An integrated elderly care exoskeleton robot

Abstract

The present invention relates to an integrated elderly care exoskeleton robot, comprising a chassis, wherein two control mechanisms are installed on the upper front end of the chassis, both sides of the chassis are hingedly connected with a first leg telescopic arm, the first leg telescopic arm and the chassis are both transmission-connected with a first swing arm mechanism, the bottom end of the first leg telescopic arm is hingedly connected with a second leg telescopic arm, and the integrated elderly care exoskeleton robot can adjust the leg length ratio of the exoskeleton robot through the arrangement of the first leg telescopic arm and the second leg telescopic arm, so that it is suitable for people of different body shapes and has small application limitations. Through the arrangement of the first swing arm mechanism and the second swing arm mechanism, when the first leg telescopic arm swings forward, the second telescopic cylinder shortens to complete the knee flexion action of the calf, and when the first leg telescopic arm falls downward, the second telescopic cylinder extends to ensure that the exoskeleton robot lands smoothly and can assist the elderly to walk on uneven ground.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to an integrated elderly care exoskeleton robot. Background Art

[0002] An exoskeleton is a hard external structure that can provide configuration, construction and protection for the soft internal organs of organisms. Generally, the tough chitinous skeletons on the surface of arthropods such as shrimps, crabs, and insects are called exoskeletons. It protects and supports the internal structure, prevents a large amount of water from evaporating, and has strong self-repair capabilities. Exoskeleton robot technology is a bionic product that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for operators.

[0003] Traditional elderly care boosters can provide assistance to patients with lower limb paralysis or mobility impairment, but they lack the assistance of intelligent hardware and always require medical staff to assist in execution. There are problems of high cost and inconvenience in use. In addition, this type of elderly care booster moves too slowly, and the overall mecha is too bulky and large, making it unsuitable for daily use by the elderly. Therefore, it is very meaningful to design an integrated elderly care exoskeleton robot. Summary of the invention

[0004] (1) Technical issues to be solved

[0005] The purpose of the present invention is to solve the problem that traditional elderly care boosters can provide assistance to patients with lower limb paralysis or mobility impairment, but they lack the assistance of intelligent hardware and always require medical staff to assist in execution, and have the problems of high cost and inconvenience in use. In addition, such elderly care boosters are too slow in movement, the overall machine is too bulky and large in size, and are not suitable for daily use by the elderly.

[0006] (2) Technical solution

[0007] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is:

[0008] An integrated elderly care exoskeleton robot comprises a chassis, two control mechanisms are installed on the upper front end of the chassis, first leg telescopic arms are hingedly connected on both sides of the chassis, a first swing arm mechanism is transmission-connected between the first leg telescopic arm and the chassis, a second leg telescopic arm is hingedly connected to the bottom end of the first leg telescopic arm, a second swing arm mechanism is transmission-connected between the second leg telescopic arm and the first leg telescopic arm, and walking shoes are installed on the bottom end of the second leg telescopic arm.

[0009] Preferably, the first swing arm mechanism includes a crank wheel, the rotating axis of the crank wheel is rotatably embedded in the side wall of the chassis, a second motor is fixedly embedded in the chassis, the output end of the second motor is fixedly connected to the rotating axis of the crank wheel, the free end of the crank wheel is rotatably connected to a pull rod, the other end of the pull rod is rotatably connected to one side of the first leg telescopic arm, the top of the inner wall of the first leg telescopic arm is fixedly connected to the first motor, the output end of the first motor is fixedly connected to the first screw rod, the first screw rod is threadedly connected to the first telescopic cylinder, the first telescopic cylinder extends out of the first leg telescopic arm and is fixedly connected to a joint seat.

[0010] Preferably, the second swing arm mechanism includes an oblique telescopic arm, the top of the oblique telescopic arm is hinged with an upper clamping seat, the top of the inner wall of the oblique telescopic arm is fixedly connected to a fourth motor, the output end of the fourth motor is fixedly connected to a third screw rod, the third screw rod is threadedly connected to a third telescopic cylinder, the bottom end of the third telescopic cylinder passes through the oblique telescopic arm and is fixedly connected to a lower clamping seat, the upper clamping seat and the upper clamping seat are respectively fixedly connected to the first leg telescopic arm and the second leg telescopic arm.

[0011] Preferably, the second leg telescopic arm is rotatably connected to the joint seat, a third motor is fixedly connected to the top of the inner wall of the second leg telescopic arm, a second screw rod is fixedly connected to the output end of the third motor, the third motor is threadedly connected to the second telescopic cylinder, and the bottom end of the second telescopic cylinder passes through the second leg telescopic arm and is fixedly connected to the walking shoe.

[0012] Preferably, an empty slot is provided on the lower side of the walking shoe, a connecting plate is fixedly connected to the upper middle side of the empty slot, a double-headed motor is fixedly connected to the middle of the connecting plate, two output ends of the double-headed motor are fixedly connected to a fourth screw rod, the other end of the fourth screw rod is rotated with the inner wall of the empty slot, the outer side of the fourth screw rod is threadedly connected to a slider, both sides of the slider are fixedly connected to sliding columns, both sides of the connecting plate and located between the inner walls of both sides of the empty slot are rotatably embedded with a horizontal shaft, the outer walls at both ends of the horizontal shaft are rotatably sleeved with a swing plate, the bottom end of the swing plate is rotatably connected to a walking motor, the output end of the walking motor is fixedly connected to a walking wheel, a slide groove is provided in the middle of the swing plate, and sliding columns are slidably embedded in the slide groove.

[0013] Preferably, the chassis is arranged in an "concave"-shaped structure, a cushion layer is bonded to the inner wall of the chassis, a back panel is fixedly connected to the upper rear side of the chassis, the back panel is inclined, and a lithium battery is fixedly installed in the chassis, the lithium battery is electrically connected to a charging socket, and the charging socket is exposed on the lower side wall of the chassis, and grooves are provided on the upper sides of both ends of the chassis.

[0014] Preferably, the control mechanism includes a swing shaft, which is rotatably embedded between the inner walls of both sides of the groove, and an insulating ring is provided on the outer fixed sleeve of the swing shaft, and a handrail rod and an arc-shaped conductive ring are fixedly connected to the upper and lower sides of the insulating ring respectively, and a plurality of control buttons are installed on the upper side of the handrail rod, and a circuit board is provided on one side of the arc-shaped conductive ring, and the circuit board is fixedly connected to the inner wall of the groove, and the arc-shaped conductive ring is slidably connected to a conductive clip, and the conductive clip is fixedly connected to the side wall of the circuit board, and a rotating electrical connector is installed at one end of the swing shaft, and the conductive clip, the arc-shaped conductive ring, and the rotating electrical connector are electrically connected to the voltage detection circuit of the circuit board for inputting walking instructions of the exoskeleton robot.

[0015] Preferably, at least two cable ties are fixedly connected to the side walls of the first leg telescopic arm and the second leg telescopic arm, both ends of the chassis are fixedly connected to binding straps, adjacent cable ties or binding straps are connected by nylon buckles, a shoe cover is fixedly connected to the upper front side of the walking shoe, and a shoe stopper is fixedly connected to the upper rear side of the walking shoe.

[0016] Beneficial effect: The integrated elderly care exoskeleton robot can adjust the leg length ratio of the exoskeleton robot through the setting of the first leg telescopic arm and the second leg telescopic arm, so that it is suitable for people of different body shapes and has small application limitations. Through the setting of the first swing arm mechanism and the second swing arm mechanism, when the first leg telescopic arm swings forward, the second telescopic cylinder shortens to complete the knee flexion of the calf. When the first leg telescopic arm falls downward, the second telescopic cylinder extends to ensure that the exoskeleton robot lands smoothly and can assist the elderly to walk on uneven ground. Through the setting of walking shoes and walking wheels, the walking wheels can be controlled to extend out of the empty slots, which can drive the exoskeleton robot to slide on a flat road. It has diverse functions, strong applicability, fits the human body design, and is compact in size, which can meet the daily life needs of the elderly. In addition, the integrated elderly care exoskeleton robot is combined with multi-sensor technology, which can detect the physical condition of the elderly in real time, and can intelligently assist the elderly to drive the exoskeleton robot to operate, and prevent danger caused by misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an appearance diagram of an integrated elderly care exoskeleton robot of the present invention;

[0018] Figure 2 This is a side view of an integrated elderly care exoskeleton robot of the present invention;

[0019] Figure 3 This is a structural cross-sectional view of the second leg telescopic arm and walking shoes in an integrated elderly care exoskeleton robot of the present invention;

[0020] Figure 4 The present invention is an integrated elderly care exoskeleton robot Figure 3 A magnified view of the structure at A;

[0021] Figure 5 A side cross-sectional view of a chassis of an integrated elderly care exoskeleton robot of the present invention;

[0022] Figure 6 This is a structural cross-sectional view of a first leg telescopic arm and a second swing arm mechanism in an integrated elderly care exoskeleton robot of the present invention.

[0023] The reference numerals are as follows:

[0024] 1. Chassis; 2. First leg telescopic arm; 3. First swing arm mechanism; 4. Second leg telescopic arm; 5. Second swing arm mechanism; 6. Walking shoes; 7. Cable tie; 8. Control mechanism

[0025] 101, back panel; 102, lithium battery; 103, charging socket; 104, groove; 105, binding strap;

[0026] 201, first motor; 202, first screw rod; 203, first telescopic cylinder; 204, joint seat;

[0027] 301, crank wheel; 302, second motor; 303, pull rod;

[0028] 401, third motor; 402, second screw rod; 403, second telescopic cylinder;

[0029] 501, oblique telescopic arm; 502, fourth motor; 503, third screw rod; 504, third telescopic cylinder; 505, lower clamping seat; 506, upper clamping seat;

[0030] 601, empty slot; 602, connecting plate; 603, double-headed motor; 604, fourth screw rod; 605, slider; 606, slide column; 607, horizontal axis; 608, swing plate; 609, travel motor; 610, slide slot; 611, shoe cover; 612, shoe stopper;

[0031] 801, swing shaft; 802, insulating ring; 803, handrail; 804, arc-shaped conductive ring; 805, circuit board; 806, conductive clip; 807, control button. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] The following is combined with Figure 1-6 The present invention is further described with examples:

[0034] Reference Figure 1-6 An integrated elderly care exoskeleton robot comprises a chassis 1, two control mechanisms 8 are installed on the upper front end of the chassis 1, both sides of the chassis 1 are hingedly connected with a first leg telescopic arm 2, a first swing arm mechanism 3 is transmission-connected between the first leg telescopic arm 2 and the chassis 1, a second leg telescopic arm 4 is hingedly connected to the bottom end of the first leg telescopic arm 2, a second swing arm mechanism 5 is transmission-connected between the second leg telescopic arm 4 and the first leg telescopic arm 2, and a walking shoe 6 is installed at the bottom end of the second leg telescopic arm 4.

[0035] Furthermore, the first swing arm mechanism 3 includes a crank wheel 301, the rotating axis of the crank wheel 301 is rotatably embedded in the side wall of the chassis 1, and a second motor 302 is fixedly embedded in the chassis 1, and the output end of the second motor 302 is fixedly connected to the rotating axis of the crank wheel 301, and the free end of the crank wheel 301 is rotatably connected to a pull rod 303, and the other end of the pull rod 303 is rotatably connected to one side of the first leg telescopic arm 2, and the top of the inner wall of the first leg telescopic arm 2 is fixedly connected to the first motor 201, and the output end of the first motor 201 is fixedly connected to the first screw rod 202, and the first screw rod 202 is threadedly connected to the first telescopic cylinder 203, and the first telescopic cylinder 203 extends out of the first leg telescopic arm 2 and is fixedly connected to the joint seat 204.

[0036] In this embodiment, the second motor 302 drives the crank wheel 301 to rotate, and the crank wheel 301 drives the pull rod 303 to pull the first leg telescopic arm 2 back and forth to swing, which can simulate the walking action of the thigh. When the free end of the crank wheel 301 approaches the first leg telescopic arm 2, it can push the first leg telescopic arm 2 to swing forward. When the free end of the crank wheel 301 is away from the first leg telescopic arm 2, it can pull the first leg telescopic arm 2 to swing forward. The first leg telescopic arms 2 on both sides of the exoskeleton robot swing alternately to simulate walking actions.

[0037] Furthermore, the second swing arm mechanism 5 includes an oblique telescopic arm 501, the top of the oblique telescopic arm 501 is hinged with an upper clamping seat 506, the top of the inner wall of the oblique telescopic arm 501 is fixedly connected to a fourth motor 502, the output end of the fourth motor 502 is fixedly connected to a third screw rod 503, the third screw rod 503 is threadedly connected to a third telescopic cylinder 504, the bottom end of the third telescopic cylinder 504 passes through the oblique telescopic arm 501 and is fixedly connected to a lower clamping seat 505, and the upper clamping seat 506 is fixedly connected to the first leg telescopic arm 2 and the second leg telescopic arm 4, respectively.

[0038] In this embodiment, when the first leg telescopic arm 2 swings, the fourth motor 502 drives the third screw rod 503 to rotate, and the third screw rod 503 can drive the third telescopic cylinder 504 to extend and retract. When the first leg telescopic arm 2 swings forward, the third telescopic cylinder 504 shortens to complete the knee flexion movement of the calf. When the first leg telescopic arm 2 falls downward, the third telescopic cylinder 504 extends to ensure that the exoskeleton robot lands smoothly.

[0039] Furthermore, the second leg telescopic arm 4 is rotatably connected to the joint seat 204, the top of the inner wall of the second leg telescopic arm 4 is fixedly connected to a third motor 401, the output end of the third motor 401 is fixedly connected to a second screw rod 402, the third motor 401 is threadedly connected to a second telescopic cylinder 403, and the bottom end of the second telescopic cylinder 403 passes through the second leg telescopic arm 4 and is fixedly connected to the walking shoe 6.

[0040] In this embodiment, the third motor 401 threadably drives the second telescopic cylinder 403 to extend the second leg telescopic arm 4, which can adjust the length of the calf part of the exoskeleton robot. In conjunction with the first motor 201 threadably drives the first telescopic cylinder 203 to extend the first leg telescopic arm 2, the leg length ratio of the exoskeleton robot can be adjusted.

[0041] Furthermore, an empty slot 601 is provided on the lower side of the walking shoe 6, a connecting plate 602 is fixedly connected to the middle upper side of the empty slot 601, a double-headed motor 603 is fixedly connected to the middle of the connecting plate 602, and the two output ends of the double-headed motor 603 are fixedly connected to a fourth screw rod 604, the other end of the fourth screw rod 604 rotates with the inner wall of the empty slot 601, and the outer side of the fourth screw rod 604 is threadedly connected to a slider 605, and the two ends of the slider 605 The sides are fixedly connected with sliding columns 606, and the two sides of the connecting plate 602 and the two sides of the inner walls of the empty groove 601 are rotatably embedded with horizontal shafts 607, the outer walls at both ends of the horizontal shaft 607 are rotatably sleeved with swing plates 608, the bottom ends of the swing plates 608 are rotatably connected with walking motors 609, and the output ends of the walking motors 609 are fixedly connected with walking wheels, and the middle part of the swing plate 608 is provided with sliding grooves 610, and the sliding columns 606 are slidably embedded in the sliding grooves 610.

[0042] In this embodiment, pressing the speed control button 807 on the handrail rod 803 can control the double-headed motor 603 to drive the fourth screw rod 604 to rotate. The fourth screw rod 604 threadedly drives the two sliders 605 to approach each other. The slide column 606 pushes the inclination angle of the two swing plates 608 to change, so that the walking wheels extend out of the empty slot 601 to contact the ground. The walking motor 609 drives the walking wheels to rotate, which can drive the exoskeleton robot to move forward or backward in a straight line, and the walking motors 609 on the left and right sides of the exoskeleton robot are controlled to run at differential speeds, which can drive the exoskeleton robot to turn.

[0043] Furthermore, the chassis 1 is arranged in an "concave"-shaped structure, a cushion layer is bonded to the inner wall of the chassis 1, a back panel 101 is fixedly connected to the upper rear side of the chassis 1, the back panel 101 is arranged at an angle, and a lithium battery 102 is fixedly installed in the chassis 1, the lithium battery 102 is electrically connected to a charging socket 103, and the charging socket 103 is exposed on the lower side wall of the chassis 1, and grooves 104 are arranged on the upper sides of both ends of the chassis 1.

[0044] In this embodiment, the circuit board 805 can also be electrically connected to a pulse detection bracelet, GPS, a wireless transceiver, a display screen, a speaker, a microphone, etc., so as to realize remote positioning, detection, and interaction functions. The lithium battery 102 can provide operating power for the exoskeleton robot. When the power is insufficient, prompts will be given by the display screen, speaker, etc., which is intelligent and reliable.

[0045] Furthermore, the control mechanism 8 includes a swing shaft 801, which is rotatably embedded between the inner walls of both sides of the groove 104. An insulating ring 802 is provided on the outer fixed sleeve of the swing shaft 801. A handrail rod 803 and an arc-shaped conductive ring 804 are fixedly connected to the upper and lower sides of the insulating ring 802 respectively. A plurality of control buttons 807 are installed on the upper side of the handrail rod 803. A circuit board 805 is provided on one side of the arc-shaped conductive ring 804. The circuit board 805 is fixedly connected to the inner wall of the groove 104. The arc-shaped conductive ring 804 is slidably connected with a conductive clip 806, and the conductive clip 806 is fixedly connected to the side wall of the circuit board 805. A rotating electrical connector is installed at one end of the swing shaft 801, and the conductive clip 806, the arc-shaped conductive ring 804, and the rotating electrical connector are electrically connected to the voltage detection circuit of the circuit board 805 to input walking instructions of the exoskeleton robot.

[0046] In this embodiment, the handrails 803 on both sides are alternately pushed back and forth to swing, and the conductive length of the arc-shaped conductive ring 804 will change accordingly, so that the voltage value of the voltage detection circuit will change, which can be used as an execution instruction for the walking action. Specifically, the swing shaft 801 is fixedly connected to the end of the arc-shaped conductive ring 804 away from the conductive clip 806, so that the voltage detection circuit formed by the conductive clip 806, the arc-shaped conductive ring 804, the rotating electrical connector and the circuit board 805 can change the resistance through the rotation of the arc-shaped conductive ring 804. When the handrail 803 is pushed, different resistances correspond to different voltage values, and different voltage values ​​are corresponding to different movement amplitudes of the exoskeleton. In this way, the movement amplitude of the exoskeleton robot can be effectively controlled through the handrail 803. In addition, a pressure sensor is also installed at the bottom of the walking shoe 6. When the pressure detected by the pressure sensor is too large, the circuit board 805 will control the exoskeleton robot to stop moving according to the pressure detection result to prevent dangerous situations.

[0047] Furthermore, at least two cable ties 7 are fixedly connected to the side walls of the first leg telescopic arm 2 and the second leg telescopic arm 4, and binding straps 105 are fixedly connected to both ends of the chassis 1. Adjacent cable ties 7 or binding straps 105 are connected by Velcro, and a shoe cover 611 is fixedly connected to the upper front side of the walking shoe 6, and a shoe stopper 612 is fixedly connected to the upper rear side of the walking shoe 6.

[0048] In this embodiment, the shoe cover 611 and the shoe stopper 612 can fix the foot to a limited extent. The elderly step on the two walking shoes 6, and then tie the cable ties 7 on the thighs and calves, and tie the binding belt 105 around the waist, and the exoskeleton robot can be put on. The nylon buckle connection method can easily adjust the tightness, which is suitable for people of different body shapes.

[0049] Working principle: When in use, both feet step on the two walking shoes 6. According to the height characteristics of the elderly, the first motor 201 is controlled to drive the first telescopic cylinder 203 to extend the first leg telescopic arm 2, and the third motor 401 is controlled to drive the second telescopic cylinder 403 to extend the second leg telescopic arm 4. The leg length ratio of the exoskeleton robot can be adjusted, and then the strap 7 is tied to the thigh and calf, and the strap 105 is tied to the waist. It is suitable for people of different body shapes and has little application limitation. On a flat road, press the handrail 803 The speed control button 807 can control the double-headed motor 603 to drive the fourth screw rod 604 to rotate. The fourth screw rod 604 drives the two sliders 605 to move closer to each other. The slide column 606 pushes the inclination angle of the two swing plates 608 to change, so that the walking wheel extends out of the empty slot 601 to touch the ground. The walking motor 609 drives the walking wheel to rotate, which can drive the exoskeleton robot to move forward or backward in a straight line. The walking motors 609 on the left and right sides of the exoskeleton robot run at differential speeds, which can drive the exoskeleton robot to turn. When encountering steps, the elderly can hold their hands The handrail rod 803 reversely controls the walking wheel to retract into the empty slot 601, and alternately pushes the handrail rods 803 on both sides to swing back and forth, then the conductive length of the arc-shaped conductive ring 804 will change accordingly, so that the voltage value of the voltage detection circuit changes, which can be used as an execution instruction for the walking action. The second motor 302 drives the crank wheel 301 to rotate, and the crank wheel 301 drives the pull rod 303 to reciprocate and pull the first leg telescopic arm 2 to swing, which can simulate the walking action of the thigh. When the first leg telescopic arm 2 swings, the fourth motor 502 drives the third screw rod 5 03 rotates, the third screw rod 503 can drive the third telescopic cylinder 504 to extend and retract. When the first leg telescopic arm 2 swings forward, the third telescopic cylinder 504 shortens to complete the knee flexion of the calf. When the first leg telescopic arm 2 falls downward, the third telescopic cylinder 504 extends to ensure that the exoskeleton robot lands smoothly and can assist the elderly to walk. The walking shoes 6 are designed to be wide and not easy to tip over. By controlling the span change of the first leg telescopic arms 2 on both sides of the exoskeleton robot, the exoskeleton robot can be controlled to complete the turning action without the need for medical care.

[0050] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. An integrated elderly care exoskeleton robot, comprising a chassis (1), characterized in that: Two control mechanisms (8) are installed on the upper front side of the chassis (1); first leg telescopic arms (2) are hingedly connected on both sides of the chassis (1); a first swing arm mechanism (3) is transmission-connected between the first leg telescopic arms (2) and the chassis (1); a second leg telescopic arm (4) is hingedly connected at the bottom end of the first leg telescopic arm (2); a second swing arm mechanism (5) is transmission-connected between the second leg telescopic arm (4) and the first leg telescopic arm (2); and a walking shoe (6) is installed at the bottom end of the second leg telescopic arm (4); The lower side of the walking shoe (6) is provided with an empty slot (601), the middle upper side of the empty slot (601) is fixedly connected with a connecting plate (602), the middle of the connecting plate (602) is fixedly connected with a double-headed motor (603), the two output ends of the double-headed motor (603) are fixedly connected with a fourth screw rod (604), the other end of the fourth screw rod (604) is rotated with the inner wall of the empty slot (601), the outer side of the fourth screw rod (604) is threadedly connected with a slider (605), and both sides of the slider (605) are A sliding column (606) is fixedly connected, and a transverse shaft (607) is rotatably embedded between the inner walls of both sides of the empty slot (601) on both sides of the connecting plate (602), and a swing plate (608) is rotatably sleeved on the outer walls at both ends of the transverse shaft (607), and a travel motor (609) is rotatably connected to the bottom end of the swing plate (608), and a travel wheel is fixedly connected to the output end of the travel motor (609), and a sliding groove (610) is provided in the middle of the swing plate (608), and a sliding column (606) is slidably embedded in the sliding groove (610); The control mechanism (8) comprises a swing shaft (801), the swing shaft (801) being rotatably embedded between the inner walls of both sides of the groove (104), an insulating ring (802) being provided on the outer fixed sleeve of the swing shaft (801), a handrail (803) and an arc-shaped conductive ring (804) being fixedly connected to the upper and lower sides of the insulating ring (802), a plurality of control buttons (807) being installed on the upper side of the handrail (803), and a circuit board (807) being provided on one side of the arc-shaped conductive ring (804). 05), the circuit board (805) is fixedly connected to the inner wall of the groove (104), the arc-shaped conductive ring (804) is slidably connected to a conductive clip (806), and the conductive clip (806) is fixedly connected to the side wall of the circuit board (805), one end of the swing shaft (801) is installed with a rotating electrical connector, and the conductive clip (806), the arc-shaped conductive ring (804), the rotating electrical connector and the voltage detection circuit of the circuit board (805) are electrically connected to input walking instructions of the exoskeleton robot.

2. The integrated elderly care exoskeleton robot according to claim 1, characterized in that: The first swing arm mechanism (3) comprises a crank wheel (301), the rotating shaft of the crank wheel (301) is rotatably embedded in the side wall of the chassis (1), a second motor (302) is fixedly embedded in the chassis (1), the output end of the second motor (302) is fixedly connected to the rotating shaft of the crank wheel (301), the free end of the crank wheel (301) is rotatably connected to a pull rod (303), the other end of the pull rod (303) is rotatably connected to one side of the first leg telescopic arm (2), the top of the inner wall of the first leg telescopic arm (2) is fixedly connected to the first motor (201), the output end of the first motor (201) is fixedly connected to the first screw rod (202), the first screw rod (202) is threadedly connected to the first telescopic cylinder (203), the first telescopic cylinder (203) extends out of the first leg telescopic arm (2) and is fixedly connected to a joint seat (204).

3. The integrated elderly care exoskeleton robot according to claim 1, characterized in that: The second swing arm mechanism (5) comprises an oblique telescopic arm (501), the top end of the oblique telescopic arm (501) is hinged with an upper clamping seat (506), the top end of the inner wall of the oblique telescopic arm (501) is fixedly connected to a fourth motor (502), the output end of the fourth motor (502) is fixedly connected to a third screw rod (503), the third screw rod (503) is threadedly connected to a third telescopic cylinder (504), the bottom end of the third telescopic cylinder (504) passes through the oblique telescopic arm (501) and is fixedly connected to a lower clamping seat (505), and the upper clamping seat (506) and the lower clamping seat (506) are respectively fixedly connected to the first leg telescopic arm (2) and the second leg telescopic arm (4).

4. The integrated elderly care exoskeleton robot according to claim 1, characterized in that: The second leg telescopic arm (4) is rotatably connected to the joint seat (204); a third motor (401) is fixedly connected to the top of the inner wall of the second leg telescopic arm (4); a second screw rod (402) is fixedly connected to the output end of the third motor (401); the third motor (401) is threadedly connected to a second telescopic cylinder (403); and the bottom end of the second telescopic cylinder (403) passes through the second leg telescopic arm (4) and is fixedly connected to the walking shoe (6).

5. The integrated elderly care exoskeleton robot according to claim 1, characterized in that: The chassis (1) is arranged in a "concave"-shaped structure, a cushion layer is bonded to the inner wall of the chassis (1), a back plate (101) is fixedly connected to the upper rear side of the chassis (1), the back plate (101) is arranged at an angle, a lithium battery (102) is fixedly installed in the chassis (1), the lithium battery (102) is electrically connected to a charging socket (103), the charging socket (103) is exposed and arranged on the lower side wall of the chassis (1), and grooves (104) are arranged on the upper sides of both ends of the chassis (1).

6. The integrated elderly care exoskeleton robot according to claim 1, characterized in that: At least two cable ties (7) are fixedly connected to the side walls of the first leg telescopic arm (2) and the second leg telescopic arm (4); binding straps (105) are fixedly connected to both ends of the chassis (1); adjacent cable ties (7) or binding straps (105) are connected by Velcro; a shoe cover (611) is fixedly connected to the upper front side of the walking shoe (6); and a shoe stopper (612) is fixedly connected to the upper rear side of the walking shoe (6).

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