Walking assistance robot

Abstract

The present disclosure provides a walking-assist robot, which belongs to the field of human-assist technology. The walking-assist robot includes a back bar, two leg drive assemblies, two first limit assemblies and two second limit members. The leg drive assembly includes an adjusting rod. The back bar includes a middle section and two side sections, and the inner diameter of the side section is smaller than the inner diameter of the middle section. The two adjusting rods are slidably connected to the two side sections, respectively, and there is a gap between the adjusting rod and the inner wall of the middle section. The two first limit assemblies are respectively connected to the ends of the two adjusting rods located in the middle section. The two second limit members are fixed to the middle section, the two first limit assemblies are located between the two second limit members, and the two second limit members are respectively located on the sliding paths of the two first limit assemblies. In this way, when the adjusting rod slides to the outside of the back bar to the extreme position, the two first limit assemblies touch the two second limit members, respectively, so that the adjusting rod cannot be separated from the back bar.

Description

Technical Field

[0001] The present disclosure relates to the field of human body assist technology, and in particular to a walking assist robot. Background Art

[0002] Assisted walking robots are commonly used in medical rehabilitation, industrial safety, and outdoor travel for walking and running. They assist users in getting up and walking. These robots consist of a backrest and two leg drive assemblies located on either side of the backrest, one for each leg.

[0003] In the related art, in order to make the walking-assisting robot suitable for users with different body shapes, the leg drive assembly is slidably connected to the back rod, and the distance between the two leg drive assemblies can be adjusted by sliding the two leg drive assemblies.

[0004] However, if the leg drive assembly slides too far during the user's movement, it may become detached from the back bar. This not only requires the user to spend time reassembling the walking-assist robot, but can also easily damage the robot, such as causing electrical wires to become severed. Summary of the Invention

[0005] The present disclosure provides a walking assistance robot that can solve the technical problems existing in the related art. The technical solution of the walking assistance robot is as follows.

[0006] The present disclosure provides a walking assistance robot. The walking assistance robot comprises a back bar, two leg drive assemblies, two first limit assemblies and two second limit members;

[0007] The back rod includes a middle section and two side sections, and the inner diameter of the side sections is smaller than the inner diameter of the middle section;

[0008] Each of the leg drive assemblies comprises an adjustment rod, a hip joint motor, and a leg rod connected in sequence, wherein one end of each adjustment rod away from the hip joint motor is located inside the middle section, a gap is formed between the inner wall of the middle section and the outer wall of the adjustment rod, and the inner wall of the side section is slidably engaged with the outer wall of the adjustment rod;

[0009] The two first limiting assemblies are respectively connected to one end of the two adjusting rods away from the hip joint motor, and parts of the first limiting assemblies are located in the gap;

[0010] The two second limiting members are connected to the middle section and are located in the gap. The two first limiting assemblies are located between the two second limiting members. The two second limiting members are respectively located on the outward sliding paths of the two first limiting assemblies.

[0011] In one implementation, the adjusting rod is hollow, and the wall of the adjusting rod includes an opening, and the opening is opposite to the middle section;

[0012] The first limiting assembly includes a bracket, a first limiting member and an elastic member. The bracket is fixed to the inner wall of the adjusting rod. The first limiting member is slidably connected to the bracket. The first limiting member includes a first limiting block. The elastic member drives the first limiting block to pass through the opening and extend into the gap.

[0013] In one implementation, a surface of each of the first limiting blocks facing away from the corresponding second limiting member is an inclined surface;

[0014] The inclined surface is configured to contact the corresponding second limiting member during the process of inserting the adjusting rod into the back rod, so that the first limiting block retracts through the opening and passes over the second limiting member.

[0015] In one implementation, the outer wall of the adjusting rod includes at least one strip-shaped groove, and the strip-shaped groove extends along the length direction of the adjusting rod;

[0016] The opening passes through the bottom of a strip-shaped groove, and the first limiting block is located in the strip-shaped groove;

[0017] A portion of the second limiting member is located in the one strip-shaped groove.

[0018] In one implementation, the inner wall of the side segment includes a limiting strip, which extends along the length direction of the side segment. The limiting strip is located inside the strip-shaped groove, and the length of the limiting strip is less than the length of the strip-shaped groove.

[0019] In one implementation, the walking assistance robot further includes a waist belt fixing member;

[0020] The belt fixing component includes two positioning buckles, the tube wall of the middle section includes two positioning holes, and the two positioning buckles extend into the two positioning holes respectively, wherein the two positioning buckles form the two second limiting components.

[0021] In one implementation, the tube wall of the middle section facing the waist belt fixing component includes a plurality of hollow holes, and the plurality of hollow holes are blocked by the waist belt fixing component.

[0022] In one implementation, the walking assist robot further includes a control component, the control component including a housing and a main control component, and the main control component is located inside the housing;

[0023] The housing is fixedly connected to the middle section, the middle section includes a first threading hole, the housing includes a second threading hole, and the first threading hole is opposite to the second threading hole;

[0024] The electrical connection line of the hip joint motor passes through the adjustment rod, the back rod, the first threading hole and the second threading hole in sequence, and is electrically connected to the main control component.

[0025] In one implementation, the walking assist robot further includes two wire protection sleeves, each of which includes a fixing portion and at least one wire tube portion;

[0026] The fixing portion is located inside the middle section and outside the adjusting rod, and the fixing portion is fixed to the middle section;

[0027] The wire tube portion is at least partially located inside the adjusting rod and extends along the length direction of the adjusting rod. The electrical connection line of the hip joint motor passes through the wire tube portion and is fixed to the wire tube portion.

[0028] In one implementation, the fixing portion includes two elastic arms, which are in a compressed state and abut against the inner wall of the middle section.

[0029] In one implementation, the two elastic arms are arranged on both sides of a line connecting the two second limiting members.

[0030] In one implementation, the side wall of each wire tube portion includes a strip-shaped opening, and the strip-shaped opening passes through the inner and outer sides of the tube wall of the wire tube portion and passes through both ends of the wire tube portion.

[0031] In one implementation, each of the wire tube portions further includes at least one second limit block, one end of each of the second limit blocks being connected to the inner wall of the strip-shaped opening, and the other end extending toward the interior of the wire tube portion, and the second limit block being used to clamp the electrical connection wire in the wire tube portion.

[0032] In one implementation, each of the wire sheaths includes two wire tube parts, the two wire tube parts are respectively a first wire tube part and a second wire tube part, and the diameter of the first wire tube part is smaller than the diameter of the second wire tube part;

[0033] Each hip joint motor corresponds to three electrical connection wires, one of the three electrical connection wires passes through the first wire tube portion, and the other two electrical connection wires pass through the second wire tube portion.

[0034] In one implementation, the three electrical connection lines include a positive power line, a negative power line, and a control signal line;

[0035] The control signal line passes through the first wire tube portion, and the positive power line and the negative power line pass through the second wire tube portion.

[0036] In one implementation, the housing includes two latches and a locking bar, the locking bar including a bolt hole;

[0037] The walking-assist robot further includes a battery pack, the battery pack including a battery housing, a first button, a lock tongue, and a battery located inside the battery housing, the battery housing including two latch slots and a locking bar hole, the first button being located in the battery housing and being linked to the lock tongue;

[0038] The two latches are respectively inserted into the two latch slots, the locking bar is inserted into the locking bar hole, and the lock tongue passes through the lock tongue hole, wherein when the first button is pressed, the lock tongue is disengaged from the lock tongue hole.

[0039] In one implementation, the walking-assisting robot further includes two pull buckles, which are respectively looped around the two side sections of the back rod and drive the two side sections to tighten the two adjustment rods.

[0040] In one implementation, the stator of the hip joint motor includes a fixed connection segment, the fixed connection segment includes a first sub-segment and a second sub-segment, the outer diameter of the first sub-segment is smaller than the outer diameter of the second sub-segment, and the first sub-segment is plugged into an end of the adjustment rod located outside the back rod;

[0041] Each of the leg drive assemblies further includes a waist support, at least one first fixing member and at least one second fixing member, wherein the first fixing member passes through the waist support and the second sub-segment, and the second fixing member passes through the waist support, the adjustment rod and the first sub-segment.

[0042] In one implementation, the rotor of the hip joint motor includes two first sleeve portions, the two first sleeve portions are coaxial and spaced apart, and the axial direction of the first sleeve portion intersects with the rotation axis of the rotor;

[0043] One end of the leg rod close to the hip joint motor includes a second sleeve portion;

[0044] Each of the leg drive components also includes a hinge mechanism, which includes two sleeves and a first rotating shaft. The two sleeves are respectively fixed inside the two first sleeve parts, and the two ends of the first rotating shaft are respectively rotatably connected to the two sleeves. The second sleeve part is encircled by the first rotating shaft and is fixed to the first rotating shaft.

[0045] In one implementation, each hinge mechanism further includes a steel sleeve and a locking screw, wherein the steel sleeve is encircled by the first rotating shaft, the first rotating shaft includes a locking surface, and the steel sleeve includes a first locking hole, and the first locking hole is opposite to the locking surface;

[0046] The second sleeve portion is sleeved around the steel sleeve, and the second sleeve portion includes a second locking hole, which is opposite to the first locking hole. The locking screw passes through the second locking hole and the first locking hole and abuts against the locking surface.

[0047] In one implementation, each of the leg drive assemblies further includes a leg strap fixing assembly, and each of the leg strap fixing assemblies includes a support member and a leg strap fixing member;

[0048] The support member is connected to one end of the leg rod away from the hip joint motor, and the support member includes a shaft hole, and the axial direction of the shaft hole intersects with the extension direction of the leg rod;

[0049] The strap fixing member includes an avoidance hole and a second rotating shaft. The two ends of the second rotating shaft are respectively fixedly connected to the hole wall of the avoidance hole. The avoidance hole is ring-shaped around the support member, and the second rotating shaft is located in the rotating shaft hole.

[0050] In one implementation, the end of the leg rod away from the hip joint motor includes two first slides and two rows of limiting bosses, the length direction of the first slide is perpendicular to the axial direction of the rotating shaft hole, the two rows of limiting bosses are located between the two first slides, and each row of limiting bosses defines a plurality of snap-fit ​​grooves;

[0051] The support member includes two second slides and two second buttons, the two second slides are located outside the two first slides and are slidably connected to the two first slides, the two second buttons respectively pass through the two second slides and are respectively engaged in two flat engaging grooves, wherein when the second button is pressed, the button is separated from the engaging groove.

[0052] In one implementation, the back bar is arc-shaped, and the concave surface of the back bar is used to fit with the waist belt fixing piece;

[0053] Each of the adjusting rods includes a sliding section, which is arc-shaped. A gap is provided between the inner wall of the middle section and the outer wall of the sliding section, and the inner wall of the side section is in sliding engagement with the outer wall of the sliding section.

[0054] In one implementation, the radius of the back rod and the radius of the sliding section are both greater than 300 mm and less than 1000 mm;

[0055] The central angle corresponding to the back rod is greater than 30° and less than 50°, and the central angle corresponding to the sliding section is greater than 10° and less than 18°.

[0056] In one implementation, the minimum value of the distance between the two hip joint motors is greater than 300 mm and less than 350 mm, and the maximum value is greater than 450 mm and less than 500 mm;

[0057] The line connecting the center points of the two hip joint motors is assumed to be a first reference line, and the second reference line is assumed to be parallel to the first reference line and tangent to the middle segment. The minimum value of the distance between the first reference line and the second reference line is greater than 150 mm and less than 200 mm, and the maximum value is greater than 300 mm and less than 400 mm.

[0058] The technical solution provided by the present disclosure has at least the following beneficial effects.

[0059] When the adjustment rod slides outward and reaches its limit position, the first stopper on the adjustment rod contacts the second stopper on the middle section. This prevents the adjustment rod from separating from the back bar and prevents the electrical connection wires of the walking-assist robot from being torn, thus improving the reliability of the walking-assist robot.

[0060] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure. In the drawings:

[0062] Figure 1 is a schematic diagram of a walking assistance robot provided by an embodiment of the present disclosure;

[0063] Figure 2 is a schematic diagram of a back rod provided by an embodiment of the present disclosure;

[0064] Figure 3 is a schematic diagram of an adjustment rod and a back rod provided in an embodiment of the present disclosure;

[0065] Figure 4 is a schematic diagram of another adjustment rod and back rod provided in an embodiment of the present disclosure;

[0066] Figure 5 is a schematic diagram of an adjustment rod and a limit assembly provided in an embodiment of the present disclosure;

[0067] Figure 6 yes Figure 5 A partial enlarged view of the framed portion;

[0068] Figure 7 This is a schematic diagram of the limiting principle of a first limiting assembly and a second limiting member provided in an embodiment of the present disclosure;

[0069] Figure 8 is a schematic diagram of a first position limiting assembly provided in an embodiment of the present disclosure;

[0070] Figure 9 is a schematic diagram of a waist belt fastener and a battery pack provided by an embodiment of the present disclosure;

[0071] Figure 10 is a schematic diagram of a back rod, an adjustment rod, and a bottom shell provided by an embodiment of the present disclosure;

[0072] Figure 11 is an exploded view of a waist belt fastener provided by an embodiment of the present disclosure;

[0073] Figure 12 is a schematic diagram of a back rod, an adjustment rod, and a wire protection sleeve provided in an embodiment of the present disclosure;

[0074] Figure 13 is a schematic diagram of the relative positions of a back rod, an adjustment rod, and a cable protection sleeve provided by an embodiment of the present disclosure;

[0075] Figure 14 is a schematic diagram of the relative positions of a wire grommet and an adjustment rod provided in an embodiment of the present disclosure;

[0076] Figure 15 is a schematic diagram of a cable protection sleeve provided by an embodiment of the present disclosure;

[0077] Figure 16 is a schematic diagram of another cable protection sleeve provided in an embodiment of the present disclosure;

[0078] Figure 17 is a schematic diagram of a battery pack provided by an embodiment of the present disclosure;

[0079] Figure 18 is a schematic diagram of a waist belt fastener provided by an embodiment of the present disclosure;

[0080] Figure 19 is a schematic diagram of a waist belt fastener and a battery pack provided by an embodiment of the present disclosure;

[0081] Figure 20 is a schematic diagram of a buckle provided by an embodiment of the present disclosure;

[0082] Figure 21 is a cross-sectional view of a pull button provided by an embodiment of the present disclosure;

[0083] Figure 22 is a schematic diagram of a connection method between an adjusting rod and a stator provided in an embodiment of the present disclosure;

[0084] Figure 23 is a schematic diagram of a connection method between an adjusting rod and a stator provided in an embodiment of the present disclosure;

[0085] Figure 24 is a schematic diagram of a connection method between a rotor and a leg rod provided by an embodiment of the present disclosure;

[0086] Figure 25 is a schematic diagram of a hinge mechanism provided by an embodiment of the present disclosure;

[0087] Figure 26 is a schematic diagram of a leg strap fixing assembly and a leg rod provided by an embodiment of the present disclosure;

[0088] Figure 27 is a schematic diagram of a track segment provided by an embodiment of the present disclosure;

[0089] Figure 28 is a schematic diagram of a leg strap fixing assembly provided by an embodiment of the present disclosure;

[0090] Figure 29 This is a dimensional parameter diagram of a back rod and an adjustment rod provided in an embodiment of the present disclosure;

[0091] Figure 30 This is a schematic diagram of the adjustment process of a walking-assist robot provided in an embodiment of the present disclosure.

[0092] Legend

[0093] 1. Back bar, 11. Middle section, 111. Positioning hole, 112. First fixing hole, 113. Second fixing hole, 114. First threading hole, 115. Hollow hole, 12. Side section, 121. Limiting strip, 122. Strip slot;

[0094] 2. Leg drive assembly;

[0095] 21. Adjusting rod, 211. Sliding section, 2111. Strip groove, 2112. Opening, 2121. Seventh fixing hole;

[0096] 22. Hip joint motor, 221. Stator, 2211. Fixed connection section, 2212. First subsection, 22121. Sixth fixing hole, 2213. Second subsection, 22131. Fifth fixing hole, 222. Rotor, 2221. First hinge section, 2222. First sleeve portion;

[0097] 23. Leg rod, 230. Leg rod body, 231. Second hinge section, 2311. Second sleeve portion, 2312. Second locking hole, 232. Track section, 2320. Snap-fit ​​groove, 2321. First slide bar, 2322. Position limiting boss;

[0098] 24. Lumbar support;

[0099] 25. Hinge mechanism, 251. Bushing, 252. First rotating shaft, 2521. Locking surface, 253. Steel sleeve, 2531. First locking hole;

[0100] 26. Leg strap fixing assembly, 261. Support member, 2610. Rotating shaft hole, 2611. Second slide bar, 2612. Second button, 262. Leg strap fixing member, 2621. Avoidance hole, 2622. Second rotating shaft;

[0101] 3. First limiting assembly, 31. Bracket, 311. Mounting column, 312. Elastic member abutting column, 32. First limiting member, 321. Limiting member body, 3211. Mounting sleeve, 3212. Elastic member accommodating cavity, 322. First limiting block, 3221. Inclined surface, 33. Elastic member;

[0102] 4. The second limiting member;

[0103] 5. Belt fastener, 51. Bottom shell, 511. Positioning buckle, 512. Third fixing hole, 513. Fourth fixing hole, 514. Second threading hole, 515. Latch, 516. Locking strip, 5161. Lock tongue hole, 52. Upper cover, 53. Main control assembly, 54. First electrical connector;

[0104] 6. Wire protection sleeve, 61. Fixing portion, 611. Elastic arm, 62. Wire tube portion, 62a. First wire tube portion, 62b. Second wire tube portion, 620. Strip opening, 621. Second limiting block;

[0105] 7. Battery pack, 71. Battery housing, 711. Latch slot, 712. Locking bar hole, 72. First button, 73. Lock tongue, 74. Second electrical connector;

[0106] 8. Pull button, 81. Buckle, 82. Handle, 83. Pull rod, 831. Bar hole, 830. Opening, 84. Third rotating shaft, 85. Fourth rotating shaft, 86. Fifth rotating shaft.

[0107] The above drawings illustrate specific embodiments of the present disclosure, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0108] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0109] The embodiment of the present disclosure provides a walking assistance robot. Figure 1 As shown, the walking assist robot comprises a back rod 1 and two leg drive assemblies 2. Each leg drive assembly 2 comprises an adjustment rod 21, a hip joint motor 22 and a leg rod 23 connected in sequence. Figure 2-Figure 4 As shown, the back rod 1 is encircled by the two adjustment rods 21 and is slidably connected to the two adjustment rods 21 .

[0110] In addition, if Figure 1 As shown, the walking-assist robot also includes a waist belt fixture 5, two waist supports 24, and two leg strap fixture assemblies 26. The waist belt fixture 5 is connected to the back bar 1. The two waist supports 24 are located on the sides of the two leg drive assemblies 2. The leg strap fixture assemblies 26 are connected to the end of the leg bar 23 away from the hip joint motor 22.

[0111] The waist belt fastener 5 and waist support 24 are used to secure the waist belt. The waist belt fastener 5 secures the back of the waist belt, while the two waist supports 24 secure the sides of the waist belt. The leg strap fastener 26 secures the leg straps, which are used to be tied around the user's legs. Once the waist belt and leg straps are wrapped around the user's waist and legs, respectively, the walking-assist robot is worn by the user.

[0112] When the walking-assist robot is worn, the back bar 1 is positioned behind the user's waist, and the two leg drive assemblies 2 are located on the user's left and right legs, respectively. The hip joint motors 22 of the leg drive assemblies 2 are aligned with the user's hip joints. The hip joint motors 22 drive the leg bars 23 to swing, which in turn drives the left and right thighs to swing, providing assistance to the user's walking.

[0113] In the walking-assist robot provided by the disclosed embodiment, the adjustment rods 21 of the two leg drive assemblies 2 are slidably connected to the back bar 1. This allows the user to change the distance between the two hip joint motors 22 by sliding the two adjustment rods 21, thereby making the walking-assist robot adaptable to users of different body widths.

[0114] If the user slides the adjustment rod 21 outward too far, the adjustment rod 21 may separate from the back bar 1. Once separated, the user needs to reinsert the adjustment rod 21 into the back bar 1, which is a cumbersome operation. Furthermore, separation of the adjustment rod 21 from the back bar 1 may rip some of the electrical connections of the walking-assist robot, causing damage to the walking-assist robot.

[0115] In order to prevent the adjustment rod 21 from separating from the back rod 1, in some examples, such as Figure 2 As shown, the back rod 1 includes a middle section 11 and two side sections 12. The middle section 11 is located between the two side sections 12. The inner diameter of the middle section 11 is larger than the inner diameter of the side sections 12. Figure 3 and Figure 4 As shown, one end of the two adjustment rods 21 away from the hip joint motor 22 is located inside the middle section 11. There is a gap 110 (as shown in FIG. Figure 7 As shown), the inner wall of the edge section 12 is slidably matched with the outer wall of the adjustment rod 21. The walking assist robot also includes two first limiting components 3 and two second limiting components 4. Figure 5-Figure 7 As shown, the two first limiting components 3 are respectively connected to one end of the two adjusting rods 21 located in the middle section 11, and part of the first limiting components 3 is located in the gap 110. Figure 7 As shown, the two second limiting members 4 are connected to the middle section 11 and are located in the gap 110. The two first limiting assemblies 3 are located between the two second limiting members 4, and the two second limiting members 4 are located on the sliding paths of the two first limiting assemblies 3 respectively.

[0116] In this way, when the user slides the adjustment rod 21 outward, when the adjustment rod 21 slides outward to the extreme position, the first limit component 3 will collide with the second limit component 4, so that the adjustment rod 21 cannot continue to slide, and the adjustment rod 21 cannot be separated from the back rod 1.

[0117] It should be noted that if Figure 6 As shown, since the first stopper assembly 3 protrudes relative to the adjustment rod 21, and the adjustment rod 21 is slidably connected to the side segment 12, during the process of inserting the adjustment rod 21 into the side segment 12, the adjustment rod 21 cannot be inserted into the inside of the side segment 12 due to the interference between the first stopper assembly 3 and the side segment 12.

[0118] In order to prevent the first limiting component 3 from affecting the normal assembly of the adjustment rod 21, in some examples, the adjustment rod 21 is inserted into the back rod 1 before the first limiting component 3 is fixedly connected to the adjustment rod 21. Figure 2As shown, the middle position of the middle section 11 includes an opening (ie, the first threading hole 114 ). After the adjustment rod 21 is inserted into the interior of the back rod 1 , the first limiting assembly 3 can be installed through the opening.

[0119] In other examples, such as Figure 5 、 Figure 6 and Figure 8 As shown, the first stopper assembly 3 is configured to be retractable along the radial direction of the adjustment rod 21, that is, the first stopper assembly 3 has two states: protruding and non-protruding relative to the adjustment rod 21. Thus, during the insertion of the adjustment rod 21 into the back rod 1, the first stopper assembly 3 is configured to be non-protruding relative to the adjustment rod 21 to prevent interference between the first stopper assembly 3 and the edge segment 12. After the adjustment rod 21 is inserted into the back rod 1, the first stopper assembly 3 is configured to protrude relative to the adjustment rod 21 to achieve the limiting function of the first stopper assembly 3.

[0120] For example, Figure 5-Figure 8 As shown, the adjusting rod 21 is hollow, and the tube wall of the adjusting rod 21 includes an opening 2112, which is opposite to the middle section 11. The first limiting assembly 3 includes a bracket 31, a first limiting member 32, and an elastic member 33. The bracket 31 is fixed to the inner wall of the adjusting rod 21. The first limiting member 32 is slidably connected to the bracket 31, and the first limiting member 32 includes a first limiting block 322. The elastic member 33 drives the first limiting block 322 to extend through the opening 2112 into the gap 110. The elastic member 33 abuts against the bracket 31 and the first limiting member 32, respectively.

[0121] In this way, during the assembly of the walking-assist robot, the assembler can apply pressure to the first stopper 322, causing it to contract (and compress the elastic member 33). This allows the adjustment rod 21 to extend normally into the interior of the side segment 12, and the first stopper 322 remains in the contracted state due to the pressure from the inner wall of the side segment 12. After the first stopper assembly 3 slides to the middle segment 11, the first stopper 322 is no longer blocked by the inner wall of the side segment 12. Under the action of the elastic member 33, the first stopper 322 extends through the opening 2112 into the gap 110.

[0122] In some examples, such as Figure 8 As shown, the first limiting member 32 includes a limiting member body 321 and a first limiting block 322 . The limiting member body 321 is located inside the adjusting rod 21 and is slidably connected to the bracket 31 .

[0123] In some examples, such as Figure 8 As shown, the bracket 31 includes a mounting post 311 . The position-limiting member body 321 includes a mounting sleeve 3211 . The mounting sleeve 3211 surrounds the mounting post 311 and is slidably connected to the mounting post 311 .

[0124] In some examples, such as Figure 8 As shown, the bracket 31 includes an elastic member mounting protrusion 312, and the limit member body 321 includes an elastic member accommodating cavity 3212, which is opposite to the elastic member mounting protrusion 312. One end of the elastic member 33 is looped around the elastic member mounting protrusion 312, and the other end extends into the interior of the elastic member accommodating cavity 3212.

[0125] It should be noted that if the second stopper 4 is already installed before the adjustment rod 21 is inserted into the side section 12, the first stopper assembly 3 will interfere with the second stopper 4 during the insertion of the adjustment rod 21 into the side section 12. Since the second stopper 4 is located inside the middle section 11, the user cannot manually apply pressure to the first stopper 322 inside the middle section 11 to retract the first stopper 322 into the opening 2112.

[0126] In order to avoid the interference between the second limiting member 4 and the first limiting member 3, which causes the adjusting rod 21 to be unable to extend into the interior of the middle section 11. In some examples, such as Figure 8 As shown, the first limiting block 322 includes an inclined surface 3221. The inclined surface 3221 is located on the side of the first limiting block 322 facing away from the corresponding second limiting member 4. The second limiting member 4 corresponding to the first limiting block 322 refers to the second limiting member 4 that is used to contact the first limiting block 322.

[0127] In this way, when the adjustment rod 21 is inserted into the inner portion of the side segment 12, the inclined surface 3221 first contacts the end of the side segment 12. Driven by the side segment 12, the first stopper 322 retracts, eliminating the need for the assembler to manually press the first stopper 322. Subsequently, when the first stopper 322 slides to the middle segment 11, the elastic member 33 causes the first stopper 322 to extend. Next, when the inclined surface 3221 contacts the second stopper 4, the elastic member 33 causes the first stopper 322 to retract and smoothly pass over the second stopper 4. Finally, after the first stopper 322 passes over the second stopper 4, the elastic member 33 causes the first stopper 322 to extend.

[0128] In some examples, such as Figure 3 and Figure 4 As shown, the adjustment rod 21 includes a strip groove 2111, which extends along the length of the adjustment rod 21. The opening 2112 passes through the bottom of the strip groove 2111, and the first limit block 322 is located in the strip groove 2111. In addition, the second limit member 4 also extends into the interior of the strip groove 2111.

[0129] Among them, since the gap 110 between the bottom of the strip groove 2111 and the inner wall of the middle section 11 is large, the opening of the strip groove 2111 makes the size of the second limit member 4 and the protruding size of the first limit block 322 relative to the adjusting rod 21 larger, thereby improving the reliability of the contact between the second limit member 4 and the first limit block 322.

[0130] In some examples, such as Figure 2-Figure 4 As shown, the inner wall of the side segment 12 includes a limiting strip 121, which extends along the length of the side segment 12. The limiting strip 121 is located within the strip groove 2111. The length of the limiting strip 121 is less than the length of the strip groove 2111. The limiting strip 121 and the strip groove 2111 cooperate to reduce the possibility of relative twisting between the adjustment rod 21 and the back rod 1, thereby improving the stability of the walking-assist robot.

[0131] In some examples, the cross-sections of the limiting strip 121 and the strip-shaped groove 2111 are trapezoidal.

[0132] The following is an exemplary description of the implementation of the second limiting member 4 .

[0133] In some examples, such as Figure 9 As shown, the waist belt fixing member 5 includes two positioning buckles 511. Figure 10 and Figure 2 As shown, the tube wall of the middle section 11 includes two positioning holes 111 , and the two positioning buckles 511 extend into the two positioning holes 111 respectively.

[0134] The two positioning buckles 511 form two second limiting members 4. That is, the two positioning buckles 511 not only position the waist belt fixing member 5, but also limit the sliding position of the first limiting assembly 3. The walking-assisting robot does not need to add new components to set the second limiting members 4.

[0135] In other examples, the second stopper 4 is a screw or rivet that penetrates the wall of the intermediate section 11. Specifically, a screw or rivet of a certain length is fixed to the wall of the intermediate section 11, and the portion of the screw or rivet that extends into the interior of the intermediate section 11 forms the second stopper 4. In some examples, this stopper also secures the belt fastener 5. This way, the stopper not only secures the belt fastener 5 but also limits the sliding position of the first stopper assembly 3, eliminating the need for additional components to provide the second stopper 4.

[0136] Next, an exemplary description will be given of how the waist belt fixing member 5 is fixedly connected to the back bar 1 .

[0137] In some examples, such as Figure 10 and Figure 2As shown, the middle section 11 includes two groups of first fixing holes 112, and the two groups of first fixing holes 112 are respectively close to the two ends of the middle section 11. Figure 9 and Figure 10 As shown, the waist belt fastener 5 includes two groups of third fixing holes 512, and the two groups of first fixing holes 112 are respectively opposite to the two groups of third fixing holes 512. Fasteners (such as rivets) pass through the third fixing holes 512 and the first fixing holes 112 and securely connect the waist belt fastener 5 to the middle section 11.

[0138] In some examples, such as Figure 10 As shown, each group of first fixing holes 112 includes two first fixing holes 112 , and each group of third fixing holes 512 includes two third fixing holes 512 .

[0139] In some examples, such as Figure 10 and Figure 2 As shown, the middle section 11 includes two groups of second fixing holes 113, each group of second fixing holes 113 includes two second fixing holes 113, and the two second fixing holes 113 are arranged on both sides of the strip groove 2111. Figure 9 and Figure 10 As shown, the waist belt fastener 5 includes two groups of fourth fastening holes 513, which are respectively opposite to the two groups of second fastening holes 113. The fastener passes through the second fastening holes 113 and the fourth fastening holes 513. The fastener is a rivet or a screw.

[0140] In some examples, such as Figure 10 As shown, the wall of the middle section 11 facing the belt fastener 5 includes a plurality of hollow holes 115. These hollow holes 115 are shielded by the belt fastener 5. Thus, on the one hand, the hollow holes 115 reduce the weight of the middle section 11. On the other hand, shielding the hollow holes 115 by the belt fastener 5 prevents external contaminants from entering the interior of the middle section 11 through the hollow holes 115.

[0141] In some examples, such as Figure 11 As shown, the main control component 53 is integrated inside the waist belt fixing part 5, and the main control component 53 is used to control the hip joint motor 22. Exemplarily, the waist belt fixing part 5 includes a bottom shell 51, an upper cover 52 and a main control component 53. The bottom shell 51 is fixedly connected to the middle section 11, and there is a receiving cavity between the bottom shell 51 and the upper cover 52, and the main control component 53 is located in the receiving cavity. Among them, the main control component 53 is electrically connected to the hip joint motor 22 through an electrical connection line, and the electrical connection line includes a power supply line and a control line. The bottom shell 51 and the upper cover 52 constitute a shell 50.

[0142] It should be noted that in some examples, the main control assembly 53 may not be integrated into the waist belt fastener 5. For example, the main control assembly 53 may be located in a separate control assembly. The control assembly includes a housing 50 and the main control assembly 53, with the main control assembly 53 located within the housing 50. The housing 50 may be connected to the side of the middle section 11 facing away from the waist belt fastener 5.

[0143] In order to reduce the exposure of electrical connection wires, in some examples, such as Figure 10 As shown, the middle section 11 includes a first threading hole 114. The bottom shell 51 includes a second threading hole 514, with the first threading hole 114 and the second threading hole 514 facing each other. The electrical connection wires of the hip joint motor 22 pass through the adjustment rod 21, the back rod 1, the first threading hole 114, and the second threading hole 514 in sequence, and are electrically connected to the main control assembly 53. In this way, the electrical connection wires are hidden inside the adjustment rod 21, the back rod 1, and the waist belt fastener 5, and are not exposed.

[0144] It should be noted that, since the adjustment rod 21 will slide relative to the back rod 1, and in the process of the adjustment rod 21 sliding toward the inside of the back rod 1, the electrical connection wire will inevitably get entangled. It is uncontrollable at which specific position of the electrical connection wire the entanglement occurs. If the location where the entanglement occurs is completely inside the adjustment rod 21, there is no risk of the electrical connection wire breaking. If the location where the entanglement occurs is outside the adjustment rod 21, the entangled electrical connection wire may extend into the gap 110 between the adjustment rod 21 and the middle section 11. Furthermore, in the process of the adjustment rod 21 sliding relative to the middle section 11, the electrical connection wire may become detached or even broken due to friction.

[0145] In order to avoid the breakage of the electrical connection line, in some examples, such as Figure 12 As shown, the walking assist robot also includes two wire protection sleeves 6. Figure 12-16 As shown, each wire protection sleeve 6 includes a fixing portion 61 and at least one wire tube portion 62. The fixing portion 61 is located inside the middle section 11 and outside the adjustment rod 21 (as shown in FIG. Figure 13 and Figure 14 (as shown). The fixing portion 61 is fixed to the intermediate section 11. At least a portion of the wire tube portion 62 is located within the adjustment rod 21 and extends along the length of the adjustment rod 21. The electrical connection wires of the hip joint motor 22 pass through the wire tube portion 62 and are fixed thereto. Because the fixing portion 61 is fixed to the intermediate section 11, the wire guard 6 does not slide during the sliding of the adjustment rod 21.

[0146] According to the technical solution provided by the embodiment of the present disclosure, during the sliding process of the adjusting rod 21, since the electrical connection wire is fixed to the wire tube portion 62, the electrical connection wire will not be entangled in the wire protection sleeve 6, but will only be entangled in the area between the end of the wire protection sleeve 6 and the hip joint motor 22. The above-mentioned area is completely located inside the adjusting rod 21. Therefore, during the sliding process of the adjusting rod 21, the electrical connection wire will not enter the gap 110 between the adjusting rod 21 and the middle section 11, thereby improving the reliability of the electrical connection wire.

[0147] Regardless of the position to which the adjustment rod 21 slides, the adjustment rod 21 surrounds at least a portion of the wire tube portion 62. In some examples, the length of the wire tube portion 62 is approximately the same as the length of the sliding section 211 of the adjustment rod 21. For example, the length of the wire tube portion 62 is greater than 80% of the length of the sliding section 211 of the adjustment rod 21. The sliding section 211 is configured to slide with the side section 12. Furthermore, when the adjustment rod 21 is in the extreme position of extending into the back rod 1, the sliding section 211 is completely located within the back rod 1.

[0148] In some examples, such as Figure 15 As shown, the fixing portion 61 includes two elastic arms 611, which are in a compressed state and abut against the inner wall of the middle section 11. During installation of the cable grommet 6, the user compresses the two elastic arms 611 of the fixing portion 61, causing the fixing portion 61 to extend into the back rod 1. When the fixing portion 61 slides to the middle section 11, the two elastic arms 611 extend and abut against the inner wall of the middle section 11.

[0149] In some examples, the two elastic arms 611 are arranged on both sides of the line connecting the two second limiting members 4. Figure 14 As shown, the two elastic arms 611 are located on both sides of the strip groove 2111. In this way, during the installation of the cable sheath 6, the two elastic arms 611 will not interfere with the second limiting member 4, thereby ensuring the normal installation of the cable sheath 6.

[0150] In order to facilitate the electrical connection between the electrical connection wire and the main control assembly 53, the end of the electrical connection wire includes a terminal block, the size of which is larger than the diameter of the electrical connection wire. The wire tube portion 62 needs to clamp the electrical connection wire, so the inner diameter of the wire tube portion 62 is smaller than the size of the terminal block. In this way, the electrical connection wire cannot pass through one end of the wire tube portion 62 into the interior of the wire tube portion 62. In some examples, such as Figure 15 and Figure 16 As shown, the side wall of the wire tube portion 62 includes a strip-shaped opening 620, which passes through the inner and outer sides of the tube wall of the wire tube portion 62 and passes through both ends of the wire tube portion 62. The strip-shaped opening 620 is used to pass the power connection wire through, so that the power connection wire extends into the interior of the wire tube portion 62.

[0151] In some examples, such as Figure 15 and Figure 16 As shown, the wire tube portion 62 further includes a second stopper 621, which is connected to the inner wall of the strip-shaped opening 620 and is located at the end of the strip-shaped opening 620 away from the fixing portion 61. The second stopper 621 extends toward the interior of the wire tube portion 62. The second stopper 621 is used to retain the electrical connection wires in the wire tube portion 62. This improves the reliability of the electrical connection wires in the wire tube portion 62.

[0152] Generally, the hip joint motor 22 includes three electrical connection wires, namely a positive power line, a negative power line, and a control signal line. In some examples, each wire sheath 6 includes a wire tube portion 62, and the three electrical connection wires are all located in the wire tube portion 62.

[0153] In other examples, such as Figure 15 and Figure 16 As shown, each cable protector 6 includes two cable conduit sections 62: a first cable conduit section 62a and a second cable conduit section 62b. The diameter of the first cable conduit section 62a is smaller than that of the second cable conduit section 62b. One of the three electrical connection lines is located in the first cable conduit section 62a, while the other two are located in the second cable conduit section 62b. For example, the control signal line passes through the first cable conduit section 62a, while the positive and negative power lines pass through the second cable conduit section 62b.

[0154] In order to improve the endurance of the walking-assisting robot, in some examples, such as Figure 9 As shown, the walking-assist robot also includes a battery pack 7, which is detachably connected to the waist belt fastener 5 or a separate control component. The battery pack 7 is used to power the main control component 53 in the waist belt fastener 5 and the two hip joint motors 22. Replacing the battery pack 7 can extend the robot's battery life.

[0155] The following is an exemplary description of the connection between the battery pack 7 and the waist belt fixing component 5 or a separate control component.

[0156] In some examples, such as Figure 18 As shown, the housing 50 (such as the bottom housing 51) includes two latches 515 and a locking bar 516, and the locking bar 516 includes a locking tongue hole 5161. Figure 17 As shown, the battery pack 7 includes a battery housing 71, a first button 72, a lock tongue 73, and a battery located inside the battery housing 71. The battery housing 71 includes two latch slots 711 and a locking bar hole 712. The first button 72 is located in the battery housing 51 and is linked to the lock tongue 73. Figure 19As shown, the two latches 515 are respectively inserted into the two latch slots 711, the locking bar 516 is inserted into the locking bar hole 712, and the lock tongue 73 passes through the lock tongue hole 5161. When the first button 72 is pressed, the lock tongue 73 disengages the lock tongue hole 5161. In addition, the battery pack 7 also includes an elastic member (not shown in the figure). When the first button 72 is released, the elastic member acts to cause the lock tongue 73 to extend into the lock tongue hole 5161.

[0157] The technical solution provided by the disclosed embodiment is that when a user needs to securely connect the battery pack 7 to the belt fastener 5, the user presses the first button 72, causing the two latches 515 to be inserted into the two latch slots 711, and the locking bar 516 to be inserted into the locking bar hole 712. The user then releases the first button 72, causing the locking tongue 73, under the action of the elastic member, to extend into the locking tongue hole 5161, locking the battery pack 7 and the belt fastener 5 together. When the user needs to remove the battery pack 7, the user presses the first button 72, causing the locking tongue 73 to retract from the locking tongue hole 5161, unlocking the battery pack 7 and the belt fastener 5.

[0158] In some examples, such as Figure 18 As shown, the waist belt fastener 5 further includes a first electrical connector 54, which is located on the docking surface of the waist belt fastener 5 for docking with the battery pack 7. Figure 17 As shown, the battery pack 7 also includes a second electrical connector 74, which is located on the docking surface of the battery pack 7 for docking with the waist belt fastener 5. When the battery pack 7 is fixedly connected to the waist belt fastener 5, the first electrical connector 54 docks with the second electrical connector 74, and the battery pack 7 supplies power to the main control component 53 through the second electrical connector 74 and the first electrical connector 54.

[0159] Next, an exemplary description will be given of the manner in which the adjusting rod 21 and the side segment 12 are fixed after the adjusting rod 21 has slid.

[0160] In some examples, such as Figure 1 As shown, the walking-assist robot further includes two pull-tabs 8, each of which clamps the two side segments 12. Consequently, the two side segments 12 press against the two adjustment rods 21, securing the two adjustment rods 21 to the backrest 1. When the user releases the two pull-tabs 8, the side segments 12 no longer clamp the adjustment rods 21, allowing the user to slide the adjustment rods 21.

[0161] In some examples, such as Figure 2As shown, each side segment 12 includes at least two strip-shaped slots 122 extending along its length. The strip-shaped slots 122 penetrate the tube wall of the side segment 12 and extend along its length. The provision of the strip-shaped slots 122 enhances the ability of the side segment 12 to collapse, facilitating the side segment 12 to tighten the adjustment rod 21 under the action of the trigger 8.

[0162] In some examples, such as Figure 2 As shown, a portion of the strip-shaped slot 122 is located in the middle section 11 .

[0163] In some examples, such as Figure 20 and Figure 21 As shown, the trigger 8 includes a buckle 81, a handle 82, a pull rod 83, a third rotating shaft 84, a fourth rotating shaft 85, and a fifth rotating shaft 86. The buckle 81 is encircled by the edge segment 12. The handle 82 is rotatably connected to the buckle 81 via the third rotating shaft 84. One end of the pull rod 83 is rotatably connected to the buckle 81 via the fourth rotating shaft 85, and the other end of the pull rod 83 is rotatably connected to the handle 82 via the fifth rotating shaft 86. Rotating the handle 82 changes the distance between the third rotating shaft 84 and the fourth rotating shaft 85, thereby tightening or loosening the buckle 81.

[0164] In some examples, such as Figure 21 As shown, the pull rod 83 includes a strip-shaped hole 831, and the fourth rotating shaft 85 is located in the strip-shaped hole 831. The strip-shaped hole 831 has an opening 830. An adjustment screw (not shown) can extend through the opening 830 into the strip-shaped hole 831 and abut against the fourth rotating shaft 85. By rotating the adjustment screw, the position of the fourth rotating shaft 85 in the strip-shaped hole 831 can be adjusted, thereby adjusting the tightness of the trigger 8.

[0165] It should be noted that, in addition to the trigger 8, other locking members can be used to secure the side segment 12 to the adjustment rod 21. For example, the side segment 12 and the adjustment rod 21 can be fixedly connected by screws. In this case, it is necessary to provide multiple screw holes along the length of the adjustment rod 21 so that the screws can pass through the adjustment rod 21 and secure the adjustment rod 21 when the adjustment rod 21 slides to different positions.

[0166] The following is an exemplary description of the connection method of the various components included in the leg driving assembly 2.

[0167] In some examples, such as Figure 22 and Figure 23 As shown, the stator 221 of the hip joint motor 22 includes a fixed connection section 2211, which is plugged into one end of the adjustment rod 21 located outside the back rod 1. For example, the fixed connection section 2211 is fixed to the inside of the adjustment rod 21 by gluing.

[0168] In some examples, such as Figure 22 and Figure 23 As shown, to improve the reliability of the connection between the stator 221 and the adjustment rod 21, the fixed connection section 2211 includes a first subsection 2212 and a second subsection 2213. The outer diameter of the first subsection 2212 is smaller than that of the second subsection 2213. The first subsection 2212 is inserted into the end of the adjustment rod 21 located outside the backrest 1. A first fixing member (such as a screw, not shown) passes through the lumbar support 24 and the second subsection 2213. A second fixing member (such as a screw, not shown) passes through the lumbar support 24, the adjustment rod 21, and the first subsection 2212.

[0169] Thus, on the one hand, the lumbar support 24, the adjustment rod 21, and the fixed connecting section 2211 form a stable connection, improving the reliability of the connection between the adjustment rod 21 and the fixed connecting section 2211. On the other hand, since the lumbar support 24 is reused to improve the reliability of the connection between the adjustment rod 21 and the fixed connecting section 2211 without adding new parts, the number of parts included in the leg drive assembly 2 is reduced, reducing the weight of the leg drive assembly 2.

[0170] In some examples, such as Figure 23 As shown, the second subsection 2213 includes a fifth fixing hole 22131 for the first fixing member to pass through. The first subsection 2212 includes a sixth fixing hole 22121, and the adjustment rod 21 includes a seventh fixing hole 212. The sixth fixing hole 22121 is opposite to the seventh fixing hole 212, and both are used to allow the second fixing member to pass through.

[0171] In some examples, such as Figure 23 As shown, there are at least two fifth fixing holes 22131 , sixth fixing holes 22121 and seventh fixing holes 212 .

[0172] In some examples, the rotor 222 of the hip joint motor 22 is fixedly connected to the leg rod 23. Rotating the rotor 222 drives the leg rod 23 to swing, which in turn drives the user's left and right legs to swing. Furthermore, the rotation of the rotor 222 immediately drives the leg rod 23 to swing, providing a rapid power assist response.

[0173] In other examples, such as Figure 24 As shown, the rotor 222 of the hip joint motor 22 is hinged to the leg rod 23, and the hinge axis is not parallel to (i.e., intersecting) the rotation axis of the rotor 222. For example, the hinge axis of the rotor 222 and the leg rod 23 is perpendicular or approximately perpendicular to the rotation axis of the rotor 222. In this way, on the one hand, the rotor 222 can still drive the leg rod 23 to swing, and the power-assisting response is still rapid. On the other hand, when the user wears the walking power-assisting robot, the leg rod 23 can rotate a certain angle on the coronal plane of the human body to adapt to the angle of the user's leg muscles, so that the user does not feel oppression or discomfort, thereby improving the user's wearing experience.

[0174] In some examples, such as Figure 24 and Figure 25 As shown, the rotor 222 of the hip joint motor 22 includes a first articulated section 2221. The first articulated section 2221 includes two first sleeve portions 2222, and the two first sleeve portions 2222 are coaxial and spaced apart. The leg rod 23 includes a second articulated section 231, and the second articulated section 231 includes a second sleeve portion 2311. The leg drive assembly 2 also includes a hinge mechanism 25, and the hinge mechanism 25 includes two sleeves 251 and a first rotating shaft 252. The two sleeves 251 are respectively fixed to the inside of the two first sleeve portions 2222, and the two ends of the first rotating shaft 252 are respectively rotatably connected to the two sleeves 251. The second sleeve portion 2311 is encircled by the first rotating shaft 252 and is located between the two first sleeve portions 2222. The second sleeve portion 2311 is fixed to the first rotating shaft 252.

[0175] Thus, when the leg rod 23 swings about the hinge axis, only the first rotating shaft 252 and the sleeve 251 rotate relative to each other. Because the first rotating shaft 252 and the sleeve 251 can be manufactured with high precision, the gap between them can be minimized, making the swing of the leg rod 23 more reliable. Furthermore, problems such as insufficient power output and slow power response are resolved.

[0176] In some examples, such as Figure 25 and Figure 24 As shown, the hinge mechanism 25 also includes a steel sleeve 253 and a locking screw (not shown in the figure). The steel sleeve 253 is encircled by the first rotating shaft 252. The first rotating shaft 252 includes a locking surface 2521, and the steel sleeve 253 includes a first locking hole 2531, and the first locking hole 2531 is opposite to the locking surface 2521. The second sleeve portion 2311 is encircled by the steel sleeve 253, and the second sleeve portion 2311 includes a second locking hole 2312, and the second locking hole 2312 is opposite to the first locking hole 2531. The locking screw passes through the second locking hole 2312 and the first locking hole 2531, and presses against the locking surface 2521. Among them, the locking surface 2521 is a plane (such as Figure 25 as shown) or concave surface to facilitate the locking screw to abut.

[0177] In this way, the second sleeve portion 2311 is fixed to the rotating shaft 252. The steel sleeve 253 is provided to increase the force-bearing area of ​​the second sleeve portion 2311 and reduce the risk of damage to the second sleeve portion 2311.

[0178] In some examples, the leg bar 23 includes a leg bar body 230 and a second hinge section 231 (e.g., Figure 24 and Figure 26 As shown), Figure 26As shown, the leg rod body 230 has an opening, and the second hinge section 231 is inserted into the interior of the leg rod body 230 through the opening and fixed by glue.

[0179] In some examples, such as Figure 26 As shown, the leg strap fixing assembly 26 includes a support member 261 and a leg strap fixing member 262. The support member 261 is connected to the end of the leg rod 23 away from the hip joint motor 22. The leg strap fixing member 262 is rotatably connected to the support member 261, and the rotation axis intersects the extension direction of the leg rod 23. In this way, when the user uses the walking-assist robot, the strap fixing member 262 can naturally rotate in the sagittal plane of the human body to an angle that adapts to the user's leg muscles, so that the user does not feel any pressure or discomfort, thereby improving the user's wearing experience.

[0180] In some examples, such as Figure 26 As shown, support member 261 includes a rotation axis hole 2610, the axial direction of which intersects the extension direction of leg rod 23. Leg strap fixture 262 includes an escape hole 2621 and a second rotation axis 2622, with both ends of second rotation axis 2622 fixedly connected to the interior of escape hole 2621. With escape hole 2621 surrounding support member 261 and second rotation axis 2622 located in rotation axis hole 2610, strap fixture 262 can rotate about second rotation axis 2622.

[0181] In some examples, the support member 261 is fixedly connected to the leg rod 23 .

[0182] In other examples, such as Figure 26 As shown, the support member 261 is slidably connected to the leg rod 23, so the user can adjust the position of the leg strap fixing member 262 by sliding the support member 261, which meets the difference in leg length of people of different heights and improves the power assistance comfort when the user uses it.

[0183] In some examples, such as Figure 27 As shown, the end of the leg rod 23 away from the hip joint motor 22 includes a track section 232. The track section 232 is fixedly connected to the leg rod body 230. The track section 232 includes two first slides 2321 and two rows of limiting bosses 2322. The length direction of the first slide 2321 is perpendicular to the axial direction of the shaft hole 2610. The two rows of limiting bosses 2322 are located between the two first slides 2321, and each row of limiting bosses 2322 limits a plurality of snap-in grooves 2320. Figure 28As shown, the support member 261 includes two second sliders 2611 and two second buttons 2612. The two second sliders 2611 are located outside the two first sliders 2321 and are slidably connected to the two first sliders 2321. The two second buttons 2612 respectively pass through the two second sliders 2611 and are respectively engaged in two flat engaging grooves 2320. When the second buttons 2612 are pressed, they disengage from the engaging grooves 2320. Furthermore, the support member 261 also includes an elastic member that drives the second buttons 2612 into the engaging grooves 2320.

[0184] When the user needs to adjust the position of the leg strap fastener 262, the user presses the two second buttons 2612 to disengage the second buttons 2612 from the engaging slots 2320. Then, the user slides the strap fastener 262 to the desired position and releases the two second buttons 2612. The elastic member causes the two second buttons 2612 to engage with the other two engaging slots 2320, thereby securing the support member 261.

[0185] The following is an exemplary description of the shapes and related dimensions of the back rod 1 and the adjustment rod 21.

[0186] In some examples, the back bar 1 is straight. The adjustment bar 21 includes a sliding section 211 that is slidably connected to the side section 12. The sliding section 211 is straight. When the two adjustment bars 21 slide, the distance between the two hip joint motors 22 changes to accommodate users with different hip widths.

[0187] However, generally speaking, the wider the hip width of the user, the thicker the body thickness. If only the distance between the two hip joint motors 22 is adjusted, it may not be possible to better align the hip joints of the user with the hip joints of the user. In some examples, such as Figures 1-4 As shown, the back bar 1 is arc-shaped, and the concave surface of the back bar 1 fits with the waist belt fixing part 5. Figure 1 、 Figure 2 、 Figure 4 and Figure 29 As shown, the sliding section 211 is arc-shaped and is slidably connected to the side section 12 of the back rod 1 .

[0188] In this way, when the two adjusting rods 21 slide outward, the distance between the two hip joint motors 22 will not only increase (such as Figure 29 The distance between the two hip joint motors 22 and the back rod 1 will also increase (such as Figure 29 The middle dimension is changed from b to B). This is more in line with the laws of the human body, so that the alignment accuracy of the two hip joint motors 22 and the human body's hip joint is higher.

[0189] In some examples, such as Figure 29As shown, the radius R of the back rod 1 and the radius R of the sliding section 211 are greater than 300 mm and less than 1000 mm, for example, 450 mm. The central angle α corresponding to the back rod 1 is greater than 30° and less than 50°, and the central angle β corresponding to the sliding section 211 is greater than 10° and less than 18°. β refers to the central angle corresponding to the portion of the sliding section 211 located outside the back rod 1 when the sliding section 211 is in its extended state.

[0190] In some examples, such as Figure 29 As shown, the minimum value a of the distance between the two hip joint motors 22 is greater than 300 mm and less than 350 mm, and the maximum value A is greater than 450 mm and less than 500 mm. Let the line connecting the center points of the two hip joint motors 22 be the first reference line X, and let the second reference line Y be parallel to the first reference line X and tangent to the middle segment 11. Then, the minimum value b of the distance between the first reference line X and the second reference line Y is greater than 150 mm and less than 200 mm, and the maximum value B is greater than 300 mm and less than 400 mm.

[0191] When the user actually wears the walking assist robot, the postures of the back bar 1 and the sliding section 211 are as follows: Figure 30 As shown, the spacing b or B between the first reference line X and the second reference line Y can be decomposed into the vertical spacing c or C between the first reference line X and the second reference line Y, and the horizontal spacing d or D between the first reference line X and the second reference line Y. Thus, during the sliding process of the adjustment rod 21, in addition to the change in the spacing between the two hip joint motors 22, the hip joint motors 22 also move forward and downward synchronously, making it easier for the hip joint motors 22 to align with the human hip joint.

[0192] The following is an exemplary description of the assembly sequence of the walking assistance robot.

[0193] In the first step, the bottom shell 51 is fixedly connected to the middle section 11 of the back rod 1 .

[0194] In the second step, the two buckles 8 are respectively installed on the two side sections 12 of the back rod 1.

[0195] The third step is to pass the two sets of electrical cables through the first cable hole 114 of the middle section 11 and the second cable hole 514 of the bottom shell 51, and then pass the two sets of electrical cables out of the two side sections 12 of the back bar 1. The electrical cables are electrically connected to the main control assembly 53, and the main control assembly 53 is fixedly connected to the bottom shell 51.

[0196] The fourth step is to pass the two sets of electrical connection wires through the wire tube parts 62 of the two wire protection sleeves 6. The two wire protection sleeves 6 are respectively extended from the two ends of the back rod 1 into the interior of the middle section 11, and the fixing parts 61 of the two wire protection sleeves 6 are respectively fixed to the middle section 11.

[0197] In the fifth step, the two first limiting components 3 are respectively installed at the two ends of the two adjusting rods 21.

[0198] Step 6: Pass the two sets of electrical connection wires through the two adjustment rods 21 respectively.

[0199] In the seventh step, the two adjusting rods 21 are respectively inserted into the two ends of the back rod 1 , and the two buckles 8 are buckled to fix the two adjusting rods 21 to the two side sections 12 of the back rod 1 .

[0200] In the eighth step, the two hip joint motors 22 are assembled, and two sets of electrical connection wires are electrically connected to the two hip joint motors 22 respectively.

[0201] Step 9: Fix the upper cover 52 and the bottom shell 51 together.

[0202] Step 10: Fix the waist support 24 to the hip joint motor 22 and the adjustment rod 21.

[0203] Step 11: Fixedly connect the support member 261 to the leg rod 23.

[0204] Step 12: Install the leg strap fixing member 262 on the support member 261.

[0205] Step 13: hinge the leg rod 23 to the hip joint motor 22 through the hinge mechanism 25.

[0206] The above descriptions are merely optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A walking assistance robot, characterized in that: The walking-assist robot comprises a back rod (1), two leg drive components (2), a control component and two wire protection sleeves (6); Each leg driving assembly (2) comprises an adjustment rod (21), a hip joint motor (22) and a leg rod (23) connected in sequence; One section of the two adjusting rods (21) extends from both ends of the back rod (1) into the interior of the back rod (1), and the two adjusting rods (21) are slidably connected to the back rod (1); The control component includes a housing (50) and a main control component (53), the main control component (53) is located inside the housing (50), the housing (50) is fixedly connected to the back rod (1), the back rod (1) includes a first threading hole (114), the housing (50) includes a second threading hole (514), the first threading hole (114) and the second threading hole (514) are opposite to each other, and the electrical connection line of the hip joint motor (22) passes through the adjustment rod (21), the back rod (1), the first threading hole (114) and the second threading hole (514), and is electrically connected to the main control component (53); The two wire protection sleeves (6) are respectively used to connect the electrical connection wires of the hip joint motors (22) of the two leg drive assemblies (2). Each of the wire protection sleeves (6) includes a fixing portion (61) and at least one wire tube portion (62). The fixing portion (61) is fixed to the inside of the back rod (1) and is located outside the adjustment rod (21). The wire tube portion (62) is at least partially located inside the adjustment rod (21) and extends along the length direction of the adjustment rod (21). The electrical connection wire passes through the wire tube portion (62) and is fixed to the wire tube portion (62).

2. The walking assist robot according to claim 1, characterized in that: The fixing portion (61) comprises two elastic arms (611), the two elastic arms (611) being in a compressed state and abutting against the inner wall of the back rod (1).

3. The walking assist robot according to claim 1, characterized in that: The side wall of each wire tube portion (62) comprises a strip-shaped opening (620), and the strip-shaped opening (620) passes through the inner and outer sides of the tube wall of the wire tube portion (62), and passes through both ends of the wire tube portion (62).

4. The walking assist robot according to claim 3, characterized in that: Each of the wire tube portions (62) further comprises at least one second limiting block (621), one end of each of the second limiting blocks (621) being connected to the inner wall of the strip-shaped opening (620), and the other end extending toward the interior of the wire tube portion (62), the second limiting block (621) being used to clamp the electrical connection wire in the wire tube portion (62).

5. The walking assist robot according to any one of claims 1 to 4, characterized in that: Each of the wire protection sleeves (6) comprises two wire tube parts (62).

6. The walking assist robot according to claim 5, characterized in that: The two wire tube parts (62) are respectively a first wire tube part (62a) and a second wire tube part (62b), and the diameter of the first wire tube part (62a) is smaller than the diameter of the second wire tube part (62b); Each hip joint motor (22) corresponds to three electrical connection wires, one of the three electrical connection wires passes through the first wire tube portion (62a), and the other two electrical connection wires pass through the second wire tube portion (62b).

7. The walking assist robot according to claim 6, characterized in that: The three electrical connection lines include a positive power line, a negative power line and a control signal line; The control signal line passes through the first wire tube portion (62a), and the positive power line and the negative power line pass through the second wire tube portion (62b).

8. The walking assist robot according to any one of claims 1 to 4, characterized in that: The housing (50) includes two latches (515) and a locking strip (516), wherein the locking strip (516) includes a locking bolt hole (5161); The walking assist robot further comprises a battery pack (7), the battery pack (7) comprising a battery housing (71), a first button (72), a lock tongue (73) and a battery located inside the battery housing (71), the battery housing (71) comprising two latch slots (711) and a locking bar hole (712), the first button (72) being located in the battery housing (71) and being linked to the lock tongue (73); The two latches (515) are respectively inserted into the two latch slots (711), the locking bar (516) is inserted into the locking bar hole (712), and the lock tongue (73) passes through the lock tongue hole (5161), wherein when the first button (72) is pressed, the lock tongue (73) is disengaged from the lock tongue hole (5161).

9. The walking assist robot according to claim 1, characterized in that: The back rod (1) comprises a middle section (11) and two side sections (12), wherein the inner diameter of the side sections (12) is smaller than the inner diameter of the middle section (11); The two side sections (12) are respectively slidably matched with the two adjustment rods (21), and a gap (110) is provided between the inner wall of the middle section (11) and the outer wall of the adjustment rod (21).

10. The walking assist robot according to claim 9, characterized in that: The housing (50) is fixedly connected to the middle section (11); The fixing portion (61) is fixed inside the middle section (11).

11. The walking assist robot according to claim 9 or 10, characterized in that: The walking assist robot further comprises two first position-limiting components (3) and two second position-limiting components (4); The two first limiting assemblies (3) are respectively connected to one end of the two adjusting rods (21) away from the hip joint motor (22), and a portion of the first limiting assembly (3) is located in the gap (110); The two second limiting members (4) are connected to the middle section (11) and are located in the gap (110); the two first limiting assemblies (3) are located between the two second limiting members (4); and the two second limiting members (4) are respectively located on the outward sliding paths of the two first limiting assemblies (3).

12. The walking assist robot according to claim 11, characterized in that: The fixing portion (61) comprises two elastic arms (611), the two elastic arms (611) being in a compressed state and abutting against the inner wall of the back rod (1); The two elastic arms (611) are arranged on both sides of the line connecting the two second limiting members (4).

13. The walking assist robot according to claim 11, characterized in that: The adjusting rod (21) is hollow, and the wall of the adjusting rod (21) includes an opening (2112), and the opening (2112) is opposite to the middle section (11); The first limiting assembly (3) includes a bracket (31), a first limiting member (32) and an elastic member (33), wherein the bracket (31) is fixed to the inner wall of the adjusting rod (21), the first limiting member (32) is slidably connected to the bracket (31), the first limiting member (32) includes a first limiting block (322), and the elastic member (33) drives the first limiting block (322) to pass through the opening (2112) and extend into the gap (110).

14. The walking assist robot according to claim 13, characterized in that: A surface of each first limiting block (322) facing away from the corresponding second limiting member (4) is a slope (3221); The inclined surface (3221) is configured to contact the corresponding second limiting member (4) during the process of inserting the adjusting rod (21) into the back rod (1), so that the first limiting block (322) retracts through the opening (2112) and passes over the corresponding second limiting member (4).

15. The walking assist robot according to claim 13, characterized in that: The outer wall of the adjusting rod (21) comprises at least one strip-shaped groove (2111), and the strip-shaped groove (2111) extends along the length direction of the adjusting rod (21); The opening (2112) passes through the bottom of a strip-shaped groove (2111), and the first limiting block (322) is located in the strip-shaped groove (2111); A portion of the second limiting member (4) is located in the one strip-shaped groove (2111).

16. The walking assist robot according to claim 15, characterized in that: The inner wall of each edge segment (12) comprises at least one limiting strip (121), the limiting strip (121) extending along the length direction of the edge segment (12), each limiting strip (121) slidingly engaging with one of the strip-shaped grooves (2111), and the length of the limiting strip (121) being less than the length of the strip-shaped groove (2111).

17. The walking assist robot according to claim 11, characterized in that: The walking assist robot further includes a waist belt fixing member (5); The waist belt fixing member (5) includes two positioning buckles (511), the tube wall of the middle section (11) includes two positioning holes (111), and the two positioning buckles (511) extend into the two positioning holes (111) respectively, wherein the two positioning buckles (511) form the two second limiting members (4).

18. The walking assist robot according to claim 17, characterized in that: The tube wall of the middle section (11) facing the waist belt fixing piece (5) includes a plurality of hollow holes (115), and the plurality of hollow holes (115) are blocked by the waist belt fixing piece (5).

19. The walking assist robot according to claim 9 or 10, characterized in that: The walking assist robot further comprises two pull buckles (8), wherein the two pull buckles (8) respectively surround the two side sections (12) of the back rod (1) and drive the two side sections (12) to clamp the two adjustment rods (21).

20. The walking assist robot according to any one of claims 1 to 4, characterized in that: The stator (221) of the hip joint motor (22) comprises a fixed connection section (2211), the fixed connection section (2211) comprises a first subsection (2212) and a second subsection (2213), the outer diameter of the first subsection (2212) is smaller than the outer diameter of the second subsection (2213), and the first subsection (2212) is plugged into an end of the adjustment rod (21) located outside the back rod (1); Each leg drive assembly (2) further comprises a waist support (24), at least one first fixing member and at least one second fixing member, wherein the first fixing member passes through the waist support (24) and the second subsection (2213), and the second fixing member passes through the waist support (24), the adjustment rod (21) and the first subsection (2212).

21. The walking assist robot according to any one of claims 1 to 4, characterized in that: The rotor (222) of the hip joint motor (22) comprises two first sleeve portions (2222), the two first sleeve portions (2222) are coaxial and spaced apart, and the axial direction of the first sleeve portion (2222) intersects with the rotation axis of the rotor (222); The leg rod (23) comprises a second sleeve portion (2311) at one end close to the hip joint motor (22); Each leg driving assembly (2) further comprises a hinge mechanism (25), wherein the hinge mechanism (25) comprises two shaft sleeves (251) and a first rotating shaft (252), wherein the two shaft sleeves (251) are respectively fixed inside the two first sleeve portions (2222), and the two ends of the first rotating shaft (252) are respectively rotatably connected to the two shaft sleeves (251), and the second sleeve portion (2311) is encircled by the first rotating shaft (252) and is fixed to the first rotating shaft (252).

22. The walking assist robot according to claim 21, characterized in that: Each hinge mechanism (25) further comprises a steel sleeve (253) and a locking screw, wherein the steel sleeve (253) is encircled by the first rotating shaft (252), the first rotating shaft (252) comprises a locking surface (2521), and the steel sleeve (253) comprises a first locking hole (2531), and the first locking hole (2531) is opposite to the locking surface (2521); The second sleeve portion (2311) is looped around the steel sleeve (253), and the second sleeve portion (2311) includes a second locking hole (2312), and the second locking hole (2312) is opposite to the first locking hole (2531), and the locking screw passes through the second locking hole (2312) and the first locking hole (2531) and abuts against the locking surface (2521).

23. The walking assist robot according to any one of claims 1 to 4, characterized in that: Each of the leg driving assemblies (2) further comprises a leg strap fixing assembly (26), and each of the leg strap fixing assemblies (26) comprises a support member (261) and a leg strap fixing member (262); The support member (261) is connected to an end of the leg rod (23) away from the hip joint motor (22), and the support member (261) includes a rotating shaft hole (2610), and the axial direction of the rotating shaft hole (2610) intersects with the extension direction of the leg rod (23); The leg strap fixing member (262) comprises a relief hole (2621) and a second rotating shaft (2622), the two ends of the second rotating shaft (2622) are respectively connected to the hole wall of the relief hole (2621), the relief hole (2621) is encircled by the supporting member (261), and the second rotating shaft (2622) is located in the rotating shaft hole (2610).

24. The walking assist robot according to claim 23, characterized in that: The leg rod (23) includes one end away from the hip joint motor (22) and two rows of limiting bosses (2322), wherein the length direction of the first slide bar (2321) is perpendicular to the axial direction of the rotating shaft hole (2610), and the two rows of limiting bosses (2322) are located between the two first slide bars (2321), and each row of the limiting bosses (2322) limits a plurality of snap-fit ​​grooves (2320); The support member (261) includes two second slides (2611) and two second buttons (2612), wherein the two second slides (2611) are located outside the two first slides (2321) and are slidably connected to the two first slides (2321), and the two second buttons (2612) respectively pass through the two second slides (2611) and are respectively engaged in two flat engaging grooves (2320), wherein when the second button (2612) is pressed, the second button (2612) disengages from the engaging groove (2320).

25. The walking assist robot according to claim 9 or 10, characterized in that: The back rod (1) is in an arc shape, and the concave surface of the back rod (1) is used to fit with the waist belt fixing piece (5); Each of the adjusting rods (21) comprises a sliding section (211), the sliding section (211) being arc-shaped, a gap (110) being provided between the inner wall of the middle section (11) and the outer wall of the sliding section (211), and the inner wall of the side section (12) being in sliding engagement with the outer wall of the sliding section (211).

26. The walking assist robot according to claim 25, characterized in that: The radius of the back rod (1) and the radius of the sliding section (211) are both greater than 300 mm and less than 1000 mm; The central angle corresponding to the back rod (1) is greater than 30° and less than 50°, and the central angle corresponding to the sliding section (211) is greater than 10° and less than 18°.

27. The walking assist robot according to claim 25, characterized in that: The minimum value of the distance between the two hip joint motors (22) is greater than 300 mm and less than 350 mm, and the maximum value is greater than 450 mm and less than 500 mm; The line connecting the center points of the two hip joint motors (22) is assumed to be a first reference line (X), and the second reference line (Y) is assumed to be parallel to the first reference line (X) and tangent to the middle section (11). The minimum value of the distance between the first reference line (X) and the second reference line (Y) is greater than 150 mm and less than 200 mm, and the maximum value is greater than 300 mm and less than 400 mm.

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