips and a training state for canceling the support of the user's hips. The folding support device (1) includes a rear roller (111) that supports the ground in the mobility state and the training state. The exoskeleton device (2) is connected to the folding support device (1) and has a pedal (231). The front roller assembly (3) is located outside the pedal (231) and is connected to the exoskeleton device (2) through the first drive mechanism (4). The first drive mechanism (4) is configured to drive the front roller assembly (3) to move and make one of the front roller assembly (3) and the pedal (231) contact the ground.

2. The wheelchair assistive device according to claim 1, characterized in that, The folding support device (1) includes a bottom support assembly (11), a seat body (12), a support rod assembly (13), and a second drive mechanism (14). The bottom support assembly (11) includes the rear roller (111). The seat body (12) is rotatably connected to the bottom support assembly (11) through the support rod assembly (13). The second drive mechanism (14) is rotatably connected between the bottom support assembly (11) and the seat body (12). The second drive mechanism (14) is configured to drive the seat body (12) to rotate relative to the support rod assembly (13) so that the support device switches between the transportation state and the training state.

3. The wheelchair assistive device according to claim 2, characterized in that, The second drive mechanism (14) includes a first telescopic structure (141) and a second telescopic structure (142), and both ends of the first telescopic structure (141) and the second telescopic structure (142) are respectively hinged to the bottom support assembly (11) and the stool body (12); The telescopic directions of the first telescopic structure (141) and the second telescopic structure (142) are in the same plane, and the first telescopic structure (141) is located in front of the second telescopic structure (142) along the driving direction.

4. The wheelchair assistive device according to claim 3, characterized in that, The bottom support assembly (11) includes a first mounting rod (112) and a second mounting rod (113). The first mounting rod (112) is located in front of the second mounting rod (113) along the driving direction. The support rod group (13) and the first telescopic structure (141) are both hinged to the first mounting rod (112), and the second telescopic structure (142) is hinged to the second mounting rod (113).

5. The wheelchair assistive device according to claim 3, characterized in that, The hinge points of the support rod assembly (13), the first telescopic structure (141), and the second telescopic structure (142) with the seat body (12) are distributed sequentially from front to back along the travel direction.

6. The wheelchair assistive device according to claim 2, characterized in that, The support rod assembly (13) includes a support rod, which includes a base rod (131), an elastic component (132), and a telescopic rod (133). One end of the base rod (131) is rotatably connected to the base support assembly (11), the other end of the base rod (131) is slidably engaged with one end of the telescopic rod (133) along its own extension direction, and the other end of the telescopic rod (133) is rotatably connected to the stool body (12). The elastic component (132) is disposed between the base rod (131) and the telescopic rod (133), and the elastic component (132) is configured to apply an elastic force to the telescopic rod (133) to prevent the telescopic rod (133) from penetrating the base rod (131) when the folding support device (1) is in the training state.

7. The wheelchair assistive device according to claim 1, characterized in that, The first drive mechanism (4) includes a first driver (41) and a transmission assembly (42). The first driver (41) is mounted on the exoskeleton device (2). The transmission assembly (42) is connected between the first driver (41), the exoskeleton device (2), and the front roller assembly (3). The first driver (41) is configured to drive the front roller assembly (3) to move in a horizontal and vertical direction via the transmission assembly (42). The horizontal direction is perpendicular to the direction of travel.

8. The wheelchair assistive device according to claim 7, characterized in that, The first driver (41) has a power output end that moves in a vertical direction. The transmission assembly (42) includes a transition structure (421) and a swing arm assembly (422). The two ends of the transition structure (421) are rotatably connected to the power output end of the first driver (41) and the front roller assembly (3), respectively. The two ends of the swing arm assembly (422) are rotatably connected to the exoskeleton device (2) and the front roller assembly (3), respectively.

9. The wheelchair assistive device according to any one of claims 1-8, characterized in that, The exoskeleton device (2) includes a hip joint assembly (21), a knee joint assembly (22) and an ankle joint assembly (23). The hip joint assembly (21) is connected to the folding support device (1). The two ends of the knee joint assembly (22) are connected to the hip joint assembly (21) and the ankle joint assembly (23) respectively. The ankle joint assembly (23) includes the pedal (231).

10. The wheelchair assistive device according to any one of claims 1-8, characterized in that, The folding support device (1) is equipped with a posture sensor (173), which is configured to detect the user's posture information; The wheelchair assist device includes a central control unit (116) configured to control the folding support device (1) and the first drive mechanism (4) to operate according to the posture information.

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