An allosteric behavior-assisted robot

Abstract

The present invention relates to the field of behavior-assisting robots, and in particular to a variable-state behavior-assisting robot. It includes a waist, thigh, calf and foot connected in sequence, wherein the waist is provided with a control box, and the rear sides of the thigh and calf are provided with a variable-state support mechanism, the variable-state support mechanism includes a thigh support module, a calf support module and a wheeled substitute module, the thigh support module is arranged on the thigh, the calf support module is arranged on the calf, and the upper end is hinged to the thigh support module, the wheeled substitute module is arranged on the rear side of the thigh support module and the calf support module, and is hinged to the upper end of the thigh support module and the lower end of the calf support module; the control box controls the variable-state support mechanism to switch between the standing mode and the wheelchair mode. The present invention realizes the mutual conversion of the robot exoskeleton state, support state and wheelchair state through mechanism deformation and reorganization, and integrates the auxiliary walking function, the auxiliary sitting function and the wheeled substitute function.

Description

Technical Field

[0001] The present invention relates to the technical field of behavior assistance robots, and particularly to a variable-configuration behavior assistance robot. Background Art

[0002] For patients with motor dysfunction caused by aging, diseases, accidental injuries, etc., especially after the occurrence of lower limb motor dysfunction, it will not only affect the daily walking function, but also long-term immobilization will cause complications such as decline in visceral function, muscle atrophy, pressure sores, and constipation. Clinical medicine shows that if the population with lower limb disability or weakness can maintain standing or even simple walking in a timely manner, it can promote the compensation or reorganization of nerve tissue function, coordinate joint muscle groups, improve motor ability, and improve or even restore walking function. And appropriate exercise will greatly improve physical and mental health, can effectively reduce phenomena such as depression and pessimism, and improve sleep quality. Therefore, how to assist patients in restoring the ability to stand and walk is an important content of clinical rehabilitation treatment.

[0003] At present, lower limb rehabilitation robots have been extensively studied at home and abroad. Among them, wearable lower limb exoskeleton robots are currently the most widely used, mainly dedicated to realizing the functions of assisting walking and rehabilitation training. However, considering the daily life needs of users, it is necessary to provide the user with the function of moving in a sitting position. At the same time, the human body needs the support of lower limb strength during the process of getting up and sitting down, and it is very difficult for patients with lower limb motor dysfunction to do this, and additional assistance is required. It is also very important to provide the user with the function of assisting getting up and sitting down and the function of wheeled proxy walking. Therefore, it has become an urgent need to develop a wearable multi-functional behavior assistance robot that can carry the user to move out, support standing, assist walking, and can reduce its own weight as much as possible through mechanism deformation and reorganization. Summary of the Invention

[0004] Aiming at the above problems, the purpose of the present invention is to provide a variable-configuration behavior assistance robot for patients with lower limb motor dysfunction, to solve the relative independence of lower limb rehabilitation robots and wheeled proxy walking devices in the existing rehabilitation training mode, and integrate the functions of assisting walking, assisting getting up and sitting down, and wheeled proxy walking.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A variable-configuration behavior assistance robot provided by the present invention includes a waist, thighs, calves, and feet connected in sequence. A control box is provided at the rear of the waist, and variable-configuration support mechanisms are provided at the rear of the thighs and calves. The control box controls the variable-configuration support mechanisms to switch between a standing mode and a wheelchair mode.

[0007] The allosteric support mechanism includes a thigh support module, a calf support module, and a wheeled walking substitution module that are successively hinged end to end. The thigh support module is arranged on the rear side of the thigh, the calf support module is arranged on the rear side of the calf, and the upper end is hinged to the thigh support module. The wheeled walking substitution module is arranged on the rear sides of the thigh support module and the calf support module and is hinged to the upper end of the thigh support module and the lower end of the calf support module.

[0008] The thigh support module includes a thigh support connecting rod, a thigh support rod, and a linear push rod motor I. One end of the thigh support connecting rod is hinged to the upper end of the thigh, and a waist-shaped groove is provided along the length direction at the other end of the thigh support connecting rod. The waist-shaped groove is slidably connected to the upper end of the thigh support rod.

[0009] The calf support module includes a calf baffle, a calf support rod, and a linear push rod motor II. The calf support rod is connected to the calf through the calf baffle, and the upper end of the calf support rod is hinged to the lower end of the thigh support rod.

[0010] The tail of the linear push rod motor I is hinged to the calf support rod, and the output end is hinged to the thigh support rod.

[0011] The wheeled walking substitution module includes a telescopic support rod, a wheel rod, a front universal wheel, and a rear drive wheel. One end of the telescopic support rod is hinged to the upper end of the thigh support rod, the other end is hinged to one end of the wheel rod, the other end of the wheel rod is hinged to the lower end of the calf support rod, and the front universal wheel 27 and the rear drive wheel 28 are installed on the wheel rod.

[0012] The tail of the linear push rod motor II is hinged to the calf support rod, and the output end is hinged to the wheel rod.

[0013] The thigh support rod includes a thigh support bottom rod, a slider guide rail, a slider, a screw rod, and an adjusting nut. The slider guide rail is arranged on the thigh support bottom rod, the slider is slidably connected to the slider guide rail, a notch is provided on the side of the thigh support bottom rod, the screw rod is accommodated in the notch and is connected to the slider, and the adjusting nut is threadedly connected to the screw rod for locking the screw rod.

[0014] The output end of the linear push rod motor I is hinged to the slider.

[0015] The waist includes a back plate, a hip joint connecting plate, and a waist strap. The hip joint connecting plate is arranged on the front side of the back plate, and the waist strap is arranged on the front side of the hip joint connecting plate. The control box is arranged on the rear side of the back plate.

[0016] The thigh includes a hip joint, a thigh rod, a knee joint, and a thigh strap. The upper and lower ends of the thigh rod are respectively connected to the hip joint and the knee joint. The hip joint is connected to the hip joint connecting plate. The length of the thigh rod is adjustable, and one or two groups of thigh straps are provided on the front side of the thigh rod.

[0017] The hip joint includes a hip joint motor fixing case, a hip joint motor, a hip joint harmonic reducer, and a hip joint multi-turn absolute encoder. The hip joint motor fixing case is fixed on the hip joint connecting plate. The hip joint harmonic reducer is arranged on the hip joint motor fixing case, and its input end is connected to the hip joint motor. The hip joint multi-turn absolute encoder is arranged on the hip joint motor;

[0018] The thigh rod includes a connecting rod adapter, a connecting rod pressing and connecting member, a sliding bushing, an outer thigh connecting rod, an inner thigh connecting rod, a locking ring, and a quick fastening handle. The connecting rod adapter is connected to the output end of the hip joint harmonic reducer. The upper part of the connecting rod pressing and connecting member is installed on the outer shell of the hip joint motor through the sliding bushing. The connecting rod adapter and the connecting rod pressing and connecting member press and fix the upper end of the outer thigh connecting rod. The upper end of the inner thigh connecting rod is inserted and slidably matched with the lower end of the outer thigh connecting rod. The locking ring is sleeved on the lower end of the outer thigh connecting rod to lock the outer thigh connecting rod and the inner thigh connecting rod. A quick fastening handle is provided on the locking ring.

[0019] The knee joint includes a knee joint motor fixing case, a knee joint motor, a knee joint harmonic reducer, and a knee joint multi-turn absolute encoder. The knee joint motor fixing case is connected to the inner thigh connecting rod. The knee joint harmonic reducer is arranged on the knee joint motor fixing case, and its input end is connected to the knee joint motor. The knee joint multi-turn absolute encoder is arranged on the knee joint motor;

[0020] The output end of the knee joint harmonic reducer is connected to the lower leg.

[0021] The lower leg includes a lower leg rod and an ankle joint. The upper end of the lower leg rod is connected to the knee joint, and the lower end of the lower leg rod is connected to the ankle joint.

[0022] The foot includes a pedal adapter, a pedal, and a foot strap. The pedal adapter is fixed on the pedal and is connected to the ankle joint; One or two groups of foot straps are provided on the upper surface of the pedal.

[0023] The advantages and positive effects of the present invention are as follows:

[0024] 1. The present invention realizes configuration conversion through the deformation and recombination of the variable structure support mechanism, and as a wearable device, it assists the user to complete walking, sitting up, and rapid travel, meeting the daily use needs of patients with lower limb motor function disorders.

[0025] 2. The thigh and lower leg support modules of the present invention are located on the sagittal center plane of the leg, can provide a reliable support function to assist the user to complete the sitting and standing conversion, and the linear motor I can lift the sliding end of the lower leg support rod and the user's lower leg to a certain height after the user completes the conversion from the standing position to the sitting position, so that the foot pedal is separated from the ground, facilitating wheeled movement.

[0026] 3. The waist of the present invention adopts a width-adjustable design, and the legs adopt a rod-length adjustable design, which can be conveniently adjusted for users with different heights and weights to adapt to the waist widths and the lengths of the thighs and calves of different users, so as to make the center of each joint of the robot correspond to the leg joints of the human body.

[0027] 4. The present invention has a novel structure and a reasonable design. Most of the whole is made of aluminum alloy, which can reduce the overall weight of the robot. Description of the Drawings

[0028] Figure 1 is a schematic structural diagram of the present invention when standing in the exoskeleton state;

[0029] Figure 2 is a schematic structural diagram of the present invention when standing in the support state;

[0030] Figure 3 is a schematic structural diagram of the present invention in the wheelchair state;

[0031] Figure 4 is a schematic structural diagram of the thigh in the present invention;

[0032] Figure 5 is a schematic structural diagram of the thigh support rod in the present invention;

[0033] In the figure: 1 is the waist, 2 is the control box, 3 is the thigh, 4 is the calf, 5 is the thigh support module, 6 is the calf support module, 7 is the wheeled walking module, 8 is the foot, 9 is the back plate, 10 is the hip joint connecting plate, 11 is the waist strap, 12 is the hip joint, 12-1 is the hip joint motor fixing shell, 12-2 is the hip joint motor, 12-3 is the hip joint harmonic reducer, 12-4 is the hip joint multi-turn absolute encoder, 12-5 is the hip joint housing, 13 is the thigh rod, 13-1 is the connecting rod adapter, 13-2 is the connecting rod compression connecting piece, 13-3 is the sliding bushing, 13-4 is the outer thigh connecting rod, 13-5 is the inner thigh connecting rod, 13-6 is the locking ring, 13-7 is the quick fastening handle, 14 is the knee joint, 14-1 is the knee joint motor fixing shell, 14-2 is the knee joint motor, 14-3 is the knee joint harmonic reducer, 14-4 is the knee joint multi-turn absolute encoder, 14-5 is the knee joint housing, 15 is the thigh strap, 16 is the calf rod, 17 is the ankle joint, 18 is the calf strap, 19 is the thigh support connecting rod, 20 is the thigh support rod, 20-1 is the thigh support bottom rod, 20-2 is the slider guide rail, 20-3 is the slider, 20-4 is the screw rod, 20-5 is the adjusting nut, 21 is the linear push rod motor I, 22 is the calf baffle, 23 is the calf support rod, 24 is the linear push rod motor II, 25 is the telescopic support rod, 26 is the wheel rod, 27 is the front universal wheel, 28 is the rear drive wheel, 29 is the pedal connecting piece, 30 is the pedal, and 31 is the foot strap. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] As Figure 1 shown, a kind of allosteric behavior-assisted robot provided by the present invention includes a waist 1, a thigh 3, a calf 4 and a foot 8 which are connected in sequence. A control box 2 is arranged at the rear side of the waist 1, and an allosteric support mechanism is arranged at the rear sides of the thigh 3 and the calf 4. The control box 2 controls the allosteric support mechanism to switch between a standing mode and a wheelchair state mode.

[0036] In an embodiment of the present invention, the allosteric support mechanism includes a thigh support module 5, a calf support module 6 and a wheeled substitution module 7 which are hinged end to end in sequence. The thigh support module 5 is arranged at the rear side of the thigh 3, the calf support module 6 is arranged at the rear side of the calf 4 and is hinged to the upper end of the thigh support module 5, and the wheeled substitution module 7 is arranged at the rear sides of the thigh support module 5 and the calf support module 6 and is hinged to the upper end of the thigh support module 5 and the lower end of the calf support module 6. The calf support module 6 is used to realize the lower limb support of the robot in the support state and the wheelchair state.

[0037] As Figure 2 shown, in an embodiment of the present invention, the waist 1 includes a back plate 9, a hip joint connecting plate 10 and a waist strap 11. The hip joint connecting plate 10 is arranged at the front side of the back plate 9, and the waist strap 11 is arranged at the front side of the hip joint connecting plate 10; the control box 2 is arranged at the rear side of the back plate 9.

[0038] Further, adjustment grooves are arranged on both sides of the hip joint connecting plate 10 in the front-back direction to adjust the connection position with the thigh 3 to adapt to patients with different waist widths.

[0039] In an embodiment of the present invention, the thigh 3 includes a hip joint 12, a thigh rod 13, a knee joint 14 and a thigh strap 15. The upper and lower ends of the thigh rod 13 are respectively connected to the hip joint 12 and the knee joint 14. The hip joint 12 is connected to the hip joint connecting plate 10. The length of the thigh rod 13 is adjustable, and one or two groups of thigh straps 15 are arranged on the front side of the thigh rod 13. The hip joint 12 connects the hip joint connecting plate 10 and the thigh rod 13 and is used to realize the flexion and extension of the hip joint of the user's leg assisted by the robot and the relative rotation between the hip joint and the waist; the knee joint 14 connects the thigh 3 and the calf 4 and is used to realize the flexion and extension of the knee joint of the user's leg assisted by the robot.

[0040] In an embodiment of the present invention, the calf 4 includes a calf rod 16 and an ankle joint 17. The upper end of the calf rod 16 is connected to the knee joint 14, and the lower end of the calf rod 16 is connected to the ankle joint 17. Preferably, the length of the calf rod 16 is adjustable.

[0041] In an embodiment of the present invention, the foot 8 includes a pedal adapter 29, a pedal 30, and a foot strap 31. The pedal adapter 29 is fixed to the pedal 30, and the pedal adapter 29 is connected to the ankle joint 17. A set or two sets of foot straps 31 are provided on the upper surface of the pedal 30.

[0042] As Figure 4 shown, in an embodiment of the present invention, the hip joint 12 includes a hip joint motor fixing case 12-1, a hip joint motor 12-2, a hip joint harmonic reducer 12-3, and a hip joint multi-turn absolute encoder 12-4. The hip joint motor fixing case 12-1 is fixed on the hip joint connecting plate 10. The hip joint harmonic reducer 12-3 is disposed on the hip joint motor fixing case 12-1 and is connected to the hip joint motor 12-2 at the input end. The hip joint multi-turn absolute encoder 12-4 is disposed on the hip joint motor 12-2.

[0043] In an embodiment of the present invention, the thigh rod 13 includes a connecting rod adapter 13-1, a connecting rod pressing and connecting member 13-2, a sliding bushing 13-3, an outer thigh connecting rod 13-4, an inner thigh connecting rod 13-5, a locking ring 13-6, and a quick fastening handle 13-7. The connecting rod adapter 13-1 is connected to the output end of the hip joint harmonic reducer 12-3. The upper part of the connecting rod pressing and connecting member 13-2 is installed on the outer shell of the hip joint motor 12-2 through the sliding bushing 13-3. The connecting rod adapter 13-1 and the connecting rod pressing and connecting member 13-2 press and fix the upper end of the outer thigh connecting rod 13-4. The upper end of the inner thigh connecting rod 13-5 is inserted and slidably engaged with the lower end of the outer thigh connecting rod 13-4. The locking ring 13-6 is sleeved on the lower end of the outer thigh connecting rod 13-4 to lock the outer thigh connecting rod 13-4 and the inner thigh connecting rod 13-5. A quick fastening handle 13-7 is provided on the locking ring 13-6.

[0044] Specifically, a notch is provided on the outer thigh connecting rod 13-4 for the inner thigh connecting rod 13-5 to slide directionally and be limited within the outer thigh connecting rod 13-4. The locking ring 13-6 and the quick fastening handle 13-7 form a thigh connecting rod length locking device for changing the length of the thigh connecting rod to adapt to patients with different leg lengths.

[0045] In an embodiment of the present invention, the knee joint 14 includes a knee joint motor fixing housing 14-1, a knee joint motor 14-2, a knee joint harmonic reducer 14-3, and a knee joint multi-turn absolute encoder 14-4. The knee joint motor fixing housing 14-1 is connected to the inner thigh link 13-5. The knee joint harmonic reducer 14-3 is disposed on the knee joint motor fixing housing 14-1, and its input end is connected to the knee joint motor 14-2. The knee joint multi-turn absolute encoder 14-4 is disposed on the knee joint motor 14-2. The output end of the knee joint harmonic reducer 14-3 is connected to the calf 4.

[0046] As Figure 2-3 shown, in an embodiment of the present invention, the thigh support module 5 includes a thigh support connecting rod 19, a thigh support rod 20, and a linear push rod motor I 21. One end of the thigh support connecting rod 19 is hinged to the upper end of the thigh 3, and the other end of the thigh support connecting rod 19 is provided with a waist-shaped groove along the length direction, and the waist-shaped groove is slidably connected to the upper end of the thigh support rod 20. The calf support module 6 includes a calf baffle 22, a calf support rod 23, and a linear push rod motor II 24. The calf support rod 23 is connected to the calf 4 through the calf baffle 22, and the upper end of the calf support rod 23 is hinged to the lower end of the thigh support rod 20. The tail of the linear push rod motor I 21 is hinged to the calf support rod 23, and the output end is hinged to the thigh support rod 20.

[0047] In an embodiment of the present invention, the wheeled substitution module 7 includes a telescopic support rod 25, a wheel rod 26, a front universal wheel 27, and a rear drive wheel 28. One end of the telescopic support rod 25 is hinged to the upper end of the thigh support rod 20, and the other end is hinged to one end of the wheel rod 26. The other end of the wheel rod 26 is hinged to the lower end of the calf support rod 23. The front universal wheel 27 and the rear drive wheel 28 are installed on the wheel rod 26 to achieve the rapid movement of the robot in the wheelchair state. The tail of the linear push rod motor II 24 is hinged to the calf support rod 23, and the output end is hinged to the wheel rod 26.

[0048] As Figure 5 shown, in an embodiment of the present invention, the thigh support rod 20 includes a thigh support bottom rod 20-1, a slider guide 20-2, a slider 20-3, a screw 20-4, and an adjusting nut 20-5. The slider guide 20-2 is disposed on the thigh support bottom rod 20-1. The slider 20-3 is slidably connected to the slider guide 20-2. A notch is provided on the side surface of the thigh support bottom rod 20-1. The screw 20-4 is accommodated in the notch and is connected to the slider 20-3. The adjusting nut 20-5 is threadedly connected to the screw 20-4 for locking the screw 20-4. The output end of the linear push rod motor I 21 is hinged to the slider 20-3.

[0049] Specifically, the thigh support bottom rod 20-1 is used to provide a fitting support surface for the user. The notch provided on the side provides maximum, minimum, and a fixed limit for the adjusting nut 20-5. The slider guide rail 20-2 is fixed on the thigh support bottom rod 20-1 by screws, and the slider 20-3 slides along it. The screw rod 20-4 is fixed on the slider 20-3 by screws. There is a hinged ear seat on the slider 20-3, and the hinged ear seat is hinged to the output end of the linear push rod motor Ⅰ21. The adjusting nut 20-5 is threadedly connected to the screw rod 20-4, and the slider 20-3 is fixed and limited by changing the screwing depth of the adjusting nut 20-5. After the user completes the transition from a standing position to a sitting position, the linear push rod motor Ⅰ21 can lift the lower end of the calf support rod 23 together with the user's calf to a certain height, so that the pedal 30 is lifted off the ground, facilitating wheeled movement.

[0050] A kind of allosteric behavior-assisted robot provided by the present invention has the following working principle:

[0051] When the user wears it and enters the assisted walking mode, the adjusting nut 20-4 is screwed out until it disengages from the thigh support rod 20-1, and the robot is in the exoskeleton state, as Figure 1 shown. The left and right legs serve as the swinging leg and the supporting leg respectively. The hip joint motor and the knee joint motor of the swinging leg drive the thigh 3 and the calf 4 to perform flexion and extension movements. After the foot of the swinging leg lands, it is converted into the supporting leg, and the other leg swings, realizing the robot to assist the user in walking.

[0052] As Figure 2 shown, when the robot switches from the exoskeleton state to the supporting state, the linear push rod motor Ⅰ21 and the linear push rod Ⅱ22 work. The top end of the linear push rod motor Ⅰ21 is hinged to the slider 20-3, and the end is hinged to the calf support rod 23. The push rod of the linear push rod motor Ⅰ21 extends upward, and the slider 20-3 drives the adjusting nut 20-4 to move to the fixed limit of the notch on the side of the thigh support bottom rod 20-1. The user screws in the adjusting nut 20-5 to fix the slider 20-3. The top end of the linear push rod motor Ⅱ24 is hinged to the wheel rod 26, and the end is fixedly hinged to the fixed end of the calf support rod 23. The push rod of the linear push rod motor Ⅱ24 extends downward until the front universal wheel 27 and the rear drive wheel 28 are firmly on the ground, and the deformation of the robot's supporting state mechanism is completed. When the user needs to switch between sitting and standing postures, the robot is in the supporting state, and the linear motors Ⅰ21 of the left and right legs expand and contract, and the supporting height can be adjusted according to the actual needs of the user, realizing the robot to assist the user in sitting up and standing up.

[0053] As Figure 3As shown, when the robot switches from the support state to the wheelchair state, the push rod of the linear push rod motor I 21 retracts. The telescopic support rod 25 has several fixed positions and can be adjusted to an appropriate seat height according to the actual needs of the user and then fixed by a pin, completing the deformation of the robot wheelchair state mechanism. When the user needs to move quickly, the linear push rod motor I 21 extends the push rod upward by a certain length. The push rod drives the sliding ends of the thigh support rod 20 and the calf support rod 23 to support upward by a certain height, so that the feet 8 of the robot are lifted off the ground, facilitating the wheeled movement of the robot in the wheelchair state and realizing the wheeled substitution function of the robot.

[0054] The present invention is applicable to patients with lower limb motor dysfunction, with a novel structure and reasonable design. Most of the overall structure is made of aluminum alloy material, which can reduce the overall weight of the robot. Through the deformation and reorganization of the mechanism, the mutual conversion of the exoskeleton state, support state, and wheelchair state of the robot is realized, integrating the functions of assisting walking, assisting sitting up, and wheeled substitution, meeting the usage requirements in their daily lives.

[0055] The above is only the implementation mode of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, expansions, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A conformational behavior-assisting robot, It is characterized in that It comprises a waist (1), a thigh (3), a calf (4) and a foot (8) which are connected in sequence, wherein a control box (2) is provided on the rear side of the waist (1), and a variable-configuration support mechanism is provided on the rear sides of the thigh (3) and the calf (4), and the control box (2) controls the variable-configuration support mechanism to switch between a standing mode and a wheelchair mode; The transformable support mechanism comprises a thigh support module (5), a calf support module (6) and a wheeled substitute module (7) which are hinged end to end in sequence, the thigh support module (5) being arranged on the rear side of the thigh (3), the calf support module (6) being arranged on the rear side of the calf (4), and the upper end of which is hinged to the thigh support module (5), and the wheeled substitute module (7) being arranged on the rear side of the thigh support module (5) and the calf support module (6), and being hinged to the upper end of the thigh support module (5) and the lower end of the calf support module (6); The thigh support module (5) comprises a thigh support connecting rod (19), a thigh support rod (20) and a linear push rod motor I (21), wherein one end of the thigh support connecting rod (19) is hinged to the upper end of the thigh (3), and the other end of the thigh support connecting rod (19) is provided with a waist-shaped groove along the length direction, and the waist-shaped groove is slidably connected to the upper end of the thigh support rod (20); The calf support module (6) comprises a calf baffle (22), a calf support rod (23) and a linear actuator motor II (24), wherein the calf support rod (23) is connected to the calf (4) via the calf baffle (22), and the upper end of the calf support rod (23) is hinged to the lower end of the thigh support rod (20); The tail of the linear push rod motor I (21) is hinged on the calf support rod (23), and the output end is hinged to the thigh support rod (20); The wheeled walking module (7) comprises a telescopic support rod (25), a wheel rod (26), a front universal wheel (27) and a rear drive wheel (28), wherein one end of the telescopic support rod (25) is hinged to the upper end of the thigh support rod (20), and the other end is hinged to one end of the wheel rod (26), and the other end of the wheel rod (26) is hinged to the lower end of the calf support rod (23), and the front universal wheel (27) and the rear drive wheel (28) are mounted on the wheel rod (26); The tail of the linear actuator motor II (24) is hinged on the calf support rod (23), and the output end is hinged on the wheel rod (26); The thigh support rod (20) comprises a thigh support bottom rod (20-1), a slider rail (20-2), a slider (20-3), a screw rod (20-4) and an adjusting nut (20-5), wherein the slider rail (20-2) is arranged on the thigh support bottom rod (20-1), the slider (20-3) is slidably connected to the slider rail (20-2), a notch is provided on the side of the thigh support bottom rod (20-1), the screw rod (20-4) is accommodated in the notch and is connected to the slider (20-3), and the adjusting nut (20-5) is threadedly connected to the screw rod (20-4) and is used to lock the screw rod (20-4); The output end of the linear push rod motor I (21) is hinged to the slider (20-3); The waist (1) comprises a back plate (9), a hip joint connecting plate (10) and a waist strap (11), wherein the hip joint connecting plate (10) is arranged on the front side of the back plate (9), and the waist strap (11) is arranged on the front side of the hip joint connecting plate (10); the control box (2) is arranged on the rear side of the back plate (9).

2. The allosteric behavior-assisting robot according to claim 1, It is characterized in that The thigh (3) comprises a hip joint (12), a thigh rod (13), a knee joint (14) and a thigh strap (15), wherein the upper and lower ends of the thigh rod (13) are respectively connected to the hip joint (12) and the knee joint (14), the hip joint (12) is connected to the hip joint connecting plate (10), the length of the thigh rod (13) is adjustable, and one or two sets of thigh straps (15) are provided on the front side of the thigh rod (13).

3. The allostatic behavior assisting robot according to claim 2, It is characterized in that The hip joint (12) comprises a hip joint motor fixing shell (12-1), a hip joint motor (12-2), a hip joint harmonic reducer (12-3) and a hip joint multi-turn absolute encoder (12-4), wherein the hip joint motor fixing shell (12-1) is fixed on the hip joint connecting plate (10), the hip joint harmonic reducer (12-3) is arranged on the hip joint motor fixing shell (12-1), and the input end is connected to the hip joint motor (12-2), and the hip joint multi-turn absolute encoder (12-4) is arranged on the hip joint motor (12-2); The thigh rod (13) comprises a connecting rod adapter (13-1), a connecting rod clamping connector (13-2), a sliding bushing (13-3), an outer thigh connecting rod (13-4), an inner thigh connecting rod (13-5), a locking ring (13-6) and a quick-tightening handle (13-7), wherein the connecting rod adapter (13-1) is connected to the output end of the hip joint harmonic reducer (12-3), and the upper part of the connecting rod clamping connector (13-2) is installed on the hip joint motor (12-3) through the sliding bushing (13-3). -2), the connecting rod adapter (13-1) and the connecting rod pressing connector (13-2) press the upper end of the outer thigh connecting rod (13-4) and fix it; the upper end of the inner thigh connecting rod (13-5) is plugged and slidably matched with the lower end of the outer thigh connecting rod (13-4); the locking ring (13-6) is sleeved on the lower end of the outer thigh connecting rod (13-4) and is used to lock the outer thigh connecting rod (13-4) and the inner thigh connecting rod (13-5); and a quick tightening handle (13-7) is provided on the locking ring (13-6).

4. The allostatic behavior assisting robot according to claim 3, It is characterized in that The knee joint (14) comprises a knee joint motor fixing shell (14-1), a knee joint motor (14-2), a knee joint harmonic reducer (14-3) and a knee joint multi-turn absolute value encoder (14-4), wherein the knee joint motor fixing shell (14-1) is connected to the inner thigh connecting rod (13-5), the knee joint harmonic reducer (14-3) is arranged on the knee joint motor fixing shell (14-1), and the input end is connected to the knee joint motor (14-2), and the knee joint multi-turn absolute value encoder (14-4) is arranged on the knee joint motor (14-2); The output end of the knee joint harmonic reducer (14-3) is connected to the lower leg (4).

5. The allostatic behavior assisting robot according to claim 2, It is characterized in that The calf (4) comprises a calf rod (16) and an ankle joint (17), wherein the upper end of the calf rod (16) is connected to the knee joint (14), and the lower end of the calf rod (16) is connected to the ankle joint (17).

6. The allosteric behavior-assisting robot according to claim 5, It is characterized in that The foot (8) comprises a pedal adapter (29), a pedal (30) and a foot strap (31), wherein the pedal adapter (29) is fixed to the pedal (30), and the pedal adapter (29) is connected to the ankle joint (17); and one or two sets of foot straps (31) are provided on the upper surface of the pedal (30).

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