CN113116683B - Power module and auxiliary walking robot - Google Patents

Abstract

The invention provides a power module and an auxiliary walking robot. The power module includes: a base plate; the driving piece is arranged on the bottom plate; a speed reduction device: the driving piece is connected with the first-stage speed reducer and the second-stage speed reducer in sequence, the second-stage speed reducer is connected with an external device and used for reducing the initial speed of the driving piece to an intermediate speed, and the second-stage speed reducer is used for reducing the intermediate speed of the first-stage speed reducer to a preset speed. The invention solves the technical problems that the patient can not recover to the walking level of normal people, an assistant tool is needed for assisting walking, and the normal walking of the patient is difficult to be assisted really because the conventional assistant tool has no power.

Description

Power module and auxiliary walking robot

Technical Field

The invention relates to the technical field of robots, in particular to a power module and an auxiliary walking robot.

Background

Along with the aging process of China, people suffering from cerebrovascular diseases or nervous system diseases tend to increase year by year, and most of the patients are accompanied by hemiplegia, which seriously affects the life quality of the patients. Patients can carry out systematic rehabilitation training in hospitals, but most patients cannot recover the walking level of normal people and need auxiliary tools to walk. The conventional assistive device has no power, and is difficult to truly assist the patient to walk normally.

Disclosure of Invention

The invention aims to provide a power module and an auxiliary walking robot, and aims to solve the technical problems that a patient cannot recover the walking level of a normal person, an auxiliary tool is needed for auxiliary walking, and a conventional auxiliary tool does not have power and is difficult to truly assist the patient to walk normally.

The invention provides a power module, comprising:

a base plate;

the driving piece is arranged on the bottom plate;

a speed reduction device: the driving piece is connected with the first-stage speed reducer and the second-stage speed reducer in sequence, the second-stage speed reducer is connected with an external device and used for reducing the initial speed of the driving piece to an intermediate speed, and the second-stage speed reducer is used for reducing the intermediate speed of the first-stage speed reducer to a preset speed.

Wherein the second-stage reduction gear comprises a synchronizing wheel, an idle wheel, a conveyor belt, a clamping plate and a screw rod, the synchronizing wheel and the idle wheel are both positioned on the bottom plate, the idle wheel and the synchronizing wheel are arranged at intervals, the synchronizing wheel is connected with the external device, the conveyor belt is sleeved on the outer surface of the idle wheel and the outer surface of the synchronizing wheel, an accommodating space is formed in the conveyor belt, the clamping plate is fixedly clamped on the conveyor belt and extends towards the inside of the accommodating space, the screw rod is accommodated in the accommodating space and comprises a first end close to the idle wheel, the first end is in sliding connection with the clamping plate, the screw rod performs rotary motion and converts the rotary motion into linear motion of the clamping plate, the clamping plate drives the conveyor belt to move, and the conveyor belt drives the synchronizing wheel to rotate, the synchronizing wheel drives the external device to move.

The power module further comprises a support body, the support body is located in the accommodating space and supported on the bottom plate, a first through hole is formed in the support body and is close to the bottom plate, the lead screw further comprises a second end opposite to the first end, and the second end of the lead screw penetrates through the first through hole and extends out of the first through hole.

Wherein, first order decelerator includes hold-in range and gear reducer, the supporter still be equipped with the second through-hole that first through-hole interval set up, the driving piece is including the output pivot, the output pivot of driving piece is passed the second through-hole stretches out outside, the fixed cover of gear reducer is established the second is served, the hold-in range cover is established the surface of output pivot with the surface of gear reducer, the output pivot of driving piece drives the hold-in range motion, the hold-in range drives the gear reducer rotates, the gear reducer drives the lead screw rotates.

The invention provides an auxiliary walking robot which comprises a binding belt, a sensor, a controller and a power module, wherein the sensor, the controller and the power module are all arranged on the outer surface of the binding belt, the sensor is connected with the controller, the controller is connected with the power module, the power module is connected with an external device, the binding belt is used for being sleeved on the waist of a user, the sensor is used for sensing the motion of the binding belt and transmitting a sensing signal to the controller, the controller controls the power module to move, and the power module drives the external device to move.

The external device is a leg binding device, the leg binding device comprises a leg rod module and a leg binding belt connected with the leg rod module, the leg rod module is connected with the power module, the leg binding belt is used for sleeving legs of a user, the power module moves to drive the leg rod module to move, and the leg rod module drives the leg binding belt to move so as to drive the legs of the user to walk.

Wherein, the leg pole module includes first festival leg pole and second festival leg pole at least, the power module first festival leg pole, second festival leg pole and tie up the leg strap and connect gradually, just first festival leg pole with second festival leg pole is articulated, second festival leg pole with tie up the leg strap and articulate.

The leg rod module further comprises a third leg rod, the third leg rod is arranged between the second leg rod and the binding leg belt, one end of the third leg rod is hinged to the second leg rod, and the other end of the third leg rod is hinged to the binding leg belt.

The waist binding device further comprises a waist support frame, the waist support frame is arranged on the outer surface of the binding waistband, and the controller is arranged on the waist support frame.

The power module is two, the shank is tied up and tie up the device and be two, one the power module with one the shank is tied up and tie up the device and be connected.

To sum up, this application sets up sensor, controller and power module through the surface of tying up the waistband, and when the user was using the supplementary walking of robot, the waist took place the motion, ties up the motion that the waistband followed the waist and takes place the motion, and the motion of tying up the waistband is felt to the sensor impression to give the controller with motion signal transmission, controller control power module motion, power module drives the shank and ties up the device motion, with the shank walking that drives the user. The utility model provides a robot power module's setting has solved conventional assistive device and has not had power, hardly really assists the technical problem that the patient carries out normal walking. Simultaneously, this application only is equipped with the power module at the surface of tying up the waistband and can realize supplementary walking, and the simple structure of robot, it is small, solved the big bulky of ectoskeleton robot on the market, the structure is complicated, and the quality is too big, the daily technical problem that uses of patient of being not convenient for.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a power module provided by the present invention.

Fig. 2 is a schematic structural view of an auxiliary walking robot provided by the present invention.

Fig. 3 is a rear view of the auxiliary walking robot shown in fig. 2.

Figure 4 is a schematic view of the leg-binding apparatus of figure 2.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a power module 104, and the power module 104 can be applied to an auxiliary walking robot. The power module 104 will be described in detail below.

Referring to fig. 1, the power module 104 includes a bottom plate 104a, a driving member 104b and a speed reducer, the driving member 104b is disposed on the bottom plate 104a, the speed reducer is disposed on the bottom plate 104a, the driving member 104b is connected to the speed reducer, the speed reducer is connected to an external device, when the power module 104 moves, the speed of the driving member 104b is an initial speed, the speed reducer is configured to reduce the initial speed of the driving member 104b to a preset speed and transmit the preset speed to the external device, and the external device moves at the preset speed.

Thus, when the initial speed of the driver 104b is large, the large initial speed is not suitable for the external device, and in order to convert the large initial speed into a speed that can make the external device suitable for use, the initial speed of the driver 104b needs to be decelerated. The speed reduction device may reduce the initial speed of the driving member 104b so that the speed of the external device may become a preset speed suitable for the external device to move.

In a specific embodiment, the speed reduction device at least comprises a first-stage speed reduction device 104c and a second-stage speed reduction device 104d, the driving member 104b, the first-stage speed reduction device 104c and the second-stage speed reduction device 104d are sequentially connected, the second-stage speed reduction device 104d is connected with an external device, the first-stage speed reduction device 104c is used for reducing the initial speed of the driving member 104b to an intermediate speed, and the second-stage speed reduction device 104d is used for reducing the intermediate speed of the first-stage speed reduction device 104c to a preset speed. In this embodiment, when the initial speed cannot be directly reduced to the preset speed, the two-stage speed reduction is adopted in the present application, the initial speed is reduced to the intermediate speed, and then the intermediate speed is reduced to the preset speed. The two-stage deceleration mode can make the change of initial speed more gentle, and power module 104 is more stable, avoids because the unstable technical problem of power module 104 that the change of initial speed leads to too fast.

In other embodiments, the speed reduction device of the present application may further include a third-stage speed reduction device, a fourth-stage speed reduction device, a fifth-stage speed reduction device, or more, where the above-mentioned multi-stage speed reduction device is used to reduce the initial speed to obtain the final preset speed when the initial speed is greater, or to reduce the speed of the general initial speed more times, the change range of the speed is smaller, the speed reduction is more stable, and the power module 104 is more stable. As for the specific number of stages of the reduction gear, the present application is not limited, as long as the reduction gear of the corresponding number of stages can make the reduced speed reach the preset speed, and the power module 104 is stable. The above-mentioned reduction gears may be directly connected or disconnected, and the application is not limited herein.

In one embodiment, the second reduction stage 104d comprises a synchronous wheel 301, an idler wheel, a conveyor belt 304, a clamping plate 305, and a lead screw 306, the synchronous wheel 301 and the idler wheel are both located on the bottom plate 104a, the idle wheel and the synchronous wheel 301 are arranged at intervals, the synchronous wheel 301 is connected with an external device, the transmission belt 304 is sleeved on the outer surface of the idle wheel and the outer surface of the synchronous wheel 301, and a containing space 40 is formed in the conveyor belt 304, the holding plate 305 is fixedly held on the conveyor belt 304, and extends into the accommodating space 40, the lead screw 306 is accommodated in the accommodating space 40, and the lead screw 306 includes a first end near the idler wheel, the first end is slidably connected with the clamping plate 305, the lead screw 306 performs a rotational motion, and the rotation motion is converted into the linear motion of the clamping plate 305, the clamping plate 305 drives the conveyor belt 304 to move, the conveyor belt 304 drives the synchronous wheel 301 to rotate, and the synchronous wheel 301 drives the external device to move. In this embodiment, the clamping plate 305 is a clamping plate 305 for the conveyor belt 304, that is, the clamping plate 305 is clamped and fixed with the conveyor belt 304. The lead screw 306 may be selected from a ball screw 306, a trapezoidal screw 306, and the like.

In this embodiment, there are two idle wheels, the two idle wheels are respectively a first idle wheel 302 and a second idle wheel 303, the first idle wheel 302 and the second idle wheel 303 are disposed at one end of the bottom plate 104a at an interval, the synchronous wheel 301 is disposed at the other end of the bottom plate 104a, the diameter of the synchronous wheel 301 is larger than that of the idle wheel, and the conveyor belt 304 is disposed on the outer surfaces of the first idle wheel 302, the second idle wheel 303 and the synchronous wheel 301.

The conveyor belt 304 at least comprises 6 segments, wherein the first segment is arranged on the outer surface of the synchronous wheel 301, the second segment is arranged between the first end of the synchronous wheel 301 and the first end of the first idle wheel 302, the first end of the synchronous wheel 301 and the first end of the first idle wheel 302 are oppositely arranged and close to each other, the third segment is arranged on the outer surface of the first idle wheel 302, the fourth segment is arranged between the first idle wheel 302 and the second idle wheel 303, the fifth segment is arranged on the outer surface of the second idle wheel 303, the sixth segment is arranged between the second end of the synchronous wheel 301 and the second end of the second idle wheel 303, and the second end of the synchronous wheel 301 and the second end of the second idle wheel 303 are oppositely arranged and close to each other. In other implementations, there may be one idler. The conveyor belt 304 comprises 4 segments, one segment is arranged on the outer surface of the idler wheel, the other segment is arranged on the outer surface of the synchronizing wheel 301, the other segment is arranged between the first end of the idler wheel and the first end of the synchronizing wheel 301, the first end of the idler wheel and the first end of the synchronizing wheel 301 are oppositely arranged and close to each other, the other segment is arranged between the second end of the idler wheel and the second end of the synchronizing wheel 301, and the second end of the idler wheel and the second end of the synchronizing wheel 301 are oppositely arranged and close to each other.

After the transmission belt 304 is sleeved on the outer surface of the idle wheel and the outer surface of the synchronizing wheel 301, an accommodating space 40 is further formed in the transmission belt 304, and elements such as the clamping plate 305, the lead screw 306 and the following support body can be accommodated in the accommodating space 40, so that the accommodating space 40 is used for accommodating the elements such as the clamping plate 305, the lead screw 306 and the following support body, idle space in the accommodating space 40 is utilized, space for accommodating the elements such as the clamping plate 305, the lead screw 306 and the following support body is omitted, the size of the power module 104 is small, and the size of the robot is small.

In a specific embodiment, the power module 104 further includes a supporting body 309, the supporting body 309 is located in the accommodating space 40 and supported on the bottom plate 104a, the supporting body 309 is provided with a first through hole, the first through hole is close to the bottom plate 104a, the screw 306 further includes a second end opposite to the first end, and the second end of the screw 306 passes through the first through hole and extends out. The lead screw 306 is supported on the chucking plate 305 by being slidably connected to the chucking plate 305, and the lead screw 306 is rotatable within the first through hole.

In other implementation manners, the second-stage reduction gear 104d may further include a steel wire rope, a polymer rope, and a rope pulley, where the rope pulley may be fixed on the bottom plate 104a, the steel wire rope or the polymer rope is sleeved on the rope pulley, the clamping plate 305 is fixedly clamped on the steel wire rope or the polymer rope, the steel wire rope or the polymer rope is further sleeved on the synchronizing wheel 301, the rotational motion of the lead screw 306 is converted into the linear motion of the clamping plate 305, the linear motion of the clamping plate 305 is converted into the motion of the steel wire rope or the polymer rope, the motion of the steel wire rope or the polymer rope is converted into the motion of the synchronizing wheel 301, and finally, the motion of the external device is converted into the motion of the external device.

In a specific embodiment, the first-stage speed reducer 104c includes a synchronous belt 307 and a speed-reducing wheel 308, the supporting body 309 further has a second through hole spaced from the first through hole, the driving element 104b includes an output shaft, the output shaft of the driving element 104b passes through the second through hole and extends out, the speed-reducing wheel 308 is fixedly sleeved on the second end of the lead screw 306, the synchronous belt 307 is sleeved on the outer surface of the output shaft and the outer surface of the speed-reducing wheel 308, the output shaft of the driving element 104b drives the synchronous belt 307 to move, the synchronous belt 307 drives the speed-reducing wheel 308 to rotate, and the speed-reducing wheel 308 drives the lead screw 306 to rotate. In this embodiment, the driving member 104b is supported by the supporting member 309 and located directly above the screw 306, the center of the first through hole and the center of the second through hole are substantially located on the same straight line perpendicular to the bottom plate 104a, the center of the output rotating shaft and the center of the deceleration wheel 308 are substantially located on the same straight line substantially perpendicular to the bottom plate 104a, and the synchronous belt 307 is sleeved on the outer surface of the output rotating shaft and the outer surface of the deceleration wheel 308 in a manner substantially perpendicular to the bottom plate 104 a. The diameter of the reduction wheel 308 is larger than that of the output spindle, so that the speed is transmitted through the timing belt 307, and the speed on the reduction wheel 308 is smaller than that of the output spindle, so that the speed is reduced from the driving element 104b to the lead screw 306 for the first time. The speed of the lead screw 306 is less than the speed of the driver 104b, and the driver 104b decelerates a second time to the lead screw 306. That is, the present application performs deceleration at least twice by the deceleration wheel 308 with a larger diameter and the synchronizing wheel 301 with a larger diameter. The speed reduction ratio of the power module 104 is large, and large enough torque can be output, so that an external device can move. The above-mentioned deceleration method may be a method such as gear deceleration, in addition to the method of the synchronous belt 307, as long as the deceleration method is possible, and the specific use case is determined according to the specific use scenario, the present application is not limited thereto.

The first end of the lead screw 306 is sleeved with a lead screw nut, the lead screw nut is fixedly arranged in the clamping plate 305, when the lead screw 306 rotates, the lead screw nut can be converted into linear motion along with the rotation angle of the lead screw 306 according to the lead of the corresponding specification, the linear motion of the lead screw nut is converted into the linear motion of the clamping plate 305, the linear motion of the clamping plate 305 is converted into the transmission motion of the conveyor belt 304, and the linear motion of the conveyor belt 304 can be converted into the rotation of the synchronizing wheel 301, so that the external device is driven to move.

When the waist movement sensed by the sensor is reciprocating movement, the rotation direction of the lead screw 306 is changed, the lead screw 306 rotates alternately in the clockwise direction and the anticlockwise direction and then is converted into linear reciprocating movement of a lead screw 306 nut, the reciprocating linear movement of the lead screw 306 nut is converted into reciprocating linear movement of the clamping plate 305, the linear reciprocating movement of the clamping plate 305 is converted into transmission movement of the conveyor belt 304 alternately in the clockwise direction and the anticlockwise direction and then is converted into rotation of the synchronizing wheel 301 alternately in the clockwise direction and the anticlockwise direction, and then the external device is driven to move forwards and backwards and the like.

Referring to fig. 2-3, the present invention further provides a walking-assisted robot. The walking-assisted robot comprises: waist is tied up and is tied up device 10, waist is tied up and is tied up device 10 and is tied up waistband 101 including tying up, the sensor, controller 103 and power module 104 all locate the surface of tying up waistband 101, the sensor links to each other with controller 103, controller 103 links to each other with power module 104, power module 104 links to each other with external device, tie up waistband 101 and be used for the cover to locate user's waist, the sensor is used for the response to tie up the motion of waistband 101, and transmit motion signal for controller 103, controller 103 control power module 104 motion, power module 104 drives the motion of external device.

Specifically, the binding belt 101 includes a first belt 101a, a second belt 101b, a third belt 101c and a fourth belt 101d connected end to end in sequence, the first belt 101a is configured to be installed on the front side of the waist of the user, the second belt 101b is configured to be installed on the left side of the waist of the user, the third belt 101c is configured to be installed on the rear side of the waist of the user, and the fourth belt 101d is configured to be installed on the right side of the waist of the user. In other embodiments, the bandaging waistband 101 may also be an over-the-shoulder strap.

In one embodiment, the waist binding device 10 further comprises a waist support 105 and a power battery 106, the waist support 105 is mounted on the outer surface of the third belt 101c, the controller 103 is disposed at a substantially middle position of the waist support 105, and the waist support 105 is used for fixedly supporting the binding belt 101. The power module 104 is disposed on the outer surface of the second belt 101b, and the power battery 106 can be disposed on the outer surface of the fourth belt 101d for supplying power to the power module 104 to drive the leg-binding device 20 to move. The sensors at least include a first sensor 102a and a second sensor 102b, the first sensor 102a can be a side sensor (a sensor on the side of the leg of the user suffering from the disease), the second sensor 102b can be a side sensor (a sensor on the side of the leg of the user healthy), the first sensor 102a is disposed on the power module 104, and the second sensor 102b is disposed on the fourth belt 101 d.

In one embodiment, the power module 104 is installed on the second belt 101b, the power battery 106 is installed on the fourth belt 101d, and the power battery 106 is used for supplying power to the driving member 104b so as to enable the driving member 104b to output power. The drive 104b may be a servo motor. In other embodiments, the power module 104 may also be mounted on the fourth belt 101d, and the power battery 106 is mounted on the second belt 101 b. The power cells 106 may also be first mounted on the base plate 104a, which in turn is mounted on the belt 104 a. One end of the lumbar support bracket 105 is fixedly connected with the bottom plate 104a of the power module 104, and the other end of the lumbar support bracket 105 is fixedly connected with the bottom plate 104a on which the power battery 106 is mounted. That is, which leg of the user is difficult to walk (the affected leg), the power module 104 is mounted on the belt on one side of the leg.

Referring to fig. 4, in a specific embodiment, the external device is a leg binding device 20, the leg binding device 20 includes a leg module and a leg binding belt 201 connected to the leg module, the leg module is connected to the power module 104, the leg binding belt 201 is used to cover the leg of the user, the power module 104 moves to drive the leg module to move, and the leg module drives the leg binding belt 201 to move to drive the leg of the user to walk. Specifically, the leg rod module is used to transmit the motion of the power module 104 to the leg-binding band 201, so that the motion of the leg-binding band 201 drives the legs of the user to walk.

Thus, this application sets up the sensor through the surface at tie-up waistband 101, controller 103 and power module 104, when the user is using the supplementary walking of supplementary walking robot, the motion takes place for the waist, tie-up waistband 101 and follow the motion emergence motion of waist, the sensor impression ties up the motion of waistband 101, and give controller 103 with motion signal transmission, controller 103 control power module 104 motion, power module 104 drives the shank and ties up the motion of device 20, walk with the shank that drives the user.

The technical problem that the conventional assistive device does not have power, and the patient is hardly assisted to normally walk is solved by the arrangement of the robot power module 104. Simultaneously, this application only is equipped with power module 104 and can realize assisting the walking in the surface of tying up belt 101, and the simple structure of robot, it is small, it is bulky to have solved the most bulky, the structure is complicated of ectoskeleton robot on the market, and the quality is too big, the daily technical problem that uses of patient is not convenient for.

In a specific embodiment, the leg rod module comprises at least a first leg rod 202 and a second leg rod 203, the power module 104, the first leg rod 202, the second leg rod 203 and the leg-binding strap 201 are connected in sequence, and the second leg rod 203 is hinged with the leg-binding strap 201. In this application, synchronizing wheel 301 is connected with first festival leg pole 202, and synchronizing wheel 301 is including keeping away from the installation face of bottom plate 104a, and first festival leg pole 202 is installed on synchronizing wheel 301's installation face, and when synchronizing wheel 301 rotated, first festival leg pole 202 can carry out the seesaw, and then drives second festival leg pole 203 motion to the drive is tied up leg band 201 and is carried out the seesaw, and it ties up leg band 201 and drives user's shank and carry out the seesaw.

The leg lever module may also include a third leg lever 204. Third leg link 204 is hinged between second leg link 203 and leg-restraining strap 201. The third leg link 204 is designed such that the third leg link 204 of the present application is hinged to the second leg link 203 and the third leg link 204 is hinged to the leg-binding strap 201, so that the at least double hinge design allows the leg-binding apparatus 20 to be adapted to users with different leg circumference. In the present application, third leg link 204 is hinged to second leg link 203 by first hinge 207, and third leg link 204 is hinged to bandaging leg strap 201 by second hinge 206.

In other implementations, the leg bar module may further include a fourth leg bar, a fifth leg bar, or more leg bars, etc., and the application is not limited in number herein. The multi-section leg rods are sequentially hinged. A more multi-section leg bar may make the leg binding 20 a more multi-section hinge design, which may make the leg binding 20 suitable for users with more legs.

In a specific embodiment, the leg pole module further comprises a leg support plate 205, the leg support plate 205 being provided on an outer surface of the leg-binding band 201 for supporting and fixing the leg-binding band 201.

In one embodiment, there is one leg-binding device 20 and one power module 104, and the power module 104 is connected to the leg-binding device 20. When the user has difficulty walking with one leg, the user can be assisted to walk smoothly using one leg-binding device 20.

In another embodiment, there are two leg bindings 20 and two power modules 104. A power module 104 is connected to a leg-restraining device 20. When both legs of the user have difficulty walking, the two leg-binding devices 20 are used to assist the user in walking smoothly.

In conclusion, the robot can assist a user to lift legs and walk, and is simple in structure, small in size, large in reduction ratio, stable in structure and wide in application range.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (9)

1. A power module, comprising:

a base plate;

the driving piece is arranged on the bottom plate;

a speed reduction device: the driving piece, the first-stage speed reduction device and the second-stage speed reduction device are sequentially connected, the second-stage speed reduction device is connected with an external device, the first-stage speed reduction device is used for reducing the initial speed of the driving piece to an intermediate speed, and the second-stage speed reduction device is used for reducing the intermediate speed of the first-stage speed reduction device to a preset speed;

the second-stage speed reducer comprises a synchronizing wheel, an idle wheel, a conveyor belt, a clamping plate and a screw rod, wherein the synchronizing wheel and the idle wheel are both positioned on the bottom plate, the idle wheel and the synchronizing wheel are arranged at intervals, the synchronizing wheel is connected with the external device, the conveyor belt is sleeved on the outer surface of the idle wheel and the outer surface of the synchronizing wheel, an accommodating space is formed in the conveyor belt, the clamping plate is fixedly clamped on the conveyor belt and extends into the accommodating space, the screw rod is accommodated in the accommodating space, the screw rod comprises a first end close to the idle wheel, the first end is in sliding connection with the clamping plate, the screw rod performs rotary motion and converts the rotary motion into linear motion of the clamping plate, the clamping plate drives the conveyor belt to move, and the conveyor belt drives the synchronizing wheel to rotate, the synchronous wheel drives the external device to move;

the first-stage speed reducer comprises a synchronous belt and a speed reducing wheel, the driving piece comprises an output rotating shaft, the synchronous belt is arranged on the outer surface of the output rotating shaft and the outer surface of the speed reducing wheel, the output rotating shaft of the driving piece drives the synchronous belt to move, the synchronous belt drives the speed reducing wheel to rotate, and the speed reducing wheel drives the screw rod to rotate.

2. The power module according to claim 1, further comprising a support body, wherein the support body is located in the accommodating space and supported on the bottom plate, the support body is provided with a first through hole, the first through hole is close to the bottom plate, the screw further comprises a second end opposite to the first end, and the second end of the screw passes through the first through hole and extends out.

3. The power module as claimed in claim 2, wherein the support body further has a second through hole spaced from the first through hole, the output shaft of the driving member extends through the second through hole, and the reduction gear is fixedly secured to the second end.

4. An auxiliary walking robot, comprising a belt, a sensor, a controller and the power module of any one of claims 1-3, wherein the sensor, the controller and the power module are disposed on the outer surface of the belt, the sensor is connected to the controller, the controller is connected to the power module, the power module is connected to an external device, the belt is configured to be worn around the waist of a user, the sensor is configured to sense the movement of the belt and transmit a sensing signal to the controller, the controller controls the power module to move, and the power module drives the external device to move.

5. An auxiliary walking robot as claimed in claim 4, wherein the external device is a leg binding device comprising a leg bar module and a leg binding belt connected to the leg bar module, the leg bar module being connected to the power module, the leg binding belt being adapted to be fitted over the leg of the user, the power module being adapted to move the leg bar module, the leg bar module being adapted to move the leg binding belt to walk the leg of the user.

6. An auxiliary walking robot as claimed in claim 5, wherein the leg bar module comprises at least a first leg bar and a second leg bar, the power module, the first leg bar, the second leg bar and the leg-binding band are connected in sequence, and the first leg bar is hinged with the second leg bar, and the second leg bar is hinged with the leg-binding band.

7. An auxiliary walking robot as claimed in claim 6, wherein the leg lever module further comprises a third leg lever provided between the second leg lever and the leg-binding band, and having one end hinged to the second leg lever and the other end hinged to the leg-binding band.

8. The auxiliary walking robot of claim 4, wherein the waist binding device further comprises a waist support frame provided on an outer surface of the binding belt, and the controller is provided on the waist support frame.

9. An auxiliary walking robot as claimed in claim 5, wherein said power modules are two, said leg bindings are two, and one said power module is connected to one said leg bindings.

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