Intelligent auxiliary robot for children crawling training

Abstract

The invention discloses an intelligent auxiliary robot for children crawling training, which comprises a pair of passive supporting side plates, a master controller with a screen and a battery pack are arranged on the passive supporting side plates, a supporting web plate is fixedly mounted between the two passive supporting side plates, and a vertical sliding frame is fixedly mounted at the bottom of the supporting web plate. Transverse sliding frames are installed on the two sides of the vertical sliding frame in a sliding mode, front active guiding crawling mechanisms are arranged on the side faces, away from each other, of the front sides of the two passive supporting side plates, and rear active guiding crawling mechanisms are arranged on the side faces, away from each other, of the rear sides of the two passive supporting side plates. An auxiliary training mechanism is arranged on the side face, close to the front active guiding crawling mechanism, of the passive supporting side plate. The length of the supporting structure can be customized according to age groups, and the supporting structure is matched with a sliding frame to adapt to limb deviation and an electric cylinder height adjusting structure to meet the requirements of children of different body types; meanwhile, the limb resistance characteristics of the user can be recorded, optimal training parameters are automatically matched, and personalized training adaptation is achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent rehabilitation training equipment for children, specifically to an intelligent auxiliary robot for children's crawling training. Background Technology

[0002] Crawling training is a crucial part of motor function rehabilitation for children with cerebral palsy, playing an irreplaceable role in improving limb coordination, strengthening core muscles, and promoting nervous system development. However, current crawling rehabilitation training for children with cerebral palsy generally faces many pressing issues that need to be addressed: Firstly, children with cerebral palsy often have problems such as abnormal muscle tone, weak motor control, and poor limb coordination. Traditional training requires rehabilitation therapists to provide precise one-on-one support and correct posture throughout the entire process. This not only requires highly professional skills from the rehabilitation therapists, but also requires them to continuously exert physical strength to maintain the child's limb posture, resulting in extremely high labor intensity and making it difficult to achieve long-term, standardized training. Secondly, in home rehabilitation settings, parents lack professional rehabilitation knowledge and experience in posture correction, making it difficult to accurately judge the rationality of a child's crawling movements. This can easily lead to the solidification of abnormal movement patterns due to incorrect guidance, which in turn hinders the rehabilitation process. Third, traditional training methods are monotonous and repetitive. Children with cerebral palsy often develop resistance due to difficulty in completing movements and lack of positive feedback, resulting in low training compliance and making it difficult to ensure the continuity and effectiveness of the rehabilitation cycle.

[0003] To address this, an intelligent assistive robot for children's crawling training is proposed. Summary of the Invention

[0004] To address the problems of high dependence on professional rehabilitation therapists, high labor intensity, inaccurate posture correction, poor individual adaptability, low training compliance, and high safety risks in traditional crawling rehabilitation training for children with cerebral palsy, this invention provides an intelligent auxiliary robot for children's crawling training.

[0005] To achieve the above objectives, the present invention specifically adopts the following technical solution: A smart auxiliary robot for children's crawling training includes a pair of passive support side plates. The passive support side plates are equipped with a main controller with a screen and a battery pack. A support web plate is fixedly installed between the two passive support side plates. A vertical sliding frame is fixedly installed at the bottom of the support web plate. A horizontal sliding frame is slidably installed on both sides of the vertical sliding frame. A front active crawling guidance mechanism is provided on the front side of the two passive support side plates that are far apart from each other. A rear active crawling guidance mechanism is provided on the rear side of the two passive support side plates that are far apart from each other. An auxiliary training mechanism is provided on the side of the passive support side plates that is close to the front active crawling guidance mechanism. Both the front active guiding crawling mechanism and the rear active guiding crawling mechanism include a shoulder drive structure, an upper limb drive structure, a middle linkage structure, and a lower limb linkage structure. The shoulder drive structure is fixedly installed on one side of the passive support side plate. The upper limb drive structure is rotatably connected to the shoulder drive structure, the upper limb drive structure is rotatably connected to the middle linkage structure, and the middle linkage structure is rotatably connected to the lower limb linkage structure. A four-limb slider is fixedly installed on the shoulder drive structure. The shoulder drive structure is slidably installed on the transverse sliding frame through the four-limb slider. A four-limb height adjustment structure is fixedly installed inside the lower limb linkage structure. The auxiliary training mechanism includes a visual perception module and a small projector. There are two visual perception modules, which are symmetrically installed on two passive support side plates.

[0006] Preferably, the shoulder drive structure includes a shoulder housing, which is fixedly installed on one side of the passive support side plate. A first motor is fixedly installed inside the shoulder housing, and a first spur gear is fixedly installed on the first motor.

[0007] Preferably, the upper limb drive structure includes an upper limb shell, with a spur gear fixedly mounted at one end of the upper limb shell, and the other end of the upper limb shell with the spur gear rotatably mounted inside a shoulder shell, wherein a first spur gear meshes with the spur gear. A second motor is fixedly mounted inside the upper limb shell at the end away from the spur gear.

[0008] Preferably, the intermediate linkage structure includes an intermediate housing, the output shaft of the second motor is fixedly connected to the intermediate housing, and a first rotating shaft is rotatably mounted on the end of the intermediate housing away from the second motor.

[0009] Preferably, the lower limb linkage structure includes an upper lower limb shell, a lower lower limb shell, and a pad. A first rotating shaft passes through the upper lower limb shell and is rotatably connected to the upper lower limb shell. Linkage plates are installed on both sides of the lower lower limb shell. One end of the linkage plate is rotatably connected to the lower lower limb shell through a second rotating shaft, and the other end of the linkage plate is rotatably connected to the pad through the second rotating shaft. A second elastic strap is fixedly installed on the pad.

[0010] Preferably, a first hook and loop fastener is fixedly installed on one side of the upper shell of the lower limb, and a first elastic strap is fixedly installed on the side of the upper shell of the lower limb away from the first hook and loop fastener. A first hook and loop fastener is fixedly installed on one end of the first elastic strap, and the first elastic strap is bonded to the first hook and loop fastener through the first hook and loop fastener.

[0011] Preferably, an elastic finger ring is fixedly installed on the second elastic strap on the front active guiding crawling mechanism, and the length of the second elastic strap on the rear active guiding crawling mechanism is greater than the length of the second elastic strap on the front active guiding crawling mechanism.

[0012] Preferably, the limb height adjustment structure includes an electric cylinder, which is fixedly installed inside the upper half shell of the lower limb. A push rod is slidably installed on the electric cylinder, one end of which is fixedly connected to the lower half shell of the lower limb. A limit rod is fixedly installed inside the upper half shell of the lower limb, and the limit rod is slidably engaged with the lower half shell of the lower limb.

[0013] Preferably, a third elastic strap is fixedly installed on one side of the passive support side plate, and a second hook and loop fastener is fixedly installed on the other side of the passive support side plate. A second hook and loop fastener is fixedly installed on the end of the third elastic strap away from the fixed passive support side plate, and the third elastic strap is bonded to the second hook and loop fastener through the second hook and loop fastener.

[0014] Preferably, the battery pack is electrically connected to the main controller with screen, and the main controller with screen is electrically connected to the first motor, the second motor, the electric cylinder, the visual perception module and the small projector respectively.

[0015] The beneficial effects of this invention are as follows: (i) The length of the support structure can be customized according to age group. It can be matched with the sliding frame to adapt to limb displacement and the electric cylinder height adjustment structure to meet the needs of children of different body types. At the same time, it can record the user's limb resistance characteristics and automatically match the optimal training parameters to achieve personalized training adaptation.

[0016] (ii) Through the coordinated work of multiple drive mechanisms, the standard crawling posture is accurately simulated. Combined with the visual perception and light guidance module, it can not only attract children to crawl actively, but also help them develop standardized crawling habits, thus greatly improving the training effect.

[0017] (iii) The motor current monitoring anti-hard pull design is adopted, combined with elastic strap cushioning, padding protection and battery protection shell, multiple protections to avoid injury to children during training; the main controller visual operation + Velcro strap design makes it easy for parents to use and easy for children to put on and take off. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the present invention; Figure 3 This is a three-dimensional structural diagram of the active crawling mechanism of the present invention; Figure 4 This is a three-dimensional structural diagram of the lower limb linkage structure and the limb height adjustment structure of the present invention; Figure 5 This is a three-dimensional structural diagram of the shoulder drive structure of the present invention; Figure 6 This is a schematic diagram of the structure of the shoulder drive structure and the upper limb drive structure of the present invention; Figure 7This is a three-dimensional structural diagram of the forelimb linkage structure of the present invention.

[0019] Reference numerals: 1. Passive support side plate; 2. Front active crawling mechanism; 3. Rear active crawling mechanism; 4. Supporting belly plate; 5. Auxiliary training mechanism; 6. Third elastic strap; 7. Second Velcro lining; 8. Second Velcro hook lining; 9. Main controller with screen; 10. Battery pack; 11. Vertical sliding frame; 12. Horizontal sliding frame; 13. Limb slider; 20. Shoulder drive structure; 21. Upper limb drive structure; 22. Middle linkage structure; 23. Lower limb linkage structure; 24. Limb height adjustment structure; 50. Visual perception module; 51. Small projector; 20 0. Shoulder housing; 201. First motor; 202. First spur gear; 210. Upper limb housing; 211. Spur gear; 212. Second motor; 220. Middle housing; 221. First rotating shaft; 230. Upper half housing of lower limb; 231. First hook and loop fastener; 232. First elastic strap; 233. First hook and loop fleece; 234. Linkage plate; 235. Second rotating shaft; 236. Pad; 237. Second elastic strap; 238. Elastic finger ring; 239. Lower half housing of lower limb; 240. Limiting rod; 241. Electric cylinder; 242. Push rod. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] The electrical components mentioned in this article are all connected to an external main controller with a screen and 220V AC mains power. The main controller with a screen can be a conventional known device that controls computers and other similar devices.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0025] Example: Refer to Figures 1-7 A smart auxiliary robot for children's crawling training includes a pair of passive support side plates 1. The passive support side plates 1 are equipped with a main controller 9 with a screen and a battery pack 10. A support belly plate 4 is fixedly installed between the two passive support side plates 1. The robot is characterized in that a vertical sliding frame 11 is fixedly installed at the bottom of the support belly plate 4, and a horizontal sliding frame 12 is slidably installed on both sides of the vertical sliding frame 11. A front active crawling mechanism 2 is provided on the front side of the two passive support side plates 1 that is far apart from each other, and a rear active crawling mechanism 3 is provided on the rear side of the two passive support side plates 1 that is far apart from each other. An auxiliary training mechanism 5 is provided on the side of the passive support side plate 1 that is close to the front active crawling mechanism 2. Both the front active crawling mechanism 2 and the rear active crawling mechanism 3 include a shoulder drive structure 20, an upper limb drive structure 21, a middle linkage structure 22, and a lower limb linkage structure 23. The shoulder drive structure 20 is fixedly installed on one side of the passive support side plate 1. The upper limb drive structure 21 is rotatably connected to the shoulder drive structure 20. The upper limb drive structure 21 is rotatably connected to the middle linkage structure 22. The middle linkage structure 22 is rotatably connected to the lower limb linkage structure 23. A four-limb slider 13 is fixedly installed on the shoulder drive structure 20. The shoulder drive structure 20 is slidably installed on the transverse sliding frame 12 through the four-limb slider 13. A four-limb height adjustment structure 24 is fixedly installed inside the lower limb linkage structure 23. The auxiliary training mechanism 5 includes a visual perception module 50 and a small projector 51. There are two visual perception modules 50, which are symmetrically installed on two passive support side plates 1. The shoulder drive structure 20 includes a shoulder housing 200, which is fixedly installed on one side of the passive support side plate 1. A first motor 201 is fixedly installed inside the shoulder housing 200, and a first spur gear 202 is fixedly installed on the first motor 201. The upper limb drive structure 21 includes an upper limb housing 210, with a spur gear 211 fixedly installed at one end of the upper limb housing 210. The spur gear 211 is rotatably installed at one end of the upper limb housing 210 inside the shoulder housing 200, and the first spur gear 202 meshes with the spur gear 211.A second motor 212 is fixedly installed inside the upper limb shell 210 at the end away from the spur gear 211. The intermediate linkage structure 22 includes an intermediate shell 220, with the output shaft of the second motor 212 fixedly connected to the intermediate shell 220. A first rotating shaft 221 is rotatably installed at the end of the intermediate shell 220 away from the second motor 212. The lower limb linkage structure 23 includes an upper lower limb shell 230, a lower lower limb shell 239, and a pad 236. The first rotating shaft 221 passes through the upper lower limb shell 230 and is rotatably connected to the upper lower limb shell 230. Linkage devices are installed on both sides of the lower lower limb shell 239. Movable plate 234, one end of linkage plate 234 is rotatably connected to lower limb shell 239 via second rotating shaft 235, the other end of linkage plate 234 is rotatably connected to pad plate 236 via second rotating shaft 235, a second elastic strap 237 is fixedly installed on pad plate 236, a first Velcro hook surface 231 is fixedly installed on one side of upper limb shell 230, a first elastic strap 232 is fixedly installed on the side of upper limb shell 230 away from the first Velcro hook surface 231, a first Velcro fleece surface 233 is fixedly installed on one end of the first elastic strap 232, and the first elastic strap 232 is connected to the lower limb shell 239 via the first Velcro fleece surface 233. The first Velcro hook 231 is attached and engaged. An elastic finger ring 238 is fixedly installed on the second elastic strap 237 of the front active crawling mechanism 2. The length of the second elastic strap 237 on the rear active crawling mechanism 3 is greater than the length of the second elastic strap 237 of the front active crawling mechanism 2. The limb height adjustment structure 24 includes an electric cylinder 241, which is fixedly installed inside the upper half shell 230 of the lower limb. A push rod 242 is slidably installed on the electric cylinder 241, one end of which is fixedly connected to the lower half shell 239 of the lower limb. A limit rod 240 is fixedly installed inside the upper half shell 230 of the lower limb. Positioning rod 240 slides with lower limb shell 239. A third elastic strap 6 is fixedly installed on one passive support side plate 1, and a second Velcro hook surface 8 is fixedly installed on the other passive support side plate 1. A second Velcro velvet surface 7 is fixedly installed on the end of the third elastic strap 6 away from the fixed passive support side plate 1. The third elastic strap 6 is glued to the second Velcro hook surface 8 through the second Velcro velvet surface 7. Battery pack 10 is electrically connected to screen-equipped main controller 9. Screen-equipped main controller 9 is electrically connected to first motor 201, second motor 212, electric cylinder 241, visual perception module 50 and small projector 51 respectively.

[0026] Working principle: During production, the lengths of the passive support side plate 1 and the support web plate 4 can be customized according to the applicable age group to ensure that the lengths of the passive support side plate 1 and the support web plate 4 do not exceed the length of the torso of the user in the corresponding age group. In order to protect the safety of the battery pack 10, a battery protective shell should be fixedly installed on the passive support side plate 1 to cover the battery pack 10 inside the protective shell.

[0027] When using, place the child on the supporting abdominal plate 4 with the child face down in a crawling position, allowing the supporting abdominal plate 4 to support the child's torso. The child's hands and legs are located on the front and back sides of the passive supporting side plate 1. At this time, the child's palms are pressed on the pad 236 on the front active guiding crawling mechanism 2, and the knee joints are pressed on the pad 236 on the rear active guiding crawling mechanism 3. The pad 236 should be fixed with rubber pads or other soft pads of materials with a thickness of 1-2cm to reduce pressure. Tear open the first elastic straps 232 on the front active guiding crawling mechanism 2 and the rear active guiding crawling mechanism 3, allowing the child's arms and thighs to approach the lower limb linkage structure 23. Let the first elastic straps 232 wrap around the user's arms and thighs and fix them with the first Velcro hook surface 231. Let the child's palms pass under the second elastic straps 237 on the front active guiding crawling mechanism 2 and the fingers pass through the elastic finger rings 238. Let the child's calves pass under the second elastic straps 237 on the rear active guiding crawling mechanism 3.

[0028] By having the electric cylinder 241 push out the push rod 242, the distance between the upper half shell 230 and the lower half shell 239 of the lower limb gradually increases as the push rod 242 moves, thereby achieving the function of adjusting the height of the limbs.

[0029] Through machine learning and preset parameters, the front active crawling mechanism 2 and the rear active crawling mechanism 3 work alternately to mimic the correct posture of human crawling. The shoulder drive structure 20, through the upper limb drive structure 21 and the middle linkage structure 22, can drive the lower limb linkage structure 23 to swing back and forth. The lower limb linkage structure 23, through the middle linkage structure 22, can drive the lower limb linkage structure 23 to rotate slightly to the left or right. Through the cooperation of the above mechanical systems, the functions of linear forward movement and lateral forward movement are achieved.

[0030] The cooperation between the vertical sliding frame 11 and the horizontal sliding frame 12 allows the front active guiding crawling mechanism 2 and the rear active guiding crawling mechanism 3 to shift to a certain extent to accommodate the offset when the child moves, raises their hands and feet, and retracts their hands and legs. The sliding stroke of the vertical sliding frame 11 is 5-10cm, and the sliding stroke of the horizontal sliding frame 12 is 3-8cm.

[0031] During operation, the visual perception module 50 continuously senses and processes the received frontal image information. Depending on the cost budget, the visual perception module 50 can be equipped with a pure vision camera, millimeter-wave radar, or infrared radar. When the visual perception module 50 detects no obstacles in front, the small projector 51 will project graphics or animations directly in front to attract the child to move in that direction. If the visual perception module 50 detects an obstacle in front, the front active crawling mechanism 2 and the rear active crawling mechanism 3 will attempt to apply micro-forces to guide the child to stop crawling.

[0032] When the front active crawling mechanism 2 and the rear active crawling mechanism 3 are working, the main controller 9 with screen will detect the current feedback of the motors on the front active crawling mechanism 2 and the rear active crawling mechanism 3. When the resistance of the arm or leg increases, the motor needs more torque to maintain the lifting, and the current rises accordingly. The device is preset with a current safety threshold. When the threshold is exceeded, the controller will instruct the motor to slow down or stop to avoid the device forcibly pulling the child to move when the child does not want to move, which may cause injury. At the same time, the main controller 9 with screen can have a built-in memory to record the arm resistance characteristics of different users, such as the resistance peak at different angles during the lifting process. In subsequent use, the optimal lifting speed and resistance threshold will be automatically matched to improve personalized adaptability.

[0033] The control of each electrical component can be achieved through the LCD screen built into the main controller 9.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A smart auxiliary robot for children's crawling training, comprising a pair of passive support side plates (1), wherein a main controller (9) with a screen and a battery pack (10) are provided on the passive support side plates (1), and a support web plate (4) is fixedly installed between the two passive support side plates (1), characterized in that, A vertical sliding frame (11) is fixedly installed at the bottom of the supporting web plate (4). A horizontal sliding frame (12) is slidably installed on both sides of the vertical sliding frame (11). A front active guiding crawling mechanism (2) is provided on the front side of the two passive supporting side plates (1) that are far apart from each other. A rear active guiding crawling mechanism (3) is provided on the rear side of the two passive supporting side plates (1) that are far apart from each other. An auxiliary training mechanism (5) is provided on the side of the passive supporting side plate (1) that is close to the front active guiding crawling mechanism (2). The front active crawling mechanism (2) and the rear active crawling mechanism (3) both include a shoulder drive structure (20), an upper limb drive structure (21), a middle linkage structure (22), and a lower limb linkage structure (23). The shoulder drive structure (20) is fixedly installed on one side of the passive support side plate (1). The upper limb drive structure (21) is rotatably connected to the shoulder drive structure (20). The upper limb drive structure (21) is rotatably connected to the middle linkage structure (22). The middle linkage structure (22) is rotatably connected to the lower limb linkage structure (23). A four-limb slider (13) is fixedly installed on the shoulder drive structure (20). The shoulder drive structure (20) is slidably installed on the transverse sliding frame (12) through the four-limb slider (13). A four-limb height adjustment structure (24) is fixedly installed inside the lower limb linkage structure (23). The auxiliary training mechanism (5) includes a visual perception module (50) and a small projector (51). There are two visual perception modules (50) installed symmetrically on two passive support side plates (1).

2. The intelligent auxiliary robot for children's crawling training according to claim 1, characterized in that, The shoulder drive structure (20) includes a shoulder housing (200), which is fixedly installed on one side of the passive support side plate (1). A first motor (201) is fixedly installed inside the shoulder housing (200), and a first spur gear (202) is fixedly installed on the first motor (201).

3. The intelligent auxiliary robot for children's crawling training according to claim 2, characterized in that, The upper limb drive structure (21) includes an upper limb housing (210), with a spur gear (211) fixedly mounted at one end of the upper limb housing (210). The other end of the upper limb housing (210) with the spur gear (211) mounted is rotatably mounted inside a shoulder housing (200), and a first spur gear (202) meshes with the spur gear (211). A second motor (212) is fixedly mounted inside the upper limb housing (210) at the end away from the spur gear (211).

4. The intelligent auxiliary robot for children's crawling training according to claim 3, characterized in that, The intermediate linkage structure (22) includes an intermediate housing (220), the output shaft of the second motor (212) is fixedly connected to the intermediate housing (220), and a first rotating shaft (221) is rotatably mounted on the end of the intermediate housing (220) away from the second motor (212).

5. The intelligent auxiliary robot for children's crawling training according to claim 4, characterized in that, The lower limb linkage structure (23) includes an upper half shell (230), a lower half shell (239), and a pad (236). A first rotating shaft (221) passes through the upper half shell (230) and is rotatably connected to the upper half shell (230). Linkage plates (234) are installed on both sides of the lower half shell (239). One end of the linkage plate (234) is rotatably connected to the lower half shell (239) via a second rotating shaft (235), and the other end of the linkage plate (234) is rotatably connected to the pad (236) via the second rotating shaft (235). A second elastic strap (237) is fixedly installed on the pad (236).

6. The intelligent auxiliary robot for children's crawling training according to claim 5, characterized in that, A first hook and loop fastener (231) is fixedly installed on one side of the upper shell (230) of the lower limb. A first elastic strap (232) is fixedly installed on the side of the upper shell (230) away from the first hook and loop fastener (231). A first hook and loop fleece (233) is fixedly installed on one end of the first elastic strap (232). The first elastic strap (232) is attached to the first hook and loop fastener (231) through the first hook and loop fleece (233).

7. The intelligent auxiliary robot for children's crawling training according to claim 6, characterized in that, An elastic finger ring (238) is fixedly installed on the second elastic strap (237) on the front active crawling mechanism (2), and the length of the second elastic strap (237) on the rear active crawling mechanism (3) is greater than the length of the second elastic strap (237) on the front active crawling mechanism (2).

8. The intelligent auxiliary robot for children's crawling training according to claim 7, characterized in that, The limb height adjustment structure (24) includes an electric cylinder (241), which is fixedly installed inside the upper half shell (230) of the lower limb. A push rod (242) is slidably installed on the electric cylinder (241). One end of the push rod (242) is fixedly connected to the lower half shell (239) of the lower limb. A limit rod (240) is fixedly installed inside the upper half shell (230) of the lower limb. The limit rod (240) is slidably engaged with the lower half shell (239) of the lower limb.

9. The intelligent auxiliary robot for children's crawling training according to claim 1, characterized in that, A third elastic strap (6) is fixedly installed on one side of the passive support side plate (1), and a second hook and loop fastener (8) is fixedly installed on the other side of the passive support side plate (1). A second hook and loop fastener (7) is fixedly installed on the end of the third elastic strap (6) away from the passive support side plate (1). The third elastic strap (6) is bonded to the second hook and loop fastener (8) through the second hook and loop fastener (7).

10. The intelligent auxiliary robot for children's crawling training according to claim 6, characterized in that, The battery pack (10) is electrically connected to the main controller (9) with screen, and the main controller (9) with screen is electrically connected to the first motor (201), the second motor (212), the electric cylinder (241), the visual perception module (50) and the small projector (51) respectively.

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