Walking assistance robot

Abstract

The present disclosure belongs to the technical field of human body assistance. Provided is a walking assistance robot. The walking assistance robot comprises a back rod (1), two leg driving assemblies (2), two first limiting assemblies (3) and two second limiting members (4), wherein each leg driving assembly (2) comprises an adjusting rod (21); the back rod (1) comprises a middle section (11) and two side sections (12), the inner diameter of each side section (12) being smaller than that of the middle section (11); the two adjusting rods (21) are respectively slidably connected to the two side sections (12), and a gap (110) is provided between each adjusting rod (21) and an inner wall of the middle section (11); the two first limiting assemblies (3) are respectively connected to ends of the two adjusting rods (21) located at the middle section (11); and the two second limiting members (4) are fixed to the middle section (11), and the two first limiting assemblies (3) are positioned between the two second limiting members (4).

Description

Walking assistance robot

[0001] The present disclosure claims priority to the Chinese patent application No. 202410792366.0, filed on June 18, 2024, and entitled "Walking assistance robot", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the field of human assistance technology, in particular to a walking assistance robot. BACKGROUND

[0003] The walking assistance robot is commonly applied to walking and running scenes in medical rehabilitation, industrial safety and outdoor tourism, and can provide assistance for the user's getting up and walking. The walking assistance robot includes a back rod and two leg driving assemblies located on both sides of the back rod, and the two leg driving assemblies are respectively used to drive the left leg and the right leg.

[0004] SUMMARY

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

[0006] The present disclosure provides a walking assistance robot. The walking assistance robot includes a back rod, two leg driving assemblies, two first limiting assemblies and two second limiting members.

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

[0008] Each leg driving assembly includes a adjusting rod, a hip joint motor and a leg rod connected in sequence, and the end of each adjusting rod away from the hip joint motor is located inside the middle section. There is a gap between the inner wall of the middle section and the outer wall of the adjusting rod, and the inner wall of the edge section and the outer wall of the adjusting rod are in sliding fit.

[0009] The two first limiting assemblies are respectively connected with the ends of the two adjusting rods away from the hip joint motors, and part of the first limiting assembly is located in the gap.

[0010] The two second limiting members are connected with the middle section and located in the gap, and the two first limiting assemblies are located between the two second limiting members. The two second limiting members are respectively located on the outward sliding path of the two first limiting assemblies. BRIEF DESCRIPTION OF DRAWINGS

[0011] FIG. 1 is a schematic view of a walking assistance robot according to an embodiment of the present disclosure;

[0012] Fig. 2 is a schematic view of a back rod according to an embodiment of the present disclosure;

[0013] Fig. 3 is a schematic view of an adjusting rod and a back rod according to an embodiment of the present disclosure;

[0014] Fig. 4 is a schematic view of another adjusting rod and a back rod according to an embodiment of the present disclosure;

[0015] Fig. 5 is a schematic view of an adjusting rod and a limiting assembly according to an embodiment of the present disclosure;

[0016] Fig. 6 is a partial enlarged view of the portion framed in Fig. 5;

[0017] Fig. 7 is a schematic view of a limiting principle of a first limiting assembly and a second limiting member according to an embodiment of the present disclosure;

[0018] Fig. 8 is a schematic view of a first limiting assembly according to an embodiment of the present disclosure;

[0019] Fig. 9 is a schematic view of a waistband fixing member and a battery pack according to an embodiment of the present disclosure;

[0020] Fig. 10 is a schematic view of a back rod, an adjusting rod and a bottom shell according to an embodiment of the present disclosure;

[0021] Fig. 11 is an exploded view of a waistband fixing member according to an embodiment of the present disclosure;

[0022] Fig. 12 is a schematic view of a back rod, an adjusting rod and a wire protection sleeve according to an embodiment of the present disclosure;

[0023] Fig. 13 is a schematic view of relative positions of a back rod, an adjusting rod and a wire protection sleeve according to an embodiment of the present disclosure;

[0024] Fig. 14 is a schematic view of relative positions of a wire protection sleeve and an adjusting rod according to an embodiment of the present disclosure;

[0025] Fig. 15 is a schematic view of a wire protection sleeve according to an embodiment of the present disclosure;

[0026] Fig. 16 is a schematic view of another wire protection sleeve according to an embodiment of the present disclosure;

[0027] Fig. 17 is a schematic view of a battery pack according to an embodiment of the present disclosure;

[0028] Fig. 18 is a schematic view of a waistband fixing member according to an embodiment of the present disclosure;

[0029] Fig. 19 is a schematic view of a waistband fixing member and a battery pack according to an embodiment of the present disclosure;

[0030] Fig. 20 is a schematic view of a buckle according to an embodiment of the present disclosure;

[0031] FIG. 21 is a sectional view of a buckle according to an embodiment of the present disclosure;

[0032] FIG. 22 is a schematic view of a connection manner of an adjusting rod and a stator according to an embodiment of the present disclosure;

[0033] FIG. 23 is a schematic view of a connection manner of an adjusting rod and a stator according to an embodiment of the present disclosure;

[0034] FIG. 24 is a schematic view of a connection manner of a rotor and a leg rod according to an embodiment of the present disclosure;

[0035] FIG. 25 is a schematic view of a hinge mechanism according to an embodiment of the present disclosure;

[0036] FIG. 26 is a schematic view of a leg strap fixing assembly and a leg rod according to an embodiment of the present disclosure;

[0037] FIG. 27 is a schematic view of a track segment according to an embodiment of the present disclosure;

[0038] FIG. 28 is a schematic view of a leg strap fixing assembly according to an embodiment of the present disclosure;

[0039] FIG. 29 is a dimensional parameter diagram of a back rod and an adjusting rod according to an embodiment of the present disclosure;

[0040] FIG. 30 is a schematic view of an adjusting process of a walking assistance robot according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] The walking assistance robot is generally applied to walking and running scenes in medical rehabilitation, industrial safety, and outdoor tourism, and can provide assistance for the user to get up and walk. The walking assistance robot includes a back rod and two leg driving assemblies located on both sides of the back rod, and the two leg driving assemblies are respectively used to drive a left leg and a right leg.

[0042] In the related art, in order to make the walking assistance robot applicable to users with different body shapes, the leg driving assemblies are in sliding connection with the back rod, and the distance between the two leg driving assemblies can be adjusted by sliding the two leg driving assemblies.

[0043] However, during the sliding of the leg driving assemblies by the user, if the sliding distance of the leg driving assemblies is too long, the leg driving assemblies will be detached from the back rod, which not only requires the user to spend time to reassemble the walking assistance robot, but also is likely to cause damage to the walking assistance robot. For example, some electric connection lines of the walking assistance robot are pulled off.

[0044] The embodiment of the present disclosure provides a walking-assisted robot. As shown in FIG. 1, the walking-assisted robot comprises a back rod 1 and two leg driving assemblies 2. Each of the leg driving assemblies 2 comprises, in sequence, an adjusting rod 21, a hip joint motor 22 and a leg rod 23. As shown in FIGS. 2-4, the back rod 1 encircles the two adjusting rods 21 and is in sliding connection with the two adjusting rods 21.

[0045] In addition, as shown in FIG. 1, the walking-assisted robot further comprises a waist belt fixing member 5, two waist supports 24 and two leg band fixing assemblies 26. The waist belt fixing member 5 is connected with the back rod 1. The two waist supports 24 are located at the sides of the two leg driving assemblies 2. The leg band fixing assemblies 26 are connected with the ends of the leg rods 23 away from the hip joint motors 22.

[0046] The waist belt fixing member 5 and the waist supports 24 are used for fixing a waist belt, the waist belt fixing member 5 fixes the back side of the waist belt, and the two waist supports 24 fix the sides of the waist belt. The leg band fixing assemblies 26 are used for fixing leg bands, and the leg bands are used for being wrapped around the legs of a user. After the waist belt and the leg bands are wrapped around the waist and the legs of the user respectively, the walking-assisted robot is worn on the human body.

[0047] After the walking-assisted robot is worn on the human body, the back rod 1 is located at the back side of the waist of the user, and the two leg driving assemblies 2 are respectively located at the left leg and the right leg of the human body. The hip joint motor 22 of the leg driving assembly 2 is opposite to the hip joint of the human body. The hip joint motor 22 drives the leg rod 23 to swing, and then the leg rod 23 drives the left thigh and the right thigh to swing, thereby providing assistance for the walking of the user.

[0048] In the walking-assisted robot provided by the embodiment of the present disclosure, the adjusting rods 21 of the two leg driving assemblies 2 are in sliding connection with the back rod 1. In this way, the user can change the distance between the two hip joint motors 22 by sliding the two adjusting rods 21, so that the walking-assisted robot can be adapted to users with different body widths.

[0049] During the process in which the user slides the adjusting rod 21, if the user slides the adjusting rod 21 outward by too large a distance, the adjusting rod 21 will be separated from the back rod 1. After the adjusting rod 21 is separated from the back rod 1, the user needs to reinsert the adjusting rod 21 into the inside of the back rod 1, which is tedious to operate. Moreover, after the adjusting rod 21 is separated from the back rod 1, some electric connection lines of the walking-assisted robot may be pulled off, causing damage to the walking-assisted robot.

[0050] To prevent the adjustment rod 21 from being separated from the back rod 1, in some examples, as shown in FIG. 2, the back rod 1 includes a middle section 11 and two side sections 12. The middle section 11 is located between the two side sections 12. The inner diameter of the middle section 11 is larger than the inner diameter of the side sections 12. As shown in FIGS. 3 and 4, the two adjustment rods 21 are located inside the middle section 11 away from the ends of the hip joint motors 22. There is a gap 110 (as shown in FIG. 7) between the inner wall of the middle section 11 and the outer wall of the adjustment rod 21, and the inner wall of the side section 12 is in sliding fit with the outer wall of the adjustment rod 21. The walking assistance robot further includes two first limiting assemblies 3 and two second limiting members 4. As shown in FIGS. 5-7, the two first limiting assemblies 3 are respectively connected to the ends of the two adjustment rods 21 located in the middle section 11, and part of the first limiting assembly 3 is located in the gap 110. As shown in FIG. 7, the two second limiting members 4 are connected to the middle section 11 and are located in the gap 110. The two first limiting assemblies 3 are located between the two second limiting members 4, and the two second limiting members 4 are respectively located on the sliding paths of the two first limiting assemblies 3.

[0051] In this way, during the process in which the user slides the adjustment rod 21 outward, when the adjustment rod 21 slides outward to the limit position, the first limiting assembly 3 will touch the second limiting member 4, so that the adjustment rod 21 cannot continue to slide, thereby preventing the adjustment rod 21 from being separated from the back rod 1.

[0052] It should be noted that, as shown in FIG. 6, since the first limiting assembly 3 protrudes relative to the adjustment rod 21, and the adjustment rod 21 is in sliding connection with the side section 12. Therefore, during the process in which the adjustment rod 21 is inserted into the side section 12, the adjustment rod 21 cannot be inserted into the inside of the side section 12 due to the interference between the first limiting assembly 3 and the side section 12.

[0053] To avoid the first limiting assembly 3 affecting the normal assembly of the adjustment rod 21, in some examples, the first limiting assembly 3 is fixedly connected to the adjustment rod 21 after the adjustment rod 21 is inserted into the inside of the back rod 1. For example, as shown in FIG. 2, the middle section 11 includes an opening (i.e., a first threading hole 114) at the middle position, and the first limiting assembly 3 can be installed through the opening after the adjustment rod 21 is inserted into the inside of the back rod 1.

[0054] In other examples, as shown in FIGS. 5, 6 and 8, the first limiting assembly 3 is arranged to be capable of being extended and retracted along the radial direction of the adjustment rod 21, that is, the first limiting assembly 3 has two states of protruding and not protruding relative to the adjustment rod 21. In this way, during the process in which the adjustment rod 21 is inserted into the back rod 1, the first limiting assembly 3 is arranged to not protrude relative to the adjustment rod 21, so as to avoid the interference between the first limiting assembly 3 and the side section 12. After the adjustment rod 21 is inserted into the inside of the back rod 1, the first limiting assembly 3 is arranged to protrude relative to the adjustment rod 21, so as to realize the limiting effect of the first limiting assembly 3.

[0055] As shown in FIGS. 5-8, the adjusting rod 21 is hollow, and the tube wall of the adjusting rod 21 includes an opening 2112 opposite to the middle section 11. The first limiting assembly 3 includes a bracket 31, a first limiting piece 32, and an elastic piece 33. The bracket 31 is fixed to the inner wall of the adjusting rod 21. The first limiting piece 32 is in sliding connection with the bracket 31, and the first limiting piece 32 includes a first limiting block 322. The elastic piece 33 drives the first limiting block 322 to extend into the gap 110 through the opening 2112. The elastic piece 33 is in abutment with the bracket 31 and the first limiting piece 32, respectively.

[0056] In this way, during the assembly of the walking-assisted robot, an assembler can apply pressure to the first limiting block 322, so that the first limiting block 322 is retracted (and the elastic piece 33 is compressed), and then the adjusting rod 21 can normally extend into the interior of the side section 12, and the first limiting block 322 remains in the retracted state under the extrusion of the inner wall of the side section 12. When the first limiting assembly 3 slides to the middle section 11, the first limiting block 322 loses the block of the inner wall of the side section 12, and then the first limiting block 322 extends into the gap 110 through the opening 2112 under the action of the elastic piece 33.

[0057] In some examples, as shown in FIG. 8, the first limiting piece 32 includes a limiting piece body 321 and the first limiting block 322, and the limiting piece body 321 is located on the inner side of the adjusting rod 21 and is in sliding connection with the bracket 31.

[0058] In some examples, as shown in FIG. 8, the bracket 31 includes a mounting column 311. The limiting piece body 321 includes a mounting sleeve 3211, and the mounting sleeve 3211 is sleeved on the mounting column 311 and is in sliding connection with the mounting column 311.

[0059] In some examples, as shown in FIG. 8, the bracket 31 includes an elastic piece mounting protrusion 312, and the limiting piece body 321 includes an elastic piece accommodating cavity 3212 opposite to the elastic piece mounting protrusion 312. One end of the elastic piece 33 is sleeved on the elastic piece mounting protrusion 312, and the other end extends into the interior of the elastic piece accommodating cavity 3212.

[0060] It should be noted that if the second limiting piece 4 has been installed in place before the adjusting rod 21 is inserted into the side section 12, the first limiting assembly 3 will also interfere with the second limiting piece 4 during the process of inserting the adjusting rod 21 into the side section 12. Since the second limiting piece 4 is located in the interior of the middle section 11, at this time, the user cannot manually apply pressure to the first limiting block 322 located in the interior of the middle section 11 to retract the first limiting block 322 from the opening 2112.

[0061] To avoid the interference between the second limiting member 4 and the first limiting assembly 3, which causes the adjusting rod 21 unable to extend into the inside of the middle section 11. In some examples, as shown in FIG. 8, the first limiting block 322 includes a slope 3221. The slope 3221 is located on the side of the first limiting block 322 away from the corresponding second limiting member 4. Wherein, the corresponding second limiting member 4 of the first limiting block 322 refers to the second limiting member 4 used to touch the first limiting block 322.

[0062] In this way, during the process of inserting the adjusting rod 21 into the inside of the edge section 12, the slope 3221 will first contact the end of the edge section 12, and under the drive of the edge section 12, the first limiting block 322 will be retracted, without the need for an assembler to manually press the first limiting block 322. After that, when the first limiting block 322 slides to the middle section 11, the first limiting block 322 will extend under the action of the elastic member 33. Then, when the slope 3221 contacts the second limiting member 4, the first limiting block 322 will retract under the action of the second limiting member 4, and smoothly pass through the second limiting member 4. Finally, after the first limiting block 322 passes through the second limiting member 4, the first limiting block 322 will extend under the action of the elastic member 33.

[0063] In some examples, as shown in FIG. 3 and FIG. 4, the adjusting rod 21 includes a strip-shaped groove 2111 extending along the length direction of the adjusting rod 21. The opening 2112 penetrates the groove bottom of the strip-shaped groove 2111, and the first limiting block 322 is located in the strip-shaped groove 2111. In addition, the second limiting member 4 also extends into the inside of the strip-shaped groove 2111.

[0064] Wherein, since the gap 110 between the groove bottom of the strip-shaped groove 2111 and the inner wall of the middle section 11 is large, the opening of the strip-shaped groove 2111 enables the size of the second limiting member 4 and the size of the first limiting block 322 protruding relative to the adjusting rod 21 to be larger, which improves the reliability of the second limiting member 4 touching the first limiting block 322.

[0065] In some examples, as shown in FIG. 2-FIG. 4, the inner wall of the edge section 12 includes a limiting strip 121 extending along the length direction of the edge section 12. The limiting strip 121 is located in the inside of the strip-shaped groove 2111. The length of the limiting strip 121 is smaller than the length of the strip-shaped groove 2111. Wherein, the limiting strip 121 and the strip-shaped groove 2111 cooperate to reduce the possibility of relative torsion of the adjusting rod 21 and the back rod 1, and improve the stability of the walking-assisted robot.

[0066] In some examples, the cross section of the limiting strip 121 and the strip-shaped groove 2111 is trapezoidal.

[0067] Next, the implementation of the second limiting member 4 is exemplarily described.

[0068] In some examples, as shown in FIG. 9, the waistband fixing member 5 includes two positioning buckles 511. As shown in FIG. 10 and FIG. 2, the tube wall of the middle section 11 includes two positioning holes 111, and the two positioning buckles 511 respectively extend into the two positioning holes 111.

[0069] In some examples, as shown in FIG. 9, the waistband fixing member 5 includes two positioning buckles 511. As shown in FIG. 10 and FIG. 2, the tube wall of the middle section 11 includes two positioning holes 111, and the two positioning buckles 511 respectively extend into the two positioning holes 111.

[0070] In some examples, as shown in FIG. 9, the waistband fixing member 5 includes two positioning buckles 511. As shown in FIG. 10 and FIG. 2, the tube wall of the middle section 11 includes two positioning holes 111, and the two positioning buckles 511 respectively extend into the two positioning holes 111.

[0071] In some examples, as shown in FIG. 9, the waistband fixing member 5 includes two positioning buckles 511. As shown in FIG. 10 and FIG. 2, the tube wall of the middle section 11 includes two positioning holes 111, and the two positioning buckles 511 respectively extend into the two positioning holes 111.

[0072] In some examples, as shown in FIG. 10 and FIG. 2, the middle section 11 includes two groups of first fixing holes 112, and the two groups of first fixing holes 112 are respectively close to the two ends of the middle section 11. As shown in FIG. 9 and FIG. 10, the waistband fixing member 5 includes two groups of third fixing holes 512, and the two groups of first fixing holes 112 are respectively opposite to the two groups of third fixing holes 512. A fixing member (such as a rivet) penetrates the third fixing hole 512 and the first fixing hole 112, and fixes and connects the waistband fixing member 5 and the middle section 11.

[0073] In some examples, as shown in FIG. 10, each group of first fixing holes 112 includes two first fixing holes 112, and each group of third fixing holes 512 includes two third fixing holes 512.

[0074] In some examples, as shown in FIG. 10 and FIG. 2, the middle section 11 includes two groups of second fixing holes 113, and each group of second fixing holes 113 includes two second fixing holes 113. The two second fixing holes 113 are arranged on the two sides of the strip-shaped groove 2111. As shown in FIG. 9 and FIG. 10, the waistband fixing member 5 includes two groups of fourth fixing holes 513, and the two groups of second fixing holes 113 are respectively opposite to the two groups of fourth fixing holes 513. A fixing member penetrates the second fixing hole 113 and the fourth fixing hole 513. The fixing member is a rivet or a screw.

[0075] In some examples, as shown in FIG. 10, the tube wall of the middle segment 11 towards the waist fixing member 5 comprises a plurality of hollow holes 115. The plurality of hollow holes 115 are shielded by the waist fixing member 5. In this way, on the one hand, the hollow holes 115 reduce the weight of the middle segment 11. On the other hand, by shielding the hollow holes 115 through the waist fixing member 5, it also avoids the external dirt entering the inside of the middle segment 11 through the hollow holes 115.

[0076] In some examples, as shown in FIG. 11, the inside of the waist fixing member 5 is integrated with a main control assembly 53, which is used to control the hip joint motor 22. For example, the waist fixing member 5 comprises a bottom shell 51, an upper cover 52 and the main control assembly 53. The bottom shell 51 is fixedly connected with the middle segment 11, and the bottom shell 51 and the upper cover 52 have a containing cavity therebetween, and the main control assembly 53 is located in the containing cavity. Among them, the main control assembly 53 is electrically connected with the hip joint motor 22 through an electric connection line, and the electric connection line comprises a power supply line and a control line. The bottom shell 51 and the upper cover 52 constitute a shell 50.

[0077] It should be noted that in some examples, the main control assembly 53 can also not be integrated in the waist fixing member 5. For example, the main control assembly 53 is located in a separate control assembly. The control assembly comprises a shell 50 and the main control assembly 53, and the main control assembly 53 is located in the inside of the shell 50. The shell 50 can be connected with the side of the middle segment 11 away from the waist fixing member 5.

[0078] In order to reduce the exposure of the electric connection line, in some examples, as shown in FIG. 10, the middle segment 11 comprises a first threading hole 114. The bottom shell 51 comprises a second threading hole 514, and the first threading hole 114 is opposite to the second threading hole 514. The electric connection line of the hip joint motor 22 passes through the adjusting rod 21, the back rod 1, the first threading hole 114 and the second threading hole 514 in sequence, and is electrically connected with the main control assembly 53. In this way, the electric connection line is hidden in the inside of the adjusting rod 21, the back rod 1 and the waist fixing member 5, and will not be exposed.

[0079] It should be noted that since the adjusting rod 21 will slide relative to the back rod 1, and during the sliding process of the adjusting rod 21 towards the inside of the back rod 1, the electric connection line will inevitably be wound. However, it is uncontrollable at which position of the electric connection line the winding occurs. If the winding position is completely located in the inside of the adjusting rod 21, then the electric connection line does not have the risk of breaking. However, if the winding position is located outside the adjusting rod 21, then the wound electric connection line can extend into the gap 110 between the adjusting rod 21 and the middle segment 11. Further, during the sliding process of the adjusting rod 21 relative to the middle segment 11, the electric connection line can be peeled off or even broken due to friction.

[0080] In order to avoid the breakage of the electric connection line, in some examples, the walking-assisted robot further comprises two wire protection sleeves 6, as shown in FIG. 12. As shown in FIGS. 12-16, each wire protection sleeve 6 comprises a fixed part 61 and at least one wire tube part 62. The fixed part 61 is located inside the middle section 11 and outside the adjusting rod 21 (as shown in FIGS. 13 and 14). The fixed part 61 is fixed with the middle section 11. At least a part of the wire tube part 62 is located inside the adjusting rod 21 and extends along the length direction of the adjusting rod 21. The electric connection line of the hip joint motor 22 passes through the wire tube part 62 and is fixed with the wire tube part 62. In this way, since the fixed part 61 is fixed with the middle section 11, the wire protection sleeve 6 will not slide during the sliding of the adjusting rod 21.

[0081] The technical scheme provided by the embodiments of the present disclosure can prevent the electric connection line from being wound in the wire protection sleeve 6 during the sliding of the adjusting rod 21, and only wound in the area between the end of the wire protection sleeve 6 and the hip joint motor 22, which is completely located inside the adjusting rod 21, so that the electric connection line will not enter the gap 110 between the adjusting rod 21 and the middle section 11 during the sliding of the adjusting rod 21, thereby improving the reliability of the electric connection line.

[0082] In this way, no matter where the adjusting rod 21 slides to, the adjusting rod 21 at least wraps a part of the wire tube part 62. In some examples, the length of the wire tube part 62 is substantially the same as the length of the sliding section 211 of the adjusting rod 21. For example, the length of the wire tube part 62 is greater than 80% of the length of the sliding section 211 of the adjusting rod 21. In this way, the sliding section 211 is used to slide with the side section 12. When the adjusting rod 21 is in the limit position of extending into the back rod 1, the sliding section 211 is completely located inside the back rod 1.

[0083] In some examples, as shown in FIG. 15, the fixed part 61 comprises two elastic arms 611, which are in a compressed state and abut against the inner wall of the middle section 11. In this way, during the installation of the wire protection sleeve 6, the user compresses the two elastic arms 611 of the fixed part 61 and makes the fixed part 61 extend into the back rod 1. When the fixed part 61 slides to the middle section 11, the two elastic arms 611 expand and abut against the inner wall of the middle section 11.

[0084] In some examples, the two elastic arms 611 are arranged on the two sides of the connecting line of the two second limiters 4, that is, as shown in FIG. 14, the two elastic arms 611 are located on the two sides of the strip-shaped groove 2111. In this way, during the installation of the wire protection sleeve 6, the two elastic arms 611 will not interfere with the second limiter 4, thereby ensuring the normal installation of the wire protection sleeve 6.

[0085] In order to facilitate the electrical connection between the electrical connection line and the main control assembly 53, the end of the electrical connection line comprises a terminal, and the size of the terminal is larger than the diameter of the electrical connection line. In addition, the wire tube part 62 needs to clamp the electrical connection line, so the inner diameter of the wire tube part 62 is smaller than the size of the terminal. In this way, the electrical connection line cannot pass through one end of the wire tube part 62 and enter the inside of the wire tube part 62. In some examples, as shown in FIGS. 15 and 16, the side wall of the wire tube part 62 comprises a strip-shaped opening 620, which penetrates the inner and outer sides of the tube wall of the wire tube part 62 and penetrates both ends of the wire tube part 62. The strip-shaped opening 620 is used for the electrical connection line to pass through, so that the electrical connection line extends into the inside of the wire tube part 62.

[0086] In some examples, as shown in FIGS. 15 and 16, the wire tube part 62 further comprises a second limiting block 621, which is connected to the inner wall of the strip-shaped opening 620 and located at one end of the strip-shaped opening 620 away from the fixed part 61. The second limiting block 621 extends towards the inside of the wire tube part 62. The second limiting block 621 is used to clamp the electrical connection line in the wire tube part 62. In this way, the reliability of the electrical connection line in the wire tube part 62 can be improved.

[0087] Generally, the hip joint motor 22 comprises three electrical connection lines, which are the positive power line, the negative power line and the control signal line. In some examples, each wire sleeve 6 comprises one wire tube part 62, and the three electrical connection lines are located in the one wire tube part 62.

[0088] In other examples, as shown in FIGS. 15 and 16, each wire sleeve 6 comprises two wire tube parts 62, which are the first wire tube part 62a and the second wire tube part 62b, and the pipe diameter of the first wire tube part 62a is smaller than that of the second wire tube part 62b. One of the three electrical connection lines is located in the first wire tube part 62a, and the other two electrical connection lines are located in the second wire tube part 62b. For example, the control signal line passes through the first wire tube part 62a, and the positive power line and the negative power line pass through the second wire tube part 62b.

[0089] In order to improve the endurance of the walking-assisted robot, in some examples, as shown in FIG. 9, the walking-assisted robot further comprises a battery pack 7, which is detachably connected with the waist belt fixing part 5 or a separate control assembly. The battery pack 7 is used to supply power to the main control assembly 53 in the waist belt fixing part 5 and to the two hip joint motors 22. By replacing the battery pack 7, the endurance time of the walking-assisted robot can be improved.

[0090] Next, the connection mode of the battery pack 7 with the waist belt fixing part 5 or the separate control assembly will be exemplarily described.

[0091] In some examples, as shown in FIG. 18, the shell 50 (such as the bottom shell 51) includes two insertion pins 515 and a locking strip 516, and the locking strip 516 includes a locking tongue hole 5161. As shown in FIG. 17, the battery pack 7 includes a battery shell 71, a first button 72, a locking tongue 73, and a battery inside the battery shell 71. The battery shell 71 includes two insertion pin grooves 711 and a locking strip hole 712. The first button 72 is located on the battery shell 51 and is linked with the locking tongue 73. As shown in FIG. 19, the two insertion pins 515 are respectively inserted into the two insertion pin grooves 711, the locking strip 516 is inserted into the locking strip hole 712, and the locking tongue 73 passes through the locking tongue hole 5161. When the first button 72 is pressed, the locking tongue 73 is separated from the locking tongue hole 5161. In addition, the battery pack 7 also includes a resilient member (not shown in the figure), and when the first button 72 is released, the locking tongue 73 is extended into the locking tongue hole 5161 under the action of the resilient member.

[0092] When the user needs to fix the battery pack 7 with the waistband fixing member 5, the user presses the first button 72, and the two insertion pins 515 are respectively inserted into the two insertion pin grooves 711, and the locking strip 516 is inserted into the locking strip hole 712. Then, the user releases the first button 72, and the locking tongue 73 is extended into the locking tongue hole 5161 under the action of the resilient member, and the battery pack 7 and the waistband fixing member 5 are locked together. When the user needs to disassemble the battery pack 7, the user presses the first button 72, and the locking tongue 73 is retracted from the locking tongue hole 5161, and the battery pack 7 and the waistband fixing member 5 are unlocked.

[0093] In some examples, as shown in FIG. 18, the waistband fixing member 5 also includes a first electrical connector 54, and the first electrical connector 54 is located on the butt joint surface of the waistband fixing member 5 for butt joint with the battery pack 7. As shown in FIG. 17, the battery pack 7 also includes a second electrical connector 74, and the second electrical connector 74 is located on the butt joint surface of the battery pack 7 for butt joint with the waistband fixing member 5. When the battery pack 7 is fixedly connected with the waistband fixing member 5, the first electrical connector 54 is butt joint with the second electrical connector 74, and then the battery pack 7 supplies power to the master control assembly 53 through the second electrical connector 74 and the first electrical connector 54.

[0094] Next, the fixing mode of the adjustment rod 21 and the edge segment 12 after the adjustment rod 21 is slid is exemplarily described.

[0095] In some examples, as shown in FIG. 1, the walking-assisted robot also includes two buckles 8, and the two buckles 8 respectively tightly clamp the two edge segments 12. Thus, the two edge segments 12 tightly press the two adjustment rods 21, and the fixing of the two adjustment rods 21 and the back rod 1 is realized. When the user releases the two buckles 8, the edge segment 12 no longer tightly clamps the adjustment rod 21, and the user can slide the adjustment rod 21.

[0096] In some examples, as shown in FIG. 2, each of the edge segments 12 includes at least two strip-shaped slots 122 extending along the length direction. The strip-shaped slots 122 are formed through the tube wall of the edge segment 12, and extend along the length direction of the edge segment 12. The strip-shaped slots 122 increase the ability of the edge segment 12 to be folded, and facilitate the edge segment 12 to be tightened around the adjusting rod 21 under the action of the buckle 8.

[0097] In some examples, as shown in FIG. 2, a part of the strip-shaped slots 122 is located in the middle segment 11.

[0098] In some examples, as shown in FIGS. 20 and 21, the buckle 8 includes a clasp 81, a handle 82, a pull rod 83, a third pivot 84, a fourth pivot 85, and a fifth pivot 86. The clasp 81 is sleeved around the edge segment 12. The handle 82 is rotationally connected to the clasp 81 through the third pivot 84, one end of the pull rod 83 is rotationally connected to the clasp 81 through the fourth pivot 85, and the other end of the pull rod 83 is rotationally connected to the handle 82 through the fifth pivot 86. By rotating the handle 82, the distance between the third pivot 84 and the fourth pivot 85 can be changed, so that the clasp 81 can be tightened or loosened.

[0099] In some examples, as shown in FIG. 21, the pull rod 83 includes a strip-shaped hole 831, and the fourth pivot 85 is located in the strip-shaped hole 831. The strip-shaped hole 831 has an opening 830. An adjusting screw (not shown in the figure) can be inserted into the strip-shaped hole 831 through the opening 830 and abut against the fourth pivot 85. By rotating the adjusting screw, the position of the fourth pivot 85 in the strip-shaped hole 831 can be adjusted, and thus the tightness of the buckle 8 is adjusted.

[0100] It should be noted that, in addition to the buckle 8, other locking members can also be used to fix the edge segment 12 to the adjusting rod 21. For example, the edge segment 12 and the adjusting rod 21 are fixedly connected by screws. In this case, a plurality of screw holes are arranged on the adjusting rod 21 along the length direction, so that when the adjusting rod 21 is slid to different positions, the screws can pass through the adjusting rod 21 and fix the adjusting rod 21.

[0101] Next, the connection mode of each component included in the leg driving assembly 2 will be exemplarily described.

[0102] In some examples, as shown in FIGS. 22 and 23, the stator 221 of the hip joint motor 22 includes a fixed connection segment 2211, which is inserted into the end of the adjusting rod 21 located outside the back rod 1. For example, the fixed connection segment 2211 is fixedly connected to the inside of the adjusting rod 21 by adhesion.

[0103] In some examples, as shown in FIGS. 22 and 23, in order to improve the reliability of the connection between the stator 221 and the adjustment rod 21, the fixed connection section 2211 includes a first sub-section 2212 and a second sub-section 2213. The outer diameter of the first sub-section 2212 is smaller than that of the second sub-section 2213, and the first sub-section 2212 is inserted into the end of the adjustment rod 21 located outside the back rod 1. A first fixing member (such as a screw, not shown in the figure) passes through the waist support 24 and the second sub-section 2213, and a second fixing member (such as a screw, not shown in the figure) passes through the waist support 24, the adjustment rod 21 and the first sub-section 2212.

[0104] In this way, on the one hand, the waist support 24, the adjustment rod 21 and the fixed connection section 2211 form a stable connection, improving the reliability of the connection between the adjustment rod 21 and the fixed connection section 2211. On the other hand, since the waist support 24 is reused to improve the reliability of the connection between the adjustment rod 21 and the fixed connection section 2211 without adding new components, the number of components included in the leg driving assembly 2 is reduced, and the weight of the leg driving assembly 2 is reduced.

[0105] In some examples, as shown in FIG. 23, the second sub-section 2213 includes a fifth fixing hole 22131 for the first fixing member to pass through. The first sub-section 2212 includes a sixth fixing hole 22121, and the adjustment rod 21 includes a seventh fixing hole 212, the sixth fixing hole 22121 and the seventh fixing hole 212 are opposite and are used for the second fixing member to pass through.

[0106] In some examples, as shown in FIG. 23, the fifth fixing hole 22131, the sixth fixing hole 22121 and the seventh fixing hole 212 are at least two.

[0107] In some examples, the rotor 222 of the hip joint motor 22 is fixedly connected with the leg rod 23. When the rotor 222 rotates, the leg rod 23 is driven to swing, and the leg rod 23 in turn drives the user's left and right legs to swing. Moreover, the leg rod 23 is immediately driven to swing when the rotor 222 rotates, and the power assistance reaction is rapid.

[0108] In other examples, as shown in FIG. 24, the rotor 222 of the hip joint motor 22 is hinged with the leg rod 23, and the hinge axis is not parallel (i.e., intersects) with the rotation axis of the rotor 222. For example, the hinge axis of the rotor 222 and the leg rod 23 is perpendicular or approximately perpendicular to the rotation axis of the rotor 222. In this way, on the one hand, the rotor 222 can still drive the leg rod 23 to swing, and the power assistance reaction is still rapid. On the other hand, when the user wears the walking assistance robot, the leg rod 23 can rotate a certain angle in the coronal plane of the human body to adapt to the angle of the user's leg muscles, so that the user does not feel oppression or discomfort, and the user's wearing experience is improved.

[0109] In some examples, as shown in FIG. 24 and FIG. 25, the rotor 222 of the hip joint motor 22 includes a first hinged segment 2221. The first hinged segment 2221 includes two first sleeve portions 2222 coaxially and spacedly arranged. The leg bar 23 includes a second hinged segment 231 including a second sleeve portion 2311. The leg driving assembly 2 further includes a hinge mechanism 25 including two shaft sleeves 251 and a first rotating shaft 252. The two shaft sleeves 251 are respectively fixed to the interiors of the two first sleeve portions 2222, and the two ends of the first rotating shaft 252 are respectively rotationally connected with the two shaft sleeves 251. The second sleeve portion 2311 is sleeved on the first rotating shaft 252 and is located between the two first sleeve portions 2222. The second sleeve portion 2311 is fixed with the first rotating shaft 252.

[0110] In this way, when the leg bar 23 swings around the hinged axis, only the relative rotation of the first rotating shaft 252 and the shaft sleeve 251 occurs. Since the first rotating shaft 252 and the shaft sleeve 251 are facilitated to be machined with high precision, the gap between the first rotating shaft 252 and the shaft sleeve 251 can be made smaller, so that the swing of the leg bar 23 is more reliable. In addition, the problems of insufficient power output and slow power-assisted reaction are also solved.

[0111] In some examples, as shown in FIG. 25 and FIG. 24, the hinge mechanism 25 further includes a steel sleeve 253 and a locking screw (not shown in the figure). The steel sleeve 253 is sleeved on the first rotating shaft 252. The first rotating shaft 252 includes a locking surface 2521, the steel sleeve 253 includes a first locking hole 2531 opposite to the locking surface 2521. The second sleeve portion 2311 is sleeved on the steel sleeve 253, and the second sleeve portion 2311 includes a second locking hole 2312 opposite to the first locking hole 2531. The locking screw passes through the second locking hole 2312 and the first locking hole 2531 and abuts against the locking surface 2521. The locking surface 2521 is a flat surface (as shown in FIG. 25) or a concave surface to facilitate the abutment of the locking screw.

[0112] In this way, the second sleeve portion 2311 and the first rotating shaft 252 are fixed. By arranging the steel sleeve 253, the force receiving area of the second sleeve portion 2311 is increased, and the risk of damage to the second sleeve portion 2311 is reduced.

[0113] In some examples, the leg bar 23 includes a leg bar body 230 and the second hinged segment 231 (as shown in FIG. 24 and FIG. 26), and as shown in FIG. 26, the leg bar body 230 has an opening, and the second hinged segment 231 is inserted into the interior of the leg bar body 230 through the opening and is fixed by glue.

[0114] In some examples, as shown in FIG. 26, the leg band fixing assembly 26 includes a support 261 and a leg band fixing part 262. The support 261 is connected with the end of the leg bar 23 away from the hip joint motor 22. The leg band fixing part 262 is rotationally connected with the support 261, and the rotation axis is perpendicular to the extending direction of the leg bar 23. In this way, during the use of the walking assisting robot, the leg band fixing part 262 can rotate naturally in the sagittal plane of the human body to adapt to the angle of the user's leg muscles, so that the user does not feel oppression or discomfort, and the wearing experience of the user is improved.

[0115] In some examples, as shown in FIG. 26, the support 261 includes a rotation shaft hole 2610, and the axial direction of the rotation shaft hole 2610 is perpendicular to the extending direction of the leg bar 23. The leg band fixing part 262 includes an avoiding hole 2621 and a second rotation shaft 2622, and the two ends of the second rotation shaft 2622 are fixedly connected with the inside of the avoiding hole 2621, respectively. The avoiding hole 2621 is sleeved with the support 261, and the second rotation shaft 2622 is located in the rotation shaft hole 2610, so that the leg band fixing part 262 can rotate around the second rotation shaft 2622.

[0116] In some examples, the support 261 is fixedly connected with the leg bar 23.

[0117] In other examples, as shown in FIG. 26, the support 261 is slidingly connected with the leg bar 23, so that the user can adjust the position of the leg band fixing part 262 by sliding the support 261, so as to meet the length difference of the legs of different height groups, and improve the assisting comfort of the user during use.

[0118] In some examples, as shown in FIG. 27, the end of the leg bar 23 away from the hip joint motor 22 includes a track segment 232. The track segment 232 is fixedly connected with the leg bar body 230. The track segment 232 includes two first sliding bars 2321 and two rows of limiting bosses 2322. The length direction of the first sliding bar 2321 is perpendicular to the axial direction of the rotation shaft hole 2610, and the two rows of limiting bosses 2322 are located between the two first sliding bars 2321, and each row of limiting bosses 2322 limits a plurality of clamping grooves 2320. As shown in FIG. 28, the support 261 includes two second sliding bars 2611 and two second buttons 2612. The two second sliding bars 2611 are located outside the two first sliding bars 2321 and are slidingly connected with the two first sliding bars 2321. The two second buttons 2612 pass through the two second sliding bars 2611, respectively, and are clamped in the two flat clamping grooves 2320, respectively. When the second button 2612 is pressed, the second button 2612 is separated from the clamping groove 2320. In addition, the support 261 further includes an elastic member, which drives the second button 2612 to extend into the clamping groove 2320.

[0119] When the user needs to adjust the position of the leg strap fixing member 262, the user presses the two second buttons 2612 so that the second buttons 2612 are disengaged from the clamping grooves 2320. Then, the user slides the strap fixing member 262 to the target position, and releases the two second buttons 2612, so that the two second buttons 2612 are clamped in the other two clamping grooves 2320 under the action of the elastic members, and the support member 261 is fixed.

[0120] Next, the shape and related dimensions of the back rod 1 and the adjustment rod 21 are exemplarily described.

[0121] In some examples, the back rod 1 is straight. The adjustment rod 21 includes a sliding segment 211, which is in sliding connection with the edge segment 12, and the sliding segment 211 is straight. Then, when the two adjustment rods 21 are slid, the distance between the two hip joint motors 22 changes to adapt to users with different hip widths.

[0122] However, in general, the wider the hip width of a user, the thicker the body thickness. Then, if only the distance between the two hip joint motors 22 is adjusted, the hip joint motors 22 may not be better aligned with the hip joints of the user. Then, in some examples, as shown in FIGS. 1-4, the back rod 1 is in a circular arc shape, and the concave surface of the back rod 1 is attached to the waist belt fixing member 5. As shown in FIGS. 1, 2, 4 and 29, the sliding segment 211 is in a circular arc shape and is in sliding connection with the edge segment 12 of the back rod 1.

[0123] In this way, when the two adjustment rods 21 are slid outward, not only the distance between the two hip joint motors 22 increases (as shown in FIG. 29, the distance changes from a to A), but also the distance between the two hip joint motors 22 and the back rod 1 increases (as shown in FIG. 29, the distance changes from b to B). This is more in line with the laws of the human body, and the alignment accuracy of the two hip joint motors 22 with the hip joints of the human body is higher.

[0124] In some examples, as shown in FIG. 29, the radius of the back rod 1 and the radius R of the sliding segment 211 are greater than 300 mm and less than 1000 mm, for example, 450 mm. The corresponding central angle a of the back rod 1 is greater than 30° and less than 50°, and the corresponding central angle β of the sliding segment 211 is greater than 10° and less than 18°. Wherein, β refers to the central angle degree corresponding to the part of the sliding segment 211 located outside the back rod 1 when the sliding segment 211 is in the extreme state of extension.

[0125] In some examples, as shown in FIG. 29, the minimum value a of the interval between the two hip joint motors 22 is greater than 300 mm and less than 350 mm, and the maximum value A is greater than 450 mm and less than 500 mm. Let the line connecting the center points of the two hip joint motors 22 be the first reference line X, and let the second reference line Y be parallel to the first reference line X and tangent to the middle section 11. Then the minimum value b of the interval between the first reference line X and the second reference line Y is greater than 150 mm and less than 200 mm, and the maximum value B is greater than 300 mm and less than 400 mm.

[0126] When the user actually wears the walking assistance robot, the posture of the back rod 1 and the sliding section 211 is as shown in FIG. 30. Then the interval b or B between the first reference line X and the second reference line Y can be decomposed into the interval c or C in the vertical direction and the interval d or D in the horizontal direction. In this way, during the adjustment of the rod 21, in addition to the change in the interval between the two hip joint motors 22, the hip joint motors 22 also move forward and downward synchronously, which is more convenient for the hip joint motors 22 to align with the hip joints of the human body.

[0127] Next, the assembly sequence of the walking assistance robot is exemplarily described.

[0128] In the first step, the bottom shell 51 is fixedly connected with the middle section 11 of the back rod 1.

[0129] In the second step, two buckles 8 are respectively installed on the two edge sections 12 of the back rod 1.

[0130] In the third step, two groups of electric connection lines are respectively threaded through the first threading hole 114 of the middle section 11 and the second threading hole 514 of the bottom shell 51, and the two groups of electric connection lines are made to thread out from the two edge sections 12 of the back rod 1. The electric connection lines are electrically connected with the main control assembly 53, and the main control assembly 53 is fixedly connected with the bottom shell 51.

[0131] In the fourth step, the two groups of electric connection lines are respectively threaded through the wire pipe part 62 of the two wire protection sleeves 6. The two wire protection sleeves 6 are respectively inserted into the interior of the middle section 11 from the two ends of the back rod 1, and the fixed parts 61 of the two wire protection sleeves 6 are respectively fixed with the middle section 11.

[0132] In the fifth step, two first limiting assemblies 3 are respectively installed at the two ends of the two adjustment rods 21.

[0133] In the sixth step, the two groups of electric connection lines are respectively threaded through the two adjustment rods 21.

[0134] In the seventh step, the two adjustment rods 21 are respectively inserted into the two ends of the back rod 1, the two buckles 8 are buckled, and the two adjustment rods 21 are respectively fixed with the two edge sections 12 of the back rod 1.

[0135] Eighth, two hip joint motors 22 are assembled, and two groups of electric connection lines are respectively electrically connected with the two hip joint motors 22.

[0136] Ninth, the upper cover 52 is fixedly connected with the bottom shell 51.

[0137] Tenth, the waist support 24 is fixedly connected with the hip joint motor 22 and the adjusting rod 21.

[0138] Eleventh, the support piece 261 is fixedly connected with the leg rod 23.

[0139] Twelfth, the leg band fixing piece 262 is installed on the support piece 261.

[0140] Thirteenth, the leg rod 23 is hingedly connected with the hip joint motor 22 through the hinge mechanism 25.

[0141] The above only describes optional embodiments of the present disclosure, and is not used to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A walking assistive robot, characterized in that, The back rod (1), two leg driving assemblies (2), two first limiting assemblies (3) and two second limiting members (4) are included. The back rod (1) includes an intermediate section (11) and two edge sections (12), the inner diameter of the edge section (12) is smaller than that of the intermediate section (11); Each leg driving assembly (2) includes a regulating rod (21), a hip joint motor (22) and a leg rod (23) connected in sequence, one end of each regulating rod (21) away from the hip joint motor (22) is located inside the intermediate section (11), the inner wall of the intermediate section (11) and the outer wall of the regulating rod (21) have a gap (110), the inner wall of the edge section (12) and the outer wall of the regulating rod (21) are in sliding fit; The two first limiting assemblies (3) are respectively connected with two ends of the regulating rod (21) away from the hip joint motor (22), part of the first limiting assembly (3) is located in the gap (110); The two second limiting members (4) are connected with the intermediate section (11) and located in the gap (110), the two first limiting assemblies (3) are located between the two second limiting members (4), and the two second limiting members (4) are respectively located on the path of the outward sliding of the two first limiting assemblies (3).

2. The walking assist robot according to claim 1, characterized by, The regulating rod (21) is hollow, the pipe wall of the regulating rod (21) includes an opening (2112), the opening (2112) is opposite to the intermediate section (11); The first limiting assembly (3) includes a bracket (31), a first limiting member (32) and a resilient member (33), the bracket (31) is fixed to the inner wall of the regulating rod (21), the first limiting member (32) is in sliding connection with the bracket (31), the first limiting member (32) includes a first limiting block (322), and the resilient member (33) drives the first limiting block (322) to pass through the opening (2112) and extend into the gap (110).

3. The walking assist robot according to claim 2, characterized by, The side of each first limiting block (322) away from the corresponding second limiting member (4) is a bevel (3221); The bevel (3221) is configured to contact the corresponding second limiting member (4) during the process of inserting the regulating rod (21) into the back rod (1), so that the first limiting block (322) is retracted through the opening (2112) and passes over the corresponding second limiting member (4).

4. The walking assist robot according to claim 2, characterized by, The outer wall of the regulating rod (21) includes at least one strip-shaped groove (2111), the strip-shaped groove (2111) extends along the length direction of the regulating rod (21); The opening (2112) penetrates the groove bottom of one strip-shaped groove (2111), and the first limiting block (322) is located in the strip-shaped groove (2111); Part of the second limiting member (4) is located in the one strip-shaped groove (2111).

5. The walking assist robot according to claim 4, characterized by, The inner wall of each of the edge segments (12) comprises at least one limiting strip (121) extending along the length direction of the edge segment (12), each of the limiting strips (121) is in sliding fit with one of the strip-shaped grooves (2111), and the length of the limiting strip (121) is less than the length of the strip-shaped groove (2111).

6. The walking assist robot according to any one of claims 1 to 5, characterized in that, The walking-assisted robot further comprises a waistband fixing member (5). The waistband fixing member (5) comprises two positioning buckles (511), the pipe wall of the middle segment (11) comprises two positioning holes (111), and the two positioning buckles (511) respectively extend into the two positioning holes (111), wherein the two positioning buckles (511) form the two second limiting members (4). 7.The walking assist robot according to claim 6, wherein The pipe wall of the middle segment (11) towards the waistband fixing member (5) comprises a plurality of hollow holes (115) which are shielded by the waistband fixing member (5).

8. The walking assist robot according to any one of claims 1 to 5, characterized in that, The walking-assisted robot further comprises a control assembly, the control assembly comprises a shell (50) and a main control assembly (53), and the main control assembly (53) is located inside the shell (50). The shell (50) is fixedly connected with the middle segment (11), the middle segment (11) comprises a first threading hole (114), the shell comprises a second threading hole (514), and the first threading hole (114) is opposite to the second threading hole (514). The electric connection lines of the two hip joint motors (22) sequentially pass through the adjusting rod (21), the back rod (1), the first threading hole (114) and the second threading hole (514), and are electrically connected with the main control assembly (53). 9.The walking assist robot according to claim 8, wherein The walking-assisted robot further comprises two wire protection sleeves (6), each of the wire protection sleeves (6) comprises a fixed part (61) and at least one wire tube part (62). The fixed part (61) is located inside the middle segment (11) and outside the adjusting rod (21), and the fixed part (61) is fixed with the middle segment (11). The wire tube part (62) is at least partially located inside the adjusting rod (21) and extends along the length direction of the adjusting rod (21), the electric connection line of the hip joint motor (22) passes through the wire tube part (62) and is fixed with the wire tube part (62). 10.The walking assist robot according to claim 9, wherein The fixed part (61) comprises two elastic arms (611), the two elastic arms (611) are in a compressed state and abut against the inner wall of the middle segment (11). 11.The walking assist robot according to claim 10, wherein The two elastic arms (611) are arranged on two sides of the line connecting the two second limiting members (4). 12.The walking assist robot according to claim 9, wherein The side wall of each of the wire tube parts (62) comprises a strip-shaped opening (620) which penetrates the inner and outer sides of the pipe wall of the wire tube part (62) and penetrates the two ends of the wire tube part (62). 13.The walking assist robot according to claim 12, wherein Each of the wire tube portions (62) further comprises at least one second limiting block (621), one end of each of the second limiting blocks (621) is connected with the inner wall of the strip-shaped opening (620), and the other end extends towards the inside of the wire tube portion (62), and the second limiting block (621) is used for clamping the electric connecting wire in the wire tube portion (62). 14.The walking assist robot according to claim 9, wherein Each of the wire protection sleeves (6) comprises two wire tube portions (62), which are a first wire tube portion (62a) and a second wire tube portion (62b) respectively, and the pipe diameter of the first wire tube portion (62a) is smaller than that of the second wire tube portion (62b). Each of the hip joint motors (22) corresponds to three electric connecting wires, one of the three electric connecting wires passes through the first wire tube portion (62a), and the other two electric connecting wires pass through the second wire tube portion (62b). 15.The walking assist robot according to claim 14, wherein The three electric connecting wires comprise a positive power supply wire, a negative power supply wire and a control signal wire. The control signal wire passes through the first wire tube portion (62a), and the positive power supply wire and the negative power supply wire pass through the second wire tube portion (62b). 16.The walking assist robot according to claim 8, wherein The shell (50) comprises two latches (515) and a locking strip (516), and the locking strip (516) comprises a locking tongue hole (5161). The walking assisting robot further comprises a battery pack (7), the battery pack (7) comprises a battery shell (71), a first button (72), a locking tongue (73) and a battery located inside the battery shell (71), the battery shell (71) comprises two latch grooves (711) and a locking strip hole (712), the first button (72) is located in the shell (51) and is linked with the locking tongue (73). The two latches (515) are respectively inserted into the two latch grooves (711), the locking strip (516) is inserted into the locking strip hole (712), and the locking tongue (73) passes through the locking tongue hole (5161), wherein when the first button (72) is pressed, the locking tongue (73) is separated from the locking tongue hole (5161).

17. The walking assist robot according to any one of claims 1-5, wherein, The walking assisting robot further comprises two buckles (8), the two buckles (8) are respectively sleeved on two edge segments (12) of the back rod (1) and drive the two edge segments (12) to clamp the two adjusting rods (21).

18. The walking assist robot according to any one of claims 1-5, wherein, The stator (221) of the hip joint motor (22) comprises a fixed connection segment (2211), the fixed connection segment (2211) comprises a first subsegment (2212) and a second subsegment (2213), the outer diameter of the first subsegment (2212) is smaller than that of the second subsegment (2213), and the first subsegment (2212) is inserted into one end of the adjusting rod (21) located outside the back rod (1). Each of the leg driving assemblies (2) further comprises a waist support (24), at least one first fixing member penetrating through the waist support (24) and the second sub-section (2213), and at least one second fixing member penetrating through the waist support (24), the adjusting rod (21) and the first sub-section (2212).

19. The walking assist robot according to any one of claims 1-5, wherein, The rotor (222) of the hip joint motor (22) comprises two first sleeve portions (2222) coaxially and spacedly arranged, and the axial direction of the first sleeve portion (2222) intersects with the rotation axis of the rotor (222); The leg rod (23) comprises a second sleeve portion (2311) at one end close to the hip joint motor (22); Each of the leg driving assemblies (2) further comprises a hinge mechanism (25) comprising two shaft sleeves (251) and a first rotating shaft (252), the two shaft sleeves (251) are respectively fixed to the interiors of the two first sleeve portions (2222), the two ends of the first rotating shaft (252) are respectively rotationally connected with the two shaft sleeves (251), the second sleeve portion (2311) is sleeved with the first rotating shaft (252) and is fixed with the first rotating shaft (252).

20. The walking assist robot according to claim 19, wherein, Each of the hinge mechanisms (25) further comprises a steel sleeve (253) and a locking screw, the steel sleeve (253) is sleeved with the first rotating shaft (252), the first rotating shaft (252) comprises a locking surface (2521), the steel sleeve (253) comprises a first locking hole (2531), the first locking hole (2531) is opposite to the locking surface (2521); The second sleeve portion (2311) is sleeved with the steel sleeve (253), the second sleeve portion (2311) comprises a second locking hole (2312), the second locking hole (2312) is opposite to the first locking hole (2531), and the locking screw penetrates through the second locking hole (2312) and the first locking hole (2531) and abuts against the locking surface (2521).

21. The walking assist robot according to any one of claims 1-5, wherein, Each of the leg driving assemblies (2) further comprises a leg band fixing assembly (26), and each of the leg band fixing assemblies (26) comprises a support (261) and a leg band fixing member (262). The support (261) is connected with one end of the leg rod (23) away from the hip joint motor (22), and the support (261) comprises a rotating shaft hole (2610) intersecting with the extension direction of the leg rod (23) in the axial direction; The leg band fixing member (262) comprises an avoiding hole (2621) and a second rotating shaft (2622), the two ends of the second rotating shaft (2622) are respectively connected with the hole wall of the avoiding hole (2621), the avoiding hole (2621) is sleeved with the support (262), and the second rotating shaft (2622) is located in the rotating shaft hole (2610). ​ 22. The walking assist robot according to claim 21, wherein, The leg rod (23) comprises two first sliding strips (2321) and two rows of limiting bosses (2322) at one end away from the hip joint motor (22), the length direction of the first sliding strip (2321) is perpendicular to the axial direction of the rotating shaft hole (2610), and each row of limiting bosses (2322) is located between the two first sliding strips (2321) and limits a plurality of clamping grooves (2320). The support (261) comprises two second sliding strips (2611) and two second buttons (2612), the two second sliding strips (2611) are located outside the two first sliding strips (2321) and are in sliding connection with the two first sliding strips (2321), the two second buttons (2612) respectively penetrate through the two second sliding strips (2611) and are clamped in two flat clamping grooves (2320), and when the second button (2612) is pressed, the second button (2612) is separated from the clamping groove (2320).

23. The walking assist robot according to any one of claims 1-5, wherein, The back rod (1) is in the shape of a circular arc, and the concave surface of the back rod (1) is used to be attached to the waist belt fixing part (5). Each adjusting rod (21) comprises a sliding section (211), the sliding section (211) is in the shape of a circular arc, and the inner wall of the middle section (11) and the outer wall of the sliding section (211) have a gap (110).

24. The walking assist robot according to claim 23, wherein, The radius of the back rod (1) and the radius of the sliding section (211) are greater than 300 mm and less than 1000 mm. The corresponding central angle of the back rod (1) is greater than 30° and less than 50°, and the corresponding central angle of the sliding section (211) is greater than 10° and less than 18°.

25. The walking assist robot according to claim 23, wherein, The minimum value of the distance between the two hip joint motors (22) is greater than 300 mm and less than 350 mm, and the maximum value is greater than 450 mm and less than 500 mm. The line connecting the center points of the two hip joint motors (22) is the first reference line (X), the second reference line (Y) is parallel to the first reference line (X) and tangent to the middle section (11), and the minimum value of the distance between the first reference line (X) and the second reference line (Y) is greater than 150 mm and less than 200 mm, and the maximum value is greater than 300 mm and less than 400 mm.

Images