# US 10,864,134 B2 · Linkage mechanism and walking aid device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,134 B2 - Document ID: US10864134B2 - Status: Granted - Kind: B2 - Application number: 15/784,194 - Filed: 2017-10-16 - Published: 2019-02-14 - Granted: 2020-12-15 - Earliest claimed: 2017-08-10 - Assignees: Wistron Corporation - Applicants: Wistron Corporation - Inventors: Chen-Yi Liang; Ming-Ru Syue; Ming-Ju Hsieh; Cheng-Hsing Liu - Web page: https://patentgrep.com/patent/US10864134B2 ## CPC - A61H 3/04: Wheeled walking aids for patients or disabled persons - A61G 5/021: {having particular propulsion mechanisms} - A61G 5/025: {Levers} - B62K 13/08: Frames - B62K 15/008: {foldable about 2 or more axes} - F16H 1/20: involving more than two intermeshing members - F16H 3/02: without gears having orbital motion - A61G 5/02: propelled by the patient or disabled person - A61H 2003/043: {with a drive mechanism} - A61H 2201/0161: Size reducing arrangements when not in use, for stowing or transport - A61H 2201/0192: Specific means for adjusting dimensions - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) - B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE - F16H: GEARING ## Abstract A linkage mechanism including a base, a first linkage, a second linkage and a driving element is provided. The first linkage has a first end portion and a second end portion opposite to each other, and the first end portion is pivoted to the base. The second linkage has third end portion and a fourth end portion opposite to each other, wherein the third end portion is coupled to the base, and the second end portion and the fourth end portion are coupled with each other. The driving element is coupled to at least one of the second end portion and the fourth end portion, and is configured to drive the first linkage and the second linkage to move relative to the base. A walking aid device is also provided. ## Claims ### Claim 1 A linkage mechanism, comprising: a base; a first linkage, having a first end portion and a second end portion opposite to each other, and the first end portion being pivoted to the base; a second linkage, having a third end portion and a fourth end portion opposite to each other, wherein the third end portion is coupled to the base, and the second end portion and the fourth end portion are coupled with each other; and a driving element, rotatably coupled to at least one of the second end portion and the fourth end portion, and the driving element being configured to rotatably drive both of the first linkage and the second linkage to rotate relative to the base. ### Claim 2 (depends on 1) The linkage mechanism as recited in claim 1, wherein the base has a first sliding guide portion, and the third end portion of the second linkage is slidably disposed in the first sliding guide portion. ### Claim 3 (depends on 2) The linkage mechanism as recited in claim 2, further comprising: a linking element, pivoted to the second linkage, wherein the linking element has a second sliding guide portion, the first linkage further has a coupling portion located between the first end portion and the second end portion, and the coupling portion is slidably disposed in the second sliding guide portion. ### Claim 4 (depends on 3) The linkage mechanism as recited in claim 3, wherein the coupling portion is configured to move in the second sliding guide portion when the first linkage rotates relative to the base, so as to drive the linking element to rotate relative to the second linkage, thereby changing a tilt angle between the linking element and a riding element thereon. ### Claim 5 (depends on 2) The linkage mechanism as recited in claim 2, further comprising: a linking element, pivoted to the first linkage, wherein the second linkage is a retractable rod and has a second sliding guide portion, the linking element has a coupling portion, and the coupling portion is slidably disposed in the second sliding guide portion. ### Claim 6 (depends on 1) The linkage mechanism as recited in claim 1, wherein the second linkage has a first rod member and a second rod member pivoted to each other, the first rod member has the third end portion, the second rod member has the fourth end portion, the linkage mechanism further comprises a linking element, and the third end portion is coupled to the linking element and coupled to the base through the linking element. ### Claim 7 (depends on 6) The linkage mechanism as recited in claim 6, wherein the base has a first sliding guide portion, the linking element has a first coupling portion, a second coupling portion and a second sliding guide portion located between the first coupling portion and the second coupling portion, the first linkage further has a third sliding guide portion located between the first end portion and the second end portion, the first coupling portion is slidably disposed in the first sliding guide portion, the second coupling portion is slidably disposed in the third sliding guide portion, and the third end portion is slidably disposed in the second sliding guide portion. ### Claim 8 (depends on 1) The linkage mechanism as recited in claim 1, wherein the second linkage has a first rod member and a second rod member pivoted to each other, the first rod member has the third end portion, the second rod member has the fourth end portion, and the third end portion is pivoted to the base. ### Claim 9 (depends on 1) The linkage mechanism as recited in claim 1, further comprising: a linking element, wherein the second end portion and the fourth end portion are respectively pivoted to the linking element, and the third end portion is pivoted to the base. ### Claim 10 (depends on 9) The linkage mechanism as recited in claim 9, further comprising: a third linkage, pivoted to the first linkage; and a fourth linkage, pivoted to the driving element and the third linkage. ### Claim 11 (depends on 1) The linkage mechanism as recited in claim 1, wherein the second end portion and the fourth end portion are respectively pivoted to the driving element, the third end portion is pivoted to the base, and the linkage mechanism further comprises: a third linkage, pivoted together with the fourth end portion to a same position of the driving element; a fourth linkage, pivoted together with the first end portion to a same position of the base; and a linking element, wherein the third linkage and the fourth linkage are respectively pivoted to the linking element. ### Claim 12 (depends on 1) The linkage mechanism as recited in claim 1, wherein the driving element comprises: a handle; and a gear set, wherein the handle is coupled to at least one of the second end portion and the fourth end portion through the gear set. ### Claim 13 (depends on 12) The linkage mechanism as recited in claim 12, wherein the gear set comprises: a first gear, connected with the handle; a second gear, coupled to the first gear; a third gear, connected with the fourth end portion and coupled with the second gear; and a fourth gear, connected with the second end portion and coupled with the third gear. ### Claim 14 (depends on 12) The linkage mechanism as recited in claim 12, wherein the driving element further comprises a holder, and the handle and the gear set are respectively pivoted to the holder. ### Claim 15 (depends on 14) The linkage mechanism as recited in claim 14, wherein the gear set is configured to drive the third end portion of the second linkage to both move and rotate relative to the base when the handle rotates relative to the holder, so as to move the third end portion away from the first end portion. ### Claim 16 (depends on 12) The linkage mechanism as recited in claim 12, wherein the linking element and the riding element thereon presents non-horizontal when the handle is in a first position, and the linking element and the riding element thereon presents horizontal when the handle is rotated to a second position from the first position. ### Claim 17 (depends on 12) The linkage mechanism as recited in claim 12, wherein the linkage mechanism further comprises a first angle between the second end portion of the first linkage and the fourth end portion of the second linkage when the handle is in a first position, a second angle between the second end portion of the first linkage and the fourth end portion of the second linkage when the handle is in a second position, and the second angle is greater than or equal to the first angle. ### Claim 18 A walking aid device, comprising: a wheel set; and a linkage mechanism, comprising: a base, wherein the wheel set is pivoted to the base; a first linkage, having a first end portion and a second end portion opposite to each other, wherein the first end portion is pivoted to the base; a second linkage, having a third end portion and a fourth end portion opposite to each other, wherein the third end portion is coupled to the base, and the second end portion and the fourth end portion are coupled with each other; and a driving element, rotatably coupled to at least one of the second end portion and the fourth end portion, and the driving element is configured to rotatably drive both of the first linkage and the second linkage to rotate relative to the base. ### Claim 19 (depends on 18) The walking aid device as recited in claim 18, wherein the base has a first sliding guide portion, and the third end portion of the second linkage is slidably disposed in the first sliding guide portion. ### Claim 20 (depends on 19) The walking aid device as recited in claim 19, wherein the linkage mechanism further comprises: a linking element, pivoted to the second linkage, wherein the linking element has a second sliding guide portion, the first linkage further has a coupling portion located between the first end portion and the second end portion, and the coupling portion is slidably disposed in the second sliding guide portion; and a riding element, connected with the linking element. ### Claim 21 (depends on 20) The walking aid device as recited in claim 20, wherein the coupling portion is configured to move in the second sliding guide portion when the first linkage rotates relative to the base, so as to drive the linking element to rotate relative to the second linkage, thereby changing a tilt angle between the linking element and the riding element thereon. ### Claim 22 (depends on 19) The walking aid device as recited in claim 19, wherein the linkage mechanism further comprises: a linking element, pivoted to the first linkage, wherein the second linkage is a retractable rod and has a second sliding guide portion, the linking element has a coupling portion, and the coupling portion is slidably disposed in the second sliding guide portion; and a riding element, connected with the linking element. ### Claim 23 (depends on 18) The walking aid device as recited in claim 18, wherein the second linkage has a first rod member and a second rod member pivoted to each other, the first rod member has the third end portion, the second rod member has the fourth end portion, the linkage mechanism further comprises a linking element and a riding element, the third end portion is coupled to the linking element and coupled to the base through the linking element, and the riding element is connected with the second rod member. ### Claim 24 (depends on 23) The walking aid device as recited in claim 23, wherein the base has a first sliding guide portion, the linking element has a first coupling portion, a second coupling portion and a second sliding guide portion located between the first coupling portion and the second coupling portion, the first linkage further has a third sliding guide portion located between the first end portion and the second end portion, the first coupling portion is slidably disposed in the first sliding guide portion, the second coupling portion is slidably disposed in the third sliding guide portion, and the third end portion is slidably disposed in the second sliding guide portion. ### Claim 25 (depends on 18) The walking aid device as recited in claim 18, wherein the second linkage has a first rod member and a second rod member pivoted to each other, the first rod member has the third end portion, the second rod member has the fourth end portion, the third end portion is pivoted to the base, and the linkage mechanism further comprises a riding element connected with the second rod member. ### Claim 26 (depends on 18) The walking aid device as recited in claim 18, wherein the linkage mechanism further comprises: a linking element, wherein the second end portion and the fourth end portion are respectively pivoted to the linking element, and the third end portion is pivoted to the base. ### Claim 27 (depends on 26) The walking aid device as recited in claim 26, wherein the linkage mechanism further comprises: a third linkage, pivoted to the first linkage; and a fourth linkage, pivoted to the driving element and the third linkage; and a riding element, connected with the third linkage. ### Claim 28 (depends on 18) The walking aid device as recited in claim 18, wherein the second end portion and the fourth end portion are respectively pivoted to the driving element, the third end portion is pivoted to the base, and the linkage mechanism further comprises: a third linkage, pivoted together with the fourth end portion to a same position of the driving element; a fourth linkage, pivoted together with the first end portion to a same position of the base; a linking element, wherein the third linkage and the fourth linkage are respectively pivoted to the linking element; and a riding element, connected with the linking element. ### Claim 29 (depends on 18) The walking aid device as recited in claim 18, wherein the driving element comprises: a handle; and a gear set, wherein the handle is coupled to at least one of the second end portion and the fourth end portion through the gear set. ### Claim 30 (depends on 29) The walking aid device as recited in claim 29, wherein the gear set comprises: a first gear, connected with the handle; a second gear, coupled to the first gear; a third gear, connected with the fourth end portion and coupled with the second gear; and a fourth gear, connected with the second end portion and coupled with the third gear. ### Claim 31 (depends on 29) The walking aid device as recited in claim 29, wherein the driving element further comprises a holder, and the handle and the gear set are respectively pivoted to the holder. ### Claim 32 (depends on 29) The walking aid device as recited in claim 29, wherein the linking element and the riding element thereon presents non-horizontal when the handle is in a first position, and the linking element and the riding element thereon presents horizontal when the handle is rotated to a second position from the first position. ### Claim 33 (depends on 29) The walking aid device as recited in claim 29, wherein the linkage mechanism of the walking aid device further comprises a first angle between the second end portion of the first linkage and the fourth end portion of the second linkage when the handle is in a first position, a second angle between the second end portion of the first linkage and the fourth end portion of the second linkage when the handle is in a second position, and the second angle is greater than or equal to the first angle. ### Claim 34 (depends on 31) The walking aid device as recited in claim 31, wherein the gear set is configured to drive the third end portion of the second linkage to both move and rotate relative to the base when the handle rotates relative to the holder, so as to move the third end portion away from the first end portion.