Leg support assembly and control method thereof

Abstract

The invention relates to the technical field of seat accessories, and discloses a leg support assembly and a control method thereof.The leg support assembly comprises a base body, a leg support body, a pedal and a driving mechanism, and the leg support body is composed of a first supporting structure and a second supporting structure; the pedal plate is arranged on the second supporting structure and is provided with a near end and a free end; a first driving assembly of the driving mechanism comprises a first driving part and a first connecting rod group; the first connecting rod set is composed of a first connecting rod and a second connecting rod, the first connecting rod is connected with the output end of the first driving piece and a first hinge point of the pedal, the second connecting rod is connected with a second hinge point of the second supporting structure and the pedal, and the second hinge point is located between the first hinge point and the free end. When the first driving piece is started, the first connecting rod drives the near end of the pedal to slide, and the second connecting rod synchronously drives the free end of the pedal to ascend or descend. The invention has the advantage that the pedal does not occupy the foot space of a passenger in the unfolding process.

Description

Technical Field

[0001] This invention relates to the field of seat accessories technology, and in particular to a leg rest assembly and its control method. Background Technology

[0002] The comfort of seats in modern transportation such as cars, high-speed trains, and airplanes directly impacts the passenger's travel experience. Traditional seat structures generally lack dynamic support for the passenger's lower legs. Some multi-level leg rest structures that can extend or retract often achieve dynamic support through a one-button full opening or retraction mechanism, but this is difficult to adapt to different leg lengths, and the footrests, when fully open, are usually not aligned with the passenger's foot position. To address this issue, existing technology proposes a six-way leg rest assembly that adjusts the longitudinal length of the leg rest through an extension structure and is equipped with a flip-up footrest for passengers to place their feet. While this design can accommodate different leg lengths to some extent, because the free end of the footrest is located near the proximal end, when extended, this end moves along an arc-shaped trajectory from front to back around the hinge axis. This movement encroaches on the original space for the passenger's feet, forcing the passenger to proactively lift their legs or move their feet to avoid interference with the moving footrest. This kind of avoidance behavior not only does not conform to passengers' natural habits and reduces the convenience of use, but also makes the space feel more cramped in small spaces such as carriages, seriously affecting the overall riding comfort and user experience. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the existing technology, the technical problem to be solved by the present invention is to propose a leg support assembly with a compact structure, multi-degree-of-freedom adjustment function, and foot pedals that do not encroach on the passenger's foot space during deployment, and a control method thereof.

[0004] The technical solution adopted by the present invention to solve its technical problem is to provide a leg support assembly, comprising:

[0005] Matrix;

[0006] The leg support body includes a first support structure and a second support structure. The first support structure is movably disposed on the base, and the second support structure is slidably disposed on the first support structure.

[0007] A foot pedal, which is movably disposed on the second support structure, and has a proximal end near the base and a free end away from the base;

[0008] The driving mechanism includes a first driving assembly, which includes a first driving member and a first linkage group. The first driving member is mounted on the second support structure and outputs linear motion. The first linkage group includes a first link with one end connected to the output end of the first driving member and the other end hinged to a first hinge point of the foot pedal, and a second link with one end hinged to the second support structure and the other end hinged to a second hinge point of the foot pedal. The second hinge point is located between the first hinge point and the free end of the foot pedal. When the first driving member is activated, the first link drives the proximal end of the foot pedal to slide along the length direction of the second support structure, and the second link simultaneously drives the free end of the foot pedal to rise or fall in a direction perpendicular to the second support structure.

[0009] In the aforementioned leg support assembly, the length of the first connecting rod is less than the length of the second connecting rod. The upper surface of the second support structure is provided with a first placement surface arranged along its own length direction. The first placement surface is arranged in a stepped shape and has a recessed portion. The foot pedal is movably located in the recessed portion and has a second placement surface arranged along its own length direction. The foot pedal has a retracted state and a used state. When the foot pedal is in the retracted state, the second placement surface is parallel to the first placement surface and flush with the top of the recessed portion. When the foot pedal is in the used state, the second placement surface and the first placement surface form an angle greater than or equal to 90°.

[0010] In the aforementioned leg support assembly, the second support structure has a support plate detachably provided on the side opposite to the first placement surface. The first driving component includes a first motor body detachably provided on the support plate and a first screw rotatably provided on the output end of the first motor body. A sliding block is slidably provided on the support plate, and the sliding block has a threaded hole that mates with the first screw. The first connecting rod is connected to the sliding block.

[0011] In the aforementioned leg support assembly, the second link includes a first connecting part and a second connecting part that are perpendicularly connected to each other. The end of the first connecting part away from the second connecting part is hinged to the second hinge point, and the end of the second connecting part away from the first connecting part is hinged to the third hinge point of the second support structure. When the foot pedal moves, the third hinge point remains fixed relative to the second support structure.

[0012] In the above-mentioned leg support assembly, one end of the first connecting portion connected to the second connecting portion extends in a direction perpendicular to the second connecting portion and forms a first limiting end, and the second support structure is provided with a first limiting surface on the side away from the first driving member; when the foot pedal is in the use state, the first limiting end abuts against the first limiting surface.

[0013] And / or the end of the second connecting portion away from the first connecting portion extends in a direction perpendicular to the first connecting portion and forms a second limiting end, and the second support structure is also provided with a second limiting surface perpendicular to the first limiting surface; when the foot pedal is in the use state, the second limiting end abuts against the second limiting surface.

[0014] In the aforementioned leg support assembly, both the first connecting rod and the second connecting rod are provided in two sets. The two sets of the first connecting rods are symmetrically arranged on both sides of the threaded hole axis on the sliding block, and the two sets of the second connecting rods are symmetrically arranged along the width direction of the second support structure.

[0015] In the aforementioned leg support assembly, the drive mechanism further includes a second drive component. The second drive component includes a second drive member and a second linkage group. The second linkage group includes at least three telescopic units that are hinged sequentially. The at least three telescopic units are arranged along the extension direction of the second support structure and form a transmission chain. The telescopic unit at the beginning of the transmission chain is hinged to the first support structure, and the telescopic unit at the end is hinged to the second support structure. A drive hinge point is formed between the telescopic unit at the beginning and its adjacent telescopic units. The second drive member is detachably disposed on the first support structure, and the output end of the second drive member is connected to the drive hinge point to drive the drive hinge point to make linear movement and to cause all the telescopic units in the transmission chain to extend or retract synchronously. The total extension stroke of the second support structure is at least three times the extension stroke of any one of the telescopic units.

[0016] In the aforementioned leg support assembly, the second linkage group includes three telescopic units with identical geometric dimensions. The three telescopic units are a first telescopic unit, a second telescopic unit, and a third telescopic unit that are hinged together in sequence. The first telescopic unit is located at the beginning of the transmission chain and is hinged to the first support structure, while the third telescopic unit is located at the end of the transmission chain and is hinged to the second support structure.

[0017] In the aforementioned leg support assembly, the drive mechanism further includes a third drive component, which includes a third drive member and a third linkage group. The third drive member is detachably mounted on the base. One end of the third linkage group is hinged to the base, and the other end is hinged to the first support structure. The third linkage group is also provided with a connecting rod vertically connected to its middle portion. The output end of the third drive member is connected to the connecting rod and can drive the leg support body to rotate and extend in the direction of approaching or moving away from the base.

[0018] The technical solution adopted by the present invention to solve its technical problem is to also provide a control method for a leg support assembly, comprising the following steps:

[0019] S1, The controller receives and determines the type of control command:

[0020] If the controller receives a control command of one-button start, then proceed to step S2;

[0021] If the controller receives a control command of one-key shutdown, then proceed to step S3;

[0022] If the control command received by the controller is to adjust the length, then proceed to step S4;

[0023] S2, if the control command received by the controller is one-button start, the controller first sends a forward rotation control command to the third drive component. After the first support structure is flipped to the first preset position under the drive of the third linkage group, the controller sends a forward rotation control command to the second drive component. After the second support structure slides to the second preset position under the drive of the second linkage group, the controller sends a forward rotation control command to the first drive component. The proximal end of the foot pedal slides along the length direction of the second support structure to the third preset position under the drive of the first linkage group. At the same time, the free end of the foot pedal is raised to the fourth preset position along the direction perpendicular to the second support structure under the drive of the first linkage group.

[0024] S3, if the controller receives a control command of one-button shutdown, the controller first determines whether the second support structure is in the second preset position; when the second support structure is in the second preset position, the controller first sends a reverse control command to the first drive member. After the proximal end of the foot pedal slides along the length direction of the second support structure to the fifth preset position under the drive of the first linkage group, and at the same time the free end of the foot pedal descends along the direction perpendicular to the second support structure to the sixth preset position under the drive of the first linkage group, the controller sends a reverse control command to the second drive member. After the second support structure slides down to the seventh preset position under the drive of the second linkage group, the controller sends a reverse control command to the third drive member, and the first support structure flips to the eighth preset position under the drive of the third linkage group.

[0025] When the second support structure is not in the second preset position, a forward control command is first sent to the second drive component. After the second support structure slides down to the second preset position under the drive of the second linkage group, the controller sends a reverse control command to the first drive component. After the proximal end of the foot pedal slides along the length direction of the second support structure to the fifth preset position under the drive of the first linkage group, and the free end of the foot pedal descends along the direction perpendicular to the second support structure to the sixth preset position under the drive of the first linkage group, the controller sends a reverse control command to the second drive component. After the second support structure slides down to the seventh preset position under the drive of the second linkage group, the controller sends a reverse control command to the third drive component, and the first support structure flips to the eighth preset position under the drive of the third linkage group.

[0026] S4. If the control command received by the controller is to adjust the length, the controller first determines whether the foot pedal is in the use position. When the foot pedal is in the use position, the controller sends a reverse control command to the second drive unit to drive the second support structure to move to the target position. When the foot pedal is in the storage state, the controller does not perform any operation.

[0027] Compared with the prior art, the present invention has at least the following beneficial effects:

[0028] 1. In this invention, the foot pedal is movably mounted on the second support structure and has a proximal end near the base and a free end away from the base; the first drive member is mounted on the second support structure and outputs linear motion; the first linkage group includes a first link with one end connected to the output end of the first drive member and the other end hinged to the first hinge point of the foot pedal, and a second link with one end hinged to the second support structure and the other end hinged to the second hinge point of the foot pedal, the second hinge point being located between the first hinge point and the free end of the foot pedal; when the first drive member is activated, the first link drives the proximal end of the foot pedal to slide along the length direction of the second support structure, and the second link simultaneously drives the free end of the foot pedal to rise or fall in a direction perpendicular to the second support structure. The design constructs an asymmetrical double-link mechanism, which makes the foot pedal present a unique composite motion trajectory of "sliding backward at the proximal end and lifting synchronously at the free end" when it is deployed. It abandons the traditional method of the foot pedal rotating around the hinge point at the proximal end when it is deployed, thus effectively avoiding encroaching on the original foot space in front of the passenger during the deployment process. This eliminates the need for the passenger to lift their leg in advance or move to the side to avoid it, significantly improving the convenience, intuitiveness and comfort of operation.

[0029] 2. In this invention, the upper surface of the second support structure has a first placement surface arranged along its own length direction. The first placement surface is arranged in a stepped manner and forms a recessed portion. The foot pedal is movably located within the recessed portion and has a second placement surface arranged along its own length direction. The foot pedal has a retracted state and a used state. When the foot pedal is in the retracted state, the second placement surface is parallel to the first placement surface and flush with the top of the recessed portion. When the foot pedal is in the used state, the second placement surface and the first placement surface form an angle greater than or equal to 90°. This design not only achieves flat storage and eliminates protrusions, combining aesthetics and practicality, but also provides an ergonomic support angle for the passenger's feet, further optimizing the leg support experience.

[0030] 3. In this invention, by introducing a controller and an intelligent step-by-step control method, the timing of the actions of the third drive component (flipping), the second drive component (telescopic), and the first drive component (foot pedal) is automatically coordinated in a preset order under the "one-click start" or "one-click stop" mode. Combined with the state judgment and path planning mechanism, the safe and orderly operation of each component is ensured, effectively preventing the risk of mechanism interference, motor overload, or pinching, and greatly improving the reliability of the system and the human-machine interaction experience. In addition, the foot pedal position can be infinitely adaptively adjusted in the length adjustment mode. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the leg support assembly of the present invention in use.

[0032] Figure 2 This is a cross-sectional view of a leg support assembly in use according to the present invention.

[0033] Figure 3 This is an exploded view of a leg support assembly of the present invention in use.

[0034] Figure 4 This is a schematic diagram of the leg support assembly in its stowed state according to the present invention.

[0035] Figure 5 for Figure 4 A structural diagram from another perspective.

[0036] Figure 6 This is a schematic diagram of the connection between the foot pedal and the second support structure in this invention.

[0037] Figure 7 This is a schematic diagram of the connection between the second support structure and the skeleton in this invention.

[0038] Figure 8 This is a schematic diagram of the structure of the second connecting rod assembly in this invention.

[0039] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0040] 100. Base; 110. Crossbar; 120. First fixed seat; 130. Second fixed seat; 200. Leg support body; 210. First support structure; 211. Support body; 212. Frame; 220. Second support structure; 221. First placement surface; 222. Recess; 223. Third hinge point; 224. First limiting surface; 225. Second limiting surface; 230. Support plate; 231. Sliding block; 232. Threaded hole; 300. Foot pedal; 301. Proximal end; 302. Free end; 310. First hinge point; 320. Second hinge point; 330. Second placement surface; 400. First drive assembly; 410. First drive component; 411. First motor body 412. First screw; 420. First link assembly; 421. First link; 422. Second link; 422a. First connecting part; 422b. Second connecting part; 422c. First limiting end; 422d. Second limiting end; 500. Second drive assembly; 510. Second drive component; 511. Second motor body; 512. Second screw; 520. Second link assembly; 521. First telescopic unit; 522. Second telescopic unit; 523. Third telescopic unit; 524. Drive hinge point; 600. Third drive assembly; 610. Third drive component; 611. Third motor body; 612. Third screw; 620. Third link assembly; 621. Connecting rod. Detailed Implementation

[0041] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings to further illustrate the technical solutions of the present invention. However, the present invention is not limited to these embodiments.

[0042] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0043] Furthermore, in this invention, descriptions involving terms such as "first," "second," and "a" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0046] like Figures 1 to 8 As shown, in this embodiment, a leg support assembly includes:

[0047] Matrix 100;

[0048] The leg support body 200 includes a first support structure 210 and a second support structure 220. The first support structure 210 is movably disposed on the base 100, and the second support structure 220 is slidably disposed on the first support structure 210.

[0049] Foot pedal 300 is movably mounted on the second support structure 220 and has a proximal end 301 close to the base 100 and a free end 302 away from the base 100.

[0050] The drive mechanism includes a first drive assembly 400, which includes a first drive member 410 and a first linkage group 420. The first drive member 410 is mounted on the second support structure 220 and outputs linear motion. The first linkage group 420 includes a first link 421, one end of which is connected to the output end of the first drive member 410 and the other end of which is hinged to a first hinge point 310 of the foot pedal 300; and a second link 421, one end of which is hinged to the second support structure 220 and the other end of which is hinged to the foot pedal 300. The second link 422 is hinged at the contact point 320. The second hinge point 320 is located between the first hinge point 310 and the free end 302 of the foot pedal 300, and the length of the first link 421 is less than the length of the second link 422. When the first drive member 410 is activated, the first link 421 drives the proximal end 301 of the foot pedal 300 to slide along the length direction of the second support structure 220, and the second link 422 simultaneously drives the free end 302 of the foot pedal 300 to rise or fall in a direction perpendicular to the second support structure 220. The design constructs an asymmetrical double-link mechanism, which makes the foot pedal 300 present a unique composite motion trajectory of "the proximal end 301 sliding backward and the free end 302 rising synchronously" when it is unfolded. It abandons the traditional arc unfolding method of the proximal end 301 rotating around the hinge point of the foot pedal 300, thus effectively avoiding encroaching on the original foot space in front of the passenger during the unfolding process. This eliminates the need for the passenger to lift their leg in advance or move to the side to avoid it, significantly improving the convenience, intuitiveness and riding comfort of operation.

[0051] Specifically, such as Figures 1 to 8 As shown, in this embodiment, the leg support assembly mainly consists of a base 100, a leg support body 200, a foot pedal 300, and a drive mechanism. The base 100 serves as the mounting foundation for the entire leg support assembly, used for fixed connection to the seat frame or vehicle body structure. It not only provides overall support for the leg support assembly but also serves as the mounting reference and force-bearing carrier for each moving component, ensuring the structural stability and operational reliability of the system under dynamic loads. The leg support body 200 is movably connected to the base 100, supporting not only the passenger's lower legs but also serving as the mounting carrier for the foot pedal 300, providing it with a stable fulcrum and mounting interface. The foot pedal 300 is movably mounted on the leg support body 200 to support the passenger's feet. The drive mechanism drives the leg support body 200 to extend and retract relative to the base 100 and drives the foot pedal 300 to switch between a retracted state and a usable state.

[0052] Furthermore, the base 100 includes a crossbar 110, two first fixing seats 120, and a second fixing seat 130. The crossbar 110 has a circular cross-section, extends along the width direction of the leg support body 200, and protrudes in the middle region away from the leg support body 200, forming a local arched structure. This design effectively improves the overall rigidity of the base 100 and provides necessary space for the leg support body 200, the foot pedal 300, and their associated moving parts, avoiding interference.

[0053] The two first fixing seats 120 have identical structures, both with U-shaped cross-sections and openings facing the same direction. The two first fixing seats 120 are spaced apart along the length of the crossbar 110 and are securely connected to the crossbar 110 by welding, forming an integrated support frame. Each first fixing seat 120 has multiple first mounting holes for reliably fixing the base 100 to the seat frame or vehicle body structure. Depending on actual assembly requirements, the first mounting holes can be configured as through holes or threaded holes, facilitating quick and stable installation and positioning using bolts, screws, or other fasteners.

[0054] The second mounting base 130 is welded to the middle region of the crossbar 110, opposite to the first mounting base 120. Its cross-section is also U-shaped, but the opening orientation is opposite to that of the first mounting base 120. The second mounting base 130 has multiple second mounting holes for mounting the third drive component 610. This reverse opening layout not only facilitates the rational arrangement of the drive components but also optimizes the force direction, improving installation stability and transmission efficiency.

[0055] In this embodiment, the leg support body 200 includes a first support structure 210 and a second support structure 220, both of which are rectangular in shape and together constitute a two-stage telescopic and posture adjustment system. The first support structure 210 is movably mounted on the base 100 and is hinged to both ends of the crossbar 110 of the base 100 via a third linkage group 620. Driven by the third drive member 610, the first support structure 210 can drive the entire leg support body 200 to perform pitch and roll motion relative to the base 100; at the same time, with the help of the linkage transmission characteristics of the third linkage group 620, it can also achieve initial extension displacement along the length direction. This combined motion effectively adjusts the initial angle and front-back position of the lower leg support to adapt to different sitting posture requirements.

[0056] The second support structure 220 is slidably embedded in the side of the first support structure 210 opposite to the passenger's legs, and is hinged to the first support structure 210 via the second linkage group 520. Driven by the second drive member 510, the second support structure 220 can perform linear telescopic movement relative to the first support structure 210 and the base 100 along the length direction of the first support structure 210. This telescopic movement can be achieved through a guide rail, slide groove, or ball bearing guide structure to ensure smooth operation, low resistance, and accurate positioning.

[0057] Through the flipping and initial extension of the first support structure 210, and the further sliding of the second support structure 220 on top of it, the leg support body 200 achieves two-stage linkage adjustment, which not only significantly extends the total support stroke but also supports multi-dimensional posture adaptation. This design can flexibly meet the personalized needs of passengers of different heights for the length and angle of lower leg support.

[0058] Furthermore, the first support structure 210 is composed of a support body 211 and a frame 212. The support body 211 is used to directly support the passenger's lower leg, while the frame 212 serves as the core structural component for load bearing and connection, and is hinged to the second linkage group 520 and the third linkage group 620 respectively to transmit driving loads and support overall movement.

[0059] A space is provided between the support body 211 and the frame 212. This space extends along the length of the first support structure 210 and is used to accommodate the reciprocating motion of at least part of the second support structure 220 within its extension and retraction range.

[0060] Furthermore, the upper surface of the second support structure 220 (i.e., the side facing the passenger's legs) is provided with a first placement surface 221 extending along its length. This first placement surface 221 is arranged in a stepped shape, and a recess 222 is formed on the side away from the base 100. The contour of the recess 222 matches the shape of the foot pedal 300, serving to accommodate the foot pedal 300 in its retracted state. This design allows the foot pedal 300 to be fully recessed and embedded within the recess 222, achieving a surface state flush or nearly flush with the non-recessed side of the first placement surface 221. This ensures overall flatness, stability, and aesthetic consistency after storage, and effectively prevents the foot pedal 300 from shaking or accidentally popping out when not in use.

[0061] Furthermore, a support plate 230 is detachably provided on the side of the second support structure 220 opposite to the first placement surface 221. This support plate 230 extends along the length of the second support structure 220, and its two ends are fixedly connected to the second support structure 220 by fasteners (such as screws or bolts), forming a detachable assembly structure. The support plate 230 is mainly used to install the first drive component 410. Its detachable design allows the first drive component 410 and its associated components to be installed, replaced, or maintained as a whole without disassembling the second support structure 220, significantly improving assembly efficiency and ease of later maintenance, while also enhancing the modularity of the system.

[0062] A sliding block 231 is slidably provided on the support plate 230, and the sliding block 231 is provided with a threaded hole 232 that passes through its body and engages with the first screw 412. When the first driving member 410 is running, the first screw 412 rotates and drives the sliding block 231 to move linearly along the length direction of the support plate 230, thereby driving the foot pedal 300 to perform a compound motion through the first linkage group 420.

[0063] Furthermore, the second support structure 220 has a third hinge point 223 on the side opposite to the first placement surface 221 and at the end away from the base 100. This third hinge point 223 is used to hinge to one end of the second connecting rod 422, serving as a fixed fulcrum for the foot pedal 300's motion mechanism. During the unfolding or retraction of the foot pedal 300, the third hinge point 223 remains fixed in position relative to the second support structure 220, thereby providing a stable rotation reference for the second connecting rod 422. This ensures that the free end 302 of the foot pedal 300 can smoothly rise or fall according to a preset trajectory, effectively guaranteeing the reliability and repeatability of the motion.

[0064] In this embodiment, the foot pedal 300 is movably disposed on the side of the second support structure 220 facing the passenger's legs, and is hinged to the side of the second support structure 220 away from the passenger's legs via the first linkage group 420, for supporting the passenger's feet. The foot pedal 300 has a plate-like structure and has a proximal end 301 near the base 100 and a free end 302 away from the base 100. Driven by the first drive member 410, the foot pedal 300 can perform a compound movement relative to the second support structure 220. That is, its proximal end 301 slides along the length direction of the second support structure 220, while the free end 302 simultaneously rises upward or falls downward. This movement trajectory effectively avoids the encroachment on the space in front of the passenger's feet during the unfolding process of a traditional flip-up foot pedal 300, allowing the foot pedal 300 to smoothly and safely switch between the storage state and the use state without interfering with the user's original sitting posture.

[0065] Furthermore, the foot pedal 300 is movably located within the recess 222, and its upper surface (i.e., the side facing the passenger's feet) forms a second placement surface 330 arranged along its own length. The foot pedal 300 has a retracted state and a used state. When the foot pedal 300 is in the retracted state, the second placement surface 330 is parallel to the first placement surface 221 and flush with the top of the recess 222, so that the upper surface of the second support structure 220 remains continuous and flat, without protrusions or steps. When the foot pedal 300 is in the used state, the second placement surface 330 and the first placement surface 221 form an angle greater than or equal to 90°. This design not only achieves flat storage and eliminates protrusions, combining aesthetics and practicality, but also provides an ergonomic support angle for the passenger's feet, further optimizing the leg support experience.

[0066] Preferably, the angle between the second placement surface 330 and the first placement surface 221 is between 95° and 110°.

[0067] Furthermore, the foot pedal 300 has a first hinge point 310 and a second hinge point 320 arranged at intervals along its length on the side opposite to the second placement surface 330. These hinge points are used to hinge with the first connecting rod 421 and the second connecting rod 422 respectively, thereby forming a linkage mechanism to achieve a smooth switching between the foot pedal 300 in the storage state and the use state. The second hinge point 320 is located between the first hinge point 310 and the free end 302 of the foot pedal 300, ensuring an effective lever and motion constraint relationship during the driving process.

[0068] Furthermore, the foot pedal 300 includes a front region, a middle region, and a rear region. The first hinge point 310 is located in the front region, and the second hinge point 320 is located in either the middle or rear region. This design, by rationally configuring the relative positions of the two hinge points and combining the non-equal length structure of the first link 421 and the second link 422, effectively controls the movement posture of the foot pedal 300 during deployment, allowing its proximal end 301 to slide horizontally backward while its free end 302 simultaneously rises upward, forming a unique compound motion.

[0069] To achieve independent and coordinated driving of the first support structure 210, the second support structure 220, and the foot pedal 300, the driving mechanism in this embodiment includes a first driving component 400, a second driving component 500, and a third driving component 600. Specifically, the first driving component 400 drives the foot pedal 300 to switch between a retracted state and a used state by controlling the sliding of its proximal end 301 and the lifting / lowering of its free end 302, achieving interference-free adjustment of the foot support posture. The second driving component 500 drives the second support structure 220 to extend and retract relative to the first support structure 210 along its length, thereby adjusting the extension length of the lower leg support. The third driving component 600 drives the first support structure 210 to tilt, rotate, and initially extend relative to the base 100, adjusting the support angle and initial position of the leg support body 200. The three drive components mentioned above each perform specific functions. They can operate independently to meet local adjustment needs, or they can work together in a preset sequence under the coordination of the control system to achieve one-click intelligent switching of the leg rest assembly from fully retracted to fully extended state, taking into account ease of operation, safety during exercise, and riding comfort.

[0070] Furthermore, the first drive assembly 400 includes a first drive member 410 and a first linkage group 420. The first drive member 410 includes a first motor body 411 detachably mounted on the support plate 230, and a first screw 412 rotatably mounted on the output end of the first motor body 411. The first screw 412 is threadedly engaged with a threaded hole 232 on the sliding block 231. When the first motor body 411 is running, the first screw 412 rotates, driving the sliding block 231 to perform linear reciprocating motion along the length of the support plate 230.

[0071] The first linkage group 420 includes a first linkage 421 and a second linkage 422. One end of the first linkage 421 is connected to the sliding block 231 via a fastener, and the other end is hinged to the first hinge point 310 of the foot pedal 300. One end of the second linkage 422 is hinged to the third hinge point 223 of the second support structure 220, and the other end is hinged to the second hinge point 320 of the foot pedal 300. This structure allows the linear motion of the sliding block 231 to be transmitted to the proximal end 301 of the foot pedal 300 via the first linkage 421. At the same time, the second linkage 422 works in concert with the third hinge point 223 as a fulcrum, jointly driving the foot pedal 300 to achieve a composite motion of sliding at the proximal end 301 and vertically lifting or lowering at the free end 302, thereby completing interference-free posture switching within a limited space.

[0072] Furthermore, the length of the first link 421 is less than the length of the second link 422. This non-equal length design, combined with the specific arrangement of the first hinge point 310 and the second hinge point 320 on the foot pedal 300, together constitutes an asymmetric double-link transmission mechanism, which can effectively control the movement trajectory of the foot pedal 300 during the unfolding process, causing its free end 302 to rise upward.

[0073] It should be noted that when the foot pedal 300 is in use, both the first link 421 and the second link 422 pass through the first placement surface 221 of the second support structure 220 and are respectively connected to the first hinge point 310 and the second hinge point 320 on the foot pedal 300. This arrangement allows the linkage mechanism to reliably drive the foot pedal 300 from below the first placement surface 221 without interfering with the passenger's leg contact area, ensuring both the stability of motion transmission and maintaining the cleanliness and continuity of the upper surface of the leg support body 200. Furthermore, the through-type layout of the first link 421 and the second link 422 also achieves a foot pedal 300 drive mechanism with higher degrees of freedom and better trajectory controllability, balancing safety, comfort, and functionality.

[0074] The second link 422 includes a first connecting part 422a and a second connecting part 422b that are perpendicularly connected to each other, forming an approximately L-shaped structure. The end of the first connecting part 422a away from the second connecting part 422b is hinged to a second hinge point 320, and the end of the second connecting part 422b away from the first connecting part 422a is hinged to a third hinge point 223 of the second support structure 220. When the foot pedal 300 moves, the third hinge point 223 remains fixed relative to the second support structure 220, forming a fixed fulcrum for the second link 422. This design allows the second link 422 to be easily arranged in a limited space, avoiding other components inside the leg support body 200, providing a geometric basis for subsequent limit settings, and helping to optimize the force transmission path, thereby improving the overall rigidity and motion stability of the mechanism.

[0075] Furthermore, one end of the first connecting portion 422a connected to the second connecting portion 422b extends in a direction perpendicular to the second connecting portion 422b, forming a first limiting end 422c; correspondingly, the second support structure 220 has a first limiting surface 224 on the side away from the first driving member 410. When the foot pedal 300 is in use, the first limiting end 422c abuts against the first limiting surface 224, forming a reliable mechanical hard limit. This limiting structure can not only accurately limit the unfolded position of the foot pedal 300, avoiding positional deviations caused by relying solely on the driving member stroke or hinge gap for positioning, but also directly transmit the main load applied by the passenger's foot to the body of the second support structure 220, effectively reducing the force levels of the first hinge point 310, the second hinge point 320, and the first driving member 410, thereby significantly improving the load-bearing capacity, operational stability, and service life of the mechanism.

[0076] The second connecting portion 422b extends away from the first connecting portion 422a in a direction perpendicular to the first connecting portion 422a, forming a second limiting end 422d. Correspondingly, the second support structure 220 is also provided with a second limiting surface 225 perpendicular to the first limiting surface 224. When the foot pedal 300 is in use, the second limiting end 422d abuts against the second limiting surface 225, forming a bidirectional orthogonal limiting structure together with the first limiting end 422c. This design constrains the motion freedom of the second link 422 from two mutually perpendicular directions, enabling it to form a stable triangular support configuration in the unfolded state, completely locking its spatial posture. This significantly enhances the overall rigidity of the foot pedal 300 in use, effectively suppressing slight swaying in the front-back, up-down, and lateral directions. It can also maintain the reliability of the support structure when subjected to multi-directional dynamic loads, significantly improving the product's safety, durability, and user confidence.

[0077] Preferably, there are two sets of first connecting rods 421 and second connecting rods 422, arranged symmetrically along the width of the foot pedal 300. The two sets of first connecting rods 421 are located on opposite sides of the axis of the threaded hole 232 on the sliding block 231, with one end detachably connected to the sliding block 231 and the other end hinged to two corresponding first hinge points 310 on the foot pedal 300. The two sets of second connecting rods 422 are located on the left and right sides of the second support structure 220, with one end hinged to two corresponding second hinge points 320 on the foot pedal 300 and the other end connected to two corresponding third hinge points 223 on the second support structure 220. This symmetrical arrangement on both sides ensures that the driving and supporting forces are evenly distributed on both sides of the foot pedal 300, significantly improving the force balance and operational stability during movement, and effectively avoiding uneven loading, jamming, or structural distortion caused by unilateral force. At the same time, this layout enhances the overall resistance to lateral loads. Even if the passenger's foot applies an asymmetrical force, the footrest 300 can still maintain a stable posture and reliable support, thereby further improving the structural reliability, long-term durability and riding comfort of the leg support assembly.

[0078] In this embodiment, the second drive assembly 500 includes a second drive member 510 and a second linkage group 520. The second linkage group 520 includes at least three telescopic units that are hinged in sequence. The at least three telescopic units are arranged along the extension direction of the second support structure 220 and form a transmission chain. The telescopic unit at the beginning of the transmission chain is hinged to the first support structure 210, and the telescopic unit at the end is hinged to the second support structure 220. A drive hinge point 524 is formed between the telescopic unit at the beginning and its adjacent telescopic unit.

[0079] The second drive unit 510 is detachably mounted on the first support structure 210, and its output end is connected to the drive hinge point 524. It drives the drive hinge point 524 to move linearly and causes all telescopic units in the transmission chain to extend or retract synchronously. The total extension stroke of the second support structure 220 is at least three times the extension stroke of any single telescopic unit. This design employs a multi-stage linkage mechanism formed by at least three telescopic units connected in series, constructing a displacement amplification system with a high extension ratio. Compared to traditional two-stage telescopic structures, a significantly larger effective stroke can be achieved within the same installation space. Conversely, to achieve the same extension stroke, the required length of a single link is shorter, thereby significantly reducing the lateral (Y-direction) profile dimension of the second drive assembly 500 in the retracted state. This advantage not only facilitates the compact integration of the leg rest assembly within limited seat space but also enhances the flexibility and aesthetics of the overall vehicle interior layout.

[0080] The telescopic unit can be three or more. Three is preferred. This design ensures that the second support structure 220 has sufficient extension stroke while effectively controlling the overall profile dimensions of the second linkage group 520 in the retracted state, avoiding excessive space occupation in the lateral (Y-direction) and longitudinal (X-direction) directions, thus balancing stroke performance and installation compactness.

[0081] Furthermore, the second linkage 520 includes three telescopic units with identical geometric dimensions. These three telescopic units are a first telescopic unit 521, a second telescopic unit 522, and a third telescopic unit 523, which are hinged sequentially. The first telescopic unit 521 is located at the beginning of the transmission chain and hinged to the frame 212 of the first support structure 210. The third telescopic unit 523 is located at the end of the transmission chain and hinged to the second support structure 220. This design, by employing three identical telescopic units arranged in series, not only simplifies the types of components, facilitating standardized production and assembly, but also ensures uniform force distribution and coordinated movement in each segment during transmission, effectively avoiding problems such as jamming, uneven wear, or stress concentration caused by structural asymmetry. Simultaneously, driven by the second drive component 510, this three-stage mechanism can achieve a total extension nearly three times the stroke of a single telescopic unit, significantly improving displacement amplification efficiency. Compared to non-uniform or asymmetrical layouts, the uniform-size design facilitates kinematic modeling and control algorithm development, laying the foundation for subsequent high-precision position feedback and intelligent adjustment.

[0082] Furthermore, the second linkage group 520 includes two end links and two middle links. The two end links are arranged opposite each other and connected in a V-shape at their adjacent ends via hinge points; the two middle links are arranged crosswise and hinged at their centers to form an X-shape structure. The two middle links are located between the two end links and together form three consecutive rhomboid units, namely the first telescopic unit 521, the second telescopic unit 522, and the third telescopic unit 523.

[0083] Specifically, the first telescopic unit 521 is formed by an end link and a portion of an adjacent middle link; the second telescopic unit 522 is formed by the intersection area of ​​two middle links and their adjacent sections; and the third telescopic unit 523 is formed by another end link and a portion of a corresponding middle link. This rhomboid series configuration allows the entire second link group 520 to expand or contract synchronously under driving action, achieving smooth and symmetrical telescopic movement.

[0084] Furthermore, the second driving component 510 includes a second motor body 511 and a second screw 512. The second motor body 511 is detachably mounted on the side of the frame 212 opposite to the support body 211 by fasteners. The second screw 512 is rotatably mounted on the output end of the second motor body 511 and is connected to the drive hinge point 524 of the second linkage group 520 via a sliding seat. The sliding seat has a threaded hole that mates with the second screw 512, and the two form a screw-nut pair structure. When the second motor body 511 is running, the second screw 512 rotates, driving the sliding seat to move linearly along its axial direction through the threaded pair, thereby displacing the drive hinge point 524, causing the telescopic units in the second linkage group 520 to expand or contract synchronously, thus realizing the telescopic adjustment of the second support structure 220 relative to the first support structure 210.

[0085] In this embodiment, the third drive assembly 600 includes a third drive member 610 and a third linkage group 620. The third drive member 610 is detachably mounted on the base 100. One end of the third linkage group 620 is hinged to the base 100, and the other end is hinged to the first support structure 210. The third linkage group 620 is also provided with a connecting rod 621 vertically connected to its middle portion. The output end of the third drive member 610 is connected to the connecting rod 621. When the third drive member 610 is running, its output end applies a driving force to the third linkage group 620 through the connecting rod 621, causing the third linkage group 620 to rotate around its hinge point with the base 100 and the first support structure 210. This drives the first support structure 210, along with the entire leg support body 200, to perform pitch and roll motion relative to the base 100, achieving attitude adjustment towards or away from the base 100.

[0086] The third linkage 620 adopts a six-link structure, which is composed of multiple links connected by hinge points to form a planar linkage mechanism with two degrees of freedom. It can realize the compound motion of the first support structure 210 relative to the base 100, including pitching, flipping and initial extension.

[0087] Furthermore, the third motor body 611 is detachably mounted on the second fixed seat 130 on the crossbar 110 via fasteners, facilitating assembly and subsequent maintenance; the third screw 612 is rotatably connected to the output end of the third motor body 611 and is hinged to the connecting rod 621 in the middle of the third linkage group 620 via a connecting block. This hinged connection allows the third screw 612 to smoothly transmit driving force to the connecting rod 621 during rotation, thereby driving the entire third linkage group 620 to move in a coordinated manner, enabling the leg support body 200 to complete the flipping and extension actions of moving closer to or away from the base 100.

[0088] This invention also provides a control method based on the above-described leg support assembly, comprising the following steps:

[0089] S1, The controller (not shown in the figure) receives and determines the type of control command:

[0090] If the controller receives a control command of one-button start, then proceed to step S2;

[0091] If the controller receives a control command of one-key shutdown, then proceed to step S3;

[0092] If the control command received by the controller is to adjust the length, then proceed to step S4;

[0093] S2, if the control command received by the controller is one-button start, the controller first sends a forward rotation control command to the third drive member 610. After the first support structure 210 is flipped to the first preset position under the drive of the third linkage group 620, the controller sends a forward rotation control command to the second drive member 510. After the second support structure 220 slides to the second preset position under the drive of the second linkage group 520, the controller sends a forward rotation control command to the first drive member 410. The proximal end 301 of the foot pedal 300 slides along the length direction of the second support structure 220 to the third preset position under the drive of the first linkage group 420. At the same time, the free end 302 of the foot pedal 300 is raised to the fourth preset position along the direction perpendicular to the second support structure 220 under the drive of the first linkage group 420.

[0094] S3, if the controller receives a control command of one-key shutdown, the controller first determines whether the second support structure 220 is in the second preset position; when the second support structure 220 is in the second preset position, the controller first sends a reverse control command to the first drive member 410. After the proximal end 301 of the foot pedal 300 slides along the length direction of the second support structure 220 to the fifth preset position under the drive of the first linkage group 420, and at the same time the free end 302 of the foot pedal 300 descends along the direction perpendicular to the second support structure 220 to the sixth preset position under the drive of the first linkage group 420, the controller then sends a reverse control command to the second drive member 510. After the second support structure 220 slides down to the seventh preset position under the drive of the second linkage group 520, the controller then sends a reverse control command to the third drive member 610, and the first support structure 210 flips to the eighth preset position under the drive of the third linkage group 620.

[0095] When the second support structure 220 is not in the second preset position, a forward control command is first sent to the second drive member 510. After the second support structure 220 slides down to the second preset position under the drive of the second linkage group 520, the controller sends a reverse control command to the first drive member 410. After the proximal end 301 of the foot pedal 300 slides along the length direction of the second support structure 220 to the fifth preset position under the drive of the first linkage group 420, and at the same time the free end 302 of the foot pedal 300 descends along the direction perpendicular to the second support structure 220 to the sixth preset position under the drive of the first linkage group 420, the controller sends a reverse control command to the second drive member 510. After the second support structure 220 slides down to the seventh preset position under the drive of the second linkage group 520, the controller sends a reverse control command to the third drive member 610, and the first support structure 210 flips to the eighth preset position under the drive of the third linkage group 620.

[0096] S4. If the control command received by the controller is to adjust the length, the controller first determines whether the foot pedal 300 is in the use position. When the foot pedal 300 is in the use position, the controller sends a reverse control command to the second drive member 510 to drive the second support structure 220 to move to the target position. When the foot pedal 300 is in the storage state, the controller does not perform any operation.

[0097] This design introduces a controller and intelligent step-by-step control method to automatically coordinate the action sequence of the third drive component 610 (flipping), the second drive component 510 (telescopic), and the first drive component 410 (foot pedal) in a preset order under "one-button start" or "one-button stop" mode. Combined with state judgment and path planning mechanisms, it ensures the safe and orderly operation of each component, effectively prevents the risk of mechanism interference, motor overload or pinching, and greatly improves the reliability of the system and the human-machine interaction experience. In addition, it can also achieve stepless adaptive adjustment of the foot pedal position 300 in the length adjustment mode.

[0098] Specifically, when the foot pedal 300 is in the use position, the user can continuously press the length adjustment button, and the controller will control the second drive unit 510 to drive the second support structure 220 to move to the target position according to the duration of the length adjustment button press or the received force sensor signal, thereby realizing stepless adaptive adjustment of the position of the foot pedal 300.

[0099] Furthermore, the first preset position is the usage position of the first support structure 210, the second preset position is the usage position of the second support structure 220, the third preset position and the fourth preset position together constitute the usage position of the foot pedal 300, the fifth preset position and the sixth preset position together constitute the storage position of the foot pedal 300, the seventh preset position is the storage position of the second support structure 220, and the eighth preset position is the storage position of the first support structure 210; the target adjustment position is any travel position of the second support structure 220 between the storage position (seventh preset position) and the usage position (second preset position), which is set by the user through continuous pressing or gear selection.

Claims

1. A leg support assembly, characterized in that, include: Matrix; The leg support body includes a first support structure and a second support structure. The first support structure is movably disposed on the base, and the second support structure is slidably disposed on the first support structure. A foot pedal, which is movably disposed on the second support structure, and has a proximal end near the base and a free end away from the base; The driving mechanism includes a first driving assembly, which includes a first driving member and a first linkage group. The first driving member is mounted on the second support structure and outputs linear motion. The first linkage group includes a first link with one end connected to the output end of the first driving member and the other end hinged to a first hinge point of the foot pedal, and a second link with one end hinged to the second support structure and the other end hinged to a second hinge point of the foot pedal. The second hinge point is located between the first hinge point and the free end of the foot pedal. When the first driving member is activated, the first link drives the proximal end of the foot pedal to slide along the length direction of the second support structure, and the second link simultaneously drives the free end of the foot pedal to rise or fall in a direction perpendicular to the second support structure.

2. The leg support assembly according to claim 1, characterized in that, The length of the first link is less than the length of the second link. The upper surface of the second support structure is provided with a first placement surface arranged along its own length direction. The first placement surface is arranged in a stepped shape and has a recessed portion. The foot pedal is movably located in the recessed portion and has a second placement surface arranged along its own length direction. The foot pedal has a storage state and a use state. When the foot pedal is in the storage state, the second placement surface is parallel to the first placement surface and flush with the top of the recessed portion. When the foot pedal is in the use state, the second placement surface and the first placement surface form an angle greater than or equal to 90°.

3. A leg support assembly according to claim 2, characterized in that, The second support structure has a support plate detachably provided on the side opposite to the first placement surface. The first driving component includes a first motor body detachably provided on the support plate and a first screw rotatably provided on the output end of the first motor body. A sliding block is slidably provided on the support plate, and the sliding block has a threaded hole that mates with the first screw. The first connecting rod is connected to the sliding block.

4. A leg support assembly according to claim 2, characterized in that, The second link includes a first connecting part and a second connecting part that are perpendicularly connected to each other. The end of the first connecting part away from the second connecting part is hinged to the second hinge point. The end of the second connecting part away from the first connecting part is hinged to the third hinge point of the second support structure. When the foot pedal moves, the third hinge point remains fixed relative to the second support structure.

5. A leg support assembly according to claim 4, characterized in that, One end of the first connecting portion that is connected to the second connecting portion extends in a direction perpendicular to the second connecting portion and forms a first limiting end, and the second support structure is provided with a first limiting surface on the side away from the first driving member; when the foot pedal is in the use state, the first limiting end abuts against the first limiting surface; And / or the end of the second connecting portion away from the first connecting portion extends in a direction perpendicular to the first connecting portion and forms a second limiting end, and the second support structure is also provided with a second limiting surface perpendicular to the first limiting surface; when the foot pedal is in the use state, the second limiting end abuts against the second limiting surface.

6. A leg support assembly according to claim 3, characterized in that, Both the first connecting rod and the second connecting rod are provided in two sets. The two sets of the first connecting rod are symmetrically arranged on both sides of the threaded hole axis on the sliding block, and the two sets of the second connecting rod are symmetrically arranged along the width direction of the second support structure.

7. A leg support assembly according to claim 1, characterized in that, The driving mechanism further includes a second driving assembly, which includes a second driving member and a second linkage group. The second linkage group includes at least three telescopic units that are hinged sequentially, and the at least three telescopic units are arranged along the extension direction of the second support structure to form a transmission chain. The telescopic unit at the beginning of the transmission chain is hinged to the first support structure, and the telescopic unit at the end is hinged to the second support structure. A driving hinge point is formed between the telescopic unit at the beginning and its adjacent telescopic units. The second driving member is detachably disposed on the first support structure, and the output end of the second driving member is connected to the driving hinge point to drive the driving hinge point to make linear movement and to make all the telescopic units in the transmission chain extend or retract synchronously. The total extension stroke of the second support structure is at least three times the extension stroke of any one of the telescopic units.

8. A leg support assembly according to claim 7, characterized in that, The second linkage assembly includes three telescopic units with identical geometric dimensions. The three telescopic units are a first telescopic unit, a second telescopic unit, and a third telescopic unit that are hinged together in sequence. The first telescopic unit is located at the beginning of the transmission chain and is hinged to the first support structure. The third telescopic unit is located at the end of the transmission chain and is hinged to the second support structure.

9. A leg support assembly according to claim 1, characterized in that, The driving mechanism further includes a third driving assembly, which includes a third driving member and a third linkage group. The third driving member is detachably mounted on the base. One end of the third linkage group is hinged to the base, and the other end is hinged to the first support structure. The third linkage group is also provided with a connecting rod vertically connected to its middle. The output end of the third driving member is connected to the connecting rod and can drive the leg support body to rotate and extend in the direction of approaching or moving away from the base.

10. A control method for a leg support assembly, characterized in that, Includes the following steps: S1, The controller receives and determines the type of control command: If the controller receives a control command of one-button start, then proceed to step S2; If the controller receives a control command of one-key shutdown, then proceed to step S3; If the control command received by the controller is to adjust the length, then proceed to step S4; S2, if the control command received by the controller is one-button start, the controller first sends a forward rotation control command to the third drive component. After the first support structure is flipped to the first preset position under the drive of the third linkage group, the controller sends a forward rotation control command to the second drive component. After the second support structure slides to the second preset position under the drive of the second linkage group, the controller sends a forward rotation control command to the first drive component. The proximal end of the foot pedal slides along the length direction of the second support structure to the third preset position under the drive of the first linkage group. At the same time, the free end of the foot pedal is raised to the fourth preset position along the direction perpendicular to the second support structure under the drive of the first linkage group. S3, if the controller receives a control command of one-button shutdown, the controller first determines whether the second support structure is in the second preset position; when the second support structure is in the second preset position, the controller first sends a reverse control command to the first drive member. After the proximal end of the foot pedal slides along the length direction of the second support structure to the fifth preset position under the drive of the first linkage group, and at the same time the free end of the foot pedal descends along the direction perpendicular to the second support structure to the sixth preset position under the drive of the first linkage group, the controller sends a reverse control command to the second drive member. After the second support structure slides down to the seventh preset position under the drive of the second linkage group, the controller sends a reverse control command to the third drive member, and the first support structure flips to the eighth preset position under the drive of the third linkage group. When the second support structure is not in the second preset position, a forward control command is first sent to the second drive component. After the second support structure slides down to the second preset position under the drive of the second linkage group, the controller sends a reverse control command to the first drive component. After the proximal end of the foot pedal slides along the length direction of the second support structure to the fifth preset position under the drive of the first linkage group, and the free end of the foot pedal descends along the direction perpendicular to the second support structure to the sixth preset position under the drive of the first linkage group, the controller sends a reverse control command to the second drive component. After the second support structure slides down to the seventh preset position under the drive of the second linkage group, the controller sends a reverse control command to the third drive component, and the first support structure flips to the eighth preset position under the drive of the third linkage group. S4, if the control command received by the controller is to adjust the length, the controller first determines whether the foot pedal is in the use position; when the foot pedal is in the use position, the controller sends a reverse control command to the second drive unit, driving the second support structure to move to the target position; The controller does not perform any operation when the foot pedal is in the retracted state.

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