阅读说明：本技术 一种重心适应辅助椅 (Gravity center adaptation auxiliary chair ) 是由 金子旭 蒲子涵 马逸暄 唐斌 林森 于 2020-08-04 设计创作，主要内容包括：一种重心适应辅助椅,本发明涉及一种辅助椅,本发明为解决本发明为解决老年人或残障人士站立起身困难、行走越障、拣拾东西不便等问题,本发明包括包括座椅模块、腿部模块、底盘模块、摇臂模块和两个行星轮模块,座椅模块安装在腿部模块上,腿部模块安装在底盘模块上,摇臂模块安装在底盘模块上,且摇臂模块位于腿部模块的前方,两个行星轮模块分别安装在底盘模块的两侧。本发明针对老年人站立起身、行走越障、辅助捡拾等问题而设计,实现老年人、残疾人生活的帮扶,包括但不限于辅助站立、辅助行走、辅助捡拾等,在一定程度上辅助使用者的生活。(The invention relates to an auxiliary chair with an adaptive gravity center, which relates to an auxiliary chair and aims to solve the problems that the old or the disabled are difficult to stand up, walk over obstacles, inconvenient to pick up things and the like. The invention is designed for the problems of standing up, walking obstacle crossing, auxiliary picking and the like of the old, realizes the assistance of the life of the old and the disabled, including but not limited to auxiliary standing, auxiliary walking, auxiliary picking and the like, and assists the life of a user to a certain extent.)

1. A center of gravity adaptation auxiliary chair is characterized in that: the gravity center adaptive auxiliary chair comprises a seat module (1), a leg module (2), a chassis module (3), a rocker arm module (4) and two planet wheel modules (5),

seat module (1) is installed on shank module (2), and shank module (2) are installed on chassis module (3), and rocker arm module (4) are located the place ahead of shank module (2), and two planet wheel modules (5) are installed respectively in the both sides of chassis module (3).

2. A center of gravity adaptive assistive chair as claimed in claim 1, wherein: the chassis module (3) comprises a chassis body (3-1), two side brackets (3-2), a plurality of linear guide rails (3-3), two screw rod assemblies (3-4), a power distributor (3-5), a charging end (3-6), a connecting end (3-7) and an air brake assembly,

the lower ends of the two side brackets (3-2) are respectively arranged at the two sides of the upper surface of the chassis body (3-1),

a plurality of linear guide rails (3-3) are arranged on the upper surface of the chassis body (3-1) in parallel side by side along the width direction of the chassis body (3-1),

two screw rod components (3-4) are arranged on the upper surface of the chassis body (3-1), each screw rod component (3-4) is positioned between two linear guide rails (3-3),

the power distributor (3-5) is arranged on the upper surface of one side of the chassis body (3-1), and the power distributor (3-5) is connected with the screw rod assembly (3-4); the lead screw components (3-4) are connected with the leg module (2);

the pneumatic brake component is connected with the chassis body (3-1), and the charging end (3-6) is arranged at the rear end of the chassis body (3-1); the connecting ends (3-7) are arranged at the front end of the chassis body (1) and are used for being connected with the rocker arm module (4).

3. A center of gravity adaptive assistive chair as claimed in claim 2, wherein: the power distributor (3-5) comprises a mounting substrate (3-5-1), a synchronous belt (3-5-2), an absolute value encoder (3-5-3), two output shafts (3-5-4), an input shaft (3-5-5), a driving wheel (3-5-6), two first driven wheels (3-5-7), a second driven wheel (3-5-8), two first tensioning wheels (3-5-9), two second tensioning wheels (3-5-10), two cantilevers (3-5-11), a first connecting rod (3-5-12) and a tensioning screw rod assembly (3-5-13);

the mounting substrate (3-5-1) is fixed on one side of the upper surface of the chassis body (3-1),

the driving wheel (3-5-6) is arranged at the lower part of the mounting base plate (3-5-1) through an input shaft (3-5-5);

the two first driven wheels (3-5-7) are respectively arranged on the left side and the right side of the mounting base plate (3-5-1) through two output shafts (3-5-4);

the absolute value encoder (3-5-3) is arranged on the upper part of the mounting base plate (3-5-1), and the second driven wheel (3-5-8) is sleeved on a connecting shaft of the absolute value encoder (3-5-3);

the synchronous belt (3-5-2) is sleeved on the driving wheel (3-5-6), the two first driven wheels (3-5-7) and the second driven wheel (3-5-8) in turn,

the two first tensioning wheels (3-5-9) are arranged on the mounting base plate (3-5-1) through connecting shafts and are positioned on two sides of the upper part of the driving wheel (3-5-6), and the outer sides of the synchronous belts (3-5-2) are tightly pressed on the outer circles of the two first tensioning wheels (3-5-9);

the two second tensioning wheels (3-5-10) are positioned at two sides of the lower part of the second driven wheel (3-5-8), and each second tensioning wheel (3-5-8) is respectively arranged on the mounting base plate (3-5-1) through a connecting shaft and can move up and down along the strip-shaped hole of the mounting base plate (3-5-1); the excircle of the two second tensioning wheels (3-5-10) is pressed at the outer side of the synchronous belt (3-5-2);

one end of each cantilever (3-5-11) is sleeved on the connecting shaft of the second tensioning wheel (3-5-10), the other end of each cantilever (3-5-11) is rotatably connected with the mounting base plate (3-5-1) through the connecting shaft,

each cantilever (3-5-11) is connected with a tensioning screw rod component (3-5-13) through a first connecting rod (3-5-12).

4. A center of gravity adaptive assistive chair as claimed in claim 3, wherein: the tensioning screw rod assembly (3-5-13) comprises a screw rod (3-5-13-1), an upper support (3-5-13-2), a lower support (3-5-13-3) and a nut (3-5-13-4), the upper support (3-5-13-2) and the lower support (3-5-13-3) are fixedly connected with the mounting base plate (3-5-1) through screws respectively, the upper end of the screw rod (3-5-13-1) is connected with the upper support (3-5-13-2), and the lower end of the screw rod (3-5-13-1) is connected with the lower support (3-5-13-3); the screw rod (3-5-13-1) is in threaded connection with the nut (3-5-13-4), and two sides of the nut (3-5-13-4) are respectively in rotary connection with one end of the first connecting rod (3-5-12).

5. A center of gravity adaptive assistive chair as claimed in claim 1, wherein: the leg module (2) comprises two leg supports (2-1), two cushion blocks (2-2), two pedals (2-3), a first electric push rod (2-4), a push rod mounting seat (2-5), a second electric push rod (2-6) and a sliding block support (2-7),

the two leg supports (2-1) are respectively connected with two fixed hinges (1-8), each leg support (2-1) is provided with a cushion block (2-2) along the vertical direction, and the lower end of each leg support (2-1) is provided with a pedal (2-3);

the rear part of each leg support (2-1) is connected with a slide block support (2-7), the bottom of each slide block support (2-7) is provided with a slide block matched with the linear guide rail (3-3),

the first electric push rod (2-4) is positioned at the rear part of the leg support (2-1), the upper end of the first electric push rod (2-4) is connected with the lower part of the seat connecting frame (1-10), and the lower end of the first electric push rod (2-4) is connected with the upper surface of the chassis body (3-1) through the mounting seat (2-5);

the second electric push rod (2-6) is located between the two leg supports (2-1), the upper end of the second electric push rod (2-6) is connected with the rocker arm module (4), the lower end of the second electric push rod (2-6) is connected with the upper surface of the chassis body (3-1) through the mounting seat (2-5), the mounting seat (2-5) is mounted on the sliding block support (2-7), and the mounting seat (2-5) is fixedly connected with a nut of the lead screw assembly (3-4).

6. A center of gravity adaptive assistive chair as claimed in claim 1, wherein: the seat module (1) comprises a seat back (1-1), an inserting piece (1-2), a side link (1-3), two seat back connecting rods (1-4), a seat base (1-5), a telescopic sliding rail (1-6), a sliding rail mounting plate (1-7), a fixed hinge (1-8), armrests (1-9) and a seat connecting frame (1-10),

the chair seat (1-5) is arranged on the chair connecting frame (1-10), the armrests (1-9) are arranged on the two sides of the chair connecting frame (1-10),

the front ends of the seat connecting frames (1-10) are provided with two fixed hinges (1-8) side by side and hinged with the leg module (2) through the fixed hinges (1-8);

the telescopic sliding rails (1-6) are arranged on the left side and the right side of the seat connecting frame (1-10) through sliding rail mounting plates (1-7);

the slide rail mounting plate (1-7) is provided with a trunnion (1-7-1) which is matched and connected with the side bracket (3-2),

the back part of the chair back (1-1) is provided with a side link rod (1-3), the upper end of the side link rod (1-3) is fixedly connected with the back part of the chair back (1-1), the lower end of the connecting rod (1-3) is hinged with the end part of the chair back connecting rod (1-4),

the upper end of the inserting piece (1-2) is fixedly connected with the rear part of the chair back (1-1), the lower end of the inserting piece (1-2) is inserted into the connecting rod (1-3), and the height of the chair back can be adjusted through the inserting piece (1-2).

7. A center of gravity adaptive assistive chair as claimed in claim 1, wherein: the rocker arm module (4) comprises a handle (4-1), a rocker arm rod body (4-2), a remote controller (4-3), a main body switch (4-4), a clamping device (4-5), an electric push rod connecting hinge (4-6) and a bottom rotating pair (4-7),

the upper end of the rocker arm rod body (4-2) is provided with a handle (4-1), and the middle part of the handle (4-1) is provided with a remote controller (4-3);

a clamping device (4-5) is arranged in the middle of the inner side wall of the rocker arm rod body (4-2);

the main body switch (4-4) is positioned at the upper part of the clamping device (4-5);

the lower part of the clamping device (4-5) is provided with an electric push rod connecting hinge (4-6),

the lower end of the rocker arm rod body (4-2) is rotatably connected with the connecting end (3-7) of the chassis body (3-1) through a bottom rotating pair (4-7).

8. The center of gravity adaptive assistive chair of claim 7, wherein:

the gripping device (4-5) comprises a grip (4-5-1), a grip frame (4-5-2), a hand trigger (4-5-3) and a trigger frame (4-5-4),

two supporting tubes (4-5-5), a second connecting rod (4-5-6), a linear guide rail component (4-5-7), a clamping jaw component (4-5-8) and a return spring (4-5-9),

the linear guide rail assembly (4-5-7) comprises two linear bearing guide rails (4-5-7-1), linear bearings (4-5-7-2) and a linear sliding table (4-5-7-3),

two linear bearing guide rails (4-5-7-1) are arranged in parallel side by side,

the rear end of each linear bearing guide rail (4-5-7-1) is inserted into a hole at the upper part of the grip (4-5-1),

each linear bearing guide rail (4-5-7-1) is sleeved with a linear bearing (4-5-7-2),

the linear sliding table (4-5-7-3) is sleeved on two linear bearings (4-5-7-1), the front end of each linear bearing guide rail (4-5-7-1) is inserted on the grip frame (2),

the linear sliding table (4-5-7-3) can move linearly along the length direction of the linear bearing guide rail (5-1);

one end of a return spring (4-5-9) is fixedly connected with the handle frame (4-5-2), and the other end of the return spring (4-5-9) is fixedly connected with the linear sliding table (4-5-7-3);

the handle frame (4-5-2) is connected with the handle (4-5-1) into a whole through the trigger frame (4-5-4), the hand trigger (4-5-3) is positioned in the trigger frame (4-5-4), and the hand trigger (4-5-3) is connected with the linear sliding table (4-5-7-3);

the two supporting tubes (4-5-5) are arranged side by side and in parallel,

the grip (4-5-1) is arranged at the rear end of the two supporting tubes (4-5-5), the clamping jaw component (4-5-8) is arranged at the front end of the two supporting tubes (4-5-5),

the front end of the second connecting rod (4-5-6) is connected with the clamping jaw component (4-5-8), and the rear end of the second connecting rod (4-5-6) is connected with the straight line

The guide rail components (4-5-7) are connected, the second connecting rod (4-5-6) is positioned between the two supporting pipes (4-5-5), the central line of the second connecting rod (4-5-6) in the length direction is parallel to the central line of the supporting pipes (4-5-5) in the length direction, and the second connecting rod (4-5-6) makes linear reciprocating motion along the length direction through the linear guide rail component (6).

9. A center of gravity adaptive assistive chair as claimed in claim 1, wherein: each planet wheel module (5) comprises an outer wheel ring (5-1), a mounting frame (5-2), a mounting shaft (5-3), a planet wheel set and a driving wheel set,

the mounting shaft (5-3) is fixedly connected with the inner side of the mounting rack (5-2),

the planetary wheel set is arranged on the inner wall of the outer wheel ring (5-1),

the driving wheel set is connected with the planetary wheel set,

the planetary wheel set and the driving wheel set are both connected with the mounting rack (5-2);

the planetary wheel set comprises an inner gear ring (5-4), two driven non-bearing planet wheels (5-5) and a bearing driven planet wheel (5-6),

the inner gear ring (5-4) is arranged on the inner side wall of the outer wheel ring (5-1),

the two driven non-bearing planet wheels (5-5) and the bearing driven planet wheels (5-6) are arranged in a triangle and are connected through a mounting frame (5-2),

the two driven non-bearing planet wheels (5-5) and the bearing driven planet wheels (5-6) are matched with the outer wheel ring (5-1) through external encapsulation.

10. A center of gravity adaptive assistive chair as claimed in claim 9, wherein: the driving wheel set comprises two primary driving gears (5-7), primary driven gears (5-8), secondary driving gears (5-9) and secondary driven gears (5-10), and the two primary driving gears (5-7) are meshed with the primary driven gears (5-8); the primary driven gear (5-8) and the secondary driving gear (5-9) are sleeved on the same shaft and fixed, the secondary driving gear (5-9) is meshed with the secondary driven gear (5-10), and the secondary driven gear (5-10) is meshed with the inner gear ring (5-4).

Technical Field

The invention relates to an auxiliary chair, in particular to a gravity center adaptive auxiliary chair, and belongs to the technical field of auxiliary chairs.

Background

At present, the population aging trend is serious, the disorder of the action function is inevitably caused along with the increase of the age, and the shortage of the independent action power of the old is a big problem at present. And improving the life quality of the old people becomes a great social demand.

At present, the wheelchair capable of realizing sitting and standing conversion in the market mainly adopts a link mechanism to realize posture conversion, and a chassis is prevented from overturning due to forward movement of the gravity center after standing through auxiliary wheels. However, the design does not fundamentally solve the problem of gravity center movement in the standing process, meanwhile, the aging-assisting devices in similar designs on the market have the problem of ground adaptation, the requirement on the working ground environment is high, the aging-assisting devices cannot smoothly pass through common door frames and small steps in rooms, the terrain adaptation is poor, the functions are single, the occupied space is large, and the space utilization efficiency is not ideal.

Disclosure of Invention

The invention provides a gravity center adaptive auxiliary chair for solving the problems that old people or disabled people are difficult to stand up, difficult to walk over obstacles, inconvenient to pick up objects and the like.

The technical scheme adopted by the invention for solving the problems is as follows:

the seat module is arranged on the leg module, the leg module is arranged on the chassis module, the rocker arm module is arranged on the chassis module and is positioned in front of the leg module, and the two planet wheel modules are respectively arranged on two sides of the chassis module.

Furthermore, the chassis module comprises a chassis body, two side supports, a plurality of linear guide rails, two lead screw assemblies, a power distributor, a charging end, a connecting end and an air brake assembly, wherein the lower ends of the two side supports are respectively installed on two sides of the upper surface of the chassis body, the plurality of linear guide rails are arranged on the upper surface of the chassis body in parallel side by side along the width direction of the chassis body, the two lead screw assemblies are installed on the upper surface of the chassis body, each lead screw assembly is located between the two linear guide rails, the power distributor is installed on the upper surface of one side of the chassis body, and the power distributor is connected with the lead screw assemblies; the lead screw assembly is connected with the leg module; the pneumatic brake assembly is connected with the chassis body, and the charging end is arranged at the rear end of the chassis body; the connecting end is arranged at the front end of the chassis body and is used for being connected with the rocker arm module.

Further, the power distributor comprises a mounting substrate, a synchronous belt, an absolute value encoder, two output shafts, an input shaft, a driving wheel, two first driven wheels, two second driven wheels, two first tensioning wheels, two second tensioning wheels, two cantilevers, a first connecting rod and a tensioning screw rod assembly; the mounting substrate is fixed on one side of the upper surface of the chassis body, and the driving wheel is mounted on the lower part of the mounting substrate through the input shaft; the two first driven wheels are respectively arranged on the left side and the right side of the mounting base plate through two output shafts; the absolute value encoder is arranged on the upper part of the mounting substrate, and the second driven wheel is sleeved on a connecting shaft of the absolute value encoder; the synchronous belt is sequentially sleeved on the driving wheel, the two first driven wheels and the second driven wheel, the two first tensioning wheels are arranged on the mounting base plate through connecting shafts and located on two sides of the upper portion of the driving wheel, and the outer sides of the synchronous belt are tightly pressed on the outer circles of the two first tensioning wheels; the two second tensioning wheels are positioned at two sides of the lower part of the second driven wheel, and each second tensioning wheel is respectively arranged on the mounting base plate through a connecting shaft and can move up and down along the strip-shaped hole of the mounting base plate; the outer circles of the two second tensioning wheels are pressed on the outer sides of the synchronous belts; one end of each cantilever is sleeved on the connecting shaft of the second tensioning wheel, the other end of each cantilever is rotatably connected with the mounting base plate through the connecting shaft, and each cantilever is connected with the tensioning lead screw assembly through the first connecting rod.

Furthermore, the tensioning screw rod assembly comprises a screw rod, an upper support, a lower support and a nut, the upper support and the lower support are respectively and fixedly connected with the mounting substrate through screws, the upper end of the screw rod is connected with the upper support, and the lower end of the screw rod is connected with the lower support; the lead screw is in threaded connection with the nut, and two sides of the nut are respectively in rotating connection with one end of the first connecting rod.

Furthermore, the leg module comprises two leg supports, two cushion blocks, two pedals, a first electric push rod, a push rod mounting seat, a second electric push rod and a slider support, the two leg supports are respectively connected with the two fixed hinges, each leg support is provided with the cushion block along the vertical direction, and the lower end of each leg support is provided with the pedal; the rear part of each leg support is connected with a slide block support, the bottom of each slide block support is provided with a slide block matched with the linear guide rail, a first electric push rod is positioned at the rear part of each leg support, the upper end of the first electric push rod is connected with the lower part of the seat connecting frame, and the lower end of the first electric push rod is connected with the upper surface of the chassis body through a mounting seat; the second electric push rod is located between the two leg supports, the upper end of the second electric push rod is connected with the rocker arm module, the lower end of the second electric push rod is connected with the upper surface of the chassis body through the mounting seat, the mounting seat is mounted on the sliding block support, and the mounting seat is fixedly connected with the nut of the lead screw assembly.

Furthermore, the seat module comprises a seat back, an inserting piece, a side link, two seat back connecting rods, a seat, a telescopic sliding rail, a sliding rail mounting plate, fixed hinges, handrails and a seat connecting frame, wherein the seat is mounted on the seat connecting frame, the handrails are arranged on two sides of the seat connecting frame, the two fixed hinges are arranged at the front end of the seat connecting frame side by side and hinged with the leg module through the fixed hinges; the telescopic slide rails are arranged on the left side and the right side of the seat connecting frame through slide rail mounting plates; the slide rail mounting plate is provided with a trunnion which is connected with the side bracket in a matching way, the rear part of the chair back is provided with a side link rod, the upper end of the side link rod is fixedly connected with the rear part of the chair back, the lower end of the connecting rod is hinged with the end part of the chair back connecting rod, the upper end of the inserting piece is fixedly connected with the rear part of the chair back, the lower end of the inserting piece is inserted in the connecting rod, and the height of the chair back.

Furthermore, the rocker arm module comprises a handle, a rocker arm rod body, a remote controller, a main body switch, a clamping device, an electric push rod connecting hinge and a bottom rotating pair, wherein the handle is arranged at the upper end of the rocker arm rod body, and the remote controller is arranged in the middle of the handle; a clamping device is arranged in the middle of the inner side wall of the rocker arm rod body; the main body switch is positioned at the upper part of the clamping device; the lower part of the clamping device is provided with an electric push rod connecting hinge, and the lower end of the rocker arm rod body is rotationally connected with the connecting end of the chassis body through a bottom rotating pair.

Furthermore, the clamping device comprises a grip, a grip frame, a hand trigger, a trigger frame, two supporting tubes, a second connecting rod, a linear guide rail assembly, a clamping jaw assembly and a return spring, wherein the linear guide rail assembly comprises two linear bearing guide rails, a linear bearing and a linear sliding table, the two linear bearing guide rails are arranged in parallel side by side,

the rear end of each linear bearing guide rail is inserted into a hole in the upper part of the handle, a linear bearing is sleeved on each linear bearing guide rail, a linear sliding table is sleeved on two linear bearings, the front end of each linear bearing guide rail is inserted on the handle frame, and the linear sliding table can linearly move along the length direction of the linear bearing guide rails; one end of the reset spring is fixedly connected with the handle frame, and the other end of the reset spring is fixedly connected with the linear sliding table; the handle frame is connected with the handle into a whole through the trigger frame, the hand-pulling trigger is positioned in the trigger frame and is connected with the linear sliding table; two stay tubes are arranged side by side and in parallel, the handle is arranged at the rear ends of the two stay tubes, the clamping jaw assembly is arranged at the front ends of the two stay tubes, the front end of the second connecting rod is connected with the clamping jaw assembly, the rear end of the second connecting rod is connected with the linear guide rail assembly, the second connecting rod is positioned between the two stay tubes, the central line of the length direction of the second connecting rod is parallel to the central line of the length direction of the stay tubes, and the second connecting rod makes linear reciprocating motion along the length direction of the second connecting rod through the linear guide rail.

Furthermore, each planet wheel module comprises an outer wheel ring, a mounting frame, a mounting shaft, a planet wheel set and a driving wheel set, wherein the mounting shaft is fixedly connected with the inner side of the mounting frame, the planet wheel set is mounted on the inner wall of the outer wheel ring, the driving wheel set is connected with the planet wheel set, and the planet wheel set and the driving wheel set are both connected with the mounting frame; the planet wheel set comprises an inner gear ring, two driven non-bearing planet wheels and a bearing driven planet wheel, the inner gear ring is arranged on the inner side wall of the outer wheel ring, the two driven non-bearing planet wheels and the bearing driven planet wheel are arranged in a triangular mode and are connected through an installation frame, and the two driven non-bearing planet wheels and the bearing driven planet wheel are matched with the outer wheel ring through external rubber coating.

Furthermore, the driving wheel set comprises two primary driving gears, a primary driven gear, a secondary driving gear and a secondary driven gear, and the two primary driving gears are meshed with the primary driven gear; the first-stage driven gear and the second-stage driving gear are sleeved and fixed on the same shaft, the second-stage driving gear is meshed with the second-stage driven gear, and the second-stage driven gear is meshed with the inner gear ring.

The invention has the beneficial effects that:

the invention is designed for the problems of standing up, walking obstacle crossing, auxiliary picking up and the like of the old,

aiming at walking obstacle crossing, the planet wheel module is offset through the center of the embedded structure with built-in power, automatic stabilization is realized by means of gravity, obstacle crossing is realized by means of the weight of a user, the motion curve is smooth after crossing, no obvious impact exists, the use body feeling is soft, and the walking obstacle crossing device is more in line with the actual use condition. Because the obstacle-crossing utilizes the weight of the user, the motor load is small, the energy utilization efficiency can be improved, and the endurance time can be prolonged. The integral nested structure has compact layout and high space utilization rate; the device has strong terrain adaptability and excellent trafficability, so that the device can easily cope with small obstacles such as steps, doorsills and the like in complex terrains;

aiming at standing up, the angle transformation of the seat is realized through the first electric push rod, so that the posture and the angle transformation from the sitting posture to the standing posture are realized, the angle transformation of the rocker arm is realized through the second electric push rod, the transformation of the hand supporting position of a user in the posture transformation process is realized, and the stable transformation of the gravity center is ensured; the gravity center of the whole device is always stabilized at an approximate position in the rising process of a user, and the whole device is always kept stable without adding redundant auxiliary wheels on a chassis, so that the front side and the rear side of the device are prevented from being turned over;

to picking up this problem of thing, press from both sides the ware through the design on the rocking arm module and get, the person of being convenient for need not machine off can pick up ground article (like key, drinking cup etc.), avoids the risk that the old person frequently sat and stands the transform for the machine is under the condition of accomplishing the primary function, and the performance is diversified more.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a chassis module;

FIG. 3 is a schematic diagram of the power splitter;

FIG. 4 is a schematic view of the internal connections of the power distributor;

fig. 5 is a schematic structural view of a charging post engaged with a charging terminal;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a top view of FIG. 5;

fig. 8 is a schematic structural view of a leg module;

FIG. 9 is a schematic structural view of a seat module;

FIG. 10 is a back partial view of the seat module;

FIG. 11 is a schematic structural view of a rocker arm module;

fig. 12 is a schematic view of the gripper;

fig. 13 is a schematic structural view of a planetary gear module;

FIG. 14 is a side view of FIG. 13;

FIG. 15 is a schematic view of the connection of the drive wheel sets;

fig. 16 is a schematic view of the stair climbing principle of the planetary wheel module.

Detailed Description