CN117815042A - Auxiliary walking device - Google Patents

Abstract

The invention discloses an auxiliary walking device which comprises a bracket, a leg walking mechanism, a transmission mechanism and a driving motor, wherein the leg walking mechanism is hinged on the bracket and is connected to the driving motor through the transmission mechanism for driving the leg walking mechanism to walk, and the transmission mechanism and the driving motor are arranged on the bracket. The auxiliary walking device overcomes the contradiction between the walking and the stability of the original device, so that a user cannot fall down easily in all directions, and the auxiliary walking device walks more stably and safely; the connecting rod type thigh and calf binding device has the advantages that the leg assisting walking is realized, the movement state can be intelligently regulated, and the rehabilitation effect is extremely strong.

Description

Auxiliary walking device

Technical Field

The invention belongs to the technical field of auxiliary walking equipment, and relates to an auxiliary walking device.

Background

As the world population ages progressively, up to the end of 2021, the elderly population 26736 tens of thousands of people 60 years and older in the country, accounting for 18.9% of the general population; the population of the elderly 20056 ten thousand people in the country 65 years old and above accounts for 14.2% of the total population, and the population tending ratio of the elderly in the country 65 years old and above is 20.8%.

The problem of inconvenient walking of the elderly is also gradually and severely increased, and through preliminary statistics on specific gait characteristics of 220 elderly, it is found that the elderly with the characteristics of slow lower limb movement and smaller amplitude has the largest proportion of about 50%, and the proportion of 25% and 20% respectively. Then, by further dividing the specific gait characteristics according to the specific body parts with abnormality, and analyzing the specific gait characteristics according to the classification modes of the body state characteristics, the dynamic characteristics, the sight line characteristics and the walking states of the trunk, the lower limbs and the upper limbs, the ratio of the abnormal lower limb state behavior is 47.73% at the maximum, the ratio of the abnormal trunk body state behavior is 40% at the next, the abnormal sight line behavior is 35.91% at the next time. Falls occur at all ages, and the elderly are at a premium, and have become a global important public health problem, threatening the health of the elderly. Statistics according to the existing data: the falling is the first cause of injury and diagnosis of the old in China, is the first cause of traumatic fracture of the old, and is also the first cause of injury and death of the old. The old people can cause a large number of disabilities after falling down, and the heart health and life quality of the old people are affected. In the background of the continuous deepening of the deep aging society of China, falling is a health problem to be solved urgently for the old people of China in a quite period. And under the high-speed development of social economy, the employment problems of walking handicapped people are increasingly prominent, and statistics show that about 3200 thousands of disabled people are at employment ages, and the employment number of the disabled people in urban and rural areas in China is only 855.2 thousands of disabled people according to the statistical publication of the development of disabled people in 2019, and the employment rate is 26.7%. Among them, 430.1 ten thousand people are planted in agriculture, 228.2 ten thousand people are flexibly employment (including community and household employment), and a large part of the disabled people who do not employment are inconvenient to walk on two legs.

Based on the problem of difficulty in employment caused by inconvenient walking of the old, the designed auxiliary walking device aims to help and improve walking difficulty of people with inconvenient walking or the old, basically realize safe autonomous walking, and solve the problems that similar wheelchairs and crutches are large in size, inconvenient to use, single in function, low in safety, and cannot help walking impaired people to realize standing walking and leg muscle exercise.

Disclosure of Invention

The invention aims to solve the technical problems that: an auxiliary walking device is provided to solve the technical problems existing in the prior art.

The technical scheme adopted by the invention is as follows: an auxiliary walking device comprises a support, a leg walking mechanism, a transmission mechanism and a driving motor, wherein the leg walking mechanism is hinged on the support and connected to the driving motor through the transmission mechanism for driving the leg walking mechanism to walk, and the transmission mechanism and the driving motor are installed on the support.

Further, the leg walking mechanism comprises a leg mechanism gear, a movable rod group transmission mechanism, a thigh motion simulation assembly and a shank motion simulation assembly, wherein the leg mechanism gear is rotatably connected to one end of the fixed rod, the leg mechanism gear is connected to the thigh motion simulation assembly through the movable rod group transmission mechanism and drives the thigh motion simulation assembly to act, the thigh motion simulation assembly is connected to the shank motion simulation assembly and drives the shank motion simulation assembly to act, and the leg mechanism gear is driven.

Further, the movable rod group transmission mechanism comprises a first curved rod, a first straight rod and a triangular member, wherein a joint hinged end of the first curved rod and the first straight rod is provided with a hinged shaft, the hinged shaft is hinged to an eccentric hinged strip-shaped hole radially arranged on the end face of the leg gear and can move along the length direction of the hinged strip-shaped hole, a first angle and a third angle of the triangular member are respectively hinged to the first end of the straight rod and the second upper end of the curved rod on the front side of the thigh motion simulation assembly, a second angle of the triangular member is hinged to the other end of the fixed rod and the second upper end of the straight rod on the rear side of the leg motion simulation assembly, and the first end of the curved rod is hinged to the second straight rod and is a distance away from the second upper end of the straight rod.

Further, the thigh motion simulation assembly comprises a second curved bar, a second straight bar and a thigh binding belt, wherein the bending part at the lower end of the second curved bar and the lower end of the second straight bar are hinged to the shank motion simulation assembly, and one side of the thigh binding belt is fixedly connected to the second curved bar and the second straight bar.

Further, above-mentioned shank motion simulation subassembly includes triangle mechanism, right angle bent lever, sole backup pad and shank bundling belt, wherein, triangle mechanism upper portion front side first angle and rear side second angle respectively hinge bent lever second lower extreme and straight-bar second lower extreme, triangle mechanism lower part third angle articulates to the connecting plate front side of the vertical setting of sole backup pad, right angle bent lever upper end turning free end articulates on the straight-bar second and hinge point distance two sections distances apart from the straight-bar, right angle bent lever lower extreme articulates the connecting plate rear side, the connecting plate is vertical to be set up in the sole backup pad outside, shank bundling belt fixed connection is on triangle mechanism and right angle bent lever.

Further, the support comprises a basic support rod set and universal wheels, wherein the basic support rod set comprises two front support rods, two rear support rods and two bottom support rods, the upper ends of the two rear support rods are respectively and fixedly connected to the two front support rods to form two herringbone frames, the lower ends of the two herringbone frames are respectively and fixedly connected to the two bottom support rods, bottom cross beams are fixedly connected between the rear parts of the two bottom support rods, the four universal wheels are respectively and fixedly connected to the bottoms of the two bottom support rods, and the universal wheels are provided with walking motors for driving the universal wheels to walk.

Further, two shaft brackets are fixedly connected to two sides of the two herringbone frames respectively, a transmission mechanism is arranged between the two shaft brackets, the transmission mechanism comprises a rotating gear shaft, two driven gears and a driving gear which are connected in a rotating mode through a backward extending section between the two shaft brackets, the two driven gears are fixedly connected to the rotating gear shaft respectively and meshed with the driving gear and leg mechanism gears on a leg travelling mechanism simultaneously, the driving gear is fixedly connected to a motor shaft of a driving motor, and the driving motor is fixedly connected to one of the shaft brackets through the motor bracket.

Further, a torque sensor is mounted on the bracket, and a rotating shaft of the torque sensor is connected with a rotating gear shaft.

Further, a backrest and an upper cross beam are arranged between the two herringbone frames, a rear side beam is fixedly connected between the upper cross beam and the bottom cross beam, and handrails are fixedly connected to the front sides of the two herringbone frames.

The working process and principle of the invention are as follows: the person is fixed on the device, the button is pressed, the motor at the rear of the bracket is started, the gear on the electrode rotates to drive the gear on the gear shaft to rotate, and the gear on the gear shaft drives the gear on the leg structure to rotate, so that two rods fixed on the gear on the leg are driven to move, and the whole leg rod piece is driven to move. Therefore, the whole leg structure moves forwards through the transmission of a plurality of rods, the leg posture of a person walking is simulated, the leg of the person is driven to move forwards, the auxiliary walking is realized, meanwhile, the resistance sensor can conduct the received resistance signal in the torque sensor, the controller controls the servo driving motor to intelligently provide auxiliary power on the gear shaft according to the received torque signal and the parameters and the resistance signal which are set in advance, and the better rehabilitation effect is achieved. When walking, the rotating speed and the rotating direction of the motor can be controlled by the control panel at the handle, so that the walking speed and the walking direction can be controlled.

The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:

(1) The auxiliary walking device overcomes the contradiction between the walking and the stability of the original device, so that a user cannot fall down easily in all directions, and the auxiliary walking device walks more stably and safely;

(2) The connecting rod type thigh and thigh binding device has the advantages that the connecting rod type thigh and thigh binding device is used for realizing auxiliary walking of the legs, the movement state can be intelligently adjusted, and a very strong rehabilitation effect is achieved;

(3) For a user, the device has simple operation and structure, low cost, economic effect and reduced economic burden;

(4) The joint movement of the straight rod II and the curved rod II forms a mechanism for simulating the movement of the thigh of a normal person. Meanwhile, the second straight rod is connected with the second curved rod and the shank movement simulation group, and power is transmitted to the shank movement simulation group so as to simulate the movement posture of the shank;

(5) In the movement process, the second curved bar and the second straight bar drive the triangular component to move, the right-angle curved bar 206 pulls the triangular component through the sole supporting plate to play a role in movement correction, and the movement posture of the lower leg of a normal person is simulated more truly.

Drawings

FIG. 1 is a schematic perspective view of an auxiliary walking device;

FIG. 2 is a schematic view of a partial perspective of the transmission mechanism;

FIG. 3 is a schematic view of a partial rear view of the transmission;

FIG. 4 is a schematic side view of the walk-assist apparatus;

FIG. 5 is a schematic isometric view of a one-sided leg travel mechanism;

FIG. 6 is a schematic perspective view of a single-sided leg travel mechanism;

FIG. 7 is another perspective view of a single-sided leg travel mechanism;

FIG. 8 is a schematic perspective view of a bracket;

FIG. 9 is a schematic side elevational view of the bracket;

FIG. 10 is a schematic diagram of a leg gear configuration;

FIG. 11 is a schematic perspective view of the walk-assisting apparatus;

fig. 12 is a schematic view of a cross-sectional structure of the mounting of the gimbal at the bottom of the bracket.

Detailed Description

The invention will be further described with reference to specific examples.

Example 1: as shown in fig. 1-12, an auxiliary walking device comprises a bracket 1, a leg walking mechanism 2, a transmission mechanism and a servo driving motor 3, wherein the leg walking mechanism 2 is hinged on the bracket 1 and is connected to the driving motor 3 through the transmission mechanism for driving the leg walking mechanism to walk, and the transmission mechanism and the driving motor 3 are arranged on the bracket 1.

The leg walking mechanism 2 includes a leg mechanism gear 201, a movable rod group transmission mechanism, a thigh motion simulation assembly and a shank motion simulation assembly, wherein the leg mechanism gear 201 is rotatably connected to one end of a fixed rod 210, the leg mechanism gear 201 is connected to the thigh motion simulation assembly through the movable rod group transmission mechanism and drives the thigh motion simulation assembly to act, the thigh motion simulation assembly is connected to the shank motion simulation assembly and drives the shank motion simulation assembly to act, and the leg mechanism gear 201 is driven.

Wherein, the above-mentioned movable bar group drive mechanism includes curved bar one 208, straight-bar one 202 and triangular member 203, and wherein, the joint articulated end of curved bar one 208 and straight-bar one 202 sets up the articulated shaft, and the articulated shaft articulates the eccentric articulated bar hole that arranges radially to leg gear 201 terminal surface and can follow articulated bar hole length direction and remove, and bar Kong Rutu shows, its effect: when the leg bar system is subjected to force, the gear shaft can slide in the groove, the position of the gear shaft is changed to change the movement posture of the leg bar system so as to realize the function of adapting the mechanism to a person, the first angle and the third angle of the triangular member 203 are respectively hinged to the other end of the straight bar I202 and the upper end of the curved bar II 204 on the front side of the thigh movement simulation assembly, the second angle of the triangular member 203 is hinged to the other end of the fixed bar 210 and the upper end of the straight bar II 207 on the rear side of the leg movement simulation assembly, and the other end of the curved bar I208 is hinged to the straight bar II 207 and is at a distance from the upper end of the straight bar II 207.

The thigh motion simulation assembly comprises a second curved bar 204, a second straight bar 207 and a thigh binding belt 211, wherein the bending part at the lower end of the second curved bar 204 and the lower end of the second straight bar 207 are hinged to the shank motion simulation assembly, one side of the thigh binding belt 211 is fixedly connected to the second curved bar 204 and the second straight bar 207, and the thigh motion simulation assembly binds thighs so as to facilitate swing of the thighs. When the leg gear 201 rotates, power is transmitted to the first straight rod 202 and the first curved rod 208 through bearings, the other end of the first curved rod 208 is connected with the middle part of the second straight rod 207 through bearing connection, meanwhile, power is transmitted to the second straight rod 207 through bearings, and the upper end of the second straight rod 207 is connected with the fixing rod 210 through bearings and bolts so as to ensure that the straight rod can rotate around the upper end of the fixing rod in a fixed shaft mode. The other end of the straight rod 202 is connected to the upper end of the triangular member 203 through a bearing and a bolt, the middle part of the triangular member 203 is rotatably connected with the fixed rod 210 to ensure that the triangular member 203 can rotate around the fixed shaft at the middle part, the lower end of the triangular member 203 is movably connected with the curved rod through the bearing and the bolt, and power is transmitted to the curved rod 204 through the bearing. The joint movement of the straight rod II 207 and the curved rod II 204 forms a mechanism for simulating the movement of the thigh of a normal person. Meanwhile, the second straight rod 207 and the second curved rod 204 are connected with the shank movement simulation group, and power is transmitted to the shank movement simulation group so as to simulate the movement posture of the shank.

The above-mentioned shank motion simulation assembly includes a triangle 205, a right angle crank 206, a sole support plate 209 and a shank binding belt 212, wherein, the first angle of the front side and the second angle of the rear side of the triangle 205 are hinged with the lower end of the crank 204 and the lower end of the straight rod 207, the third angle of the lower part of the triangle 205 is hinged with the front side of the connecting plate vertically arranged on the sole support plate 209, the free end of the corner of the upper end of the right angle crank 206 is hinged with the straight rod 207 and the hinge point is at a distance from the straight rod 207, the lower end of the right angle crank 206 is hinged with the rear side of the connecting plate, the connecting plate is vertically and vertically arranged outside the sole support plate 209, the shank binding belt 212 is fixedly connected with the triangle 205 and the right angle crank 206, the shank motion simulation assembly binds the thigh, and is convenient for the swing and walking of the shank. In the movement process, the second curved rod 204 and the second straight rod 207 drive the triangular component 205 to move, and the right-angle curved rod 206 pulls the triangular component 205 through the sole supporting plate 209 to play a role in movement correction, so that the movement posture of the lower leg of a normal person is simulated more truly.

The support 1 comprises a basic support rod group 105, universal wheels 106 and an adjusting spring 116, wherein the rotation speed of the two wheels can be changed by a walking motor on the universal wheels so as to realize the differential turning of the support, the support drives a leg mechanism to turn, the basic support rod group 105 comprises two front support rods 107, two rear support rods 108 and two bottom support rods 109, the upper ends of the two rear support rods 108 are respectively and fixedly connected to the two front support rods 107 to form two herringbone frames, the support stability of the herringbone frames is better, the lower ends of the two herringbone frames are respectively and fixedly connected to the two bottom support rods 109, a bottom cross beam 110 is fixedly connected between the rear parts of the two bottom support rods 109, the center of gravity is positioned between the two herringbone frames and extends into a thigh motion simulation assembly and a shank motion simulation assembly, the center of gravity is positioned in the middle of the whole support, the support stability is better, the universal wheels 106 are respectively and fixedly connected to the bottoms of the two bottom support rods 109, the universal wheels 106 are provided with walking motors for driving the universal wheels to walk, and the electric steering and walking can be realized; a backrest 112 and an upper cross beam 113 are arranged between the two herringbone frames, a rear side beam 114 is fixedly connected between the upper cross beam 113 and the bottom cross beam 110, the backrest, the upper cross beam and the rear side beam are arranged, the rigidity and the stability of the bracket are integrally formed, an armrest 115 is fixedly connected to the front sides of the two herringbone frames, and an operation handle and an operation panel are arranged on the armrest. The adjusting spring 116 is located two bracing pieces 109 in the bottom section bottom of bending downwards, the adjusting spring 116 is located the blind hole 117 that the upper surface of the mounting bracket 118 of universal wheel set up, two bracing pieces 109 in the bottom section of bending downwards stretch into in the blind hole 117, blind hole 117 opening part screwed connection has the anti-disengaging inner convex ring, the lower extreme of the section of bending downwards of two bracing pieces 109 in the bottom of anti-disengaging inner convex ring restriction, the lower extreme screwed connection of the section of bending downwards of two bracing pieces 109 in the bottom has the anti-disengaging outer convex ring, during the use, embolia two bracing pieces 109 in the bottom section of bending downwards with the anti-disengaging inner convex ring earlier, then install the outer convex ring of anti-disengaging, the last spin-on of convex ring in the anti-disengaging is on the blind hole, can realize shock-absorbing function. The support is used for fixing the leg mechanism and assisting the driving motor of walking, and also provides safety guarantee for a user through a certain stable structure. The inclined backrest can be used for people to rely on, so that part of human body gravity is shared, the motor power during the movement of the device is effectively reduced, and energy is saved. The top of the backrest is provided with a headrest. The adjusting springs are arranged between the universal wheels and the support, the adjusting springs are arranged above each wheel, the height of the support can be slightly changed, when a person stands on the leg structure, the legs and the support are stressed together, so that the springs are compressed, the bottom components of the legs can be in contact with the ground more, and the problems that the legs can not touch the ground and the contact time of the legs and the ground is short are solved. The fixed rod only moves along with the movement of the bracket, the freedom degree is controlled by the bracket, and no independent movement exists.

Wherein, two brackets 102 are fixedly connected with respectively in the both sides of above-mentioned two herringbone frame, install drive mechanism between two brackets 102, drive mechanism includes that the back extension section rotates between two brackets 102 and connects rotatory gear shaft 103, two driven gear 111 and driving gear 302, two driven gear 111 respectively fixed connection is on rotatory gear shaft 103 and simultaneously with driving gear 302 and leg mechanism gear 201 on the shank running gear 2 mesh, driving gear 302 fixed connection is at driving motor 3's motor shaft, driving motor 3 passes through motor frame 301 fixed connection on one of them bracket 102, it is rotatory to drive driven gear through the motor gear, driven gear drives leg mechanism gear 201 rotation, and then drive thigh and shank walking, the transmission precision is high.

In order to detect the driving force of the rotating shaft, a torque sensor (not shown) is mounted on the bracket 1 through a mounting seat, and the rotating shaft of the torque sensor is fixedly connected with one end of the rotating gear shaft 103. After the torque sensor collects data, the torque sensor is connected to the controller 501, and the controller 501 provides intelligent proper force on the gear rod according to parameters set in advance and data provided by the torque sensor, so that proper auxiliary power is provided according to the force-generating condition of a human body, and a better rehabilitation effect and an autonomous guiding function are achieved through a high-precision monitoring mode.

The front end, the rear side, the left side and the right side of the armrest of the bracket are respectively provided with an infrared ranging sensor, a plurality of sensors range in real time in a plurality of directions and send signals to a controller, the controller analyzes data and sends signals to change the walking speed and direction so as to realize the function of semiautomatic or fully automatic obstacle avoidance, the controller is connected to a control panel at the handle, and the controller is connected to a torque sensor, a driving motor and a walking motor for driving a universal wheel to walk.

The second curved rod 204 is externally connected with a side plate in a welding mode, so that the mechanism is more attractive, and a user is prevented from being scratched during use.

Working principle: when the leg gear 201 is powered, the first straight rod 202 and the first curved rod 208 are driven to rotate, the first curved rod 208 drives the second straight rod 207 to rotate, the first straight rod 202 drives the triangular member 203 to rotate, the fixing 210 plays a role of fixing the rotating center, the structure formed by the second straight rod 207, the second curved rod 204 and the triangular member 203 simulates the movement of the thigh of a common person, the second curved rod 204 and the second straight rod 207 conduct power to the triangular member 205 to drive the member to rotate, meanwhile, the right-angle curved rod 206 and the sole supporting plate 209 conduct movement correction on the triangular member to simulate the movement of the calf of the common person, and the sole supporting plate 209 always keeps parallel to the ground under the combined action of the right-angle curved rod 206 and the triangular member 205 so as to simulate the posture of the foot when the common person walks. Wherein the torque sensor can monitor the torque required for the exercise in real time and control the walking motor after analysis by the controller 501 to provide the appropriate assistance to achieve the rehabilitation function.

Example 2: the application method of the auxiliary walking device comprises the following steps: after the device is placed on the ground, after helping walking handicapped people to wear the device, a user only needs to open a control panel device at the handle, and the function of controlling the movement speed of the leg mechanism can be realized by adjusting the rotation speed of the walking motor, so that the function of walking fast and slow is realized; the direction of movement of the leg mechanism can be controlled by adjusting the rotation direction of the walking motor, so that the walking direction is controlled, and the walking gesture of a normal person is more highlighted and restored; the walking motor is controlled to provide proper auxiliary force through real-time monitoring of the torque sensor so as to realize the rehabilitation function; the rotation speed difference of the left wheel and the right wheel at the bottom is adjusted by the controller to realize the turning function.

The foregoing is merely illustrative of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention, and therefore, the scope of the present invention shall be defined by the scope of the appended claims.

Claims (9)

1. An auxiliary walking device is characterized in that: the leg walking mechanism (2) is hinged to the support (1) and is connected to the driving motor (3) through the driving mechanism for driving the leg walking mechanism to walk, and the driving mechanism and the driving motor (3) are mounted on the support (1).

2. The walk assist device according to claim 1, wherein: the leg walking mechanism (2) comprises a leg mechanism gear (201), a movable rod group transmission mechanism, a thigh motion simulation assembly and a shank motion simulation assembly, wherein the leg mechanism gear (201) is rotatably connected to one end of a fixed rod (210), the leg mechanism gear (201) is connected to the thigh motion simulation assembly through the movable rod group transmission mechanism and drives the thigh motion simulation assembly to act, and the thigh motion simulation assembly is connected to the shank motion simulation assembly and drives the shank motion simulation assembly to act, and the leg mechanism gear (201) is driven.

3. The walk assist device according to claim 1, wherein: the movable rod group transmission mechanism comprises a first curved rod (208), a first straight rod (202) and a triangular member (203), wherein a joint hinged end of the first curved rod (208) and the first straight rod (202) is provided with a hinged shaft, the hinged shaft is hinged to an eccentric hinged strip-shaped hole radially arranged on the end face of the leg gear (201) and can move along the length direction of the hinged strip-shaped hole, a first angle and a third angle of the triangular member (203) are respectively hinged to the other end of the first straight rod (202) and the upper end of a second curved rod (204) on the front side of the thigh motion simulation assembly, a second angle of the triangular member (203) is hinged to the other end of the fixed rod (210) and the upper end of a second straight rod (207) on the rear side of the leg motion simulation assembly, and the other end of the curved rod (208) is hinged to the second straight rod (207) and is a distance away from the upper end of the second straight rod (207).

4. A walk aid device according to claim 3, wherein: the thigh motion simulation assembly comprises a second curved rod (204), a second straight rod (207) and a thigh binding belt (211), wherein the bending part at the lower end of the second curved rod (204) and the lower end of the second straight rod (207) are hinged to the shank motion simulation assembly, and one side of the thigh binding belt (211) is fixedly connected to the second curved rod (204) and the second straight rod (207).

5. The walk assist device according to claim 4, wherein: the shank motion simulation assembly comprises a triangular mechanism (205), a right-angle curved bar (206), a sole supporting plate (209) and a shank bundling belt (212), wherein a first angle at the front side of the upper part of the triangular mechanism (205) and a second angle at the rear side are hinged with the lower end of a curved bar II (204) and the lower end of a straight bar II (207), a third angle at the lower part of the triangular mechanism (205) is hinged to the front side of a connecting plate vertically arranged on the sole supporting plate (209), the free end of the corner at the upper end of the right-angle curved bar (206) is hinged to the straight bar II (207) and the hinging point is a distance away from the straight bar II (207), the lower end of the right-angle curved bar (206) is hinged to the rear side of the connecting plate, the connecting plate is vertically and vertically arranged outside the sole supporting plate (209), and the shank bundling belt (212) is fixedly connected to the triangular mechanism (205) and the right-angle curved bar (206).

6. The walk assist device according to claim 1, wherein: the support (1) comprises a basic support rod set (105) and universal wheels (106), the basic support rod set (105) comprises two front support rods (107), two rear support rods (108) and two bottom support rods (109), the upper ends of the two rear support rods (108) are fixedly connected to the two front support rods (107) respectively to form two herringbone frames, the lower ends of the two herringbone frames are fixedly connected to the two bottom support rods (109) respectively, bottom cross beams (110) are fixedly connected between the rear parts of the two bottom support rods (109), the universal wheels (106) are four, the two rear support rods are fixedly connected to the bottoms of the two bottom support rods (109), and the universal wheels (106) are provided with walking motors for driving the universal wheels to walk.

7. The walk assist device according to claim 6, wherein: two Y-shaped frames are fixedly connected with two shaft brackets (102) respectively, a transmission mechanism is arranged between the two shaft brackets (102), the transmission mechanism comprises a rotating gear shaft (103), two driven gears (111) and a driving gear (302) which are connected in a rotating way in a backward extending section between the two shaft brackets (102), the two driven gears (111) are fixedly connected to the rotating gear shaft (103) respectively and meshed with a driving gear (302) and leg mechanism gears (201) on a leg walking mechanism (2), the driving gear (302) is fixedly connected to a motor shaft of a driving motor (3), and the driving motor (3) is fixedly connected to one of the shaft brackets (102) through a motor frame (301).

8. An auxiliary walking device as defined in claim 2, wherein: the bracket (1) is provided with a torque sensor, and a rotating shaft of the torque sensor is connected with the rotating gear shaft (103).

9. The walk assist device according to claim 6, wherein: a backrest (112) and an upper cross beam (113) are arranged between the two herringbone frames, a rear side beam (114) is fixedly connected between the upper cross beam (113) and the bottom cross beam (110), and armrests (115) are fixedly connected to the front sides of the two herringbone frames.