CN216136294U

CN216136294U - Walking robot

Info

Publication number: CN216136294U
Application number: CN202121327963.4U
Authority: CN
Inventors: 戚均敏; 胡一凡; 万余; 王一磊; 屈思恒
Original assignee: Panasonic Appliances China Co Ltd
Current assignee: Panasonic Appliances China Co Ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2022-03-29
Anticipated expiration: 2031-06-15

Abstract

The utility model discloses a walking robot, belonging to the technical field of walking auxiliary equipment, comprising a support device, a walking device, a handle device and a control device. The device includes a handle, the handle is connected to the top of the support device through a pressure sensor, and the signal of the pressure sensor is connected to the control device. The pressure sensor can collect the force data of the handle device and send it to the control device when the user performs walking training. User experience.

Description

Walking robot

Technical Field

The utility model relates to the technical field of walking auxiliary equipment, in particular to a walking robot.

Background

The walking assisting robot comprises three modes of walking assisting training, fixed frame walking training and exoskeleton assisting walking training, wherein the walking assisting training is to improve the motor function of lower limbs by assisting walking, and combines walking and rehabilitation training to achieve the purpose of improving and recovering normal walking ability. With the deepening of the aging degree of China, the lower limb health problems caused by aging are more and more prominent. The mobility of lower limbs of the elderly is continuously reduced due to the decline of physiological functions, and in addition, patients with lower limb motility disorders caused by various diseases such as spinal cord injury and cerebral apoplexy are also remarkably increased, so that the problem that how to meet the requirement of assisting walking training of the elderly or the patients is urgently needed to be solved is solved. The existing apparatus for assisting walking training mostly adopts a frame type structure, the upper limbs of a user are supported to a certain degree through the apparatus, so that the stress of the lower limbs is reduced, the bottom of the apparatus is provided with rollers, and the rollers rotate to enable the apparatus to move synchronously when the user walks. However, the part of the existing walking assistance training apparatus for the user to hold is generally only simply fixed, and the force application condition of the upper limb of the user in the training process cannot be collected, which is not beneficial to analyzing and judging the training condition and the recovery condition of the user.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects in the prior art, the utility model provides a walking robot which can collect the force application condition of the upper limbs of a user in the training process.

In order to achieve the technical purpose, the walking robot provided by the utility model comprises a supporting device, a walking device, a handle device and a control device, wherein the walking device is arranged at the bottom end of the supporting device, the handle device is arranged at the top end of the supporting device, the handle device comprises a handle, the handle is connected to the top end of the supporting device through a pressure sensor, and the pressure sensor is in signal connection with the control device.

Preferably, the walking robot is including locating the strutting arrangement top and being located the display device of handle device below, and display device includes the base, locates the display screen on the base and locates the bedplate in the base, and on pressure sensor located the bedplate, handle fixed connection was in pressure sensor.

Preferably, the supporting device comprises a support, a supporting rod arranged on the support in a lifting mode and an electric push rod used for driving the supporting rod to lift, the top end of the supporting rod extends into the base and is provided with a supporting table, and the seat plate is fixed to the top of the supporting table.

Preferably, the handle device is provided with a circle, and at least part of the display screen is positioned below the inner circle of the handle device.

Preferably, the handle means is arranged inclined with respect to the horizontal and the front portion of the handle means is higher than the rear portion.

Preferably, an included angle alpha is formed between the handle device and the horizontal direction, and alpha is more than or equal to 15 degrees and less than or equal to 30 degrees.

Preferably, the front part of the handle device is tilted upwards relative to the rear part, and the tilting angle is beta, and the beta is more than or equal to 20 degrees and less than or equal to 40 degrees.

Preferably, the walking robot is provided with a wireless communication module in signal connection with the control device, and at least part of the units of the wireless communication module are arranged in the front side of the handle device.

Preferably, the front side of the handle is provided with a mounting groove, and at least part of the units of the wireless communication module are arranged in the mounting groove.

Preferably, the handle device further comprises a handle shell and a handle sleeve, the handle shell is fixed at the bottom of the handle, and the handle sleeve is coated outside the handle; and/or the walking device comprises a front caster and a rear caster, and the vertical projection plane of the handle device is positioned between the front caster and the rear caster.

After the technical scheme is adopted, the utility model has the following advantages:

1. according to the walking robot provided by the utility model, the handle device is of a split combined structure, the handle is connected to the top end of the supporting device through the pressure sensor, the pressure sensor can collect stress data of the handle device and send the stress data to the control device when a user performs walking training, the control device can analyze the force application condition of upper limbs and the training condition of lower limbs of the user in the walking training process according to the collected data, and the use experience of the user is favorably improved.

2. The display screen of the display device can display training data, and a user can know detailed training conditions. On pressure sensor located the bedplate in the base, handle fixed connection in pressure sensor set up pressure sensor's position rationally, made its structural requirement and the data acquisition requirement that effectively supports the handle.

3. The supporting device adopts a lifting structure, the seat plate in the base is fixedly connected with the supporting table at the top of the supporting rod, when the supporting rod is driven by the electric push rod to lift, the supporting rod drives the handle device and the display device to lift synchronously, so that the height of the handle device and the display device can be adapted to the height of a user, and the improvement of the use experience and the auxiliary walking training effect is facilitated.

4. The handle device is provided with a circle, so that the gripping range of a user during training can be reasonably enlarged, and the use experience can be improved. At least part of the display screen is positioned below the inner ring of the handle device, so that a user can observe the display screen to obtain the parameters of walking training in the walking training process.

5. The handle device is arranged high in the front and low in the rear, so that the comfort level of the upper limbs of a user during walking training by means of the machine body is improved. If alpha is less than 15 degrees or alpha is more than 30 degrees, the upper limb of the user can not be in a more comfortable state when the user holds the handle device, which is not beneficial to improving the use experience.

6. The front portion of the handle device is tilted upward relative to the rear portion, which helps to improve the comfort at the wrist of the user when gripping the front portion of the handle device. The angle of the front part of the handle device tilting upwards relative to the rear part is reasonably arranged, and the comfort requirement is better met. If β is less than 20 °, the user may have his hand drooping more relative to the forearm when gripping the front portion of the handle device, which is detrimental to improving the comfort at the wrist. If β is greater than 40 °, the user may lift his or her hand more than the forearm when gripping the front portion of the handle device, which is detrimental to improving the comfort at the wrist.

7. The organism has additionally established wireless communication module, can establish two-way wireless communication connection or one-way wireless communication connection through this wireless communication module between mobile terminal and the controlling means, and the user can use mobile terminal to send the instruction to controlling means, helps improving the intellectuality of organism, is favorable to improving user's use and experiences.

8. At least part of the units of the wireless communication module are arranged in the front side of the handle device, preferably, the antenna of the wireless communication module is arranged in the mounting groove in the front side of the handle, so that the antenna of the wireless communication module is far away from a user as far as possible when the user trains, and adverse effects on the user with the cardiac pacemaker are avoided.

9. The handle sleeve is coated outside the handle, so that the handle sleeve is favorable for improving the hand feeling of a user holding the handle device, and the use experience is favorable for improving. The vertical projection surface of the handle device is positioned between the front caster and the rear caster, the vertical acting force applied by the user holding the handle device during training is positioned in the range of the walking device, and the use risk of the user caused by the fact that the body turns on the side due to the fact that the vertical acting force is positioned outside the range of the walking device is effectively avoided.

Drawings

FIG. 1 is a schematic overall side view of a walking robot according to an embodiment;

FIG. 2 is a schematic top view of a walking robot according to an embodiment;

FIG. 3 is a first exploded view of some of the components of an embodiment of a walking robot;

FIG. 4 is a second exploded view of some of the components of an embodiment of a walking robot;

FIG. 5 is a third exploded view of some of the components of an embodiment of a walking robot;

FIG. 6 is an exploded view of a display device and pressure sensors in an embodiment of a walking robot;

FIG. 7 is a schematic diagram of a cover shell in the housing structure of a walking robot in accordance with an embodiment;

fig. 8 is an exploded view of the housing of the bumper assembly of the embodiment of a walking robot.

In the figure, 100-supporting device, 110-bracket, 111-fixed platform, 112-limit frame, 120-strut, 121-supporting platform, 130-electric push rod, 131-push rod, 140-connecting seat, 150-limit seat, 151-limit hole, 160-frame cover, 200-walking device, 210-front foot, 220-rear foot, 230-front caster, 240-rear caster, 250-connecting plate, 300-handle device, 310-handle shell, 320-handle, 321-mounting groove, 330-handle sleeve, 400-battery, 500-display device, 510-base, 511-seat shell, 512-top cover, 513-rear cover, 520-display screen, 530-seat plate, 610-control device, 620-frame plate, 630-pressure sensor, 640-spring wire, 650-wire clip, 660-wireless communication module, 700-shell structure, 710-casing, 711-front casing, 712-rear casing, 713-positioning rib, 720-cover casing, 721-through hole, 730-foot casing, 731-inner casing, 732-outer casing, 741-positioning block, 742-positioning groove, 800-buffer device, 810-cover casing, 811-front cover body, 812-rear cover body, 813-convex column, 814-inserted column, 815-clamping groove, 816-convex rib, 817-convex ring, 817 a-front ring body, 817 b-rear ring body, 818-shallow groove, 820-foot sleeve, 831-positioning convex edge, 832-positioning groove, 833-positioning buckle, 834-positioning card slot.

Detailed Description

The utility model is further described with reference to the following figures and specific examples. It is to be understood that the following terms "upper," "lower," "left," "right," "longitudinal," "lateral," "inner," "outer," "vertical," "horizontal," "top," "bottom," and the like are used merely to indicate an orientation or positional relationship relative to one another as illustrated in the drawings, merely to facilitate describing and simplifying the utility model, and are not intended to indicate or imply that the device/component so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore are not to be considered limiting of the utility model.

Example one

As shown in fig. 1 to 8, a walking robot according to a first embodiment of the present invention includes a supporting device 100, a walking device 200, a handle device 300 and a control device 610, wherein the walking device 200 is disposed at a bottom end of the supporting device 100, the handle device 300 is disposed at a top end of the supporting device 100, the handle device 300 includes a handle 320, the handle 320 is connected to the top end of the supporting device 100 through a pressure sensor 630, and the pressure sensor is connected to the control device through a signal.

The pressure sensor can collect stress data of the handle device and send the stress data to the control device when a user walks and trains, and the control device can analyze force application conditions of upper limbs and training conditions of lower limbs of the user in the walking and training process according to the collected data, so that use experience of the user is improved.

In this embodiment, the supporting device 100 includes a support 110, a supporting rod 120 disposed on the support 110 in a lifting manner, and an electric pushing rod 130 for driving the supporting rod 120 to lift, the electric pushing rod 130 is disposed on the support 110 and electrically connected to the battery 400, the electric pushing rod 130 includes a pushing rod 131, a bottom end of the supporting rod 120 is connected to a top end of the pushing rod 131 through a connecting seat 140, the walking device 200 is disposed at a bottom end of the support 110, and the handle device 300 is disposed at a top end of the supporting rod 120. The connecting base 140 is provided with a hole matched with the top end of the push rod 131, the top end of the push rod 131 is inserted into the hole, and the top end of the push rod 131 and the connecting base 140 are fixed together through a screw. The connecting seat 140 is further provided with a hole matched with the bottom end of the supporting rod 120, the bottom end of the supporting rod 120 is inserted into the hole, and the bottom end of the supporting rod 120 and the connecting seat 140 are fixed together through a screw.

Referring to fig. 6, the walking robot includes a display device 500 disposed at the top of the supporting device 100 and below the handle device 300, the display device 500 includes a base 510, a display screen 520 disposed on the base 510, and a seat plate 530 disposed in the base 510, the top end of the supporting rod 120 extends into the base 510 and is provided with a supporting platform 121, and the seat plate 530 is locked to the top of the supporting platform 121 by screws. The pressure sensor 630 is fixed on the seat plate 530, and the handle 320 is fixedly connected with the pressure sensor 630 through screws. In this embodiment, the handle device 300 further includes a handle case 310 and a handle sleeve 330, the handle case 310 is fixed to the bottom of the handle 320 by screws, and the handle sleeve 330 covers the outside of the handle 320.

In this embodiment, the base 510 is a split structure, and includes a seat housing 511, a top cover 512 and a rear cover 513, wherein the top cover 512 is fixed on the top of the seat housing 511, the display screen 520 is embedded in the top cover 512, and the rear cover 513 is fixedly connected to the rear side of the seat housing 511 by screws. The support table 121 at the top end of the strut 120 is located at the rear side in the base 510, and the pressure sensor 630 is also located at the rear side in the base 510.

The control device 610 is disposed at the rear side of the support 110 through the frame plate 620, and the display 520 and the pressure sensor 630 are connected to the control device 610 through signals. The walking robot further comprises a battery 400, and the display screen 520 and the pressure sensor 630 are electrically connected to the battery 400. In order to simplify the wiring, the display 520 and the pressure sensor 630 are electrically connected to the battery 400 and the control device 610 through the spring wire 640, the spring wire 640 includes an electric connection wire and a signal wire, and both ends of the spring wire 640 are fixed by the wire clamp 650. In order to hide the spring wire 640, the support rod 120 is configured to be axially hollow, and the spring wire 640 is disposed inside the support rod 120.

In order to improve the stability of the machine body, the supporting device 100 is arranged obliquely relative to the vertical direction, the top end of the supporting device 100 is inclined backwards relative to the bottom end, and the lifting direction of the supporting rod 120 is consistent with the length direction of the supporting device 100. In order to better satisfy the training requirements of the user, the plane direction of the display device 500 is preferably perpendicular to the ascending and descending direction of the rod 120, the handle device 300 is also substantially perpendicular to the ascending and descending direction of the rod 120, the handle device 300 is disposed obliquely with respect to the horizontal direction, and the front portion of the handle device 300 is higher than the rear portion. In this embodiment, the plane direction of the rear portion of the handle device 300 is substantially perpendicular to the lifting direction of the strut 120, and the front portion of the handle device 300 is tilted upward with respect to the rear portion. An included angle alpha is arranged between the rear part of the handle device 300 and the horizontal direction, and alpha is more than or equal to 15 degrees and less than or equal to 30 degrees. The upward tilting angle of the front part of the handle device 300 relative to the rear part is beta, and beta is more than or equal to 20 degrees and less than or equal to 40 degrees. In this embodiment, an angle α between the rear portion of the handle device 300 and the horizontal direction means an angle between a tangential direction of a center line of the rear portion of the handle device and the horizontal direction, and an angle β of the front portion of the handle device 300 tilted upward with respect to the rear portion means an angle between a tangential direction of a center line of the front portion of the handle device and a tangential direction of a center line of the rear portion of the handle device. Specifically, α is preferably set to 22 °, and β is preferably set to 34 °.

To facilitate a user's viewing of the display on the display screen 520 during exercise, the handle assembly 300 is provided with a wrap, with at least a portion of the display screen 520 positioned below the inner wrap of the handle assembly 300. Preferably, the display screen 520 is located right below the inner ring of the handle device 300 along the lifting direction of the support rod 120, so that the handle device can avoid the visual obstruction of the display screen.

In order to facilitate the user to control the body through the mobile terminal, the walking robot is further provided with a wireless communication module, and the wireless communication module is in signal connection with the mainboard of the display screen 520. The wireless communication module comprises an antenna 660, i.e. the antenna 660 is a constituent element of the wireless communication module. To avoid adverse effects on the user carrying the pacemaker, the antenna 660 is provided inside the front side of the handle device 300. In this embodiment, the front side of the handle 320 is provided with a mounting groove 321 far away from the supporting rod, and the antenna 660 is disposed in the mounting groove 321. The mobile terminal can establish bidirectional wireless communication connection with the display screen 520 through the wireless communication module, which is beneficial to improving the intelligence of the body.

In this embodiment, the vertical portion of the bracket 110 is substantially plate-shaped, and the electric push rod 130 and the connecting seat 140 are disposed at the front side of the bracket 110. In order to improve the stability of the connection seat 140 and the electric push rod 130, the supporting device 100 further includes a frame cover 160, the frame cover 160 is fixed to the front side of the bracket 110 by screws, and the electric push rod 130 and the connection seat 140 are disposed between the frame cover 160 and the bracket 110. The connection seat 140 is effectively limited by the matching of the frame cover 160 and the support 110, which is beneficial to improving the structural stability and the moving stability of the connection seat 140, thereby being beneficial to improving the stability of the electric push rod 130 driving the support rod 120 to lift through the connection seat 140.

In order to mount the battery 400, the bracket 110 is provided at a side thereof with a limiting frame 112 for mounting the battery 400, and the battery 400 is inserted into the limiting frame 112. In this embodiment, the position limiting frame 112 is disposed on the front side of the bracket 110, and the battery 400 is disposed on the front side of the bracket cover 160.

In order to improve the structural stability and the lifting stability of the supporting rod 120, the supporting device 100 further includes a limiting seat 150 disposed at the top of the supporting frame 110, the limiting seat 150 is provided with a limiting hole 151 matched with the supporting rod 120, and the supporting rod 120 penetrates through the limiting hole 151. In this embodiment, the top of the bracket 110 is bent to form a fixing platform 111, and the limiting seat 150 is inserted into the fixing platform 111 and locked with the fixing platform 111 by a screw.

Running gear 200 includes preceding stabilizer blade 210, back stabilizer blade 220, locate preceding caster 230 of preceding stabilizer blade 210 bottom and locate the back truckle 240 of back stabilizer blade 220 bottom, in this embodiment, preceding stabilizer blade 210 all is equipped with two and is located strutting arrangement 100's the left and right sides respectively with back stabilizer blade 220, correspondingly, preceding caster 230 also respectively is equipped with two with back truckle 240, two preceding caster 230 symmetric distribution in strutting arrangement 100's the left and right sides, two back truckles 240 also symmetric distribution in strutting arrangement 100's the left and right sides. One end of the front leg 210 is fixedly connected to the bracket 110, and one end of the rear leg 220 is fixedly connected to the bracket 110 and located above the connecting end of the front leg 210. The front caster 230 is preferably a universal wheel with a foot brake, and the front caster 230 is horizontally and rotatably connected to the front leg 210, so that a user can adjust the moving direction in time according to the training environment when walking training is performed by using the machine body. The rear caster 240 is rotatably provided at the distal end of the rear leg 220 via a link plate 250. In order to improve the use safety of the body, a resistance motor is arranged in the rear caster 240, and when a user performs walking training, the resistance motor rotates to enable the rear caster 240 to bear resistance opposite to the rotating direction, so that the body can be braked in time when the user stops walking. The resistance motor is electrically connected to the battery 400 through a power line, and is also connected to the control device 610 through a signal line.

In order to improve the use safety of the body, the vertical projection plane of the handle device 300 is located between the front caster 230 and the rear caster 240, and the vertical acting force applied by the user holding the handle device during training is located in the range of the walking device 200, so that the use risk of the user caused by the body turning over due to the fact that the vertical acting force is located outside the range of the walking device is effectively avoided. Specifically, referring to fig. 2, the vertical plane of projection of the handle assembly 100 is located between the distal ends of the front leg 210 and the rear leg 220.

When the user walked through the vigorous walking robot of this embodiment and trained, the user was located the rear side of organism, avoided the user to step on when walking the training and touch the condition that back truckle 240 leads to falling down, and the distance between two back truckles 240 is greater than the distance between two preceding truckles 230, makes the distance between two back truckles satisfy the requirement of the required activity space of user's low limbs.

In order to improve the appearance of the body, the walking robot further includes a housing structure 700, and the housing structure 700 includes a housing 710 disposed outside the supporting device 100, a cover 720 disposed on the top of the housing 710, and a foot shell 730 disposed outside the rear foot 220. In this embodiment, the housing 710 has a split structure, and includes a front housing 711 and a rear housing 712 fixed together by screws, where the front housing 711 is disposed at the front side of the support frame 110, and the rear housing 712 is disposed at the rear side of the support frame 110. Referring to fig. 7, the cover 720 is fixed to the top of the housing 710 by a snap fit, a through hole 721 matched with the rod 120 is formed in the cover 720, and the rod 120 is inserted through the through hole 721.

In order to ensure the stability of the cover shell 720, an inwardly protruding positioning block 741 is disposed on an inner wall of the top side of the housing 710, a positioning groove 742 for inserting the positioning block 741 is disposed in the circumferential direction of the cover shell 720, and the positioning block 741 is inserted into the positioning groove 742, so that the cover shell 720 is axially and circumferentially limited.

In this embodiment, the foot casing 730 includes an inner casing 731 and an outer casing 732 fixed together by screws, the inner casing 731 is disposed inside the corresponding rear leg 220, the outer casing 732 is disposed outside the corresponding rear leg 220, and one end of the foot casing 730 facing the housing 710 is smoothly fitted with the housing by means of a groove edge.

In order to avoid the situation that the body is brought down by too large impact caused by collision, the walking robot further comprises a buffer device 800, the buffer device 800 is arranged at least partially outside the supporting device 100 and at least partially outside the walking device 200, and the buffer device 800 is flexible. In this embodiment, the buffering device 800 includes a housing 810 and a leg sleeve 820, the housing 810 is disposed outside the lower end of the supporting device 100, the leg sleeve 820 is disposed outside the front leg 210, one end of the leg sleeve 820 is connected to the housing 810, and the other end is engaged with the front caster 230.

The cover 810 is disposed at the bottom of the housing 710, and the top end of the cover 810 is connected to the bottom end of the housing 710. Referring to fig. 8, the housing 810 includes a front housing 811 and a rear housing 812 fixed together by screws, a hollow post 813 is disposed on an inner wall of the front housing 810, a hollow insertion post 814 is disposed on an inner wall of the rear housing 810, a hole on the post 813 is a stepped hole, the insertion post 814 is inserted into the post 813, and a screw passes through the post 813 and is screwed into the insertion post 814 to fix the front housing 811 and the rear housing 812 together. The outer walls of the top sides of the front cover body 811 and the rear cover body 812 are provided with clamping grooves 815, and after the front cover body 811 and the rear cover body 812 are assembled, the two clamping grooves 815 are combined to form a circle. Positioning ribs 713 protruding inwards are arranged on the bottom sides of the front shell 711 and the rear shell 712, and after the chassis 710 is assembled, the positioning ribs 713 are embedded in the positioning grooves 742, so that the top side of the housing 810 is connected with the bottom side of the chassis 710.

In order to improve the structural stability of the housing 810, a positioning and matching structure is provided between the front housing 811 and the rear housing 812. Specifically, the positioning matching structure comprises a positioning convex edge 831 arranged on the front cover body 811 and a positioning groove 832 arranged on the rear cover body 812, the positioning convex edge 831 is arranged on the end face of the front cover body 811 facing one side of the rear cover body 812 and is provided with a plurality of positioning grooves at intervals, the positioning groove 832 is arranged on the inner wall of the rear cover body 812 facing one side of the front cover body 811 and is distributed in one-to-one correspondence with the positioning convex edge 831, and the positioning convex edge 831 is positioned in the positioning groove 832. The positioning matching structure further comprises a positioning buckle 833 arranged on the rear cover body 812 and a positioning clamping groove 834 arranged on the front cover body 811, the positioning buckle 833 is arranged on the end face of the rear cover body 812 facing one side of the front cover body 811, a plurality of positioning clamping grooves 834 are arranged at intervals, the positioning clamping grooves 834 are arranged on the inner wall of the front cover body 811 facing one side of the rear cover body 812 and are distributed in one-to-one correspondence with the positioning buckle 833, and the positioning buckle 833 is clamped in the positioning clamping groove 834. The positioning and matching structure can realize the positioning and matching between the front cover body 811 and the rear cover body 812 when the front cover body 811 and the rear cover body 812 are assembled, can also improve the structural stability of the matching part between the front cover body 811 and the rear cover body 812, and avoids the situations that the front cover body 811 and the rear cover body 812 are dislocated and separated due to the collision stress of the housing 810.

The housing 810 is provided with a convex ring 817 which protrudes outwards, an avoiding hole which avoids the front support leg 210 is arranged at the convex ring 817, and one end of the foot sleeve 820 is sleeved outside the convex ring 817. In this embodiment, the left side and the right side of the front cover body 811 are both provided with front ring bodies 817a protruding outward, the left side and the right side of the rear cover body 812 are both provided with rear ring bodies 817b protruding outward, after the front cover body 811 and the rear cover body 812 are assembled, the front ring bodies 817a and the rear ring bodies 817b are combined to form a convex ring 817, and a space enclosed by the front ring bodies 817a and the rear ring bodies 817b forms an avoidance hole through which the front leg 210 passes. One end of the foot sleeve 820 is sleeved outside the convex ring 817 through interference fit with the convex ring 817, and the other end is sleeved on the top of the front caster 230 through interference fit.

In order to make the connection between the foot covers 820 and the housing 810 more beautiful, the outer wall of the housing 810 is provided with a shallow groove 818 positioned at the periphery of the convex ring 817, and the end parts of the foot covers 820 facing the housing 810 are positioned in the shallow groove 818, so that the matching parts between the foot covers 820 and the housing 810 are kept flat.

In order to improve the structural strength of the housing 810, ribs 816 are provided on the inner wall of the housing 810. In this embodiment, a plurality of ribs 816 are disposed on the inner walls of the front housing 811 and the rear housing 812.

When the walking training robot of the present embodiment is used for walking training, the height of the supporting device 100 is adjusted according to the height of the user, so that the heights of the handle device 300 and the display device 500 can be adapted to the height of the user. In the training process, the pressure sensor 630 collects the stress data of the handle device 300 and sends the stress data to the control device 610 for analysis and judgment, and the data of the walking distance, the walking speed and the force application condition of the upper limbs can be displayed on the display screen 520. The user may also use the mobile terminal to send a work instruction to the display 520 through the wireless communication module, or the user may learn the content of the user, such as training data, using the mobile terminal.

It is understood that the top end of the push rod 131 and the connecting seat 140 may be fixedly connected by other means, such as welding.

It is understood that the bottom end of the strut 120 and the connecting seat 140 may be fixedly connected by other means, such as welding.

It will be appreciated that the spacing block 150 may be secured to the bracket 110 by other means, such as welding, screwing, etc.

It is understood that the electric push rod 130, the connecting seat 140, the frame cover 160 and the battery 400 may be disposed at the rear side of the bracket 110, and the control device 610 may be disposed at the front side of the bracket 110.

It is understood that the sleeve 330 may be made of a suitable material such as TPU.

It is understood that the included angle α between the rear portion of the handle device 300 and the horizontal direction may also be set to other reasonable angle values such as 15 °, 18 °, 20 °, 24 °, 27 °, 30 °, and the like.

It is understood that the upturned angle β of the front portion of the handle arrangement 300 relative to the rear portion may also be set to other reasonable angular values of 20 °, 25 °, 28 °, 30 °, 35 °, 38 °, 40 °, etc.

It is understood that the wireless communication module may adopt a bluetooth communication module, a WiFi communication module, a ZigBee communication module, or other wireless communication modules.

It is understood that the entire wireless communication module may be mounted in the mounting groove 321 at the front side of the handle 320.

It can be understood that the mobile terminal may adopt electronic products such as a mobile phone, a tablet computer, and the like.

It can be understood that the mobile terminal may also establish a unidirectional wireless communication connection with the display screen 520 through the wireless communication module, and the mobile terminal may transmit the work instruction to the display screen 520 through the wireless communication module in a unidirectional manner.

It is understood that the positioning blocks 741 on the inner wall of the top side of the housing 710 and the positioning slots 742 on the circumference of the cover 720 can be interchanged.

It is understood that the foot shell 730 may be provided in combination with the cabinet 710, and in particular, the outer shell 732 of the foot shell 730 may be integrally formed with the front shell 711 of the cabinet, and the inner shell 731 of the foot shell 730 may be integrally formed with the rear shell 712 of the cabinet.

It will be appreciated that the top side of the housing 810 and the bottom side of the housing 710 may be connected by a snap fit structure or other suitable structure such as screws.

It is understood that the positions of the positioning flange 831 and the positioning groove 832 can be interchanged.

It can be understood that the positions of the positioning buckle 833 and the positioning slot 834 can be interchanged.

It can be understood that the positioning buckle 833 and the positioning groove 834 can be omitted on the premise that the positioning convex edge 831 and the positioning groove 832 are matched to meet the requirement of positioning matching between the front cover 811 and the rear cover 812.

It can be understood that the positioning convex edge 831 and the positioning groove 832 can be omitted on the premise that the positioning buckle 833 and the positioning buckle groove 834 can meet the positioning and matching requirements between the front cover 811 and the rear cover 812.

It will be appreciated that a clearance fit between the end of the foot cover 720 and the collar 817 may be used where the length of the foot cover 820 and collar 817 is greater.

It will be appreciated that the provision of shallow grooves 818 on the exterior wall of the housing 810 may also be eliminated.

It will be appreciated that the provision of the ribs 816 may be eliminated where the thickness of the housing 810 is greater.

It is understood that the cover 810 and the foot cover 820 may be made of a suitable material such as TPE.

Other embodiments of the present invention than the preferred embodiments described above, and those skilled in the art can make various changes and modifications according to the present invention without departing from the spirit of the present invention, should fall within the scope of the present invention defined in the claims.

Claims

1. a healthy walking robot, is characterized in that, comprises support device, running gear, handle device and control device, running device is located at the bottom end of support device, handle device is located at the top of support device, handle device comprises handle, handle passes through. The pressure sensor is connected to the top of the support device, and the signal of the pressure sensor is connected to the control device.

2. The walking robot according to claim 1, wherein the walking robot comprises a display device arranged at the top of the support device and below the handle device, the display device comprising a base, a display screen arranged on the base and The seat plate is arranged in the base, the pressure sensor is arranged on the seat plate, and the handle is fixedly connected to the pressure sensor.

3. The walking robot according to claim 2, wherein the support device comprises a support, a support rod that can be lifted and lowered on the support, and an electric push rod used to drive the support rod to rise and fall, and the top of the support rod extends into A support table is arranged in the base, and the seat plate is fixed on the top of the support table.

4 . The walking robot according to claim 2 , wherein the handle device is provided with a circle, and at least part of the display screen is located below the inner circle of the handle device. 5 .

5 . The walking robot according to claim 1 , wherein the handle device is inclined relative to the horizontal direction and the front part of the handle device is higher than the rear part. 6 .

6 . The walking robot according to claim 5 , wherein an angle α is set between the handle device and the horizontal direction, and 15°≤α≤30°. 7 .

7 . The walking robot according to claim 5 , wherein the front part of the handle device is tilted upward relative to the rear part and the tilt angle is β, 20°≤β≤40°. 8 .

8 . The walking robot according to claim 1 , wherein the walking robot is provided with a wireless communication module that is signal-connected to the control device, and at least some units of the wireless communication module are arranged inside the front side of the handle device. 9 .

9 . The walking robot according to claim 8 , wherein an installation groove is provided on the front side of the handle, and at least part of the unit of the wireless communication module is provided in the installation groove. 10 .

10. The walking robot according to claim 1, wherein the handle device further comprises a handle shell and a handle cover, the handle shell is fixed on the bottom of the handle, and the handle cover is covered on the outside of the handle; and/or, the The walking device includes a front caster and a rear caster, and the vertical projection surface of the handle device is located between the front caster and the rear caster.