CN216777444U

CN216777444U - Linkage type shifting device

Info

Publication number: CN216777444U
Application number: CN202220224033.4U
Authority: CN
Inventors: 王勇; 穆景颂; 宋守许; 陈庚; 陆益民; 刘正士
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2022-01-27
Filing date: 2022-01-27
Publication date: 2022-06-21
Anticipated expiration: 2032-01-27

Abstract

The utility model discloses a linkage type shifting device, which comprises a shifting base; the support frame is arranged on the movable base; the linkage type bearing mechanism comprises a parallelogram lifting mechanism and a linkage displacement mechanism; the parallelogram lifting mechanism is arranged on the support frame; the linkage displacement mechanism is arranged on one side of the parallelogram lifting mechanism, which is far away from the support frame; the linkage displacement mechanism is assembled to convert the lifting motion of the parallelogram lifting mechanism into linear reciprocating motion so as to realize curvilinear motion similar to that of a person when the person is transferred in a sitting position. The utility model can simulate a person to complete the standing posture and the action process from the sitting posture state.

Description

Linkage type shifting device

Technical Field

The utility model relates to the technical field of displacement and sports equipment, in particular to a linkage type displacement device.

Background

With the gradual step of our country into the elderly society, the medical treatment and nursing for the elderly, especially the elderly with inconvenient movement and the disabled with lower limbs, become the social problems that must be solved at present.

At present, a shifting machine on the market is mainly used for assisting nursing personnel to shift the position of a user, for example, the user is shifted among positions of a sofa, a bed, a toilet and the like, but the existing shifting structure is complex and complicated to operate, and particularly, the nursing personnel is required to assist in completing complicated wearing actions; in addition, the sofa, the seat and the bed on the market have no uniform standard height, but the traditional shifting machine still stops at the fixed height stage, so that the heights of the sofa, the bed and the pedestal pan are difficult to match, the nursing is inconvenient as a whole, and nursing is required to be carried, carried and carried by nursing staff; in addition, the shifting machine on the market at present is still lack of the auxiliary functions of standing up and assisting in walking.

In addition, the existing shifting machine cannot well simulate the action process of a human from a sitting posture state to a standing posture state and the action process of the human from the standing posture state to the sitting posture state, so that the use experience is influenced.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a linkage type displacement device.

To achieve the above and other related objects, the present invention provides a linkage type displacement device, comprising:

moving the base;

the support frame is arranged on the movable base; and

the linkage type bearing mechanism comprises a parallelogram lifting mechanism and a linkage displacement mechanism;

the parallelogram lifting mechanism is arranged on the support frame;

the linkage displacement mechanism is arranged on one side of the parallelogram lifting mechanism, which is far away from the support frame;

the linkage displacement mechanism is assembled to convert the lifting motion of the parallelogram lifting mechanism into linear reciprocating motion so as to realize the curvilinear motion similar to that of a person in a sitting, standing and transferring process.

In an alternative embodiment of the utility model, the linkage displacement mechanism comprises a gear transmission component and a crank-slider mechanism;

the crank slider mechanism comprises a crank, a first connecting rod and a sliding part, one end of the crank is fixedly connected with the gear transmission part, the other end of the crank is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with the sliding part, and the sliding part is arranged at one end, far away from the support frame, of the parallelogram lifting mechanism in a sliding mode and can do linear reciprocating motion relative to the parallelogram lifting mechanism;

the gear transmission part is disposed on the parallelogram lifting mechanism, and is assembled to convert the lifting motion of the parallelogram lifting mechanism into the rotation of the crank.

In an alternative embodiment of the utility model, the parallelogram lift mechanism comprises a frame, a first connecting rod, a second connecting rod, a first linear actuator and two carrying rods; the rack is arranged at the upper end of a support frame, one end of each of a first connecting rod and a second connecting rod is hinged to the rack, the other end of each of the first connecting rod and the second connecting rod is hinged to the second connecting rod, one end of a first linear actuator is hinged to the support frame or the rack, the other end of the first linear actuator is hinged to the middle of the first connecting rod or the second connecting rod, the rack, the first connecting rod, the second connecting rod and the second connecting rod form a parallelogram mechanism, the two bearing rods are arranged on two sides of one end, far away from the support frame, of the second connecting rod at intervals, and the sliding part is arranged on the two bearing rods in a sliding mode and can reciprocate linearly along the bearing rods.

In an optional embodiment of the utility model, the rack comprises a rack body, a connecting piece and an angle adjusting assembly; the connecting piece is hinged with the rack body to form a revolute pair, one ends of the first connecting rod and the second connecting rod, which are not hinged with the second connecting rod, are respectively hinged on the connecting piece, and the angle adjusting assembly is arranged between the rack body and the connecting piece; the angle between the rack body and the connecting piece is adjusted through the angle adjusting assembly, so that the pitching angle of the parallelogram lifting mechanism can be adjusted.

In an optional embodiment of the utility model, the angle adjusting assembly comprises a rotating piece, and an adjusting bolt and an adjusting nut which are matched with each other; the rotating piece is rotatably arranged on the rack body; one end of the adjusting bolt and the connecting piece form a revolute pair, and a screw rod section of the adjusting bolt penetrates through the rotating piece and then is fixed through the adjusting nut.

In an alternative embodiment of the present invention, the gear transmission part includes a first gear and a second gear which are engaged with each other, and a diameter of the first gear is larger than a diameter of the second gear; the first gear is fixedly arranged on the second connecting rod, and the axis of the hinged position of the first connecting rod or the second connecting rod and the second connecting rod is collinear with the rotation axis of the first gear; the second gear is located on one side of the first gear, the second gear is rotatably arranged on the first connecting rod or the second connecting rod, and the second gear is fixedly connected with one end, which is not hinged with the first connecting rod, of the crank.

In an alternative embodiment of the utility model, the sliding member comprises an armpit support, or an elbow support, or a suspension/strapping member, or a combination of an armpit support and a suspension/strapping member, or a combination of an elbow support and a suspension/strapping member.

In an alternative embodiment of the utility model, the sliding member comprises a front auxiliary pad.

In an alternative embodiment of the utility model, the sliding member comprises a height adjustable armrest.

In an alternative embodiment of the utility model, the height of the support frame is adjustable.

In an optional embodiment of the present invention, the linkage type displacement device further includes a carrying seat mechanism for a user to sit on, and the carrying seat mechanism is disposed on the supporting frame and located between the moving base and the linkage type carrying mechanism.

In an alternative embodiment of the utility model, the carrier mechanism comprises a carrier bracket, a carrier, a guide mechanism and a second linear actuator; the guide mechanism is arranged on the bearing seat support, a moving pair is formed by the guide mechanism and the bearing seat support, and the guide mechanism can move up and down relative to the bearing seat support; the bearing seat is arranged on the guide mechanism and can synchronously move along with the guide mechanism; the second linear actuator is arranged between the guide mechanism and the movable base, and the second linear actuator drives the guide mechanism to move up and down along the load bearing seat to realize the height adjustment of the load bearing seat.

In an optional embodiment of the present invention, the moving base includes a base, a first bearing base and a second bearing base, two of the bearing bases and the base form a moving pair, and a distance between the two bearing bases is adjustable.

The linkage type bearing mechanism of the linkage type shifting device is used by matching the parallelogram lifting mechanism, the gear transmission part and the crank block mechanism, the height adjustment is realized by the parallelogram lifting mechanism, and meanwhile, the sliding part of the crank block mechanism can do linear reciprocating motion along the horizontal direction, so that the curve motion similar to that of a person in sitting and standing transfer is realized, and the action process of a person from a sitting posture to a standing posture is simulated.

The linkage type shifting device can enable a user to simply finish operation and use through the armpit supports, the elbow supports or/and the hanging/binding components on the two sides, and reduces the operation of a caregiver.

The linkage type shifting device can realize the matching use of the linkage type bearing mechanism and the opening-closing type bearing seat mechanism.

The linkage type shifting device provided by the utility model is suitable for people with a larger range of height and more occasions, and the length of the supporting frame can be adjusted under the condition that the rotation range of the parallelogram lifting mechanism is ensured to be constant under the condition of people with different heights.

The linkage type shifting device can realize the shifting function, can provide the functions of assisting to walk and reducing weight in a short time, and can realize the shifting simply and quickly by a user.

Drawings

Fig. 1 is a perspective view of a linkage type displacement device of the present invention.

Fig. 2 is a partially enlarged schematic view of fig. 1.

Fig. 3 shows a front view of the linkage type displacement device of the present invention.

Fig. 4 is a perspective view of the supporting frame of the linkage type shifting device of the present invention.

Fig. 5 is a relative position diagram of the slide block guide rail assembly and the supporting frame of the linkage type shifting device of the utility model.

Fig. 6 is a partial schematic view of a linkage type carrying mechanism of the linkage type shifting device of the present invention.

Fig. 7 is another partial schematic view of the linkage type carrying mechanism of the linkage type shifting device of the present invention.

Fig. 8 is a perspective view of a modified embodiment of the linkage type displacement device of the present invention.

Fig. 9 is a perspective view of another variant embodiment of the linkage type displacement device of the utility model.

Description of the element reference numerals

The movable base 10, the base 101, the first bearing base 102, the second bearing base 103, the third connecting rod 104, the fourth connecting rod 105, the third linear actuator 106, the slider-rail assembly 107, the guide rail 1071, the slider 1072, the hinge component 1073, the support frame 20, the first support frame 201, the second support frame 202, the fourth linear actuator 203, the linkage type bearing mechanism 30, the rack 301, the rack body 3011, the connecting component 3012, the angle adjusting component 3013, the first connecting rod 302, the second connecting rod 303, the second connecting rod 304, the first linear actuator 305, the bearing rod 306, the crank-link assembly 307, the crank 3071, the first connecting rod 3072, the gear transmission component 308, the first gear 3081, the second gear 3082, the sliding component 309, the armpit support 3091, the auxiliary cushion 3092, the front auxiliary cushion 3093, the open-close type bearing mechanism 40, the first bearing support 401, the first bearing seat 402, the second bearing seat 403, a guide mechanism 404, a second linear actuator 405, a folding carriage mechanism 40', a carriage 406, a carriage body 4061, a carriage link 4062, a second carriage bracket 407, a retaining mechanism 408, a third link 4081, a fourth link 4082, and a fifth linear actuator 4083.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The utility model is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Referring to fig. 1 to 6, the present embodiment describes a linkage type displacement device, which includes a movable base 10, a supporting frame 20 and a linkage type carrying mechanism 30, wherein the supporting frame 20 is disposed on the movable base 10, and the linkage type carrying mechanism 30 is disposed on the supporting frame 20.

Referring to fig. 1 and 3, in the present embodiment, the movable base 10 includes a base 101 and two bearing bases, the two bearing bases and the base 101 respectively form a moving pair, and a distance between the two bearing bases is adjustable. Specifically, the two bearing bases are disposed on two sides of the base 101 and respectively used as a first bearing base 102 and a second bearing base 103, a moving pair is formed between the first bearing base 1021 and the base 101, a moving pair is formed between the second bearing base 103 and the base 101, and a distance between the first bearing base 102 and the second bearing base 103 can be adjusted by a distance adjusting mechanism.

Referring to fig. 1-5, in the present embodiment, the pitch adjustment mechanism includes a slider rail assembly, a third connecting rod 104, a fourth connecting rod 105, a third linear actuator 106, and a slider rail assembly 107. The slider guide rail assembly 107 comprises a guide rail 1071, a slider 1072 and a hinge component 1073, wherein the guide rail 1071 and the slider 1072 are arranged inside the support frame 20, the slider 1072 is arranged on the guide rail 1071 and can slide along the guide rail 1071, the hinge component 1073 comprises three components which are respectively arranged on three sides of the slider 1072, the three components 1073 are fixedly connected with the slider 1072, and the hinge component 1073 penetrates through a guide groove arranged on the support frame 20. One end of the third connecting rod 104 is hinged to the first bearing base 102, and the other end is hinged to one of the hinge parts 1073; one end of the fourth connecting rod 105 is hinged with the second bearing base 103, and the other end is hinged with the other hinge part 1073; one end of the third linear actuator 106 is hinged to the base 101, and the other end is hinged to the third hinge part 1073, wherein the hinge part 1073 hinged to the third connecting rod 104 and the hinge part 1073 hinged to the fourth connecting rod 105 are located at both sides of the hinge part 1073 hinged to the third linear actuator 106. The third linear actuator 106 drives the slider 1072 to move up and down along the guide rail 1071, so that the two bearing bases can be synchronously stretched to adjust the distance between the two bearing bases.

It will be appreciated that in some embodiments, the spacing adjustment mechanism may also employ a worm and gear mechanism to adjust the spacing between the two load bearing bases.

In the specific setting, as shown in fig. 1 and 3, the bottom of two bearing bases can be provided with directional wheels or universal wheels or electric wheels (installed according to specific requirements) with different installation heights, and one or more wheels can be determined to be provided with a brake mechanism according to specific requirements, so that the distance between the two bearing bases and the ground can be reduced, and the device is suitable for more situations.

Referring to fig. 1-3, in the present embodiment, the linkage type carrying mechanism 30 includes a parallelogram lifting mechanism and a linkage displacement mechanism, and the parallelogram lifting mechanism is disposed on the supporting frame 20; the linkage displacement mechanism is arranged on one side, far away from the support frame 20, of the parallelogram lifting mechanism, and is assembled to convert the lifting motion of the parallelogram lifting mechanism into linear reciprocating motion so as to realize curve motion when a person is similar to a sitting station to transfer, so that the person can complete a standing posture from a sitting posture state and the action process of the person from the standing posture to the sitting posture state.

In this embodiment, the linkage displacement mechanism includes a gear drive component 308 and a slider-crank mechanism. The crank slider mechanism comprises a crank 3071, a first connecting rod 3072 and a sliding part 309, one end of the crank 3071 is fixedly connected with the gear transmission part 308, the other end 3071 is hinged with one end of the first connecting rod 3072, the other end of the first connecting rod 3072 is hinged with the sliding part 309, and the sliding part 309 is arranged at one end, far away from the support frame 20, of the parallelogram lifting mechanism in a sliding manner and can do linear reciprocating motion relative to the parallelogram lifting mechanism; the gear transmission member 308 is disposed on the parallelogram lifting mechanism, and the gear transmission member 308 is assembled to convert the lifting motion of the parallelogram lifting mechanism into the rotation of the crank 3071.

Referring to fig. 1-3, in the present embodiment, the parallelogram lifting mechanism includes a frame 301, a first connecting rod 302, a second connecting rod 303, a second connecting rod 304, a first linear actuator 305, and two supporting rods 306; the frame 301 may be disposed at the upper end of the supporting frame 20 by welding or bolting, one end of each of the first connecting rod 302 and the second connecting rod 303 is hinged to the frame 301, the other end of each of the first connecting rod 302 and the second connecting rod 303 is hinged to the second connecting rod 304, one end of the first linear actuator 305 is hinged to the supporting frame 20 or the frame 301, the other end of the first linear actuator 305 is hinged to the middle of the first connecting rod 302 or the second connecting rod 303, the frame 301, the first connecting rod 302, the second connecting rod 303 and the second connecting rod 304 form a parallelogram mechanism, the two bearing rods 306 are disposed at two sides of one end of the second connecting rod 304 away from the supporting frame 20 at intervals to form a U-shaped structure, and the sliding member 309 is slidably disposed on the two bearing rods 306, and can linearly reciprocate along the bearing rod 306, and the height of the linkage type bearing mechanism 30 is adjusted through the first linear actuator 305, so that the height of the bearing rod 306 is adjusted. It should be noted that the frame 301 and the supporting frame 20 may be two independent components, and then assembled together by welding or bolting, or may be an integral component, that is, the frame 301 is a part of the supporting frame 20.

Optionally, in order to adjust the pitch angle of the lifting mechanism, an angle adjusting component 3013 for adjusting the pitch angle of the lifting mechanism may be added to the frame 301. Specifically, the rack 301 includes a rack body 3011, a connecting piece 3012 and an angle adjusting component 3013; the connecting component 3012 is hinged to the frame body 3011 to form a revolute pair, the ends of the first connecting rod 302 and the second connecting rod 303, which are not hinged to the second connecting rod 304, are hinged to the connecting component 3012, the angle adjusting component 3013 is disposed between the frame body 3011 and the connecting component 3012, and the angle adjusting component 3013 is configured to adjust an angle between the frame body 3011 and the connecting component 3012, so as to change a pitch angle of the lifting mechanism, thereby changing an angle between the carrier bar 306 and a horizontal plane.

By way of example, the angle adjustment assembly 3013 includes an adjustment bolt, an adjustment nut, and a rotating member. The rotating part (for example, a rotating shaft arranged on the rack body 3011 in fig. 2) is rotatably arranged on the rack body 3011, and an optical hole for the screw section of the adjusting bolt to pass through is formed in the rotating part; one end of the adjusting bolt and the connecting piece 3012 form a revolute pair, and a screw section of the adjusting bolt penetrates through a unthreaded hole in the rotating piece and is fixed through the adjusting nut. The length of the screw section of the adjusting bolt between the connecting piece 3012 and the rotating piece can be adjusted by the adjusting nut to adjust the angle between the rack body 3011 and the connecting piece 3012, so as to change the pitch angle of the lifting mechanism and change the angle between the bearing rod 306 and the horizontal plane.

Referring to fig. 1, 3 and 6, in the present embodiment, the gear transmission member 308 includes a first gear 3081 and a second gear 3082 engaged with each other, and a diameter of the first gear 3081 is larger than a diameter of the second gear 3082, that is, the first gear 3081 is a large gear, and the second gear 3082 is a small gear. The first gear 3081 is fixed on the second link 304, and the axis of the hinge of the first link 302 (or the second link 303) and the second link 304 coincides with the rotation axis of the first gear 3081; the second gear 3082 is located on one side of the first gear 3081, the second gear 3082 is rotatably disposed on the first connecting rod 302 or the second connecting rod 303, and the second gear 3082 is fixedly connected to an end of the crank, which is not hinged to the first connecting rod, so that when the first linear actuator 305 drives the parallelogram mechanism lifting mechanism to lift, the second gear 3082 drives the crank to rotate to drive the crank-slider mechanism to move along the bearing rod 306. As an example, in order to increase the compactness of the gear transmission member 308 and reduce the volume of the gear transmission member 308, the first gear 3081 may be a sector gear, for example.

Referring to fig. 1, 3 and 6, in the present embodiment, the sliding component 309 includes two armpit supports 3091 disposed at intervals, the two armpit supports 3091 are respectively located above a carrying bar 306, and the armpit supports 3091 are used for supporting armpits of a user. The user can realize accomplishing the operation and use comparatively simply through both sides armpit support 3091, reduces loaded down with trivial details operation of binding.

Referring to fig. 1, 3 and 6, in the present embodiment, the sliding component 309 further includes a front auxiliary pad 3093, and the front auxiliary pad 3093 is located between the two armpit supports 3091 and is connected to the two armpit supports 3091. The auxiliary pad 3093 is corresponding to the position of the chest of the user. The front auxiliary pad 3093 can make the user's gravity center move forward to prevent the danger of the user's gravity center moving backward.

Referring to fig. 1, 3 and 6, in the present embodiment, the sliding component 309 further includes two side auxiliary pad supports 3092 disposed at intervals, and the two side auxiliary pad supports 3092 are respectively located below a carrying bar 306 for assisting the positions of the auxiliary pad against the two sides of the user.

Referring to fig. 7, in an alternative embodiment, the sliding member 309 further includes two spaced armrests 3094, the armrests 3094 are disposed below the carrying bar 306, and the armrests 3094 are used for a user to hold and support. The height of the handrail 3094 can be adjusted by the star-shaped handle corresponding to different hole positions so as to meet the use requirements of users who cannot have arm length.

It should be noted that in some embodiments, the sliding member 309 can also be an elbow rest instead of the armrests 3091, and the elbow rest can be used to support the elbow of the user, instead of the armpit support. Of course, a combination of an elbow rest and a suspension/strapping means may also be employed.

It should be noted that in some embodiments, the sliding member 309 may also be a suspension/strapping member instead of the armrests 3091. Of course, a combination of armrests 3091 and suspension/strapping components may be used directly.

During the use, will remove base 10 and move to user's position, carry out height control to carrier bar 306 through first linear actuator 305, place carrier bar 306 in user armpit, caretaker or user control first linear actuator 305 and promote the height, in first linear actuator 305 drive process, carrier bar 306 can keep certain gesture angle and realize high lifting, in the high lifting in-process of carrier bar 306, slider 309 realizes carrying out linear motion along carrier bar 306, realize the linkage, the action process of fine anthropomorphic dummy from the state of sitting to the gesture of standing.

It should be noted that the supporting frame 20 can also be configured to have a length-adjustable structure as shown in fig. 9, so as to meet the use requirements of people with different heights. Specifically, the support frame 20 includes a first support frame 201, a second support frame 202 and a fourth linear actuator 203, the first support frame 201 is disposed on the base 101 of the mobile base 10, a lower end of the second support frame 202 is inserted into the first support frame 201, a moving pair is formed between the second support frame 202 and the first support frame 202, one end of the fourth linear actuator 203 is hinged to the first support frame 201, and the other end of the fourth linear actuator 203 is hinged to the second support frame 202, and a length of the second support frame 202 inserted into the first support frame 201 can be adjusted by the fourth linear actuator 203, so that a height of the support frame 20 is adjusted.

Referring to fig. 1 and 3, in the present embodiment, the linkage type displacement device further includes a carrying seat mechanism 40 of an opening and closing type, and the carrying seat mechanism 40 is used for a user to sit on. The carriage mechanism 40 comprises a first carriage bracket 401, a carriage, a guide mechanism 404 and a second linear actuator 405; the first bearing seat bracket 401 is arranged on the supporting frame 20 and is located between the linkage type bearing mechanism 30 and the movable base 10; the guide mechanism 404 is disposed on the first carriage bracket 401, the guide mechanism 404 and the first carriage bracket 401 form a moving pair, and the guide mechanism 404 can move up and down within a certain range relative to the first carriage bracket 401 to adjust the height; the bearing seat is arranged on the guide mechanism 404 and can synchronously move up and down along with the guide mechanism 404; the second linear actuator 405 is disposed between the guide mechanism 404 and the moving base 10, one end of the second linear actuator 405 is connected to the base 101 of the moving base 10, the other end of the second linear actuator 405 is connected to the middle of the guide mechanism 404, and the second linear actuator 405 is configured to drive the guide mechanism 404 to move up and down relative to the first carriage bracket 401, so as to complete height adjustment of the guide mechanism 404, and thus complete height adjustment of the carriage, so as to meet the height adjustment requirement of a user for the carriage.

Referring to fig. 1 and 3, in the present embodiment, the carrying seat includes a first carrying seat 402 and a second carrying seat 403 that can be opened and closed with each other; the first carrying seat 402 and the second carrying seat 403 are respectively located at two sides of the guiding mechanism 404 and are respectively movably connected with the guiding mechanism 404. When the first bearing seat 402 and the second bearing seat 403 are closed, the bearing seats are at a support station, a user can sit on the bearing seats, when the first bearing seat 402 and the second bearing seat 403 are separated, the bearing seats are at an avoidance station, and the user enters or leaves the bearing seats from a vacant position between the first bearing seat 402 and the second bearing seat 403. Specifically, the first carrying seat 402 and the second carrying seat 403 are respectively hinged to the guide mechanism 404, and the first carrying seat 402 and the second carrying seat 403 can respectively rotate around the guide mechanism 404 to realize opening and closing movements, so that the carrying seats are switched between a support station and an avoidance station.

It is understood that, in some embodiments, the first carrying seat 402 and the second carrying seat 403 may also form a moving pair with the guiding mechanism 404, the first carrying seat 402 and the second carrying seat 403 may move towards each other along a straight line (i.e. move towards each other) to achieve the closing of the two, and the first carrying seat 402 and the second carrying seat 403 may move away from each other along a straight line (i.e. move away from each other) to achieve the opening of the two.

It will be appreciated that in some embodiments, the second linear actuator 405 may not be provided, i.e. the height of the carrier seat mechanism 40 may be kept fixed.

When the linkage type carrying mechanism 30 is used, the carrying seat mechanism 40 is matched with the linkage type carrying mechanism 30 for use, the first carrying seat 402 and the second carrying seat 403 are firstly opened, the linkage type shifting device is pushed to the front of a user, the user is lifted in a small range of height through the linkage type carrying mechanism 30, when the user is lifted to a proper height, the first carrying seat 402 and the second carrying seat 403 are closed, and then the linkage type carrying mechanism 30 is lowered to a proper height through the first linear actuator 305. In addition, the linkage type bearing mechanism 30 can be independently used as a device for assisting the transfer of the sitting station.

It should be noted that in some embodiments, a foldable carriage mechanism 40' as shown in fig. 8 may be used instead of the foldable carriage mechanism 40 shown in fig. 1-3. Specifically, as shown in fig. 8, the foldable carrier mechanism includes a second carrier bracket 407, a carrier 406, and a holding mechanism 408; the second seat support 407 can be fixed on the support frame 20 by welding or bolts, the seat 406 is movably connected to the seat support, the seat 406 has a first station and a second station relative to the second seat support 407, and when the seat 406 is at the first station, the seat 406 is used for supporting the buttocks of the user when the user straddles; when the carrying seat 406 is at the second station, the carrying seat 406 is in a folded state; the holding mechanism 408 is disposed between the second carrier holder support 407 and the carrier holder 406, and the holding mechanism 408 is configured to hold the carrier holder 406 at the first station and to release the carrier holder 406 from the first station.

As shown in fig. 8, the load-bearing seat 406 includes a load-bearing connecting rod 4062 and a load-bearing seat body 4061, one end of the load-bearing connecting rod 4062 is hinged to the second load-bearing seat bracket 407, and the load-bearing seat body 4061 is movably mounted on (e.g., inserted into) the other end of the load-bearing connecting rod 4062, and can slide along the length direction of the load-bearing connecting rod 4062 to adjust the relative position between the load-bearing seat body 4061 and the load-bearing connecting rod 4062. Of course, the load-bearing seat body 4061 can also be fixedly connected to the other end of the load-bearing link 4062.

As shown in fig. 8, the holding mechanism 408 includes a third link 4081, a fourth link 4081, and a fifth linear actuator 4083; one end of the third connecting rod 4081 is hinged with the middle part of the bearing seat, and the other end of the third connecting rod 4081 is hinged with one end of the fourth connecting rod 4081; one end of the fifth linear actuator 4083 is hinged to the carriage bracket, and the other end of the fifth linear actuator 4083 is hinged to the middle of the fourth link 4081 or the third link 4081. It should be noted that, in order to avoid interference of the fifth linear actuator 4083 with other components of the holding mechanism 408 during operation, the fifth linear actuator 4083 is disposed on one side of the holding mechanism 408.

It will be appreciated that in some embodiments, the ganged displacement apparatus may also be provided without a carriage mechanism 40 as shown in figure 9. The linked bearing mechanism 30 can be used independently by matching with the handrail 3094, can help a user to finish the standing process, and plays a certain role in helping the user to walk and reduce the weight in a short time.

In summary, the linkage type bearing mechanism of the linkage type shifting device provided by the utility model realizes height adjustment through the parallelogram lifting mechanism by matching the parallelogram lifting mechanism, the gear transmission part and the crank slider mechanism, and simultaneously, the sliding part of the crank slider mechanism can do linear reciprocating motion along the approximately horizontal direction, so that the curve motion similar to the human sitting and standing transfer is realized, and the human can be simulated to complete the standing posture from the sitting posture state and simulate the action process from the standing posture to the sitting posture state. The linkage type shifting device can enable a user to simply finish operation and use through the armpit supports, the elbow supports or/and the hanging/binding components on the two sides, and reduces the operation of a caregiver. The linkage type shifting device can realize the matching use of the linkage type bearing mechanism and the opening-closing type bearing seat mechanism. The linkage type shifting device is adjustable in length under the condition that the rotation range of the parallelogram lifting mechanism is ensured to be fixed under the condition that people with different heights are targeted, and is suitable for people with larger height ranges and more occasions. The linkage type shifting device can realize the shifting function, can provide the functions of assisting to walk and reducing weight in a short time, and can realize the shifting simply and quickly by a user.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the utility model.

Reference throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily in all embodiments, of the present invention. Thus, appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It is to be understood that other variations and modifications of the embodiments of the utility model described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the present invention.

It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.

Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Also, as used in the description herein and throughout the claims that follow, the meaning of "in …" includes "in …" and "on …" unless otherwise indicated.

The above description of illustrated embodiments of the utility model, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the utility model to the precise forms disclosed herein. While specific embodiments of, and examples for, the utility model are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.

The systems and methods have been described herein in general terms as the details aid in understanding the utility model. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the utility model will be employed without a corresponding use of other features without departing from the scope and spirit of the utility model as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the utility model not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the utility model will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the utility model is to be determined solely by the appended claims.

Claims

1. A linkage displacement device, comprising:

moving the base;

the support frame is arranged on the movable base; and

the linkage type bearing mechanism comprises a parallelogram lifting mechanism and a linkage shifting mechanism;

the parallelogram lifting mechanism is arranged on the support frame;

the linkage displacement mechanism is assembled to convert the lifting motion of the parallelogram lifting mechanism into linear reciprocating motion so as to realize curvilinear motion similar to that of a person when the person is transferred in a sitting position.

2. The ganged shifting apparatus of claim 1, wherein the ganged shifting mechanism comprises a geared component and a slider-crank mechanism;

3. The ganged displacement apparatus of claim 2, wherein the parallelogram lift mechanism comprises a frame, a first connecting rod, a second connecting rod, a first linear actuator, and two load bars; the frame is arranged at the upper end of a support frame, one ends of the first connecting rod and the second connecting rod are respectively hinged on the frame, the other ends of the first connecting rod and the second connecting rod are respectively hinged on the second connecting rod, one end of the first linear actuator is hinged on the support frame or the frame, the other end of the first linear actuator is hinged in the middle of the first connecting rod or the second connecting rod, the frame, the first connecting rod, the second connecting rod and the second connecting rod form a parallelogram mechanism, the two bearing rods are arranged at two sides of one end, far away from the support frame, of the second connecting rod at intervals, and the sliding part is arranged on the two bearing rods in a sliding mode and can linearly reciprocate along the bearing rods.

4. The coordinated shifting device according to claim 3, wherein the machine frame comprises a machine frame body, a connecting piece and an angle adjusting component; the connecting piece is hinged with the rack body to form a revolute pair, one ends of the first connecting rod and the second connecting rod, which are not hinged with the second connecting rod, are respectively hinged on the connecting piece, and the angle adjusting assembly is arranged between the rack body and the connecting piece; the angle between the rack body and the connecting piece is adjusted through the angle adjusting assembly, so that the pitching angle of the parallelogram lifting mechanism can be adjusted.

5. The ganged shifting apparatus of claim 3, wherein the geared member comprises first and second gears that mesh with each other, and the first gear has a diameter greater than the second gear; the first gear is fixedly arranged on the second connecting rod, and the axis of the hinge of the first connecting rod or the second connecting rod and the second connecting rod is collinear with the rotation axis of the first gear; the second gear is located on one side of the first gear, the second gear is rotatably arranged on the first connecting rod or the second connecting rod, and the second gear is fixedly connected with one end, which is not hinged with the first connecting rod, of the crank.

6. The ganged displacement apparatus of claim 2, wherein the sliding means comprises armpit supports, or elbow supports, or suspension/tie means, or a combination of armpit supports and suspension/tie means, or a combination of elbow supports and suspension/tie means.

7. The ganged displacement apparatus of claim 2, wherein the sliding member comprises a height adjustable armrest.

8. The linkage type displacement device according to claim 1, further comprising a bearing seat mechanism for a user to sit on, wherein the bearing seat mechanism is arranged on the support frame and is positioned between the moving base and the linkage type bearing mechanism.

9. The coordinated shifting device according to claim 8, wherein said carriage mechanism comprises a carriage bracket, a carriage, a guide mechanism and a second linear actuator; the guide mechanism is arranged on the bearing seat support, a moving pair is formed by the guide mechanism and the bearing seat support, and the guide mechanism can move up and down relative to the bearing seat support; the bearing seat is arranged on the guide mechanism and can synchronously move along with the guide mechanism; the second linear actuator is arranged between the guide mechanism and the movable base, and the second linear actuator drives the guide mechanism to move up and down along the load bearing seat to realize the height adjustment of the load bearing seat.

10. The coordinated type shifting device according to claim 1, wherein said movable base comprises a base, a first bearing base and a second bearing base, two of said bearing bases and said base constitute a movable pair, and the distance between said two bearing bases is adjustable.