Assistive traction assembly and intelligent guide blind robot

Abstract

The utility model provides a kind of auxiliary traction assembly and intelligent blind guiding robot, it is related to the walking auxiliary tool technical field of visually impaired person.Auxiliary traction assembly includes mounting seat, auxiliary traction rod and elastic piece.Mounting seat is configured to be installed in intelligent blind guiding robot body.Auxiliary traction rod one end is provided with connecting seat, connecting seat is hinged in mounting seat, to make auxiliary traction rod can be rotated in pitch direction relative to mounting seat.Elastic piece acts on mounting seat and auxiliary traction rod, to provide support to auxiliary traction rod when auxiliary traction rod is in working position.The present application can provide support to auxiliary traction rod when auxiliary traction rod is in working position by setting elastic piece, so as to share the weight of guiding stick, reduce the load of visually impaired person when hand guiding stick, improve use comfort, improve guiding effect.Moreover, the setting of elastic piece does not affect the rotation of traction rod in pitch direction when visually impaired person uses auxiliary traction rod, to adjust the angle of traction rod.

Description

Technical Field

[0001] This utility model relates to the field of walking assistance tools 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. Utility Model Content

[0005] The purpose of this invention is 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 and holding the guide cane, thereby improving their comfort.

[0006] The embodiments of this utility model 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 first insertion hole. The torsion spring is installed in the annular groove, and the first torsion arm is inserted into the first insertion hole; The second torsion arm acts on the connecting lug.

[0010] In an optional embodiment, a second insertion hole is provided on the inner side of the connecting ear piece, and the second torsion arm is inserted into the second insertion hole.

[0011] 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 second insertion hole is located on the inner side of the fixing base; The connecting seat is rotatably connected to the fixed seat.

[0012] In an optional embodiment, the bottom end of the fixing base is provided with chamfers on both sides.

[0013] In an optional embodiment, the connecting seat is provided with a pivot hole, the inner side of the fixing seat is provided with a pivot, the pivot is inserted into the pivot hole, the connecting piece is provided with a fixing hole, the fixing seat is provided with a threaded hole corresponding to the fixing hole, and the fixing bolt is installed in the fixing hole and the threaded hole in sequence to fix the fixing seat 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 this embodiment of the 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 this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model 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 cross-sectional schematic diagram of the auxiliary traction component provided in this embodiment; Figure 5 This is an exploded structural diagram of the auxiliary traction component provided in this embodiment; Figure 6 This is a cross-sectional view of the auxiliary traction assembly provided in this embodiment at the first insertion hole; Figure 7 This is a schematic diagram of the structure of the second insertion hole of the auxiliary traction component provided in this embodiment; Figure 8 This is a schematic diagram of the fixing seat structure of the auxiliary traction component provided in this embodiment; Figure 9 This is a partial structural cross-sectional view of the auxiliary traction component provided in this embodiment; Figure 10 This is a schematic diagram of the structure of the second torsion arm of the auxiliary traction component provided in this embodiment being inserted into the second insertion hole.

[0019] Icons: 100-Auxiliary traction component, 110-Mounting base, 111-Base plate, 112-Connecting lug, 113-Connecting piece, 114-Fixing base, 115-Insertion slot, 116-Second insertion hole, 117-Rotating shaft, 118-Fixing hole, 119-Threaded hole, 120-Auxiliary traction rod, 121-Connecting base, 122-Ring groove, 123-First insertion hole, 124-Rotating shaft hole, 130-Torsion spring, 131-Torsion spring body, 132-First torsion arm, 133-Second torsion arm, 140-Fixing bolt, 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 issues, 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 this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model 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 present 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 present invention without inventive effort are within the scope of protection of the present 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 utility model, 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 commonly used when the utility model product is in use, they are only for the convenience of describing this utility model 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 utility model.

[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 this utility model 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 this utility model, through embodiments and in conjunction with the accompanying drawings, is a practical example.

[0029] Please refer to Figure 1 and Figure 2 This utility model provides an intelligent guide robot 200. This intelligent guide robot 200 is used to assist visually impaired people in traveling.

[0030] 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.

[0031] 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 and achieving functions such as obstacle avoidance navigation and autonomous movement.

[0032] 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.

[0033] Figure 3 This is a schematic diagram of the auxiliary traction component provided in this embodiment.

[0034] 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.

[0035] 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.

[0036] It should be noted that you should continue to refer to... Figure 1 and Figure 3 When 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.

[0037] 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.

[0038] 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.

[0039] Figure 4 This is a cross-sectional schematic diagram of the auxiliary traction component provided in this embodiment; Figure 5 This is an exploded structural diagram of the auxiliary traction component provided in this embodiment.

[0040] Please refer to Figure 4 and Figure 5 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.

[0041] 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.

[0042] Please continue to refer to Figure 4 and Figure 5 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.

[0043] Please continue to refer to Figure 4 , Figure 5 and Figure 6Specifically, 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. A first 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 first insertion hole 123. The second torsion arm 133 acts on the connecting lug 112.

[0044] In this embodiment, by embedding the torsion spring body 131 into the annular groove 122 of the connecting seat 121 and using the first 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.

[0045] Please continue to refer to Figures 2 to 6 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 first 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.

[0046] Please continue to refer to Figures 3 to 10 Furthermore, a second insertion hole 116 is provided on the inner side of the connecting ear piece 112, and the second torsion arm 133 is inserted into the second insertion hole 116. By adjusting the parameters of the torsion spring 130, the angle of the auxiliary traction rod 120 in its natural state, and the relative positions of the first insertion hole 123 and the second insertion hole 116, functions such as lifting assistance, providing load support, and providing damping buffer can be achieved.

[0047] For easier understanding, please refer to Figure 9Define a coordinate system: The reference plane is the plane through which the auxiliary traction rod 120 rotates in the pitch direction; the origin O is the intersection of the rotation axis of the auxiliary traction rod 120 and the reference plane; the 0° reference line is the ray passing through the origin O and moving horizontally forward; and the positive rotation direction is the direction in which the auxiliary traction rod 120 rotates from the storage position to the working position (i.e., the backward rotation direction). The tilt angle θ 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.

[0048] For example, the angle of the auxiliary traction rod 120 in the retracted position is 0°, and the angle in the working position is 145°. In this case, by setting the positions of the first insertion hole 123 and the second insertion hole 116, the torsion spring 130 can be in its natural state when the auxiliary traction rod 120 rotates to θ1°. The parameters of the torsion spring 130 are then determined based on the gravitational torque experienced by the auxiliary traction rod 120 at 145°, thereby achieving the following functions: during the rotation of the auxiliary traction rod 120 from 0° to θ1°, the torsion spring 130 provides lifting assistance; when the auxiliary traction rod 120 is in the working position at 145°, the torsion spring 130 provides load-bearing support to balance the torque generated by the auxiliary traction rod 120's own weight; during the descent of the auxiliary traction rod 120 from θ1° back to 0°, the torsion spring 130 provides damping and cushioning during the descent. Furthermore, the working position angle can be determined according to the usage habits of visually impaired individuals, and different specifications of torsion springs 130 can be installed to meet the usage requirements of different angles.

[0049] Please continue to refer to Figures 3 to 10 Furthermore, 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 115. The fixing seat 114 is inserted into the through-hole 115 and fixedly connected to the connecting piece 113. A second insertion hole 116 is provided on the inner side of the fixing seat 114. 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 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. Fixing bolts 140 are sequentially installed in the fixing hole 118 and the threaded hole 119 to fix the fixing seat 114 and the connecting piece 113.

[0050] In this embodiment, by setting the connecting lug 112 as a separate structure, the torsion spring 130 is assembled within the open space of the fixing base 114, providing a wide 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, with vertical and horizontal positioning via the insertion slot 115 and horizontal fastening via the fixing bolt 140, which reduces the number of fixing bolts 140.

[0051] Of course, in some embodiments of this application, the connecting ear 112 and the fixing base 114 may also be configured as a whole.

[0052] Please continue to refer to Figures 3 to 10 Furthermore, the bottom of the mounting base 114 is chamfered on both sides to facilitate insertion during installation.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. An auxiliary traction component, characterized in that, include: Mounting base (110) is configured to be mounted on the body of the intelligent guide robot; An auxiliary traction rod (120) has a connecting seat (121) at one end, the connecting seat (121) being 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; and, The elastic element includes a torsion spring (130) 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 and store energy to provide support for the auxiliary traction rod (120).

2. The auxiliary traction assembly according to claim 1, characterized in that, The mounting base (110) includes a base plate (111) and two connecting lugs (112) that are opposite to and spaced apart from each other on the base plate (111); The base plate (111) is configured to connect to the body of the intelligent guide robot; the connecting seat (121) is rotatably mounted between the two connecting ears (112).

3. The auxiliary traction assembly according to claim 2, characterized in that, 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). The end face of the annular groove (122) is provided with a first insertion hole (123). The torsion spring (130) is installed in the annular groove (122), and the first torsion arm (132) is inserted into the first insertion hole (123); The second torsion arm (133) acts on the connecting lug (112).

4. The auxiliary traction assembly according to claim 3, characterized in that, The inner side of the connecting ear (112) is provided with a second insertion hole (116), and the second torsion arm (133) is inserted into the second insertion hole (116).

5. The auxiliary traction assembly according to claim 4, 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 second insertion hole is located on the inner side of the fixing base (114); The connecting seat (121) is rotatably connected to the fixed seat (114).

6. The auxiliary traction assembly according to claim 5, characterized in that, The bottom of the fixing base (114) is provided with chamfers on both sides.

7. The auxiliary traction assembly according to claim 5, characterized in that, The connecting seat (121) is provided with a pivot hole (124), and the inner side of the fixing seat (114) is provided with a pivot (117), which is inserted into the pivot hole (124).

8. The auxiliary traction assembly according to claim 5, characterized in that, 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 bolt (140) is installed in the fixing hole (118) and the threaded hole (119) in sequence to fix the fixing seat (114) and the connecting piece (113).

9. The auxiliary traction assembly according to any one of claims 1-8, 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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