Assistive traction assembly and intelligent guide blind robot

Abstract

This invention provides an auxiliary traction component and an intelligent guide robot, relating to the field of walking assistance tools for visually impaired individuals. The auxiliary traction component includes a mounting base, an auxiliary traction rod, and an elastic element. The mounting base is configured to be mounted on the body of the intelligent guide robot. One end of the auxiliary traction rod has a connecting seat, which is hinged to the mounting base, allowing the auxiliary traction rod to rotate relative to the mounting base in the pitch direction. The elastic element acts on the mounting base and the auxiliary traction rod to provide support for the auxiliary traction rod when it is in the working position. By incorporating the elastic element, this application provides support for the auxiliary traction rod when it is in the working position, thereby distributing the weight of the guide cane, reducing the burden on visually impaired individuals when holding the guide cane, improving user comfort, and enhancing the guiding effect. Furthermore, the elastic element does not prevent visually impaired individuals from rotating the traction rod in the pitch direction to adjust its angle.

Description

Technical Field

[0001] This invention relates to the field of walking aids for visually impaired people, and more specifically, to an assistive traction component and an intelligent guide robot. Background Technology

[0002] Guided mobility aids are essential tools for visually impaired individuals to walk safely, playing a significant role in improving their quality of life and travel safety. With the development of intelligent technology, intelligent guided mobility robots have gradually become a research hotspot in the field of guided mobility aids.

[0003] In existing technologies, intelligent guide robots typically have a traction bar attached to their body. Visually impaired individuals follow the robot by holding the traction bar, and the robot guides them to avoid obstacles and plan their walking path using the traction bar. This method of guidance can provide relatively reliable navigation services for visually impaired individuals.

[0004] However, the guide canopy of existing intelligent guide robots is usually held by visually impaired people and bears their entire weight. Walking for a long time will put a great burden on the arms of visually impaired people, easily causing arm fatigue, affecting the user experience and the guiding effect. Summary of the Invention

[0005] The present invention aims to provide an auxiliary traction component and an intelligent guide robot, which can reduce the burden on visually impaired people when using the intelligent guide robot while holding the guide cane, and improve their comfort.

[0006] The embodiments of the present invention can be implemented as follows: In a first aspect, this application provides an auxiliary traction component, comprising: Mounting base, configured to be installed on the main body of the intelligent guide robot; An auxiliary traction rod has a connecting seat at one end, the connecting seat being hinged to the mounting base, allowing the auxiliary traction rod to rotate relative to the mounting base in the pitch direction; and... An elastic element acts on the mounting base and the auxiliary traction rod to provide support for the auxiliary traction rod when it is in the working position.

[0007] In an optional embodiment, the elastic element includes a torsion spring, which is installed between the connecting seat and the mounting seat, with one end of the torsion spring acting on the mounting seat and the other end acting on the connecting seat. When the auxiliary traction rod rotates toward the working position, the torsion spring can deform to store energy and provide support for the auxiliary traction rod.

[0008] In an optional embodiment, the mounting base includes a base plate and two connecting lugs that are opposite to and spaced apart from each other on the base plate; The base plate is configured to connect to the body of the intelligent guide robot; the connecting seat is rotatably mounted between the two connecting ears.

[0009] In an optional embodiment, the torsion spring includes a helical torsion spring body and a first torsion arm and a second torsion arm connected to both ends of the torsion spring body. The end of the connector is provided with an annular groove, and the axis of the annular groove is collinear with the rotation axis of the connector. The end face of the annular groove is provided with a plug hole. The torsion spring is installed in the annular groove, and the first torsion arm is inserted into the insertion hole; The second torsion arm acts on the connecting lug.

[0010] In an optional embodiment, an arc-shaped groove is provided on the inner side of the connecting ear, the axis of the arc-shaped groove is collinear with the rotation axis of the connecting seat, and the second torsion arm is inserted into the arc-shaped groove. When the auxiliary traction rod rotates from the storage position to the working position, the connecting seat can drive the torsion spring to rotate, so that the second torsion arm slides along the arc groove and abuts against the side wall of the arc groove on one side of the circumference, thereby deforming the torsion spring to store energy and provide support for the auxiliary traction rod.

[0011] In an optional embodiment, at least one slider is provided in the arc-shaped groove, and the slider is capable of sliding along the arc-shaped groove; the slider is provided with a locking hole; the end face of the arc-shaped groove in the depth direction is provided with an adjustment groove that penetrates the connecting lug, the adjustment groove is arc-shaped and concentrically arranged with the arc-shaped groove; an adjustment bolt that is fitted to the locking hole is inserted into the outer side of the adjustment groove.

[0012] In an optional embodiment, the connecting lug includes a connecting piece and a fixing base, the connecting piece is fixedly connected to the base plate, and the inner side of the connecting piece is provided with a through-hole groove. The fixing base is inserted into the insertion slot and is fixedly connected to the connecting piece; The arc-shaped groove is provided on the inner side of the fixed base, the adjustment groove passes through the fixed base, and the connecting piece is provided with a through arc-shaped groove corresponding to the position of the adjustment groove; The connecting seat is rotatably connected to the fixed seat.

[0013] In an optional embodiment, the bottom end of the fixed base is provided with chamfers on both sides; the diameter of the second torsion arm is greater than the width of the adjusting groove; the end of the second torsion arm is provided with rounded corners so that the end of the second torsion arm is spherical; the connecting base is provided with a pivot hole, and the inner side of the fixed base is provided with a pivot; the axis of the pivot is collinear with the axis of the arc groove, and the pivot is inserted into the pivot hole; the connecting piece is provided with a fixing hole, and the fixed base is provided with a threaded hole corresponding to the fixing hole; the fixing bolts are sequentially installed in the fixing hole and the threaded hole to fix the fixed base and the connecting piece.

[0014] In an optional implementation, the number of torsion springs includes two, and the two torsion springs are arranged symmetrically.

[0015] Secondly, this application also provides an intelligent guide robot, including a guide robot body and an auxiliary traction component as described in any of the above optional embodiments; The mounting base is assembled onto the body of the guide robot.

[0016] The beneficial effects of the auxiliary traction component and intelligent guide robot provided in the embodiments of the present invention include: This application incorporates an elastic element that provides support to the auxiliary traction rod when it is in the working position, thereby distributing the weight of the guide rod, reducing the burden on visually impaired users when holding it, improving comfort, and enhancing guidance effectiveness. Furthermore, the elastic element does not prevent visually impaired users from rotating the traction rod in the pitch direction to adjust its angle. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural schematic diagram of the intelligent guide robot provided in this embodiment from one perspective; Figure 2 This is a structural schematic diagram of the intelligent guide robot provided in this embodiment from another perspective; Figure 3 This is a schematic diagram of the auxiliary traction component provided in this embodiment; Figure 4 This is a partially enlarged schematic diagram of the auxiliary traction component provided in this embodiment; Figure 5 This is a partial cross-sectional schematic diagram of the auxiliary traction component provided in this embodiment; Figure 6 This is an exploded structural diagram of the auxiliary traction component provided in this embodiment; Figure 7 This is a cross-sectional view of the auxiliary traction component provided in this embodiment at the insertion hole; Figure 8 This is a schematic diagram of the arc-shaped groove structure of the auxiliary traction component provided in this embodiment; Figure 9 This is a schematic diagram of the fixing seat structure of the auxiliary traction component provided in this embodiment; Figure 10 This is a partial structural cross-sectional view of the auxiliary traction component provided in this embodiment; Figure 11 This is a schematic diagram of the second torsion arm and the slider of the auxiliary traction component provided in this embodiment.

[0019] Icons: 100-Auxiliary traction component, 110-Mounting base, 111-Base plate, 112-Connecting lug, 113-Connecting piece, 114-Fixing base, 115-Plug-in slot, 116-Arc groove, 117-Rotating shaft, 118-Fixing hole, 119-Threaded hole, 120-Auxiliary traction rod, 121-Connecting base, 122-Ring groove, 123-Plug-in hole, 124-Rotating shaft hole, 130-Torsion spring, 131-Torsion spring body, 132-First torsion arm, 133-Second torsion arm, 140-Fixing bolt, 150-Slider, 151-Adjusting slot, 152-Adjusting bolt, 153-Locking hole, 154-Arc groove, 200-Intelligent guide robot, 210-Guide robot body. Detailed Implementation

[0020] In related technologies, intelligent guide robots are usually equipped with a traction bar for visually impaired people to hold onto and follow. Visually impaired people need to bear the full weight of the traction bar, which can easily cause arm fatigue after prolonged use, affecting the user experience and the effectiveness of the guide robot.

[0021] To address the aforementioned problems, this invention provides an auxiliary traction component and an intelligent guide robot. By incorporating elastic elements to support the auxiliary traction rod, the weight of the guide rod can be shared, thereby reducing the burden on visually impaired individuals when holding the guide rod and improving their comfort.

[0022] 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.

[0023] 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.

[0024] It should be noted that similar labels 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.

[0025] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to 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 this invention is usually placed during use, they are only for the convenience of describing this 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, and therefore should not be construed as a limitation of this invention.

[0026] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0027] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0028] The following detailed description of the overall structure, working principle, and technical effects of the auxiliary traction component and intelligent guide robot provided by the present invention, with reference to the accompanying drawings, is based on specific embodiments.

[0029] Figure 1 This is a structural schematic diagram of the intelligent guide robot provided in this embodiment from one perspective; Figure 2 This is a structural schematic diagram of the intelligent guide robot provided in this embodiment from another perspective.

[0030] Please refer to Figure 1 and Figure 2 This invention provides an intelligent guide robot 200. This intelligent guide robot 200 is used to assist visually impaired people in their travel.

[0031] like Figure 1 and Figure 2 As shown, in this embodiment, the intelligent guide robot 200 includes a guide robot body 210 and an auxiliary traction component 100 installed on the guide robot body 210. In use, visually impaired individuals can hold the auxiliary traction component 100 and walk under the guidance of the intelligent guide robot 200.

[0032] Typically, the guide robot 210 integrates an environmental perception module, a path planning module, and a motion control module. The environmental perception module collects surrounding road condition information through LiDAR, visual sensors, and ultrasonic sensors, identifying obstacles, steps, potholes, and other risk factors. The path planning module combines destination information with real-time perception data to generate a safe walking route. The motion control module drives the robot to move along the planned path, enabling visually impaired individuals to follow along and achieving functions such as obstacle avoidance navigation and autonomous movement.

[0033] The guide robot body 210 can also integrate a voice interaction unit to broadcast real-time road condition information and navigation prompts to visually impaired individuals, providing them with safe and convenient travel assistance. The guide robot body 210 can be a legged quadruped robot dog, a wheeled quadruped robot dog, or other mobile intelligent platforms, such as intelligent vehicles.

[0034] Figure 3 This is a schematic diagram of the auxiliary traction component provided in this embodiment.

[0035] Please refer to Figure 3 In this embodiment, the auxiliary traction assembly 100 includes a mounting base 110, an auxiliary traction rod 120, and an elastic element. The mounting base 110 is mounted on the guide robot body 210. One end of the auxiliary traction rod 120 is provided with a connecting seat 121, and the other end is for holding. The connecting seat 121 is hinged to the mounting base 110 so that the auxiliary traction rod 120 can rotate relative to the mounting base 110 in the pitch direction. The elastic element acts on the mounting base 110 and the auxiliary traction rod 120 to provide support for the auxiliary traction rod 120 when it is in the working position.

[0036] This embodiment incorporates an elastic element that provides support for the auxiliary traction rod 120 when it is in the working position, thereby sharing the weight of the auxiliary traction rod 120, reducing the burden on visually impaired individuals when they hold the auxiliary traction rod 120, and improving their comfort.

[0037] It should be noted that you should continue to refer to... Figure 1 and Figure 3When the auxiliary traction rod 120 is in the working position, it tilts backward relative to the main body 210 of the intelligent guide robot, adapting to the natural gripping posture of visually impaired individuals when standing, avoiding discomfort caused by excessive forward extension or bending of the hands. Simultaneously, the backward tilt ensures that the visually impaired person's center of gravity falls within the support surface of their feet, improving stability during walking and reducing the risk of tripping or pulling due to a shift in the center of gravity. When the auxiliary traction rod 120 rotates to the working position, the elastic element has undergone a preset deformation, and the resulting upward supporting force balances the torque generated by the auxiliary traction rod 120's own weight. This allows the visually impaired person to maintain stable following with only a small gripping force when holding the traction rod, without bearing most of the traction rod's weight, further alleviating arm fatigue caused by prolonged walking.

[0038] The mounting base 110 is used to mount the auxiliary traction component 100 onto the guide robot body 210. The mounting base 110 can be made of different materials as needed. In this embodiment, the mounting base 110 is made of metal, such as aluminum alloy, to ensure structural strength and lightweight design. In other embodiments, the mounting base 110 can also be made of engineering plastics, such as nylon or ABS.

[0039] In one embodiment, the guide robot body 210 is an intelligent guide robot dog, and the mounting base 110 is fixedly mounted on the top area of ​​the rear side of the intelligent guide robot dog's back. This mounting position avoids the sensor module and computing unit on the robot dog's back, thus preventing interference with the overall functional layout. On the other hand, it allows visually impaired users to hold the auxiliary traction rod 120 in a natural standing posture, optimizing the user experience.

[0040] Figure 4 This is a partially enlarged schematic diagram of the auxiliary traction component provided in this embodiment; Figure 5 This is a partial cross-sectional schematic diagram of the auxiliary traction component provided in this embodiment; Figure 6 This is an exploded structural diagram of the auxiliary traction component provided in this embodiment.

[0041] Please refer to Figure 4 , Figure 5 and Figure 6 Specifically, the mounting base 110 includes a base plate 111 and two connecting lugs 112 that are opposite to and spaced apart from the base plate 111. The base plate 111 is configured to connect to the intelligent guide robot body 210, and the connection method can be bolts or clips. The two connecting lugs 112 are fixedly connected to the base plate 111. The connecting seat 121 is rotatably mounted between the two connecting lugs 112 so that the auxiliary traction rod 120 can rotate relative to the mounting base 110 in the pitch direction.

[0042] The auxiliary traction rod 120 is used for visually impaired individuals to hold onto, allowing them to follow the intelligent guide robot 200. The auxiliary traction rod 120 can be made of different materials as needed. In this embodiment, the auxiliary traction rod 120 is a metal tube, such as a stainless steel tube or an aluminum alloy tube, to ensure strength and lightweight. In other embodiments, the auxiliary traction rod 120 can also be made of carbon fiber composite material to further reduce weight. The auxiliary traction rod 120 can be configured in different shapes as needed; in this embodiment, the auxiliary traction rod 120 has an L-shaped structure. In other embodiments, the auxiliary traction rod 120 can also be U-shaped, hinged to the mounting base 110 via two hinge points.

[0043] Please continue to refer to Figure 4 , Figure 5 and Figure 6 The elastic element provides support for the auxiliary traction rod 120 when it is in the working position, thereby sharing the weight of the auxiliary traction rod 120. In this embodiment, the elastic element includes a torsion spring 130. The torsion spring 130 is installed between the connecting seat 121 and the mounting seat 110, with one end of the torsion spring 130 acting on the mounting seat 110 and the other end acting on the connecting seat 121. When the auxiliary traction rod 120 rotates toward the working position, the torsion spring 130 can deform to store energy and provide support for the auxiliary traction rod 120.

[0044] Figure 7 This is a cross-sectional view of the auxiliary traction component provided in this embodiment at the insertion hole.

[0045] Please continue to refer to Figure 4 , Figure 5 , Figure 6 and Figure 7 Specifically, the torsion spring 130 includes a helical torsion spring body 131 and a first torsion arm 132 and a second torsion arm 133 connected to both ends of the torsion spring body 131. The end of the connecting seat 121 is provided with an annular groove 122, and the axis of the annular groove 122 is collinear with the rotation axis of the connecting seat 121. An insertion hole 123 is provided on the inner side of the end face of the annular groove 122. The torsion spring 130 is installed in the annular groove 122, and the first torsion arm 132 is inserted into the insertion hole 123. The second torsion arm 133 acts on the connecting lug 112.

[0046] In this embodiment, by embedding the torsion spring body 131 into the annular groove 122 of the connecting seat 121 and using the insertion hole 123 to circumferentially limit the first torsion arm 132, the coaxial and compact installation of the torsion spring 130 and the connecting seat 121 is achieved. This effectively avoids radial movement and eccentric wear of the torsion spring 130 during the stress process, improving the stability and service life of the structure. At the same time, by using the connecting lug 112 as the reaction force fulcrum of the second torsion arm 133, the connecting seat 121 can continuously obtain a uniform and controllable elastic restoring torque during rotation, ensuring the reliability and accuracy of the mechanism's reset.

[0047] Please continue to refer to Figures 2 to 7 When the intelligent guide robot 200 is not in use, the auxiliary traction rod 120 is in the retracted position. In the retracted position, the auxiliary traction rod 120 rotates forward and is nestled on top of the guide robot body 210. Please refer to... Figure 1 as well as Figures 3 to 7 In use, the auxiliary traction rod 120 is rotated to tilt it backward. When the auxiliary traction rod 120 is rotated backward, the connecting seat 121 is driven by an external force to rotate around its axis. The connecting seat 121 drives the torsion spring body 131 to rotate synchronously. Since the first torsion arm 132 is inserted into the insertion hole 123 and kept fixed, while the second torsion arm 133 acts on the connecting lug 112, the torsion spring 130 is deformed, which forces the helical torsion spring body 131 to undergo elastic torsional deformation and store potential energy to balance the gravity of the auxiliary traction rod 120.

[0048] Figure 8 This is a schematic diagram of the arc-shaped groove structure of the auxiliary traction component provided in this embodiment; Figure 9 This is a schematic diagram of the fixing seat structure of the auxiliary traction component provided in this embodiment; Figure 10 This is a partial structural cross-sectional view of the auxiliary traction component provided in this embodiment; Figure 11 This is a schematic diagram of the second torsion arm and the slider of the auxiliary traction component provided in this embodiment.

[0049] Please continue to refer to Figures 4 to 11 Furthermore, an arc-shaped groove 116 is provided on the inner side of the connecting ear 112. The axis of the arc-shaped groove 116 is collinear with the rotation axis of the connecting seat 121, and the second torsion arm 133 is inserted into the arc-shaped groove 116. When the auxiliary traction rod 120 rotates from the storage position to the working position, the connecting seat 121 can drive the torsion spring 130 to rotate, so that the second torsion arm 133 slides along the arc-shaped groove 116. Then, the second torsion arm 133 abuts against the side wall of the arc-shaped groove 116 on one side, so that the torsion spring 130 deforms and stores energy to provide support for the auxiliary traction rod 120.

[0050] In this embodiment, by setting an arc-shaped groove 116, the auxiliary traction rod 120 forms a free stroke in the initial stage of rotating from the storage position to the working position. Within this free stroke range, the second torsion arm 133 slides freely within the arc-shaped groove 116 and has not yet abutted against the circumferential side wall of the arc-shaped groove 116. The torsion spring body 131 does not undergo torsional deformation, and the visually impaired person can easily operate the auxiliary traction rod 120 without overcoming the torque of the torsion spring 130. When the second torsion arm 133 abuts against the circumferential side wall of the arc-shaped groove 116, the free stroke ends, and the rotation of the auxiliary traction rod 120 enters the elastic loading stage. As the auxiliary traction rod 120 rotates further towards the working position, the connecting seat 121 drives the first torsion arm 132 to rotate synchronously. The second torsion arm 133 is constrained by the side wall of the arc-shaped groove 116 and bears the normal reaction force. The torsion spring body 131 then undergoes torsional deformation and stores elastic potential energy. During this process, the output torque of the torsion spring 130 increases linearly with the rotation angle, and is converted into an upward supporting torque on the auxiliary traction rod 120 through the connecting seat 121, so as to gradually overcome the gravitational torque generated by the weight of the rod itself. In this stage, the energy stored in the torsion spring 130 increases with the rotation angle, and the supporting force is smoothly established from zero, avoiding instantaneous changes in the elastic force on the auxiliary traction rod 120, making the operation feel soft and continuous, and realizing the gradual intervention of load sharing during the extension of the rod, until the auxiliary traction rod 120 reaches the working position, and the gravitational torque of the auxiliary traction rod 120 and the output torque of the torsion spring 130 reach a balance.

[0051] Please refer to Figure 10 To better illustrate and understand, a coordinate system is first defined: the pitch plane through which the auxiliary traction rod 120 rotates in the pitch direction is taken as the reference plane; the intersection of the rotation axis of the auxiliary traction rod 120 and the reference plane is taken as the origin O; the ray passing through the origin O and moving horizontally forward is taken as the 0° reference line; and the direction in which the auxiliary traction rod 120 rotates from the storage position to the working position (i.e., the direction of backward rotation) is taken as the positive rotation. The tilt angle of the auxiliary traction rod 120 in the working position can be determined according to actual needs, and the angle of the auxiliary traction rod 120 in the storage position can be determined according to the storage structure.

[0052] In one specific implementation, please continue to refer to Figures 4 to 11The arc-shaped groove 116 has two circumferential sidewalls, namely a first sidewall and a second sidewall. The first sidewall is located at the rotation angle θ1 of the auxiliary traction rod 120. The second sidewall is located at the rotation angle θ2 of the auxiliary traction rod 120. That is, when the current rotation angle θ=θ1 of the auxiliary traction rod 120, the second torsion arm 133 is just in contact with the first sidewall; when the current rotation angle θ=θ2 of the auxiliary traction rod 120, the second torsion arm 133 is just in contact with the second sidewall. The installation and selection of the torsion spring 130 ensures that when the second torsion arm 133 just abuts the first sidewall, it is at the natural state zero point, that is, when θ=θ1 and the second torsion arm 133 is just in contact with the first sidewall, the torsion spring 130 does not produce torsional deformation, and the output torque T=0. When the auxiliary traction rod 120 is in the retracted position, its current rotation angle θ is less than θ1; when the auxiliary traction rod 120 is in the working position, its current rotation angle θ is greater than θ2.

[0053] The addition of the arc-shaped groove 116 divides the rotational stroke of the auxiliary traction rod 120 into three characteristic sections, corresponding to three functions: from the storage position to θ1, the torsion spring 130 pre-deforms and applies force to achieve the lifting assistance function; from θ1 to the storage position (return stroke), the torsion spring 130 stores energy in the reverse direction to achieve the buffering descent function; from θ1 to θ2, the torsion spring 130 is in a natural state without force, achieving the free adjustment function; from θ2 to the working position, the torsion spring 130 stores energy in the reverse direction and applies force to achieve the load support function. Overall, through a single torsion spring 130 and the double-wall design of the arc-shaped groove 116, multiple functions such as assistance, adjustment, support, and descent buffering are accomplished.

[0054] The process of the auxiliary traction rod 120 rotating from the storage position to the working position is as follows: At the retracted position, the current corresponding angle of the auxiliary traction rod 120 is less than θ1, the second torsion arm 133 abuts against the first side wall, and at this time the torsion spring 130 has been pre-twisted in the positive direction, storing elastic potential energy, and the direction of its restoring torque is consistent with the lifting direction. The gravitational torque generated by the weight of the auxiliary traction rod 120 itself is opposite to the direction of the restoring torque of the torsion spring 130. Therefore, the auxiliary traction rod 120 can stably rest on the support seat set on the front top of the guide robot body 210 at the retracted position and will not automatically bounce up. Since the pre-deformation of the torsion spring 130 has offset part of the gravitational torque, the net torque that the visually impaired person needs to overcome when lifting the rod is only the difference between the gravitational torque and the torque of the torsion spring 130, which makes starting the rotation easy and effortless. Secondly, during this process, as the auxiliary traction rod 120 rotates from the retracted position to θ1, the gravitational torque decreases as θ increases. At the same time, the pre-deformation of the torsion spring 130 is gradually released as the angle increases, and its output torque also decreases synchronously. The two change in the same direction and decay synchronously, and the change curve of the net resistance torque (the difference between the gravitational torque and the torque of the torsion spring 130) is smooth, without any sudden torque changes, thus making the operation feel smooth for visually impaired people.

[0055] Subsequently, the auxiliary traction rod 120 enters the θ1 to θ2 range. At this time, the second torsion arm 133 disengages from the first sidewall but has not yet touched the second sidewall, and has a free sliding space within the arc-shaped groove 116. The torsion spring 130 remains in its natural state, generating no torque. Furthermore, as the auxiliary traction rod 120 rotates further, the gravitational torque generated by the auxiliary traction rod 120 further decreases, allowing visually impaired individuals to easily adjust the angle of the auxiliary traction rod 120.

[0056] When the auxiliary traction rod 120 rotates to θ=θ2, the second torsion arm 133 abuts against the second sidewall. Continuing to rotate backward, the second torsion arm 133 is blocked by the second sidewall and no longer moves, while the connecting seat 121 continues to rotate with the first torsion arm 132, and the torsion spring body 131 is twisted in the opposite direction to store energy. During this stage, the output torque of the torsion spring 130 increases with the angle, transforming into a supporting torque on the auxiliary traction rod 120, gradually sharing the weight of the rod. After crossing 90°, the direction of the gravitational torque reverses from positive to negative, and the gravity of the auxiliary traction rod 120 then tends to drive the rod to continue accelerating backward. If unrestrained, the auxiliary traction rod 120 could easily be thrown to its rearmost position, causing an impact and affecting operational safety. Meanwhile, the restoring torque generated by the reverse energy storage of the torsion spring 130 is in the opposite direction to the gravitational torque, which makes the auxiliary traction rod 120 controllable and smoothly reach the working position after crossing 90°, avoiding the auxiliary traction rod 120 from losing control and rushing backward due to the reversal of gravity, and ensuring that the auxiliary traction rod 120 smoothly reaches the working position and remains stable.

[0057] The process of retracting the auxiliary traction rod 120 from the working position to the storage position is as follows: The auxiliary traction rod 120 rotates forward from its working position, decreasing in angle and approaching θ2. The reverse deformation of the torsion spring 130 is gradually released, which can assist in lifting the auxiliary traction rod 120. After entering the θ2 to θ1 range, the second torsion arm 133 leaves the second sidewall and re-enters the free sliding section. The torsion spring 130 returns to its natural state, and the auxiliary traction rod 120 falls freely back under gravity. When it falls back to θ=θ1, the second torsion arm 133 hits the first sidewall again. Continuing to fall, the second torsion arm 133 is blocked by the first sidewall, and the connecting seat 121 continues to rotate with the first torsion arm 132. The torsion spring body 131 is twisted forward again to store energy. At this time, the restoring torque generated by the torsion spring 130 is in the opposite direction to the falling direction, resisting the gravity of the auxiliary traction rod 120, so that the auxiliary traction rod 120 falls slowly and gently back to the storage position, avoiding a "bang". When it returns to its storage position, the torsion spring 130 stores the preset elastic potential energy again, preparing for the next lift.

[0058] Further, please continue to refer to Figures 3 to 11At least one slider 150 is provided within the arc-shaped groove 116, and the slider 150 can slide circumferentially along the arc-shaped groove 116. The slider 150 is provided with a locking hole 153. An adjustment groove 151 is provided on the end face of the arc-shaped groove 116 in the depth direction, which is through and connects to the lug 112. The adjustment groove 151 is arc-shaped and concentrically arranged with the arc-shaped groove 116. An adjustment bolt 152, which is fitted into the locking hole 153, is inserted into the outer side of the adjustment groove 151.

[0059] Since different visually impaired individuals have different heights, gripping habits, and the external dimensions of the guide robot body 210, the required working position balance angle θ also varies. In this embodiment, by adjusting the circumferential position of the slider 150 to change θ2, the deformation starting angle of the torsion spring 130 on the working side can be changed, thereby adjusting the magnitude of the supporting torque and the balance point position of the auxiliary traction rod 120 in the working position. This allows the same auxiliary traction component 100 to adapt to the personalized needs of different users without the need to replace the torsion spring 130 or other parts.

[0060] The adjustment process is as follows: First, loosen the adjusting bolt 152. At this time, the frictional constraint between the slider 150 and the inner wall of the arc groove 116 is released, and the slider 150 is in a sliding state. Then, use your finger to move the head of the adjusting bolt 152, causing it to slide synchronously along the adjusting groove 151 and the arc groove 154. The slider 150 moves with the adjusting bolt 152 along the circumference of the arc groove 116 to the target angle position. Since the adjusting groove 151, the arc groove 154, and the arc groove 116 are concentrically set, the slider 150 always maintains its alignment with the arc trajectory of the arc groove 116 during the sliding process, without any deviation or jamming. Finally, tighten the adjusting bolt 152. The head of the adjusting bolt 152 presses against the outer wall of the connecting piece 113, locking the slider 150 in the corresponding circumferential position within the arc groove 116 through friction. The adjustment is then complete.

[0061] When the auxiliary traction rod 120 rotates, it drives the second torsion arm 133 to slide along the arc groove 116 and abut against the circumferential wall of the slider 150. The slider 150, as a side wall, bears the normal force transmitted by the second torsion arm 133. The torsion spring body 131 then undergoes torsional deformation and stores energy. Its working process is the same as that of the aforementioned embodiment.

[0062] Please continue to refer to Figures 3 to 11Furthermore, the arc-shaped groove 116 is a circular arc groove with a central angle of 180° corresponding to its circumferential span. Two sliders 150 are installed within the arc-shaped groove 116. Both sliders 150 can slide independently along the arc-shaped groove 116 and are locked in place by their respective adjusting bolts 152. The 180° arc-shaped groove 116 covers the entire angular range of the auxiliary traction rod 120 from its retracted position to its maximum rotation range, providing sufficient adjustment stroke for the sliders 150. The two sliders 150 correspond to the first and second sidewalls of the arc-shaped groove 116, respectively—the slider 150 closer to the retracted position forms the first sidewall (corresponding to angle θ1), and the slider 150 closer to the working position forms the second sidewall (corresponding to angle θ2). The two sliders 150 can be independently locked in place at any angular position within the range of 0° to 180° using their respective adjusting bolts 152. After adjustment, a free travel range is formed between the angle θ1 corresponding to the first sidewall and the angle θ2 corresponding to the second sidewall. The range from θ1 to the storage position is the elastic assist / damping range, and the range from θ2 to the working position is the elastic support range.

[0063] It should be noted that the specific location of the arc groove 116 can be adapted to the position of the insertion hole 123 and the structural parameters of the torsion spring 130 (such as the inherent angle between the first torsion arm 132 and the second torsion arm 133 in their natural state, the helical direction and the diameter of the spring wire, etc.), and is not limited to the angle range described in the foregoing embodiments.

[0064] The central angle corresponding to the arc groove 116 can also be flexibly set according to the actual rotation range of the auxiliary traction rod 120, and is not limited to the aforementioned 180°. When the rotation range between the storage position and the working position of the auxiliary traction rod 120 is small, the central angle of the arc groove 116 can be reduced accordingly to reduce the size and weight of the fixed seat 114; when the rotation range is large, the central angle can be increased to ensure that the second torsion arm 133 is contained within the arc trajectory of the arc groove 116 throughout its entire stroke without dislodging. The arc groove 116 can even be set as an arc groove with a central angle within 360°, in which case the second torsion arm 133 can be adjusted to a greater extent.

[0065] Of course, in another embodiment, the aforementioned arc-shaped groove 116 may not be provided. The second torsion arm 133 is directly fixed or rigidly abutted against the connecting lug 112, eliminating the sliding adjustment function. By adjusting the parameters of the torsion spring 130 and the angle corresponding to the auxiliary traction rod 120 in its natural state, functions such as lifting assistance, providing load support, and providing damping buffer can be achieved.

[0066] Please continue to refer to Figures 3 to 11Furthermore, the connecting lug 112 includes a connecting piece 113 and a fixing seat 114. The connecting piece 113 is fixedly connected to the base plate 111, and the inner side of the connecting piece 113 is provided with a through-hole groove 115. The fixing seat 114 is inserted into the through-hole groove 115 and fixedly connected to the connecting piece 113. An arc-shaped groove 116 is provided on the inner side of the fixing seat 114, and an adjustment groove 151 penetrates the fixing seat 114. The connecting piece 113 is provided with a through-hole arc groove 154 corresponding to the position of the adjustment groove 151. The connecting seat 121 is provided with a pivot hole 124, and a pivot 117 protrudes from the inner side of the fixing seat 114. The axis of the pivot 117 is collinear with the axis of the arc-shaped groove 116, and the pivot 117 is inserted into the pivot hole 124. The connecting piece 113 is provided with a fixing hole 118, and the fixing seat 114 is provided with a threaded hole 119 corresponding to the fixing hole 118. The fixing bolts 140 are installed sequentially in the fixing hole 118 and the threaded hole 119 to fix the fixing seat 114 and the connecting piece 113.

[0067] In this embodiment, by setting the connecting lug 112 as a separate structure, the assembly of the torsion spring 130 is completed within the open space of the fixing base 114, providing a wide operating field of vision and significantly reducing assembly difficulty, making it suitable for mass production. The fixing base 114 and the connecting piece 113 are connected by a dual constraint method, which uses the vertical and horizontal positioning of the insertion slot 115 and the horizontal fastening of the fixing bolt 140, thus reducing the number of fixing bolts 140.

[0068] Of course, in some embodiments of this application, the connecting ear 112 and the fixing base 114 may also be configured as a whole.

[0069] Furthermore, the width of the arc groove 154 can be set to be greater than the width of the adjustment groove 151, which facilitates operation from the outside. Secondly, a removable sealing rubber block can be installed inside the arc groove 154 to improve aesthetics and dust and water resistance.

[0070] Please continue to refer to Figures 3 to 11 Furthermore, the bottom of the mounting base 114 is chamfered on both sides to facilitate insertion during installation.

[0071] Secondly, the end of the second torsion arm 133 is rounded to make the end of the second torsion arm 133 spherical, thereby reducing the contact area and frictional resistance when the second torsion arm 133 slides in the arc groove 116, making the rotation process smoother. At the same time, the diameter of the second torsion arm 133 is larger than the width of the adjustment groove 151. After assembly, the second torsion arm 133 is confined in the arc groove 116 and cannot be dislodged from the adjustment groove 151, ensuring the reliability of the connection between the torsion spring 130 and the arc groove 116.

[0072] In this embodiment, there are two torsion springs 130, which are symmetrically arranged and installed at both ends of the connecting seat 121 to provide a more balanced support force. The specific installation method of the two torsion springs 130 is the same, and will not be described again in this embodiment.

[0073] In other embodiments, the elastic element can also adopt other structures, such as a spring sheet, an air bladder, etc., as long as it can balance the gravity of the auxiliary traction rod 120 in the working position.

[0074] In summary, this embodiment, by incorporating an elastic element, provides support for the auxiliary traction rod 120 when it is in the working position, thereby sharing the weight of the auxiliary traction rod 120, reducing the burden on visually impaired individuals when they hold the auxiliary traction rod 120, and improving their comfort.

[0075] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An auxiliary traction component, characterized in that, include: The mounting base (110) includes a base plate (111) and two connecting ears (112) that are opposite to and spaced apart from the base plate (111). The base plate (111) is configured to be mounted on the body of the intelligent guide robot. The inner side of the connecting ears (112) is provided with an arc-shaped groove (116). An auxiliary traction rod (120) has a connecting seat (121) at one end, the connecting seat (121) being rotatably mounted between two connecting lugs (112) so that the auxiliary traction rod (120) can rotate relative to the mounting seat (110) in the pitch direction; and, Torsion spring (130), the torsion spring (130) is installed between the connecting seat (121) and the connecting lug (112), the first torsion arm (132) of the torsion spring (130) acts on the connecting seat (121), and the second torsion arm (133) of the torsion spring (130) is inserted into the arc groove (116). When the auxiliary traction rod (120) rotates from the storage position to the working position, the connecting seat (121) can drive the torsion spring (130) to rotate, so that the second torsion arm (133) slides along the arc groove (116) and abuts against the side wall of the arc groove (116) on one side of the circumference, so that the torsion spring (130) deforms and stores energy to provide support for the auxiliary traction rod (120).

2. The auxiliary traction assembly according to claim 1, characterized in that, The axis of the arc groove (116) is collinear with the rotation axis of the connecting seat (121).

3. The auxiliary traction assembly according to claim 1, characterized in that, The end of the connecting seat (121) is provided with an annular groove (122), and the torsion spring (130) is installed in the annular groove (122).

4. The auxiliary traction assembly according to claim 3, characterized in that, The axis of the annular groove (122) is collinear with the rotation axis of the connecting seat (121).

5. The auxiliary traction assembly according to claim 3, characterized in that, The end face of the annular groove (122) is provided with a plug hole (123), and the first torsion arm (132) is plugged into the plug hole (123).

6. The auxiliary traction assembly according to any one of claims 1-5, characterized in that, At least one slider (150) is provided in the arc-shaped groove (116), and the slider (150) can slide along the arc-shaped groove (116); the slider (150) is provided with a locking hole (153); the arc-shaped groove (116) is provided with an adjustment groove (151) through the connecting lug (112) on the end face in the depth direction, the adjustment groove (151) is arc-shaped and is concentrically arranged with the arc-shaped groove (116); an adjustment bolt (152) fitted to the locking hole (153) is inserted into the outside of the adjustment groove (151).

7. The auxiliary traction assembly according to claim 6, characterized in that, The connecting ear (112) includes a connecting piece (113) and a fixing base (114). The connecting piece (113) is fixedly connected to the base plate (111). The inner side of the connecting piece (113) is provided with a through-hole (115) extending through the top. The fixing base (114) is inserted into the insertion slot (115) and is fixedly connected to the connecting piece (113); The arc-shaped groove (116) is provided on the inner side of the fixed base (114), the adjustment groove (151) passes through the fixed base (114), and the connecting piece (113) is provided with a through arc-shaped groove (154) corresponding to the position of the adjustment groove (151). The connecting seat (121) is rotatably connected to the fixed seat (114).

8. The auxiliary traction assembly according to claim 7, characterized in that, The bottom of the fixed seat (114) is chamfered on both sides; the diameter of the second torsion arm (133) is greater than the width of the adjustment groove (151); the end of the second torsion arm (133) is rounded so that the end of the second torsion arm (133) is spherical; the connecting seat (121) is provided with a pivot hole (124), and the inner side of the fixed seat (114) is provided with a pivot (117); the axis of the pivot (117) is collinear with the axis of the arc groove (116), and the pivot (117) is inserted into the pivot hole (124); the connecting piece (113) is provided with a fixing hole (118), and the fixed seat (114) is provided with a threaded hole (119) corresponding to the fixing hole (118); the fixing bolt (140) is installed in sequence in the fixing hole (118) and the threaded hole (119) to fix the fixed seat (114) and the connecting piece (113).

9. The auxiliary traction assembly according to any one of claims 1-5, characterized in that, The number of torsion springs (130) includes two, and the two torsion springs (130) are arranged symmetrically.

10. An intelligent guide robot for the blind, characterized in that, Includes the guide robot body (210) and the auxiliary traction component as described in any one of claims 1-9; The mounting base (110) is fitted onto the guide robot body (210).

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