Walking aid

Abstract

The utility model discloses a kind of walking aids, including waist support assembly, drive assembly and leg support assembly. Among them, waist support assembly is set to arc structure, arc structure is formed around the cavity for cooperating with user waist, retractable adjusting mechanism is provided on arc structure, and retractable adjusting mechanism is used to adjust the size of cavity. Drive assembly is fixedly connected with arc structure. Leg support assembly is set to strip structure, one end of strip structure is connected with drive assembly and can rotate along the first direction under the driving of drive assembly, and the other end of strip structure is used to be fixedly connected with user leg. The walking aid of the application solves the problem that the waist adjusting structure of walking robot is complex, and the adaptability between the user waist is poor.

Description

Technical Field

[0001] This utility model relates to the field of assistive robot technology, and more specifically, to an assistive device. Background Technology

[0002] Walking assistance robots can recognize movement intentions and achieve human-machine collaborative control, thereby realizing the function of motion assistance. Currently, walking assistance robots are mainly equipped on users through a combination of waist fixation and leg fixation. When existing walking assistance robots adapt to the user's waist, they mainly use flexible structures to adaptively adapt to the user's waist width or use complex adjustment structures to adjust and adapt to the user's waist width. However, flexible structures are prone to being too loose or too tight, resulting in poor adaptability, and the adjustment structures are relatively complex, increasing the weight of the walking assistance robot. Utility Model Content

[0003] The main objective of this invention is to provide a walking aid device that can at least solve the problems of complex waist adjustment structures and poor adaptability between walking aid robots and users' waists.

[0004] According to one aspect of the present invention, a walking aid device is provided, comprising:

[0005] A lumbar support component, wherein the lumbar support component is configured as an arc-shaped structure, the arc-shaped structure surrounds a cavity for fitting with the user's lumbar region, and the arc-shaped structure is provided with a telescopic adjustment mechanism for adjusting the size of the cavity;

[0006] A driving component, which is fixedly connected to the arc-shaped structure;

[0007] A leg support assembly, wherein the leg support assembly is configured as a strip structure, one end of the strip structure is connected to the drive assembly and can rotate in a first direction under the drive of the drive assembly, and the other end of the strip structure is used for fixed connection with the user's leg.

[0008] Furthermore, the lumbar support assembly includes a first telescopic rod and a second telescopic rod. The first telescopic rod includes a first telescopic section and a first arc-shaped section, and the second telescopic rod includes a second telescopic section and a second arc-shaped section. The first telescopic section and the second telescopic section are telescopically connected to form the telescopic adjustment mechanism.

[0009] Furthermore, a telescopic connecting rod is provided between the first telescopic section and the second telescopic section. The first telescopic section is connected to one end of the telescopic connecting rod and can extend and retract relative to the telescopic connecting rod along the length direction of the telescopic connecting rod. The second telescopic section is connected to the other end of the telescopic connecting rod and can extend and retract relative to the telescopic connecting rod along the length direction of the telescopic connecting rod.

[0010] Furthermore, a first locking mechanism is provided between the first telescopic section and the telescopic connecting rod, and a second locking mechanism is provided between the second telescopic section and the telescopic connecting rod;

[0011] Both the first locking mechanism and the second locking mechanism include a locking sleeve and a locking buckle disposed on the locking sleeve. The locking sleeve is sleeved at the connection between the first telescopic section and the telescopic connecting rod and at the connection between the second telescopic section and the telescopic connecting rod. The locking buckle has a locking position that causes the locking sleeve to retract inward and a non-locking position that causes the locking sleeve to expand outward.

[0012] Furthermore, one of the first telescopic section and the telescopic connecting rod is provided with a first guide groove extending along the length direction of the telescopic connecting rod, and the other of the two is provided with a first guide structure that mates with the first guide groove; and / or,

[0013] The second telescopic section and the telescopic connecting rod are provided with a second guide groove extending along the length direction of the telescopic connecting rod, and the other one is provided with a second guide structure that cooperates with the second guide groove.

[0014] Furthermore, the cross-section of the first telescopic rod and the cross-section of the second telescopic rod are elliptical, flat circular, or polygonal.

[0015] Furthermore, the driving assembly includes a driving member and a transmission member. The transmission member is connected to the driving member and can rotate in a first direction under the drive of the driving member. The transmission member is connected to the leg support assembly to drive the leg support assembly to rotate in the first direction.

[0016] Furthermore, the leg support assembly is provided with a leg support member and a leg fixing member. The leg support member is configured as a strip-shaped, arc-shaped structure that cooperates with the user's leg. One end of the leg support member is rotatably connected to the transmission member and can rotate relative to the transmission member in a second direction. The other end of the leg support member is fixedly connected to the leg fixing member.

[0017] Furthermore, the walking aid also includes an auxiliary fixing component, which includes a waist belt and a shoulder strap. The waist belt is disposed on the inner side of the arc-shaped structure and is fixedly connected to the arc-shaped structure, and the shoulder strap is fixedly connected to the waist belt.

[0018] Furthermore, the walking aid also includes a control component electrically connected to the drive component for at least controlling the operation of the drive component, the control component being disposed between the arcuate structure and the waist belt such that there is a predetermined gap between the arcuate structure and the waist belt.

[0019] In this invention, the walking aid device incorporates a telescopic adjustment mechanism on its arc-shaped waist support component. This mechanism allows for proactive and precise adjustment of the cavity formed by the waist support component, avoiding the problems of excessive looseness leading to displacement or excessive tightness causing compression common in existing flexible structures. It adapts to different user waist widths and clothing thicknesses, and simplifies the waist support structure design by eliminating reliance on complex adjustment structures, thus reducing overall weight and lessening the burden on the user. Furthermore, the stable fit between the waist support component and the waist provides a stable reference for the drive component, ensuring precise rotation of the strip-shaped leg support component along the first direction. This highly synchronizes the movement of the leg support component with the user's intention, effectively solving the problems of complex waist adjustment and poor adaptability in walking aid robots, while simultaneously improving the stability and versatility of human-machine collaboration. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the structure of the walking aid device disclosed in the embodiment of this utility model;

[0022] Figure 2 This is a partial structural schematic diagram of the walking aid device disclosed in an embodiment of the present utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the walking aid device in another state as disclosed in an embodiment of the present utility model;

[0024] Figure 4 This is another structural schematic diagram of the walking aid device disclosed in this utility model embodiment.

[0025] The above figures include the following reference numerals:

[0026] 10. Waist support assembly; 11. First telescopic rod; 111. First telescopic section; 112. First arc-shaped section; 12. Second telescopic rod; 113. First guide structure; 121. Second telescopic section; 122. Second arc-shaped section; 123. Second guide structure; 13. Telescopic connecting rod; 131. First locking mechanism; 132. Second locking mechanism; 133. Second guide groove; 20. Drive assembly; 21. Drive component; 22. Transmission component; 23. Motor housing; 30. Leg support assembly; 31. Leg support component; 32. Leg fixing component; 40. Cavity; 50. Auxiliary fixing assembly; 51. Waist belt; 511. First press buckle; 52. Shoulder strap; 521. Second press buckle; 60. Control assembly. Detailed Implementation

[0027] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0030] In related technologies, walking assistance robots mainly adapt to the user's waist width through flexible structures or through complex adjustment structures. However, flexible structures are prone to being too loose or too tight, resulting in poor adaptability. Furthermore, the adjustment structures are complex and increase the robot's weight. Therefore, this application provides a walking assistance device that uses an arc-shaped waist support component. A telescopic adjustment structure is incorporated into the arc-shaped structure to adjust the size of the cavity formed by the arc. This allows the cavity to adapt to different waist sizes, improving the robot's adaptability. The arc-shaped structure fits the user's waist better, and the simple structure, requiring only a telescopic adjustment structure, does not increase the robot's complexity.

[0031] See Figures 1 to 4As shown in the embodiments of this application, a walking aid device is provided, including: a lumbar support assembly 10, a drive assembly 20, and a leg support assembly 30. The lumbar support assembly 10 is configured with an arc-shaped structure, forming a cavity 40 for engaging with the user's waist. A telescopic adjustment mechanism is provided on the arc-shaped structure to adjust the size of the cavity 40. The drive assembly 20 is fixedly connected to the arc-shaped structure. The leg support assembly 30 is configured with a strip-shaped structure. One end of the strip-shaped structure is connected to the drive assembly 20 and can rotate in a first direction under the drive of the drive assembly 20. The other end of the strip-shaped structure is fixedly connected to the user's leg.

[0032] Understandably, when using the walking aid device of this embodiment, the curved waist support component 10 is fixed to the user's waist, and the telescopic adjustment mechanism on the curved structure adjusts the size of the cavity 40 to fit the user's waist size. For example, users with different waist widths need to fit different sizes of cavity 40, so that the waist support component 10 can be fixed to the user's waist, and the curved structure can better fit the user's waist, improving the adaptability of the walking aid device of this embodiment. The drive component 20 drives the leg support component 30 to rotate in a first direction, which represents the direction in which the user lifts or retracts their leg, that is, the direction in which the human body lifts its leg forward or retracts its leg backward. In this way, the drive component 20 can drive the human body's leg lifting or retracting movements to achieve the walking aid effect for the user when walking.

[0033] It should be noted that in this embodiment, the user's leg refers to the thigh. Since the human body mainly uses the thigh to drive the lower leg during walking, and the lower leg has a certain degree of freedom relative to the thigh, the leg support component 30 can better assist the human body's movement by fixing it to the thigh, and it will cause less harm to the human body, thus improving the walking assistance effect.

[0034] Furthermore, the lumbar support assembly 10 includes a first telescopic rod 11 and a second telescopic rod 12. The first telescopic rod 11 includes a first telescopic section 111 and a first arc-shaped section 112. The second telescopic rod 12 includes a second telescopic section 121 and a second arc-shaped section 122. The first telescopic section 111 and the second telescopic section 121 are telescopically connected to form a telescopic adjustment mechanism.

[0035] In this embodiment, the first arc-shaped segment 112, the first telescopic segment 111, the second telescopic segment 121, and the second arc-shaped segment 122 are sequentially connected to form the waist support assembly 10 with an arc-shaped structure. The first arc-shaped segment 112 and the second arc-shaped segment 122 are symmetrically arranged. Thus, when the telescopic adjustment mechanism formed between the first telescopic segment 111 and the second telescopic segment 121 extends or retracts, the distance between the first arc-shaped segment 112 and the second arc-shaped segment 122 increases or decreases, causing the cavity 40 to also increase or decrease to accommodate different waist widths. For example, when the user's waist width is greater than the distance between the first arc segment 112 and the second arc segment 122, if the lumbar support component 10 is fitted onto the user's waist, there will be a certain gap between the user's waist and the lumbar support component 10, preventing the lumbar support component 10 from falling off. In this case, by adjusting the telescopic adjustment mechanism formed between the first telescopic segment 111 and the second telescopic segment 121, the distance between the first arc segment 112 and the second arc segment 122 is reduced, allowing the lumbar support component 10 to be fixed to the user's waist. When the user's waist width is less than the distance between the first arc segment 112 and the second arc segment 122, the distance between the first arc segment 112 and the second arc segment 122 is increased to allow the lumbar support component 10 to be fixed to the user's waist. Therefore, through the first telescopic segment 111 and the second telescopic segment 121 in this embodiment, the lumbar support component 10 can be fixed to the waist of users with different waist widths, improving the adaptability and reliability of the walking aid device in this embodiment.

[0036] In some embodiments, a telescopic connecting rod 13 is provided between the first telescopic segment 111 and the second telescopic segment 121. The first telescopic segment 111 is connected to one end of the telescopic connecting rod 13 and can extend and retract relative to the telescopic connecting rod 13 along the length direction of the telescopic connecting rod 13. The second telescopic segment 121 is connected to the other end of the telescopic connecting rod 13 and can extend and retract relative to the telescopic connecting rod 13 along the length direction of the telescopic connecting rod 13.

[0037] In this embodiment, the first telescopic segment 111 and the second telescopic segment 121 are telescopically connected to both ends of the telescopic connecting rod 13 and can extend and retract relative to the length of the telescopic connecting rod 13. This provides a stable telescopic guide structure for the first telescopic segment 111 and the second telescopic segment 121, allowing them to extend and retract more smoothly relative to each other when adjusting the size of the cavity 40. Users can more easily adjust the size according to their waist width, achieving more precise adjustments and ensuring a good fit between the lumbar support component 10 and the waist, thus improving comfort and convenience.

[0038] Optionally, when the telescopic connecting rod 13 is connected between the first telescopic segment 111 and the second telescopic segment 121 in the embodiments of this application, since both the first telescopic segment 111 and the second telescopic segment 121 are tubular structures, the connection between the first telescopic segment 111 and the telescopic connecting rod 13 can be such that the first telescopic segment 111 is telescopically embedded in the telescopic connecting rod 13, or the first telescopic segment 111 is sleeved on the telescopic connecting rod 13; similarly, the connection between the second telescopic segment 121 and the telescopic connecting rod 13 can be such that the second telescopic segment 121 is telescopically embedded in the telescopic connecting rod 13, or the second telescopic segment 121 is sleeved on the telescopic connecting rod 13.

[0039] Optionally, when the first telescopic segment 111 and the second telescopic segment 121 are directly telescopically connected in the embodiments of this application, that is, when the telescopic connecting rod 13 is not provided, since both the first telescopic segment 111 and the second telescopic segment 121 are tubular structures, the connection method between the first telescopic segment 111 and the second telescopic segment 121 can be set such that the first telescopic segment 111 is sleeved on the second telescopic segment 121, or the second telescopic segment 121 is sleeved on the first telescopic segment 111, so as to realize the mutual telescopic extension and retraction between the first telescopic segment 111 and the second telescopic segment 121.

[0040] Furthermore, a first locking mechanism 131 is provided between the first telescopic section 111 and the telescopic connecting rod 13, and a second locking mechanism 132 is provided between the second telescopic section 121 and the telescopic connecting rod 13. Thus, the first locking mechanism 131 and the second locking mechanism 132 can lock the telescopic movement of the telescopic adjustment structure. Specifically, the first locking mechanism 131 can lock the telescopic movement between the first telescopic section 111 and the telescopic connecting rod 13, and the second locking mechanism 132 can lock the telescopic movement between the second telescopic section 121 and the telescopic connecting rod 13. This ensures that the size of the cavity 40 adjusted by the telescopic adjustment mechanism remains fixed, preventing changes in the size of the cavity 40 due to free expansion and contraction under external force. This allows the lumbar support assembly 10 to be securely fastened to the user's waist, improving the reliability of the walking aid device in this embodiment.

[0041] Specifically, in this embodiment, both the first locking mechanism 131 and the second locking mechanism 132 include a locking sleeve and a locking buckle disposed on the locking sleeve. The connection between the first telescopic section 111 and the telescopic connecting rod 13 and the connection between the second telescopic section 121 and the telescopic connecting rod 13 are fitted with locking sleeves. The locking buckle has a locking position that causes the locking sleeve to retract inward and a non-locking position that causes the locking sleeve to expand outward.

[0042] Understandably, when the size of the cavity 40 needs to be adjusted, the locking buckles on at least one of the first locking mechanism 131 and the second locking mechanism 132 are in the unlocked position, allowing at least one locking sleeve to expand outward to adjust the size of the cavity 40. When the size of the cavity 40 is adjusted and the lumbar support assembly 10 needs to be fixed to the waist, the locking buckles on both the first locking mechanism 131 and the second locking mechanism 132 are in the locked position, causing both locking sleeves to retract. One locking sleeve retracts and abuts against the first telescopic section 111 and the telescopic connecting rod 13, while the other locking sleeve retracts and abuts against the second telescopic section 121 and the telescopic connecting rod 13. In this way, neither the first telescopic section 111 nor the second telescopic section 121 will extend or retract relative to the telescopic connecting rod 13, preventing the walking aid from failing to be fixed to the user's waist due to changes in the size of the cavity 40 during use, thus improving the reliability and safety of the walking aid.

[0043] Preferably, a first guide groove (not shown in the figure) extending along the length direction of the telescopic connecting rod 13 is provided on one of the first telescopic section 111 and the telescopic connecting rod 13, and a first guide structure 113 cooperating with the first guide groove is provided on the other.

[0044] In this embodiment, the first telescopic section 111 and the telescopic connecting rod 13 are connected by the first guide groove and the first guide structure 113, which limits the relative movement direction of the first telescopic section 111 and the telescopic connecting rod 13. They can only move along the length direction of the telescopic connecting rod 13 and cannot be laterally offset, twisted or misaligned, which improves the fit and fixation effect between the arc-shaped waist support component 10 and the user's waist.

[0045] Preferably, a second guide groove 133 extending along the length direction of the telescopic connecting rod 13 is provided on one of the second telescopic section 121 and the telescopic connecting rod 13, and a second guide structure 123 cooperating with the second guide groove 133 is provided on the other.

[0046] In this embodiment, the second telescopic section 121 and the telescopic connecting rod 13 are connected by the second guide groove 133 and the second guide structure 123. At least a portion of the second guide structure 123 is located within the second guide groove 133, which limits the relative movement direction of the second telescopic section 121 and the telescopic connecting rod 13. The movement can only be along the length direction of the telescopic connecting rod 13, and there is no possibility of lateral offset, torsion or misalignment. This improves the fit and fixation effect between the arc-shaped waist support component 10 and the user's waist.

[0047] Preferably, in this embodiment, both the first guide structure 113 and the second guide structure 123 adopt the following... Figure 2The detachable stud structure shown improves the production and assembly efficiency of the waist support assembly 10, avoiding the need for precise alignment assembly required by using an integrated guide structure.

[0048] Furthermore, the cross-sections of the first telescopic rod 11 and the second telescopic rod 12 are elliptical, flat circular, or polygonal. By setting the cross-sections of the first telescopic rod 11 and the second telescopic rod 12 to elliptical, flat circular, or polygonal, the wearing comfort is improved by adapting to the contours of the human waist and increasing the contact area; it also utilizes the mechanical properties of non-circular cross-sections to enhance bending and torsional resistance while maintaining a lightweight design, extending the service life of the lumbar support component 10; and it can also help limit the direction of rod movement, preventing jamming or misalignment during telescopic adjustment, ensuring the accuracy of cavity fitting and the stability of use.

[0049] Furthermore, the drive assembly 20 includes a drive member 21 and a transmission member 22. The transmission member 22 is connected to the drive member 21 and can rotate in a first direction under the drive of the drive member 21. The transmission member 22 is connected to the leg support assembly 30 to drive the leg support assembly 30 to rotate in the first direction.

[0050] In this embodiment, the driving component 21 is a motor, and the transmission component 22 is a rotating disk. The rotating disk is fixed on the output shaft of the motor. When the output shaft of the motor rotates, it drives the rotating disk to rotate in the first direction. Since the leg support component 30 is connected to the rotating disk, the leg support component 30 will also rotate in the first direction along with the rotating disk, ensuring that the direction of assistance is consistent with the human walking posture and effectively assisting the human body in completing the leg lifting and retraction movements. The driving method of the motor and the rotating disk can reduce the adaptation difficulty of directly connecting the driving component 21 to the leg support component 30, and can optimize the power transmission efficiency through the transmission component 22, reduce power loss, and improve the assistance stability and practicality of the walking aid device.

[0051] Understandably, when the walking aid device in this embodiment is fitted to the user's body, the drive component 20 is located at the user's hip joint, and the motor is coaxially set with the user's hip joint. This maximizes the fit with the physiological mechanism of human walking. The motor power can be directly transmitted to the leg support component 30 along the natural rotation axis of the hip joint, avoiding additional torque caused by the offset of the power transmission axis, reducing the pulling or squeezing of the hip joint, and reducing physical discomfort and potential injury risks during use. At the same time, the coaxial setting makes the motor drive direction completely consistent with the natural movement trajectory of the human body when lifting and retracting the leg. The assistive movement is more in line with the normal gait, improving walking coordination and naturalness, avoiding the stuttering or stiffness of the assistive movement being disconnected from the body movement, and further ensuring the walking aid effect and safety of use.

[0052] Preferably, the drive assembly 20 further includes a motor housing 23, and the drive component 21 and the transmission component 22 are both disposed inside the motor housing 23 to prevent external contaminants from affecting the driving effect of the drive assembly 20, ensuring the smoothness of the motor driving the rotating disk and improving the user experience.

[0053] Furthermore, the leg support assembly 30 is provided with a leg support member 31 and a leg fixing member 32. The leg support member 31 is configured as a strip-shaped arc structure that cooperates with the user's leg. One end of the leg support member 31 is rotatably connected to the transmission member 22 and can rotate relative to the transmission member 22 in a second direction. The other end of the leg support member 31 is fixedly connected to the leg fixing member 32.

[0054] In this embodiment, the leg support 31 is configured as a strip-shaped, arc-shaped structure, which not only better conforms to the hip joint and thigh of the human body to improve user comfort during movement, but also optimizes the weight of the leg support assembly 30, improving the practicality of the walking aid device. One end of the leg support 31 is connected to the transmission component 22 and can rotate relative to the transmission component 22 in a second direction, which is the direction in which the leg moves to the left and right sides of the human body. Thus, combined with the rotation of the leg support assembly 30 in the first direction, multiple degrees of freedom of the leg support assembly 30 can be achieved, ensuring that the leg support assembly 30 does not affect the free movement of the leg, thereby improving the reliability and practicality of the walking aid device. (Reference) Figure 3 As shown, the leg support component 30 can move relative to the drive component 20 in the second direction, allowing the leg support component 30 to be folded inwards for better storage when the walking aid is not in use, thus improving the convenience of the walking aid. The other end of the strip-shaped, arc-shaped leg support component 31 is connected to the leg fixing component 32, which is used to fix the support component to the user's leg to ensure the stability of the support component and reliably drive the user's leg movement.

[0055] Preferably, in this embodiment, the leg fixation member 32 is a bandage. The bandage can better secure the user's leg without causing injury. The bandage is provided with a Velcro structure or a D-ring structure so that the bandage can be more conveniently and reliably fixed to the user's leg, and is easier to remove when needed, thus improving the ease of use of the walking aid device.

[0056] Furthermore, the walking aid also includes an auxiliary fixing component 50, which includes a waist belt 51 and a shoulder strap 52. The waist belt 51 is disposed on the inner side of the arc-shaped structure and is fixedly connected to the arc-shaped structure, and the shoulder strap 52 is fixedly connected to the waist belt 51.

[0057] In this embodiment, the waist belt 51 is a ring structure. The waist belt 51 is fixed to the inner side of the arc-shaped waist support component 10 by screws or bolts. The waist belt 51 is fixedly connected to the shoulder strap 52. When in use, the waist belt 51 is tied around the user's waist and the shoulder strap 52 is fixed to the user's shoulders. This can improve the fixation effect of the walking aid device and avoid the situation where the waist support component 10 and the leg support component 30 may fall off when only used. It also avoids the situation where the walking aid device detaches from the user's body during the use of the walking aid device in this embodiment, which may pose a certain safety hazard, and improves the safety of the walking aid device.

[0058] Preferably, such as Figure 4 As shown, in this embodiment, the waist belt 51 is fixed to the user's waist by the first pressing buckle 511 structure. The first pressing buckle 511 can be unlocked by pressing, making the assembly or disassembly of the waist belt 51 with the user's body more convenient and quick, thus improving the ease of use of the walking aid device in this embodiment.

[0059] Preferably, the shoulder straps 52 on both sides of the user's body are fixedly connected by a second press-fit buckle 521. When the second press-fit buckle 521 is locked, the shoulder straps 52 on both sides of the user's body will not detach from the user's shoulders, improving the fixing effect of the shoulder straps 52. The second press-fit buckle 521 can be unlocked by pressing, making the assembly or disassembly of the shoulder straps 52 to the user's body more convenient and quick, improving the ease of use of the walking aid device in this embodiment.

[0060] Furthermore, the walking aid also includes a control component 60, which is electrically connected to the drive component 20 for at least controlling the operation of the drive component 20. The control component 60 is disposed between the arc-shaped structure and the waist belt 51 such that there is a predetermined gap between the arc-shaped structure and the waist belt 51.

[0061] In this embodiment, the control component 60 controls the movement of the drive component 20 to ensure that the drive component 20 can follow the user's leg movements. The drive component 20 is equipped with sensors capable of detecting the angle and angular velocity of the leg support component 30, and the control component 60 is equipped with a 9-axis IMU sensor (three-axis accelerometer sensor + three-axis gyroscope sensor + three-axis magnetometer sensor). The control component 60 can perform gait phase estimation and gait classification based on the data detected by the sensors on the drive component 20 and the data collected by the 9-axis IMU sensor, enabling it to recognize various human behaviors and improving the effectiveness of the walking assistance device.

[0062] Understandably, in this embodiment, by placing the control component 60 between the waist support component 10 and the waist belt 51 in the arc-shaped structure, a predetermined gap is created between the waist support component 10 and the waist belt 51. This avoids the waist support component 10 directly contacting the waist belt 51 or the user's back, which could cause the telescopic adjustment mechanism to be jammed by the waist belt 51 or the user's clothing. This ensures the telescopic adjustment mechanism's telescopic effect and allows the cavity 40 to better fit the user's waist, thus improving the reliability of the walking aid device in this embodiment.

[0063] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0064] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0065] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A walking aid device, characterized in that, include: A lumbar support component (10) is configured as an arc-shaped structure, the arc-shaped structure surrounds a cavity (40) for fitting with the user's waist, and the arc-shaped structure is provided with a telescopic adjustment mechanism for adjusting the size of the cavity (40). A drive assembly (20) is fixedly connected to the arc-shaped structure; A leg support assembly (30) is configured as a strip structure. One end of the strip structure is connected to the drive assembly (20) and can rotate in a first direction under the drive of the drive assembly (20). The other end of the strip structure is used to fix it to the user's leg.

2. The walking aid device according to claim 1, characterized in that, The waist support assembly (10) includes a first telescopic rod (11) and a second telescopic rod (12). The first telescopic rod (11) includes a first telescopic section (111) and a first arc-shaped section (112). The second telescopic rod (12) includes a second telescopic section (121) and a second arc-shaped section (122). The first telescopic section (111) and the second telescopic section (121) are telescopically connected to form the telescopic adjustment mechanism.

3. The walking aid device according to claim 2, characterized in that, A telescopic connecting rod (13) is provided between the first telescopic section (111) and the second telescopic section (121). The first telescopic section (111) is connected to one end of the telescopic connecting rod (13) and can extend and retract relative to the telescopic connecting rod (13) along the length direction of the telescopic connecting rod (13). The second telescopic section (121) is connected to the other end of the telescopic connecting rod (13) and can extend and retract relative to the telescopic connecting rod (13) along the length direction of the telescopic connecting rod (13).

4. The walking aid device according to claim 3, characterized in that, A first locking mechanism (131) is provided between the first telescopic section (111) and the telescopic connecting rod (13), and a second locking mechanism (132) is provided between the second telescopic section (121) and the telescopic connecting rod (13); Both the first locking mechanism (131) and the second locking mechanism (132) include a locking sleeve and a locking buckle disposed on the locking sleeve. The locking sleeve is sleeved at the connection between the first telescopic section (111) and the telescopic connecting rod (13) and at the connection between the second telescopic section (121) and the telescopic connecting rod (13). The locking buckle has a locking position that causes the locking sleeve to retract inward and a non-locking position that causes the locking sleeve to expand outward.

5. The walking aid device according to claim 3, characterized in that, One of the first telescopic section (111) and the telescopic connecting rod (13) is provided with a first guide groove extending along the length direction of the telescopic connecting rod (13), and the other of the two is provided with a first guide structure (113) that cooperates with the first guide groove; and / or, The second telescopic section (121) and the telescopic connecting rod (13) are provided with a second guide groove (133) extending along the length direction of the telescopic connecting rod (13), and the other one is provided with a second guide structure (123) that cooperates with the second guide groove (133).

6. The walking aid device according to any one of claims 2 to 5, characterized in that, The cross-section of the first telescopic rod (11) and the cross-section of the second telescopic rod (12) are elliptical, flat circular or polygonal.

7. The walking aid device according to claim 1, characterized in that, The drive assembly (20) includes a drive member (21) and a transmission member (22). The transmission member (22) is connected to the drive member (21) and can rotate in a first direction under the drive of the drive member (21). The transmission member (22) is connected to the leg support assembly (30) to drive the leg support assembly (30) to rotate in the first direction.

8. The walking aid device according to claim 7, characterized in that, The leg support assembly (30) is provided with a leg support member (31) and a leg fixing member (32). The leg support member (31) is configured as a strip-shaped arc structure that cooperates with the user's leg. One end of the leg support member (31) is rotatably connected to the transmission member (22) and can rotate relative to the transmission member (22) in a second direction. The other end of the leg support member (31) is fixedly connected to the leg fixing member (32).

9. The walking aid device according to claim 1, characterized in that, The walking aid also includes an auxiliary fixing component (50), which includes a waist belt (51) and a shoulder strap (52). The waist belt (51) is disposed on the inner side of the arc-shaped structure and is fixedly connected to the arc-shaped structure. The shoulder strap (52) is fixedly connected to the waist belt (51).

10. The walking aid device according to claim 9, characterized in that, The walking aid also includes a control component (60) electrically connected to the drive component (20) for at least controlling the operation of the drive component (20), the control component (60) being disposed between the arcuate structure and the waist belt (51) such that there is a predetermined gap between the arcuate structure and the waist belt (51).

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