CN111840014A - Bionic movement walking-aid robot - Google Patents
Bionic movement walking-aid robot Download PDFInfo
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- CN111840014A CN111840014A CN201910949117.7A CN201910949117A CN111840014A CN 111840014 A CN111840014 A CN 111840014A CN 201910949117 A CN201910949117 A CN 201910949117A CN 111840014 A CN111840014 A CN 111840014A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 37
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 230000008093 supporting effect Effects 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 13
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 12
- 210000001624 hip Anatomy 0.000 claims description 5
- 230000003592 biomimetic effect Effects 0.000 claims description 3
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000005538 encapsulation Methods 0.000 claims description 2
- 241000380131 Ammophila arenaria Species 0.000 claims 8
- 239000002775 capsule Substances 0.000 claims 7
- 238000004806 packaging method and process Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 5
- 210000003141 lower extremity Anatomy 0.000 abstract description 4
- 210000004197 pelvis Anatomy 0.000 abstract description 4
- 238000012545 processing Methods 0.000 abstract description 2
- 210000000323 shoulder joint Anatomy 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a bionic movement walking-assisting robot which comprises an upper limb supporting device, a power device, a ladder-shaped supporting device, a rear-drive device, a chassis device and a front rudder device. The motion states of shoulder joints and pelvis and the supporting force required by armpits and crotch of a patient with lower limb disability in the stepping process are fully considered, the mechanical structure design is made based on ergonomics, the forward driving force is provided by the double rear-drive motors, and the steering is controlled by the steering wheel motor, so that a user can obtain flexible and autonomous forward and turning assistance. The linear motor provides armpit supporting assistance, and the rotary motor controls the horizontal translation of the pelvis to ensure the bionic motion of the pelvis and the trunk in the advancing process. The mechanical structure of adjustable height is fit for the user of different heights to use, and folding design is very big to have reduced the space of equipment and occupy, and friendly use experience, lightweight dead weight and cheap processing cost can fill domestic field blank, do benefit to the family and use and promote.
Description
Technical Field
The invention relates to the field of human motion auxiliary robots, in particular to a bionic motion walking-aid robot.
Background
Under the social background that the aging problem in China is increasingly serious, the number of patients with motor dysfunction caused by spinal cord injury or cerebral apoplexy is large, and the ability to walk freely is one of the urgent requirements of patients with lower limb motor function.
At present, domestic motion-assisted robots are mostly found in the field of rehabilitation exoskeleton robots and are still in the research and preliminary preparation stage. Generally, functions are not bionic enough, man-machine interaction experience is common, equipment is high in manufacturing cost and not simple and light, or a control method is complex, functions are single and the like, and the popularization of motion-assisted robots in production is seriously hindered. Therefore, according to the kinematics characteristics of each limb segment of the human body in the standard healthy human motion state and according to the bionics and ergonomic principles, the multifunctional walking-assisted intelligent robot with simple mechanical structure, low manufacturing cost, convenient use and light weight is designed, and has important significance in the technical field and the market demand.
Disclosure of Invention
The invention aims to provide a mobile human motion auxiliary walking robot designed according to the human bionics principle, which has low equipment operation noise and good human-computer interaction experience feeling through the mechanical structure design conforming to human engineering and the intelligent motor control principle, and can be used for users with walking assisting requirements to realize independent and free gait walking. The ground double rear-drive motors can provide strong forward driving force, and the front steering wheel motor can control the robot to turn left and right in the walking assisting process, so that the robot can flexibly and timely respond to the forward and turning requirements of a user, and free auxiliary walking is realized. The bionic movement walking-assisting robot is more suitable for being used by a patient with lower limb dysfunction to walk indoors or outdoors on a flat ground, is used in cooperation with the restraint of a safety belt, can effectively prevent the user from falling down forwards or backwards or vertically during walking, and can really realize flexible auxiliary walking and safety protection. The mutual hinge positions of the power transmission device, the ladder-shaped supporting device and the chassis device in the mechanical structure design can realize manual angle adjustment and clamping and fixing functions, so that the structural size of the equipment can be adjusted according to the height of a user before the equipment is used, and the equipment can be folded and placed after the equipment is used.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a biomimetic motion walker robot comprising: the lower end of the upper limb supporting device 1 is fixedly connected and installed at the upper surface platform position of the power device 2, the upper limb supporting device 1 provides a supporting effect for the human body at the left and right armpit positions of a user upwards, the power device 2 is riveted and fixed at the upper side of the ladder-shaped supporting device 3, the left and right ends of the lower side of the ladder-shaped supporting device 3 are riveted and fixed at the left and right ends of the rear driving device 4 respectively, the inclination angle of the ladder-shaped supporting device 3 relative to the ground can be changed by manually adjusting the riveting position, the rear two ends of the chassis device 5 are fixed at the left and right ends of the driving device 4 respectively, the front two ends are U-shaped and converged in the front rudder device 6 and fixed to form a stable chassis supporting structure, and the front and rear rolling driving of the rear driving device 4 and the steering driving of the front rudder device 6 are utilized, the bionic movement walking-aid robot can freely move on the horizontal ground.
The upper limb supporting device 1 comprises a left shoulder seat 101, a right shoulder seat 101, a Y-shaped stay bar 102, a linear motor push rod 103 and a linear motor 104. The left and right shoulder seats 101 are respectively fixed at two upper end positions of a Y-shaped support rod 102 and placed under the armpits of the left and right sides of a human body to provide an upward supporting effect, the lower end of the Y-shaped support rod 102 is fixedly bolted at the upper end of a linear motor push rod 103, a linear motor 104 is downwards fixed on the upper surface of the front end of the power device 2, and the shoulder seats 101 are driven to move according to the movement track of the armpits in the walking process of a healthy human body by adjusting the vertical lifting of the linear motor push rod 103, so that necessary supporting assistance is provided for a user.
The power device 2 comprises a base shell 201, an upper pin 202, a sliding block 203, a nut 204, a bolt 205, a motor 206, a pin 207, a gear 208, a sliding shell 209, a belt 210, an inner limit plate 211, an outer limit plate 212, a spring 213, a connecting sliding block 214, a buckle 215 and a seat plate 216, wherein the rear side of the base shell 201 is fixedly riveted on the upper side of the ladder-type supporting device 3, the sliding block 203 is placed in a slideway on the upper surface of the base shell 201, the sliding shell 209 is nested outside the base shell 201, the upper pin 202 downwards passes through a round hole formed on the upper surface of the sliding shell 209 and then is fixed on the sliding block 203, the bolt 205 upwards passes through a long hole formed on the lower surface of the base shell 201 and then passes through a round hole formed on the lower surface of the sliding shell 209 and then is fixed with the nut 204 by screw threads, so that the sliding shell 209 can only realize left-right sliding under the limit of the base shell 201 without front, a gear 208 is fixed to the main shaft of the motor 206 by a pin 207, and is engaged with a rack gear of the top surface inside a slide housing 209, the motor 206 is controlled by rotation servo to drive the sliding shell 209 to move left and right according to the motion track of the hip joint swinging left and right in the walking process of the healthy human body, the two ends of the waist belt 210 are fixed at the clamping positions at the two sides of the sliding shell 209, and is bound to the waist of the human body through a buckle 215 to provide protection for the human body, the connecting slide block 214 passes through the long groove in the middle of the outer limit plate 212 backwards and is embedded in the track groove of the inner limit plate 211, the upper and lower sides of the rear end of the connecting slider 214 are respectively provided with a spring 213, the inner limiting plate 211 and the outer limiting plate 212 are overlapped and fixed on the front side surface of the sliding shell 209 backwards for encapsulation, and the connecting slider 214 is fixed with the rear end of the seat plate 216 forwards, so that the seat plate 216 can slide up and down with damping in the vertical direction.
The rear-drive device 4 comprises a rear-drive motor enclosure 401, a rear cross beam 402, a rear-drive motor 403 and rear wheels 404, wherein two ends of the rear cross beam 402 penetrate through round holes formed in the lower ends of the left and right main supporting pieces 306, and then are fixedly connected with the rear-drive motor enclosure 401, rotating shafts of the left and right rear-drive motors 403 are fixedly connected with the rear wheels 404 respectively, and the rotating shafts are integrally packaged and fixed in the corresponding rear-drive motor enclosure 401 to provide driving force for forward movement.
The chassis device 5 comprises a semicircular straight pipe 501, a second clamping nail 502, a semicircular bent pipe 503, a battery pack 504 and a battery pack cover 505. Two semicircle straight tubes 501 rear end orthogonals link firmly on rear-guard motor enclosure 401 outside, and the front end links firmly with semicircle return bend 503 again after selecting different perforation through second screens nail 502, realizes length adjustment and fixed function, group battery 504 from embedding semicircle return bend 503 down inside to encapsulate through group battery lid 505.
The front rudder device 6 comprises a rudder wheel motor enclosure 601, a rudder wheel motor 602, a connecting piece 603 and a rudder wheel 604, wherein the left side and the right side of the rudder wheel motor enclosure 601 are fixedly connected with the front end surfaces of the left semicircular elbow 503 and the right semicircular elbow 503 respectively, the rudder wheel motor 602 is upwards encapsulated inside the rudder wheel motor enclosure 601, and the rotating shaft of the rudder wheel motor 602 is downwards bolted with the fixing connecting piece 603 so as to control the rudder wheel 604 to implement steering.
The invention has the beneficial effects that: the movement state of the shoulder joint and the supporting force required by the armpit in the gait advancing process of the lower limb disability patient are fully considered, the mechanical structure design conforming to the ergonomics is made, the bionic movement characteristics in the human walking process are ensured, a user can freely and flexibly walk independently, and the functions of advancing and turning can be realized. The robot is suitable for users with different heights by virtue of the flexible and adjustable mechanical structure, and the structure can be adjusted to be folded and placed after the robot is used, so that the space occupation of equipment is greatly reduced, the use experience is friendly, the self weight is light, the processing cost is low, the blank of the field is filled, and the popularization and the promotion of the household use are facilitated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is an isometric view of a biomimetic motion walker robot of the present invention.
Fig. 2 is an exploded view of the structure of the upper limb support device of the present invention.
Fig. 3 is an exploded view of the power plant of the present invention.
Fig. 4 is an exploded view of the ladder support device of the present invention.
Fig. 5 is an exploded view of the structure of the rear drive of the present invention.
Fig. 6 is an exploded view of the structure of the chassis device of the present invention.
Fig. 7 is an exploded view of the structure of the front rudder unit according to the present invention.
Detailed Description
The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.
Referring to fig. 1, the walking aid robot for bionic movement of the invention comprises: the lower end of the upper limb supporting device 1 is fixedly connected and installed at the upper surface platform position of the power device 2, the upper limb supporting device 1 provides a supporting effect for the human body at the left and right armpit positions of a user upwards, the power device 2 is riveted and fixed at the upper side of the ladder-shaped supporting device 3, the left and right ends of the lower side of the ladder-shaped supporting device 3 are riveted and fixed at the left and right ends of the rear driving device 4 respectively, the inclination angle of the ladder-shaped supporting device 3 relative to the ground can be changed by manually adjusting the riveting position, the rear two ends of the chassis device 5 are fixed at the left and right ends of the driving device 4 respectively, the front two ends are U-shaped and converged in the front rudder device 6 and fixed to form a stable chassis supporting structure, and the front and rear rolling driving of the rear driving device 4 and the steering driving of the front rudder device 6 are utilized, the bionic movement walking-aid robot can freely move on the horizontal ground.
Referring to fig. 2, the upper limb support device 1 of the present invention comprises a left shoulder seat 101, a right shoulder seat 101, a Y-shaped stay bar 102, a linear motor push rod 103, and a linear motor 104. The left and right shoulder seats 101 are respectively fixed at two upper end positions of a Y-shaped support rod 102 and placed under the armpits of the left and right sides of a human body to provide an upward supporting effect, the lower end of the Y-shaped support rod 102 is fixedly bolted at the upper end of a linear motor push rod 103, a linear motor 104 is downwards fixed on the upper surface of the front end of the power device 2, and the shoulder seats 101 are driven to move according to the movement track of the armpits in the walking process of a healthy human body by adjusting the vertical lifting of the linear motor push rod 103, so that necessary supporting assistance is provided for a user.
Referring to fig. 3, the power device 2 of the present invention includes a base housing 201, an upper pin 202, a slider 203, a nut 204, a bolt 205, a motor 206, a pin 207, a gear 208, a sliding housing 209, a belt 210, an inner limit plate 211, an outer limit plate 212, a spring 213, a connecting slider 214, a buckle 215, and a seat plate 216, wherein the rear side of the base housing 201 is riveted and fixed on the upper side of the ladder-type supporting device 3, the slider 203 is placed in a slide way on the upper surface of the base housing 201, the sliding housing 209 is nested outside the base housing 201, the upper pin 202 passes through a circular hole opened on the upper surface of the sliding housing 209 downward and then is fixed on the slider 203, the bolt 205 passes through a long hole opened on the lower surface of the base housing 201 upward and then passes through a circular hole opened on the lower surface of the sliding housing 209 and then is fixed with the nut 204 by screw threads, thereby ensuring that the sliding housing 209 can only slide, the motor 206 is fixed on the bottom surface inside the machine base shell 201, the gear 208 is fixed on the main shaft of the motor 206 through the pin 207 and is meshed with the rack on the top surface inside the sliding shell 209, the sliding shell 209 is driven to move left and right according to the movement track of the hip joint swinging left and right in the walking process of a healthy human body through the rotation servo control of the motor 206, two ends of the waistband 210 are fixed at the clamping positions on two sides of the sliding shell 209 and are bound to the waist of the human body through the buckle 215 to provide protection for the human body, the connecting slide block 214 passes through the middle elongated slot of the outer limit plate 212 backwards and is embedded in the track groove of the inner limit plate 211 to realize up-down sliding, the upper side and the lower side of the rear end of the connecting slide block 214 are respectively provided with the spring 213, the inner limit plate 211 and the outer limit plate 212 are overlapped and fixed on the front side surface of the, thereby allowing the seat plate 216 to slide vertically with damping.
Referring to fig. 4, the ladder-type supporting device 3 of the present invention includes a fastening shaft 301, a fastening ring 302, a fastening shaft 303, two limiting pieces 304, a cross bar 305, main supporting pieces 306, and a first fastening nail 307, wherein the fastening shaft 303 penetrates through the base housing 201 and is welded to the inner sides of the two limiting pieces 304 to provide a rotation axis constraint for the base housing 201, the fastening shaft 301 penetrates through the corresponding openings of the left and right limiting pieces 304 and the base housing 201 and is fastened by the fastening ring 302, the horizontal angle of the base housing 201 can be adjusted and fixed by selecting different openings, the left and right limiting pieces 304 are respectively welded and fixed to the top ends of the two main supporting pieces 306, the middle portions of the two main supporting pieces 306 are fixedly connected by the cross bar 305, and the first fastening nail 307 penetrates through the opening at the lower end of the main supporting piece 306 from inside to outside and is fixed to the corresponding opening of the rear drive device.
Referring to fig. 5, the rear drive device 4 of the present invention includes a rear drive motor enclosure 401, a rear cross beam 402, a rear drive motor 403, and rear wheels 404, wherein two ends of the rear cross beam 402 pass through circular holes formed at the lower ends of the left and right main supporting pieces 306 and are then respectively and fixedly connected to the rear drive motor enclosure 401, rotating shafts of the left and right rear drive motors 403 are respectively and fixedly connected to the rear wheels 404, and are integrally encapsulated and fixed in the corresponding rear drive motor enclosure 401 to provide a driving force for forward movement.
Referring to fig. 6, the chassis device 5 of the present invention includes a semicircular straight tube 501, a second locking nail 502, a semicircular bent tube 503, a battery pack 504, and a battery pack cover 505. Two semicircle straight tubes 501 rear end orthogonals link firmly on rear-guard motor enclosure 401 outside, and the front end links firmly with semicircle return bend 503 again after selecting different perforation through second screens nail 502, realizes length adjustment and fixed function, group battery 504 from embedding semicircle return bend 503 down inside to encapsulate through group battery lid 505.
Referring to fig. 7, the front rudder device 6 of the present invention includes a rudder wheel motor enclosure 601, a rudder wheel motor 602, a connecting piece 603, and a rudder wheel 604, wherein the left and right sides of the rudder wheel motor enclosure 601 are respectively fixedly connected to the front end surfaces of the left and right semicircular elbows 503, the rudder wheel motor 602 is upwardly enclosed inside the rudder wheel motor enclosure 601, and the rotating shaft of the rudder wheel motor 602 is downwardly bolted to the fixing connecting piece 603, so as to control the rudder wheel 604 to steer.
As a preferred example, when a user uses the bionic sports walking aid robot, the first blocking nail 307 and the blocking shaft 301 are firstly adjusted according to the height of the user to penetrate through different through holes so as to adjust the horizontal angle of the ladder-shaped supporting device 3 and the horizontal angle of the power device 2 and then block the ladder-shaped supporting device, the height of the shoulder seat 101 in the upper limb supporting device 1 suitable for the height of the user and the height of the seat plate 216 suitable are obtained, the user sits on the seat plate 216 and fastens the blocking buckle 215, and the bionic sports walking aid robot is started to assist walking. The two rear drive motors 403 and the one steering wheel motor 602 are controlled to move forwards or turn around according to the walking intention of the user, meanwhile, the motor 206 rotates to drive the gear 208 and is meshed with the rack, so that the sliding shell 209 starts to move horizontally left and right, and further the seat plate 216 moves horizontally left and right, finally, in the process of walking forwards, the pelvis is driven by the seat plate 216 to swing left and right and move forwards to move the standard healthy human body, and the linear motor 104 is also controlled to drive the shoulder seat 101 up and down according to the bionic motion track of shoulder points in the walking process of the user, so that the user can assist upwards through armpits in the walking process, lower loads are reduced, and flexible walking with load reduction is realized.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (7)
1. A biomimetic motion walker robot comprising: the lower end of the upper limb supporting device (1) is fixedly connected and installed at the upper surface platform position of the power device (2), the upper limb supporting device (1) provides a supporting function for the human body at the left and right armpit positions of a user, the power device (2) is riveted and fixed at the upper side of the ladder-shaped supporting device (3), the left and right ends of the lower side of the ladder-shaped supporting device (3) are respectively riveted and fixed at the left and right ends of the rear driving device (4), the inclination angle of the ladder-shaped supporting device (3) relative to the ground can be changed by manually adjusting the riveting position, the two ends of the rear side of the chassis device (5) are respectively fixed at the left and right ends of the driving device (4), and the two ends of the front side are U-shaped and are converged in the front rudder device (6) and fixed to form a stable chassis supporting structure, the bionic motion walking-aid robot can freely move on the horizontal ground by the front and back rolling drive of the rear drive device (4) and the steering drive of the front rudder device (6).
2. A bionic motion walking aid robot as claimed in claim 1, wherein: the upper limb supporting device (1) comprises a left shoulder seat (101), a right shoulder seat (101), a Y-shaped support rod (102), a linear motor push rod (103) and a linear motor (104), wherein the left shoulder seat (101) and the right shoulder seat (101) are respectively fixed at two upper end positions of the Y-shaped support rod (102) and placed under the armpits at the left side and the right side of a human body to provide an upward supporting effect, the lower end of the Y-shaped support rod (102) is fixedly connected to the upper end of the linear motor push rod (103) in a bolted mode, the linear motor (104) is downwards fixed on the upper surface of the front end of the power device (2), and the linear motor push rod (103) is adjusted to lift up and down to drive the shoulder seats (101) to move according to the movement track of the arm.
3. A bionic motion walking aid robot as claimed in claim 1, wherein: the power device (2) comprises a machine base shell (201), an upper pin (202), a sliding block (203), a nut (204), a bolt (205), a motor (206), a pin key (207), a gear (208), a sliding shell (209), a belt (210), an inner limiting plate (211), an outer limiting plate (212), a spring (213), a connecting sliding block (214), a buckle (215) and a seat plate (216), wherein the rear side of the machine base shell (201) is fixedly riveted on the upper side of the ladder-shaped supporting device (3), the sliding block (203) is placed in a sliding way on the upper surface of the machine base shell (201), the sliding shell (209) is nested outside the machine base shell (201), the upper pin (202) downwards passes through a round hole formed in the upper surface of the sliding shell (209) and then is fixed on the sliding block (203), the bolt (205) upwards passes through a long hole formed in the lower surface of the machine base shell (201) and then is fixed with the nut (204) in a, thereby ensuring that the sliding shell (209) can only realize left-right sliding under the limit of the machine base shell (201) without front-back dislocation, the motor (206) is fixed on the bottom surface in the machine base shell (201), the gear (208) is fixed on the main shaft of the motor (206) through the pin key (207) and is meshed with the rack on the top surface in the sliding shell (209), the sliding shell (209) is driven to move left and right according to the motion track of the left-right swing of the hip joint in the walking process of a healthy human body through the rotation servo control of the motor (206), the two ends of the waist belt (210) are fixed at the clamping positions at the two sides of the sliding shell (209) and are bound to the waist of the human body through the buckles (215) to provide protection for the human body, the connecting slide block (214) passes through the middle elongated slot of the outer limit plate (212) backwards and is embedded in the track groove of the inner limit plate (211), the upper side and the lower side of the rear end of the connecting sliding block (214) are respectively provided with a spring (213), the inner limiting plate (211) and the outer limiting plate (212) are overlapped backwards and fixed on the front side surface of the sliding shell (209) for packaging, and the connecting sliding block (214) is fixed forwards and the rear end of the seat plate (216), so that the seat plate (216) can slide up and down in a damped manner in the vertical direction.
4. A bionic motion walking aid robot as claimed in claims 1 and 3, wherein: the ladder-shaped supporting device (3) comprises a clamping shaft (301), a clamping ring (302), a fastening shaft (303), limiting pieces (304), a cross rod (305), main supporting pieces (306) and first clamping nails (307), wherein the fastening shaft (303) penetrates through a machine base shell (201) to be welded on the inner sides of the two limiting pieces (304), so that a rotating shaft constraint is provided for the machine base shell (201), the clamping shaft (301) penetrates through corresponding holes of the left limiting piece (304), the right limiting piece (304) and the machine base shell (201), and is clamped by the clamping ring (302), through selecting different hole combinations, the horizontal angle of the machine base shell (201) can be adjusted and fixed, the left limiting piece (304) and the right limiting piece (304) are respectively welded and fixed on the top ends of the two main supporting pieces (306) downwards, the middle parts of the two main supporting pieces (306) are fixedly connected through the cross rod (305), the first clamping nails (307) penetrate through holes at the lower end of the main supporting pieces (, is fixed in a corresponding opening of the rear drive (4).
5. According to the claims 1 and 4, the bionic motion walking-aid robot is characterized in that: the rear-guard device (4) including rear-guard motor capsule (401), rear beam (402), rear-guard motor (403), rear wheel (404), rear beam (402) both ends are passed and are controlled two main supporting pieces (306) lower extreme round holes of opening after, the subdividing links firmly with rear-guard motor capsule (401) respectively, and the pivot of controlling two rear-guard motor (403) links firmly rear wheel (404) respectively, and integrative encapsulation is fixed in rear-guard motor capsule (401) that corresponds again, provides the drive power of forward motion.
6. According to the claims 1 and 5, the bionic motion walking-aid robot is characterized in that: chassis device (5) include semicircle straight tube (501), second screens nail (502), semicircle return bend (503), group battery (504), group battery lid (505), two semicircle straight tube (501) rear ends are orthogonal to be linked firmly on rear-drive motor capsule (401) outsides, the front end is chosen different perforation backs through second screens nail (502), links firmly with semicircle return bend (503) again, realizes length adjustment and fixed function, group battery (504) are inside from embedding semicircle return bend (503) down to encapsulate through group battery lid (505).
7. According to the claims 1 and 6, the bionic motion walking-aid robot is characterized in that: preceding rudder device (6) including helm motor capsule (601), helm motor (602), connecting piece (603), helm (604), helm motor capsule (601) left and right sides links firmly with the preceding terminal surface of controlling two semicircle return bends (503) respectively, inside helm motor (602) upwards encapsulates in helm motor capsule (601), and helm motor (602) pivot is down bolted fixed connection spare (603), and then control helm (604) implement to turn to.
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