Walking-assist robot

Abstract

The present application discloses a walking assistance robot, which includes a driving module, a waist support module and a leg rod module. The driving module includes a main body and a clamping flange, and the clamping flange is connected to the peripheral side of the main body. The waist support module includes a first housing, the first housing has a first surface, a groove is provided on the first surface, and a notch is formed by the outer extension of the periphery of the notch of the groove. The leg rod module is connected to the main body, and the leg rod module has multiple degrees of freedom under the action of the main body. When the main body penetrates the notch of the groove and partially extends into the groove, the clamping flange can extend into the groove through the notch, and the main body can rotate relative to the groove so that the clamping flange has a stroke of moving to abut against the top surface of the groove in the groove. When the clamping flange abuts against the top surface of the groove, the side of the clamping flange facing away from the top surface of the groove abuts against the bottom surface of the groove to position the main body on the first housing. This design can effectively improve the convenience of installation and disassembly between the driving module and the first housing of the waist support module.

Description

Technical Field

[0001] This application relates to the technical field of exoskeleton robots, and particularly to a walking assist robot. Background Art

[0002] In recent years, exoskeleton robots have developed rapidly. A large number of technology companies at home and abroad have emerged in this field, aiming at the general civilian market to bring the advantages of exoskeleton technology to the general public. At present, most of the civilian exoskeleton robots launched at home and abroad are medical rehabilitation products. For example, walking assist robots that assist in walking have broad market prospects.

[0003] At present, the driving module of the walking assist robot on the market is connected to the first shell of the waist support module by bolts, which is not conducive to the installation and disassembly of the driving module. Summary of the Invention

[0004] An embodiment of this application provides a walking assist robot, which can solve the problem that the driving module in the related technology is not conducive to installation and disassembly.

[0005] In a first aspect, an embodiment of this application provides a walking assist robot; the walking assist robot includes a driving module, a waist support module, and a leg rod module. The driving module includes a main body and a clamping flange, and the clamping flange is connected to the periphery of the main body. The waist support module includes a first shell located on the outer side of the user's thigh. The first shell has a first surface facing the main body, and a groove is provided on the first surface. A notch extends outward from the periphery of the notch of the groove. The leg rod module is connected to the main body, and the leg rod module is configured to have multiple degrees of freedom under the action of the main body. Among them, when the main body passes through the notch of the groove and partially extends into the groove, the clamping flange is configured to be able to extend into the groove through the notch, and the main body can rotate relative to the groove so that the clamping flange has a stroke of moving to abut against the groove top surface in the groove. When the clamping flange abuts against the groove top surface, the side of the clamping flange facing away from the groove top surface abuts against the groove bottom surface to position the main body on the first shell.

[0006] Based on the walking assist robot of the embodiment of this application, when the user partially extends the main body into the groove through the notch of the groove and rotates the main body until the clamping flange abuts against the groove top surface and the groove bottom surface, the groove top surface and the groove bottom surface can give the clamping flange a pressing force, effectively restricting the main body from moving relative to the first shell along the extension direction of the groove, and fixing the main body on the first shell. Thus, the relative position between the main body and the first shell is relatively fixed by rotating the main body, effectively reducing the difficulty of installation and disassembly between the main body and the first shell.

[0007] In some embodiments, the main body has a second surface facing the first shell, and the second surface is provided with a card slot; the first surface is also provided with a mounting slot, and the lumbar support module also includes a card assembly, which is provided in the mounting slot and connected to the first shell; when the card flange abuts against the top surface of the groove, the card assembly is engaged with the card slot to limit the main body from rotating relative to the first shell along the extension direction of the groove.

[0008] Based on the above embodiment, by designing a snap-fit assembly, when the snap-fit flange abuts against the top surface and the bottom surface of the groove, the snap-fit assembly is snap-connected with the slot on the main body, and the slot wall surface of the slot acts as a limit on the snap-fit assembly to limit the main body from rotating relative to the first shell around the extension direction of the groove, thereby further enhancing the connection stability between the main body and the first shell.

[0009] In some embodiments, the snap-fit assembly includes a snap-fit member and a first elastic member, the snap-fit member is slidably connected to the mounting slot, the first elastic member is arranged along the extension direction of the mounting slot and is suitable for generating elastic deformation along the extension direction of the mounting slot, one end of the first elastic member is fixedly connected to the snap-fit member, and the other end of the first elastic member is fixedly connected to the bottom wall of the mounting slot, and when the snap-fit flange abuts against the top surface of the groove, the snap-fit member is snap-connected to the slot.

[0010] Based on the above embodiment, when the main body rotates relative to the first shell, the second surface squeezes the clip, and the clip squeezes the first elastic part under the abutment action of the second surface of the main body, the first elastic part contracts, and the clip completely retreats into the installation groove. When the main body rotates relative to the first shell until the abutment flange abuts the top surface of the groove, the slot opening of the clip is aligned with the slot opening of the installation groove, and the clip moves in the direction back to the bottom of the installation groove under the action of the elastic restoring force of the first elastic part until it is engaged with the clip, and the slot wall surface of the clip acts to limit the rotation of the main body relative to the first shell around the extension direction of the groove, thereby further enhancing the connection stability between the main body and the first shell.

[0011] In some embodiments, the first shell also has a third surface facing away from the main body, and the third surface is provided with a through hole connected to the mounting groove; the snap-fit assembly also includes a toggle member, which passes through the through hole and partially extends into the mounting groove, the toggle member is fixedly connected to the snap-fit member, and the first elastic member is arranged around the portion of the toggle member located in the mounting groove.

[0012] Based on the above embodiment, when the engaging flange abuts the top and bottom surfaces of the groove, the engaging member engages with the groove, and the sidewalls of the groove act as a restraint on the engaging member, restricting the main body from rotating in the opposite direction relative to the first housing about the extension direction of the groove until the engaging flange disengages from the top and bottom surfaces of the groove, further enhancing the stability of the connection between the main body and the first housing. When a user needs to remove the main body from the first housing, the user can use the toggle member to move the toggle member in a direction away from the third surface of the first housing. The movement of the toggle member drives the engaging member connected thereto to move in a direction away from the bottom wall of the groove. When the engaging member is completely disengaged from the groove, the user can reversely rotate the first portion. The reverse rotation of the first portion drives the reverse rotation of the second portion connected thereto. The reverse rotation of the second portion drives the coupled engaging flange in the opposite direction until it disengages from the top and bottom surfaces of the groove. When the engaging flange is reversely rotated until it aligns with the notch, the main body can be completely separated from the first housing, thereby achieving disassembly between the main body and the first housing.

[0013] In some embodiments, the lumbar support module also includes an abutment member and a second elastic member, the abutment member is located in the groove and is slidably connected to the groove, the second elastic member is arranged along the extension direction of the groove and is suitable for generating elastic deformation along the extension direction of the groove, one end of the second elastic member is fixedly connected to the abutment member, and the other end of the second elastic member is fixedly connected to the bottom wall of the groove; when the clamping flange abuts against the top surface of the groove, the main body presses the abutment member to put the second elastic member in a compressed state.

[0014] Based on the above embodiment, when the snap-fit flange abuts against the top surface and bottom surface of the groove, the second part of the main body abuts against the abutment, and the second elastic part is in a compressed state under the extrusion of the second part of the main body and has elastic potential energy. The elastic potential energy in turn acts on the second part of the main body, causing the second part of the main body to have a tendency to move away from the abutment, thereby increasing the abutting force between the snap-fit flange and the top surface of the groove, thereby further enhancing the connection stability between the main body and the first shell along the extension direction of the groove.

[0015] In some embodiments, the lumbar support module further includes a handle, which is fixedly connected to the first shell and is located on a peripheral side of the first shell.

[0016] Based on the above embodiment, when installing and removing the main body from the first shell, the user can use the handle to hold and fix the first shell, thereby improving the portability of installing and removing the main body from the first shell.

[0017] In some embodiments, the lumbar support module also includes a second shell located behind the user's waist, the second shell is fixedly connected to the first shell, and the lumbar support module also includes a lumbar pad, which is located on the side of the second shell facing the user's waist and is detachably connected to the second shell.

[0018] Based on the above embodiment, by designing a waist pad, the waist pad has a good cushioning and protective effect on the user's waist, which can effectively prevent the user's waist from direct contact with the hard second shell, and effectively improve the comfort of the user wearing the walking-assist robot.

[0019] In some embodiments, the lumbar support module further includes Velcro, and the lumbar pad is connected to the second shell via the Velcro.

[0020] Based on the above embodiment, a detachable connection between the waist pad and the second shell is achieved by designing Velcro, which facilitates the installation and disassembly of the waist pad and the second shell on the one hand, and facilitates the later cleaning of the waist pad on the other hand.

[0021] In some embodiments, the walking-assist robot further includes a back binding module, the back binding module includes a shoulder strap, and the shoulder strap is connected to the second shell via a buckle.

[0022] Based on the above embodiment, the shoulder strap and the second shell are connected by a snap buckle, thereby achieving a detachable connection between the shoulder strap and the second shell, thereby facilitating the user to replace the shoulder strap.

[0023] In some embodiments, the shoulder straps are adjustable in length.

[0024] Based on the above embodiment, by designing the shoulder straps to be adjustable in length, users can adjust the shoulder straps to a suitable length according to their own needs to accommodate the needs of users of different heights, thereby enhancing the practicality and applicability of the walking-assist robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a schematic structural diagram of a walking-assistance robot in one embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of a partial structure of a walking-assistance robot in one embodiment of the present application;

[0028] Figure 3 This is a cross-sectional diagram of an embodiment of the present application when the clamping flange abuts against the groove top surface and the groove bottom surface;

[0029] Figure 4 This is a cross-sectional diagram of a clamping member and a clamping slot in an embodiment of the present application when they are engaged with each other;

[0030] Figure 5 This is a cross-sectional diagram of an embodiment of the present application when the clamping member is disengaged from the clamping slot.

[0031] Reference numerals: 1. walking robot; 10. driving module; 11. main body; 111. first portion; 112. second portion; 113. second surface; 1131. slot; 12. snap-fit flange; 20. waist support module; 21. first shell; 211. first surface; 2111. groove; 2112. notch; 2113. mounting slot; 212. third surface; 2121. through hole; 22. snap-fit flange Components; 221, snap-fitting part; 222, first elastic part; 223, toggle part; 23, abutting part; 24, second elastic part; 25, handle; 26, second shell; 27, waist pad; 30, leg rod module; 40, back binding module; 41, shoulder strap; 411, first belt body; 412, second belt body; 413, first connecting end; 414, second connecting end; 415, third connecting end; 42, buckle. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0033] Please refer to Figures 1-3 As shown, the first aspect of the present application proposes a walking-assisting robot 1 , which can effectively improve the convenience of installation and disassembly between the driving module 10 and the first shell 21 of the waist support module 20 .

[0034] The walking assistance robot 1 includes a driving module 10, a waist support module 20, and a leg rod module 30. The driving module 10 includes a main body 11 and a clamping flange 12. The clamping flange 12 is connected to the peripheral side of the main body 11. The waist support module 20 includes a first housing 21 located on the outer side of the user's thigh. The first housing 21 has a first surface 211 facing the main body 11. The first surface 211 is provided with a groove 2111. The periphery of the notch of the groove 2111 extends outward to form a notch 2112. The leg rod module 30 is connected to the main body 11. The leg rod module 30 is configured to have multiple degrees of freedom under the action of the main body 11. Wherein, when the main body 11 passes through the notch of the groove 2111 and partially extends into the groove 2111, the clamping flange 12 is configured to extend into the groove 2111 through the notch 2112, and the main body 11 can rotate relative to the groove 2111 so that the clamping flange 12 has a stroke of moving to abut against the top surface of the groove 2111 in the groove 2111. When the clamping flange 12 abuts against the top surface of the groove 2111, the side of the clamping flange 12 facing away from the top surface of the groove 2111 abuts against the bottom surface of the groove 2111 to position the main body 11 on the first housing 21.

[0035] The following will Figures 1-5 introduce the specific structure of the walking assistance robot 1 in detail.

[0036] As Figures 1-3 shown, the walking assistance robot 1 includes a driving module 10, a waist support module 20, and a leg rod module 30.

[0037] The driving module 10 serves as a power source to provide driving force for the user's walking.

[0038] The driving module 10 includes a main body 11 and a clamping flange 12. The clamping flange 12 is connected to the peripheral side of the main body 11. For example, the clamping flange 12 can be formed on the peripheral side of the main body 11 by injection molding or 3D printing.

[0039] The waist support module 20 serves as a support structure for the user's waist to provide support for the user's waist. The waist support module 20 includes a first housing 21.

[0040] The first housing 21 is located on the outer side of the user's thigh. The first housing 21 has a first surface 211 facing the main body 11. The first surface 211 is provided with a groove 2111. The periphery of the notch of the groove 2111 extends outward to form a notch 2112. The number of notches 2112 is two, and the included angle between the connection lines of the centers of the two notches 2112 and the center of the groove 2111 is 180 degrees. Or rather, the two notches 2112 are symmetrically distributed about the center of the groove 2111.

[0041] The leg rod module 30 serves as a support structure for the user's legs to provide support for the user's legs. The leg rod module 30 is connected to the main body 11, and the leg rod module 30 is configured to have multiple degrees of freedom under the action of the main body 11. One end of the leg rod module 30 is fixedly connected to the output end of the main body 11. Two ends of the second housing 26 (introduced below) of the waist support module 20 are respectively fixedly connected with a first housing 21. A main body 11 is installed on each first housing 21. Each main body 11 can provide an active degree of freedom for the leg rod module 30 connected thereto, and each leg rod module 30 can provide a passive degree of freedom.

[0042] When the main body 11 passes through the notch of the groove 2111 and partially extends into the groove 2111, the clamping flange 12 is configured to extend into the groove 2111 through the notch 2112, and the main body 11 can rotate relative to the groove 2111 so that the clamping flange 12 has a stroke of moving to abut against the groove top surface of the groove 2111. When the clamping flange 12 abuts against the groove top surface of the groove 2111, the side of the clamping flange 12 facing away from the groove top surface of the groove 2111 abuts against the groove bottom surface of the groove 2111 to position the main body 11 in the first housing 21.

[0043] Specifically, the main body 11 includes a first part 111 and a second part 112. The first part 111 and the second part 112 are stacked, and the first part 111 is farther from the plane where the notch of the groove 2111 is located than the second part 112. The output end of the first part 111 is fixedly connected to one end of the leg rod module 30. The circumferential side surface of the first part 111 is spaced from the circumferential side surface of the second part 112 to form a stepped structure. All the clamping flanges 12 are connected to the circumferential side surface of the second part 112. When the second part 112 extends into the groove 2111 through the notch of the groove 2111, the clamping flange 12 is configured to extend into the groove 2111 through the notch 2112. At this time, the first part 111 is located outside the groove 2111, and the stepped surface of the stepped structure abuts against the first surface 211 of the first housing 21. Among them, along the direction perpendicular to the extending direction of the groove 2111, the first part 111 has a first cross-section, and the second part 112 has a second cross-section, and the area of the first cross-section is larger than the area of the second cross-section to form the above-mentioned stepped structure. In this design, by designing the second part 112, the second part 112 is used to connect the clamping flange 12 to cooperate with extending into the groove 2111 so that the clamping flange 12 abuts against the groove top surface and the groove bottom surface of the groove 2111. By designing the first part 111 and the second part 112 to be stacked to form a stepped structure, when the second part 112 extends into the groove 2111 and the clamping flange 12 abuts against the groove top surface and the groove bottom surface of the groove 2111, the relative fixation of the position between the second part 112 and the first housing 21 is realized, thereby enhancing the connection stability between the main body 11 and the first housing 21.

[0044] Based on the walking assistance robot 1 in the embodiments of the present application, when the user inserts the main body 11 into the groove 2111 through the notch part of the groove 2111 and rotates the main body 11 until the clamping flange 12 abuts against the top surface and the bottom surface of the groove 2111, the top surface and the bottom surface of the groove 2111 can apply a pressing force to the clamping flange 12, effectively restricting the relative movement of the main body 11 along the extension direction of the groove 2111 with respect to the first housing 21, and fixing the main body 11 on the first housing 21. Thus, the relative position between the main body 11 and the first housing 21 is fixed by rotating the main body 11, effectively reducing the difficulty of installation and disassembly between the main body 11 and the first housing 21.

[0045] Further, as Figures 2-3 shown, in some embodiments, the main body 11 has a second surface 113 facing the first housing 21, a clamping groove 1131 is provided on the second surface 113, an installation groove 2113 is further provided on the first surface 211, and the waist support module 20 further includes a clamping component 22. The clamping component 22 is arranged in the installation groove 2113 and connected to the first housing 21. When the clamping flange 12 abuts against the top surface of the groove 2111, the clamping component 22 is snap-fitted with the clamping groove 1131 to restrict the rotation of the main body 11 relative to the first housing 21 around the extension direction of the groove 2111. Among them, the number of the installation grooves 2113 is two, the two installation grooves 2113 are symmetrically distributed about the center of the groove 2111, and the included angle between the connection line of the centers of each installation groove 2113 and the center of an adjacent notch 2112 is 90 degrees. In this design, by designing the clamping component 22, when the clamping flange 12 abuts against the top surface and the bottom surface of the groove 2111, the clamping component 22 is snap-fitted with the clamping groove 1131 on the main body 11, and the groove wall surface of the clamping groove 1131 plays a restricting role on the clamping component 22 to restrict the rotation of the main body 11 relative to the first housing 21 around the extension direction of the groove 2111, thereby further enhancing the connection stability between the main body 11 and the first housing 21.

[0046] Further, as Figures 4-5As shown, in some embodiments, the snap-fit component 22 includes a snap-fit member 221 and a first elastic member 222. The snap-fit member 221 is slidably connected to the installation groove 2113. The first elastic member 222 is arranged along the extension direction of the installation groove 2113 and is adapted to generate elastic deformation along the extension direction of the installation groove 2113. One end of the first elastic member 222 is fixedly connected to the snap-fit member 221, and the other end of the first elastic member 222 is fixedly connected to the bottom wall of the installation groove 2113. When the snap flange 12 abuts against the top surface of the groove 2111, the snap-fit member 221 is snap-fitted with the card slot 1131. Among them, the snap-fit member 221 includes a snap block, the snap block is slidably connected to the installation groove 2113, the snap block has a guiding surface facing the bottom wall of the card slot 1131, the guiding surface is a spherical curved surface, the first elastic member 222 includes a first spring, the first spring can generate elastic deformation along the extension direction of the installation groove 2113, one end of the first spring is fixedly connected to the snap block, and the other end of the first spring is fixedly connected to the bottom wall of the installation groove 2113. In this design, when the main body 11 rotates relative to the first housing 21, the second surface 113 presses the snap-fit member 221. Under the abutting action of the second surface 113 of the main body 11, the snap-fit member 221 presses the first elastic member 222, and the first elastic member 222 contracts. The snap-fit member 221 completely retracts into the installation groove 2113. When the main body 11 rotates relative to the first housing 21 until the abutting flange abuts against the top surface of the groove 2111, the notch of the card slot 1131 is aligned with the notch of the installation groove 2113. The snap-fit member 221 moves in the direction away from the bottom of the installation groove 2113 under the action of the elastic restoring force of the first elastic member 222 and is snap-fitted with the card slot 1131. The wall surface of the card slot 1131 plays a limiting role on the snap-fit member 221 to limit the rotation of the main body 11 relative to the first housing 21 around the extension direction of the groove 2111, thereby further enhancing the connection stability between the main body 11 and the first housing 21.

[0047] Further, as Figures 4-5As shown, in some embodiments, the first housing 21 further has a third surface 212 facing away from the main body 11. A through hole 2121 communicating with the mounting groove 2113 is provided on the third surface 212. The clamping assembly 22 further includes a toggling member 223. The toggling member 223 passes through the through hole 2121 and partially extends into the mounting groove 2113. The toggling member 223 is fixedly connected to the clamping member 221. The first elastic member 222 is disposed around the portion of the toggling member 223 located in the mounting groove 2113. Among them, the toggling member 223 includes a toggling plate and two toggling rods. The toggling plate is located on the side where the third surface 212 of the first housing 21 is located. The toggling rods are located on the side of the toggling plate facing the first housing 21. One end of the toggling rod is fixedly connected to the toggling plate. The other end of the toggling rod passes through the through hole 2121 and is partially located in the mounting groove 2113 and is fixedly connected to the above-mentioned clamping block. The first spring is disposed around the toggling rod. In this design, when the clamping flange 12 abuts against the top surface and the bottom surface of the groove 2111, the clamping member 221 is in clamping engagement with the card slot 1131. The side wall of the card slot 1131 restricts the clamping member 221, restricting the main body 11 from rotating relative to the first housing 21 in the reverse direction around the extension direction of the groove 2111 until the clamping flange 12 disengages from the top surface and the bottom surface of the groove 2111, further enhancing the connection stability between the main body 11 and the first housing 21. When the user needs to disassemble the main body 11 from the first housing 21, the user can use the toggling member 223 to move the toggling member 223 in a direction away from the third surface 212 of the first housing 21. The movement of the toggling member 223 drives the connected clamping member 221 to move in a direction away from the bottom wall of the card slot 1131. When the clamping member 221 moves to completely disengage from the card slot 1131, the user can reversely rotate the first part 111. The reverse rotation of the first part 111 drives the connected second part 112 to rotate reversely. The reverse rotation of the second part 112 drives the connected clamping flange 12 to move reversely until it disengages from the top surface and the bottom surface of the groove 2111. When the clamping flange 12 rotates reversely to align with the notch 2112, the entire main body 11 can be disengaged from the first housing 21, thereby realizing the disassembly between the main body 11 and the first housing 21.

[0048] Further, as Figures 4-5As shown, considering that the clamping flange 12 abuts against the top surface and the bottom surface of the groove 2111, relative fixation of the position of the main body 11 and the first housing 21 in the extending direction of the groove 2111 can be achieved. To further enhance the connection stability between the main body 11 and the first housing 21 in the extending direction of the groove 2111, it is designed that in some embodiments, the waist support module 20 further includes an abutting member 23 and a second elastic member 24. The abutting member 23 is located in the groove 2111 and is slidably connected to the groove 2111. The second elastic member 24 is arranged along the extending direction of the groove 2111 and is adapted to generate elastic deformation along the extending direction of the groove 2111. One end of the second elastic member 24 is fixedly connected to the abutting member 23, and the other end of the second elastic member 24 is fixedly connected to the bottom wall of the groove 2111. When the clamping flange 12 abuts against the top surface of the groove 2111, the main body 11 presses the abutting member 23 to make the second elastic member 24 in a compressed state. In this design, when the clamping flange 12 abuts against the top surface and the bottom surface of the groove 2111, the second part 112 of the main body 11 presses tightly against the abutting member 23. The second elastic member 24 is in a compressed state under the extrusion of the second part 112 of the main body 11 and has elastic potential energy. This elastic potential energy acts on the second part 112 of the main body 11 in turn, making the second part 112 of the main body 11 tend to move away from the abutting member 23, increasing the pressing force between the clamping flange 12 and the top surface of the groove 2111, thereby further enhancing the connection stability between the main body 11 and the first housing 21 along the extending direction of the groove 2111.

[0049] Specifically, the abutting member 23 includes an abutting plate, and the second elastic member 24 includes a second spring. The abutting plate is in sliding fit with the groove 2111. The second spring is arranged along the extending direction of the groove 2111. One end of the second spring is fixedly connected to the abutting plate, and the other end of the second spring is fixedly connected to the bottom wall of the groove 2111. Wherein, when the clamping flange 12 abuts against the top surface and the bottom surface of the groove 2111, the second part 112 of the main body 11 presses tightly against the abutting plate to make the second spring in a compressed state. Since the second spring is in a compressed state, the abutting plate has a tendency to move away from the bottom wall of the groove 2111. The abutting plate presses tightly against the second part 112 of the main body 11 in turn, making the pressing force between the clamping flange 12 and the top surface of the groove 2111 greater, further enhancing the connection stability between the main body 11 and the first housing 21 along the extending direction of the groove 2111. Of course, when disassembling between the main body 11 and the first housing 21, when the user rotates the main body 11 reversely until the clamping flange 12 aligns with the notch 2112, the entire main body 11 automatically moves away from the notch of the groove 2111 under the elastic force of the second spring, thereby further improving the disassembly portability between the main body 11 and the first housing 21.

[0050] Further, asFigures 1-2 As shown, in some embodiments, the waist support module 20 further includes a handle 25. The handle 25 is fixedly connected to the first housing 21 and is located on the circumferential side of the first housing 21. Among them, the handle 25 can be fixedly connected to the first housing 21 by injection molding or 3D printing. In this design, when installing and disassembling between the main body 11 and the first housing 21, the user can hold and fix the first housing 21 with the help of the handle 25, thereby improving the portability of the installation and disassembly between the main body 11 and the first housing 21.

[0051] Further, as Figures 1-2 As shown, in some embodiments, the waist support module 20 further includes a second housing 26. The second housing 26 is located at the rear side of the user's waist. The second housing 26 is fixedly connected to the first housing 21. The waist support module 20 further includes a waist cushion 27. The waist cushion 27 is located on the side of the second housing 26 facing the user's waist and is detachably connected to the second housing 26. Among them, the second housing 26 is designed as an arc structure conforming to the human body structure. The first housing 21 can be integrally formed with the second housing 26 by injection molding or 3D printing. The waist cushion 27 can be made of materials with good elasticity such as rubber, silicone, sponge, etc. In this design, by designing the waist cushion 27, the waist cushion 27 has a good buffering and protecting effect on the user's waist, can effectively prevent the user's waist from directly contacting the hard second housing 26, and effectively improves the comfort of the user wearing the walking aid robot 1.

[0052] Further, as Figures 1-2 As shown, in some embodiments, the waist support module 20 further includes a Velcro (not shown in the figure). The waist cushion 27 is connected to the second housing 26 through the Velcro. Among them, the Velcro includes a male sticker and a female sticker. One of the male sticker and the female sticker is connected to the second housing 26, and the other of the male sticker and the female sticker is connected to the waist cushion 27. In this design, by designing the Velcro to realize the detachable connection between the waist cushion 27 and the second housing 26, on the one hand, it is convenient to install and disassemble between the waist cushion 27 and the second housing 26, and on the other hand, it is convenient to clean the waist cushion 27 later.

[0053] Further, as Figures 1-2As shown, in some embodiments, the walking assistance robot 1 further includes a back binding module 40. The back binding module 40 includes shoulder straps 41, and the shoulder straps 41 are connected to the second housing 26 through buckles 42. Specifically, the shoulder straps 41 include a first strap body 411 and a second strap body 412. The first ends of the first strap body 411 and the second strap body 412 converge and are connected to form a first connection end 413 of the shoulder straps 41. The second end of the first strap body 411 away from the first connection end 413 is used to form a second connection end 414 of the shoulder straps 41, and the second end of the second strap body 412 away from the first connection end 413 is used to form a third connection end 415 of the shoulder straps 41. The first connection end 413, the second connection end 414, and the third connection end 415 are all connected to the second housing 26 through buckles 42. The buckle 42 includes a male buckle and a female buckle. One of the male buckle and the female buckle is fixedly connected to the connection end of the shoulder strap 41, and the other of the male buckle and the female buckle is fixedly connected to the second housing 26. The female buckle has an annular structure, and the female buckle is nested into the male buckle by pressing the male buckle. In this design, the shoulder strap 41 is connected to the second housing 26 through the buckle 42, realizing a detachable connection between the shoulder strap 41 and the second housing 26, so as to facilitate the user to replace the shoulder strap 41.

[0054] Further, as Figures 1-2 shown, in some embodiments, the length of the shoulder strap 41 is adjustable. In this design, by designing the length of the shoulder strap 41 to be adjustable, the user can adjust the shoulder strap 41 to a suitable length according to their own needs to meet the needs of users of different heights, thereby enhancing the practicability and applicability of the walking assistance robot 1.

[0055] In the drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0056] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A walking assistance robot, characterized in that, include: The driving module comprises a main body and a clamping flange, wherein the clamping flange is connected to a peripheral side of the main body; The lumbar support module includes a first shell located on the outside of the user's thigh, the first shell having a first surface facing the main body, the first surface being provided with a groove, and the periphery of the notch of the groove extending outward to form a gap; a leg rod module connected to the main body, wherein the leg rod module is configured to have multiple degrees of freedom under the action of the main body; wherein, when the main body passes through the notch of the groove and partially extends into the groove, the clamping flange is configured to extend into the groove through the notch, and the main body can rotate relative to the groove so that the clamping flange has a stroke in the groove to abut against the groove top surface of the groove; when the clamping flange abuts against the groove top surface of the groove, the side of the clamping flange facing away from the groove top surface abuts against the groove bottom surface of the groove, thereby positioning the main body in the first housing; The main body has a second surface facing the first shell, and the second surface is provided with a card slot; the first surface is also provided with a mounting slot, and the lumbar support module also includes a card assembly, which is provided in the mounting slot and connected to the first shell; when the card flange abuts against the top surface of the groove, the card assembly is engaged with the card slot to limit the main body from rotating relative to the first shell along the extension direction of the groove.

2. The walking aid robot according to claim 1, wherein The clamping assembly comprises: A clamping member, slidably connected to the mounting slot; A first elastic member is arranged along the extension direction of the mounting groove and is suitable for generating elastic deformation along the extension direction of the mounting groove. One end of the first elastic member is fixedly connected to the clamping member, and the other end of the first elastic member is fixedly connected to the bottom wall of the mounting groove; when the clamping flange abuts against the top surface of the groove, the clamping member is engaged and connected with the clamping groove.

3. The walking-assisting robot according to claim 2, characterized in that: The first shell also has a third surface facing away from the main body, and the third surface is provided with a through hole connected to the mounting groove; the clamping assembly also includes a toggle member, which passes through the through hole and partially extends into the mounting groove, and the toggle member is fixedly connected to the clamping member, and the first elastic member is arranged around the portion of the toggle member located in the mounting groove.

4. The walking assistance robot according to claim 1, wherein, The lumbar support module further comprises: an abutment member, located in the groove and slidably connected to the groove; A second elastic member is arranged along the extension direction of the groove and is suitable for generating elastic deformation along the extension direction of the groove. One end of the second elastic member is fixedly connected to the abutment member, and the other end of the second elastic member is fixedly connected to the bottom wall of the groove. When the clamping flange abuts against the top surface of the groove, the main body presses the abutment member to put the second elastic member in a compressed state.

5. The walking-assisting robot according to any one of claims 1 to 4, characterized in that: The waist support module further includes a handle, which is fixedly connected to the first housing and is located on the circumferential side of the first housing.

6. The walking assist robot according to any one of claims 1-4, characterized in that the waist support module further includes a second housing located at the rear side of the user's waist, the second housing is fixedly connected to the first housing, the waist support module further includes a waist cushion, and the waist cushion is located on the side of the second housing facing the user's waist and is detachably connected to the second housing.

7. The walking assist robot according to claim 6, characterized in that the waist support module further includes a magic tape, and the waist cushion is connected to the second housing through the magic tape.

8. The walking assist robot according to claim 6, characterized in that the walking assist robot further includes a back binding module, the back binding module includes shoulder straps, and the shoulder straps are connected to the second housing through buckles.

9. The walking assist robot according to claim 8, characterized in that the length of the shoulder strap is adjustable.

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