CN217938640U

CN217938640U - Allosteric behavior auxiliary robot

Info

Publication number: CN217938640U
Application number: CN202222108098.5U
Authority: CN
Inventors: 赵新刚; 韩宇航; 赵明; 张弼; 姚杰; 赵忆文; 卜春光
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2022-08-11
Filing date: 2022-08-11
Publication date: 2022-12-02
Anticipated expiration: 2032-08-11

Abstract

The utility model relates to a behavior auxiliary robot field, in particular to allosteric behavior auxiliary robot. The leg supporting device comprises a waist part, thighs, crus and feet which are connected in sequence, wherein the waist part is provided with a control box, the back sides of the thighs and the crus are provided with a variable supporting mechanism, the variable supporting mechanism comprises a thigh supporting module, a crus supporting module and a wheel type moving-assistant module, the thigh supporting module is arranged on the thighs, the crus supporting module is arranged on the crus, the upper ends of the crus supporting module are hinged with the thigh supporting module, the wheel type moving-assistant module is arranged on the back sides of the thigh supporting module and the crus supporting module, and the wheel type moving-assistant module is hinged with the upper ends of the thigh supporting module and the lower ends of the crus supporting module; the control box controls the allosteric support mechanism to switch between a standing mode and a wheelchair state mode. The utility model discloses a mechanism warp and reorganization realizes the interconversion of robot ectoskeleton attitude, support attitude, wheelchair attitude, will assist walking function, assist to sit up function, wheeled function collection in an organic whole of riding instead of walk.

Description

Allosteric behavior auxiliary robot

Technical Field

The utility model relates to a behavior auxiliary robot technical field, in particular to allosteric behavior auxiliary robot.

Background

Patients with motor dysfunction caused by aging, diseases, accidental injuries and the like, particularly patients with lower limb motor dysfunction, not only can affect the daily walking function, but also can cause complications such as organ function reduction, muscular atrophy, bedsore, constipation and the like due to long-term braking. Clinical medicine shows that if the lower limb incapacity or weak energy people can keep standing or even walk simply at proper time, the nerve tissue function can be promoted to compensate or recombine, the joint muscle group is coordinated, the movement ability is improved, and the walking function is improved or even recovered. And proper amount of exercise can greatly improve physical and mental health, effectively reduce the phenomena of melancholy, pessimism and the like, and improve the sleep quality. Therefore, how to assist the patient to recover the standing walking ability is an important content of clinical rehabilitation.

At present, lower limb rehabilitation robots have been subjected to a great deal of research at home and abroad, wherein wearable lower limb exoskeleton robots are most widely applied at present and mainly aim to realize functions of assisting walking and rehabilitation training. However, in consideration of the daily life needs of the user, the user needs to be provided with a sitting movement function, and meanwhile, the human body needs to be supported by the lower limb strength in the sitting up process, which is difficult for the patient with lower limb movement dysfunction to achieve, so that additional assistance is needed, and it is also very important to provide the user with an auxiliary sitting up function and a wheel type riding instead function. Therefore, it is urgently needed to develop a wearable multifunctional behavior-assisted robot which can bear the movement of a user for traveling, support standing and assist walking, and can reduce the self weight as much as possible through mechanism deformation and recombination.

SUMMERY OF THE UTILITY MODEL

In view of the above, an object of the present invention is to provide a morphism behavior assisting robot for patients with lower limb movement dysfunction, which solves the relative independence between lower limb rehabilitation robot and wheeled riding instead of walking device in the existing rehabilitation training mode, and integrates the assisting walking function, the assisting sitting function and the wheeled riding instead of walking function.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a pair of allosteric behavior auxiliary robot, including waist, thigh, shank and the foot that connects gradually, wherein the rear side of waist is equipped with the control box, and the rear side of thigh and shank is equipped with allosteric supporting mechanism, and control box control allosteric supporting mechanism switches between standing mode and wheelchair attitude mode.

The variable structure supporting mechanism comprises a thigh supporting module, a crus supporting module and a wheel type moving-replacing module which are sequentially hinged end to end, wherein the thigh supporting module is arranged on the rear side of a thigh, the crus supporting module is arranged on the rear side of a crus, the upper end of the crus supporting module is hinged with the thigh supporting module, the wheel type moving-replacing module is arranged on the rear side of the thigh supporting module and the crus supporting module, and the wheel type moving-replacing module is hinged with the upper end of the thigh supporting module and the lower end of the crus supporting module.

The thigh supporting module comprises a thigh supporting connecting rod, a thigh supporting rod and a linear push rod motor I, wherein one end of the thigh supporting connecting rod is hinged with the upper end of the thigh, the other end of the thigh supporting connecting rod is provided with a kidney-shaped groove along the length direction, and the kidney-shaped groove is connected with the upper end of the thigh supporting rod in a sliding manner;

the shank support module comprises a shank baffle, a shank support rod and a linear push rod motor II, wherein the shank support rod is connected with the shank through the shank baffle, and the upper end of the shank support rod is hinged with the lower end of the thigh support rod;

the tail part of the linear push rod motor I is hinged on the shank supporting rod, and the output end of the linear push rod motor I is hinged with the thigh supporting rod;

the wheel type traveling module comprises a telescopic supporting rod, a wheel rod, a front universal wheel and a rear driving wheel, wherein one end of the telescopic supporting rod is hinged to the upper end of the thigh supporting rod, the other end of the telescopic supporting rod is hinged to one end of the wheel rod, the other end of the wheel rod is hinged to the lower end of the shank supporting rod, and the front universal wheel 27 and the rear driving wheel 28 are installed on the wheel rod;

the tail part of the linear push rod motor II is hinged on the crus supporting rod, and the output end of the linear push rod motor II is hinged with the wheel rod.

The thigh supporting rod comprises a thigh supporting bottom rod, a sliding block guide rail, a sliding block, a screw rod and an adjusting nut, wherein the sliding block guide rail is arranged on the thigh supporting bottom rod, the sliding block is in sliding connection with the sliding block guide rail, a notch is formed in the side surface of the thigh supporting bottom rod, the screw rod is accommodated in the notch and is connected with the sliding block, and the adjusting nut is in threaded connection with the screw rod and is used for locking the screw rod;

the output end of the linear push rod motor I is hinged to the sliding block.

The waist part comprises a back plate, a hip joint connecting plate and a waist part binding band, wherein the hip joint connecting plate is arranged on the front side of the back plate, and the waist part binding band is arranged on the front side of the hip joint connecting plate; the rear side of the back plate is provided with the control box.

The thigh comprises a hip joint, a thigh rod, a knee joint and thigh bandages, wherein the upper end and the lower end of the thigh rod are respectively connected with the hip joint and the knee joint, the hip joint is connected with the hip joint connecting plate, the length of the thigh rod can be adjusted, and one group or two groups of thigh bandages are arranged on the front side of the thigh rod.

The hip joint comprises a hip joint motor fixing shell, a hip joint motor, a hip joint harmonic reducer and a hip joint multi-turn absolute value type encoder, wherein the hip joint motor fixing shell is fixed on the hip joint connecting plate, the hip joint harmonic reducer is arranged on the hip joint motor fixing shell, the input end of the hip joint harmonic reducer is connected with the hip joint motor, and the hip joint multi-turn absolute value type encoder is arranged on the hip joint motor;

the thigh rod comprises a connecting rod adapter, a connecting rod pressing connecting piece, a sliding bush, a thigh outer connecting rod, a thigh inner connecting rod, a locking ring and a quick fastening handle, wherein the connecting rod adapter is connected with the output end of the hip joint harmonic reducer, the upper part of the connecting rod pressing connecting piece is installed on the shell of the hip joint motor through the sliding bush, and the connecting rod adapter and the connecting rod pressing connecting piece press the upper end of the thigh outer connecting rod and are fixed; the upper end of the thigh inner connecting rod is inserted into and in sliding fit with the lower end of the thigh outer connecting rod, and the locking ring is sleeved at the lower end of the thigh outer connecting rod and used for locking the thigh outer connecting rod and the thigh inner connecting rod; the locking ring is provided with a quick fastening handle.

The knee joint comprises a knee joint motor fixing shell, a knee joint motor, a knee joint harmonic reducer and a knee joint multi-turn absolute value type encoder, wherein the knee joint motor fixing shell is connected with the thigh inner connecting rod, the knee joint harmonic reducer is arranged on the knee joint motor fixing shell, the input end of the knee joint harmonic reducer is connected with the knee joint motor, and the knee joint multi-turn absolute value type encoder is arranged on the knee joint motor;

the output end of the knee joint harmonic reducer is connected with the shank.

The shank comprises a shank rod and an ankle joint, wherein the upper end of the shank rod is connected with the knee joint, and the lower end of the shank rod is connected with the ankle joint.

The foot part comprises a pedal adapter, a pedal and a foot binding belt, wherein the pedal adapter is fixed on the pedal and is connected with the ankle joint; one or two groups of foot binding bands are arranged on the upper surface of the pedal.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses a deformation and reorganization that become to construct supporting mechanism realize the configuration conversion, accomplish walking, sit up and trip fast as wearable equipment auxiliary user, satisfy low limbs movement dysfunction patient's daily user demand.

2. The utility model discloses a thigh, shank support module are located shank sagittal central plane, can provide reliable support function auxiliary user and accomplish to sit upright conversion, and linear electric motor I can accomplish to stand the appearance at the user and convert to the position of sitting after, prop up the take off height with shank bracing piece slip end together with the user shank, make the running-board break away from ground, are convenient for carry on wheeled removal.

3. The utility model discloses a waist has adopted the design that the width is adjustable, and the shank has adopted the design that the pole length is adjustable, can convenient the regulation to the user of different height weights to each joint center and the human shank joint that realize the robot correspond with big, shank length of the wide waist that adapts to different users.

4. The utility model discloses novel structure, reasonable in design wholly adopts the aluminum alloy mostly, can reduce the whole weight of robot.

Drawings

Fig. 1 is a schematic structural view of the present invention in an exoskeleton state when standing;

fig. 2 is a schematic structural view of the utility model in a standing state;

FIG. 3 is a schematic structural view of the wheelchair state of the present invention;

fig. 4 is a schematic structural view of a thigh in the present invention;

fig. 5 is a schematic structural view of the thigh support bar of the present invention;

in the figure: 1 is a waist, 2 is a control box, 3 is a thigh, 4 is a shank, 5 is a thigh supporting module, 6 is a shank supporting module, 7 is a wheel type walking module, 8 is a foot, 9 is a back plate, 10 is a hip joint connecting plate, 11 is a waist binding band, 12 is a hip joint, 12-1 is a hip joint motor fixing shell, 12-2 is a hip joint motor, 12-3 is a hip joint harmonic reducer, 12-4 is a hip joint multi-turn absolute value encoder, 12-5 is a hip joint shell, 13 is a thigh rod, 13-1 is a connecting rod adapter, 13-2 is a connecting rod pressing connecting piece, 13-3 is a sliding bush, 13-4 is an outer thigh connecting rod, 13-5 is an inner thigh connecting rod, 13-6 is a locking ring, 13-7 is a quick fastening handle, 14 is a knee joint, 14-1 is a knee joint motor fixing shell, 14-2 is a knee joint motor, 14-3 is a knee joint harmonic reducer, 14-4 is a knee joint multi-turn absolute value encoder, 14-5 is a knee joint shell, 15 is a thigh strap, 16 is a shank rod, 17 is an ankle joint, 18 is a shank strap, 19 is a thigh support connecting rod, 20 is a thigh support rod, 20-1 is a thigh support bottom rod, 20-2 is a slider guide rail, 20-3 is a slider, 20-4 is a screw rod, 20-5 is an adjusting nut, 21 is a linear push rod motor I, 22 is a shank baffle, 23 is a shank support rod, 24 is a linear push rod motor II, 25 is a telescopic support rod, 26 is a wheel rod, 27 is a front universal wheel, 28 is a rear driving wheel, 29 is a pedal connecting piece, 30 is a pedal, and 31 is a foot strap.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the utility model provides a pair of allosteric behavior auxiliary robot, including waist 1, thigh 3, shank 4 and the foot 8 that connects gradually, wherein the rear side of waist 1 is equipped with control box 2, and the rear side of thigh 3 and shank 4 is equipped with allosteric supporting mechanism, and control box 2 control allosteric supporting mechanism switches between standing mode and wheelchair attitude mode.

The embodiment of the utility model provides an in, allosteric supporting mechanism is including the thigh support module 5 of articulated end to end in proper order, shank support module 6 and wheeled module 7 of riding instead of, and thigh support module 5 sets up in the rear side of thigh 3, and shank support module 6 sets up in the rear side of shank 4, and the upper end is articulated with thigh support module 5, and wheeled module 7 of riding instead of sets up in the rear side that thigh support module 5 and shank support module 6, and is articulated with the upper end of thigh support module 5 and the lower extreme of shank support module 6. The lower leg support module 6 is used for realizing lower limb support in a robot support state and a wheelchair state.

As shown in fig. 2, in the embodiment of the present invention, the waist portion 1 includes a back plate 9, a hip joint connecting plate 10 and a waist band 11, wherein the hip joint connecting plate 10 is disposed at the front side of the back plate 9, and the waist band 11 is disposed at the front side of the hip joint connecting plate 10; the control box 2 is arranged on the rear side of the back plate 9.

Further, both sides of the hip joint connecting plate 10 are provided with adjusting grooves in the front-rear direction so as to adjust the connecting position with the thighs 3 to adapt to patients with different waist widths.

The embodiment of the utility model provides an in, thigh 3 includes hip 12, thigh pole 13, knee joint 14 and thigh bandage 15, and wherein upper and lower end of thigh pole 13 is connected with hip 12 and knee joint 14 respectively, and hip 12 is connected with hip joint connecting plate 10, and the length of thigh pole 13 is adjustable, and the front side of thigh pole 13 is equipped with a set of or two sets of thigh bandage 15. The hip joint 12 is connected with the hip joint connecting plate 10 and the thigh rod 13 and used for realizing that the robot assists the flexion and extension of hip joints of legs of a user and the relative rotation between the hip joints and the waist; the knee joint 14 connects the thigh 3 and the shank 4, and is used for realizing that the robot assists the flexion and extension of the knee joint of the leg of the user.

In the embodiment of the present invention, the lower leg 4 comprises a lower leg rod 16 and an ankle joint 17, wherein the upper end of the lower leg rod 16 is connected to the knee joint 14, and the lower end of the lower leg rod 16 is connected to the ankle joint 17. Preferably, the shank rod 16 is adjustable in length.

In the embodiment of the present invention, the foot 8 comprises a pedal adapter 29, a pedal 30 and a foot strap 31, wherein the pedal adapter 29 is fixed on the pedal 30, and the pedal adapter 29 is connected with the ankle joint 17; one or two sets of foot straps 31 are provided on the upper surface of the pedal 30.

As shown in fig. 4, in the embodiment of the present invention, the hip joint 12 includes a hip joint motor fixing shell 12-1, a hip joint motor 12-2, a hip joint harmonic reducer 12-3 and a hip joint multi-turn absolute value encoder 12-4, wherein the hip joint motor fixing shell 12-1 is fixed on the hip joint connecting plate 10, the hip joint harmonic reducer 12-3 is disposed on the hip joint motor fixing shell 12-1, and the input end is connected to the hip joint motor 12-2, and the hip joint multi-turn absolute value encoder 12-4 is disposed on the hip joint motor 12-2;

in the embodiment of the utility model, the thigh rod 13 comprises a connecting rod adapter 13-1, a connecting rod pressing connecting piece 13-2, a sliding bush 13-3, a thigh outer connecting rod 13-4, a thigh inner connecting rod 13-5, a locking ring 13-6 and a quick fastening handle 13-7, wherein the connecting rod adapter 13-1 is connected with the output end of the hip joint harmonic reducer 12-3, the upper part of the connecting rod pressing connecting piece 13-2 is installed on the shell of the hip joint motor 12-2 through the sliding bush 13-3, and the connecting rod adapter 13-1 and the connecting rod pressing connecting piece 13-2 press the upper end of the thigh outer connecting rod 13-4 and fix the upper end; the upper end of the thigh inner connecting rod 13-5 is inserted and matched with the lower end of the thigh outer connecting rod 13-4 in a sliding way, and the locking ring 13-6 is sleeved at the lower end of the thigh outer connecting rod 13-4 and used for locking the thigh outer connecting rod 13-4 and the thigh inner connecting rod 13-5; the locking ring 13-6 is provided with a quick fastening handle 13-7.

Specifically, the thigh outer connecting rod 13-4 is provided with a notch for the thigh inner connecting rod 13-5 to slide directionally in the thigh outer connecting rod 13-4 and provide a limit, and the locking ring 13-6 and the quick fastening handle 13-7 form a thigh connecting rod length locking device for changing the thigh connecting rod length to adapt to patients with different leg lengths.

In the embodiment of the utility model, the knee joint 14 comprises a knee joint motor fixing shell 14-1, a knee joint motor 14-2, a knee joint harmonic speed reducer 14-3 and a knee joint multi-turn absolute value encoder 14-4, wherein the knee joint motor fixing shell 14-1 is connected with an inner thigh connecting rod 13-5, the knee joint harmonic speed reducer 14-3 is arranged on the knee joint motor fixing shell 14-1, the input end is connected with the knee joint motor 14-2, and the knee joint multi-turn absolute value encoder 14-4 is arranged on the knee joint motor 14-2; the output end of the knee joint harmonic reducer 14-3 is connected with the shank 4.

As shown in fig. 2-3, in the embodiment of the present invention, the thigh support module 5 includes a thigh support connecting rod 19, a thigh support rod 20 and a linear push rod motor i 21, wherein one end of the thigh support connecting rod 19 is hinged to the upper end of the thigh 3, and the other end of the thigh support connecting rod 19 is provided with a kidney-shaped slot along the length direction, and the kidney-shaped slot is slidably connected to the upper end of the thigh support rod 20; the shank support module 6 comprises a shank baffle 22, a shank support rod 23 and a linear push rod motor II 24, wherein the shank support rod 23 is connected with the shank 4 through the shank baffle 22, and the upper end of the shank support rod 23 is hinged with the lower end of the thigh support rod 20; the tail part of the linear push rod motor I21 is hinged on the shank support rod 23, and the output end of the linear push rod motor I is hinged with the thigh support rod 20.

In the embodiment of the present invention, the wheel-type moving assistant module 7 includes a retractable supporting rod 25, a wheel rod 26, a front universal wheel 27 and a rear driving wheel 28, wherein one end of the retractable supporting rod 25 is hinged to the upper end of the thigh supporting rod 20, the other end is hinged to one end of the wheel rod 26, the other end of the wheel rod 26 is hinged to the lower end of the shank supporting rod 23, and the front universal wheel 27 and the rear driving wheel 28 are mounted on the wheel rod 26 for realizing the rapid movement of the robot in a wheel-chair state; the tail part of the linear push rod motor II 24 is hinged on the shank support rod 23, and the output end of the linear push rod motor II is hinged with the wheel rod 26.

As shown in fig. 5, in an embodiment of the present invention, the thigh support rod 20 includes a thigh support base rod 20-1, a slider guide 20-2, a slider 20-3, a screw 20-4 and an adjusting nut 20-5, wherein the slider guide 20-2 is disposed on the thigh support base rod 20-1, the slider 20-3 is slidably connected to the slider guide 20-2, a notch is disposed on a side surface of the thigh support base rod 20-1, the screw 20-4 is accommodated in the notch and connected to the slider 20-3, and the adjusting nut 20-5 is threadedly connected to the screw 20-4 for locking the screw 20-4; the output end of the linear push rod motor I21 is hinged with the sliding block 20-3.

Specifically, the thigh support base bar 20-1 is used for providing a fitting support surface for a user, and the side surface is provided with a notch for providing a maximum limit, a minimum limit and a fixed limit for the adjusting nut 20-5; the slide block guide rail 20-2 is fixed on the thigh support low rod 20-1 through a screw, and the slide block 20-3 slides along the thigh support low rod; the screw rod 20-4 is fixed on the sliding block 20-3 through a screw, a hinge lug seat is arranged on the sliding block 20-3, and the hinge lug seat is hinged with the output end of the linear push rod motor I21; the adjusting nut 20-5 is in threaded connection with the screw rod 20-4, and the sliding block 20-3 is fixed and limited by changing the screwing depth of the adjusting nut 20-5. The linear push rod motor I21 can support the lower end of the shank support rod 23 and the shank of the user to a certain height after the user finishes changing from a standing posture to a sitting posture, so that the pedal 30 is separated from the ground, and the wheel type movement is convenient.

The utility model provides a pair of allosteric action auxiliary robot, its theory of operation is:

when the user wears the robot and performs the walking-assisting mode, the adjusting nut 20-4 is screwed out to be disengaged from the thigh supporting rod 20-1, and the robot is in an exoskeleton state, as shown in fig. 1. The left leg and the right leg are a swinging leg and a supporting leg, a hip joint motor and a knee joint motor of the swinging leg drive the thigh 3 and the shank 4 to perform flexion and extension motions, the feet of the swinging leg are converted into the supporting leg after falling to the ground, and the other leg swings to realize the walking assistance of the robot for a user.

As shown in fig. 2, when the robot is switched from the exoskeleton state to the support state, a linear push rod motor i 21 and a linear push rod ii 22 work, the top end of the linear push rod motor i 21 is hinged to a slider 20-3, the tail end of the linear push rod motor i 21 is hinged to a shank support rod 23, a push rod of the linear push rod motor i 21 extends upwards, the slider 20-3 drives an adjusting nut 20-4 to move to a fixing limit of a side notch of a thigh support bottom rod 20-1, and a user screws the adjusting nut 20-5 in to fix the slider 20-3; the top end of the linear push rod motor II 24 is hinged with the wheel rod 26, the tail end of the linear push rod motor II is hinged with the fixed end of the shank support rod 23, a push rod of the linear push rod motor II 24 extends downwards to the front universal wheel 27 and the rear drive wheel 28 to be stably fixed on the ground, and the deformation of the robot support state mechanism is completed. When a user needs to change the sitting posture and the standing posture, the robot is in a supporting state, the linear motors I21 of the left leg and the right leg stretch, the supporting height can be adjusted according to the actual requirement of the user, and the robot can assist the user in sitting up.

As shown in figure 3, when the robot is switched from a supporting state to a wheel-chair state, the push rod of the linear push rod motor I21 retracts, the telescopic supporting rod 25 is provided with a plurality of fixing positions, the telescopic supporting rod can be adjusted to a proper seat height according to the actual requirements of a user and then fixed through pins, and the deformation of the wheel-chair state mechanism of the robot is completed. When a user needs to move quickly, the push rod is extended upwards by a certain length by the linear push rod motor I21, and the push rod drives the sliding ends of the thigh support rod 20 and the shank support rod 23 to be upwards supported by a certain height, so that the foot part 8 of the robot is separated from the ground, the robot can conveniently move in a wheel type when in a wheel chair state, and the wheel type riding instead of walking function of the robot is realized.

The utility model is suitable for a low limbs movement dysfunction patient, novel structure, reasonable in design wholly adopts the aluminum alloy material mostly, can reduce the whole weight of robot. The mutual conversion among the exoskeleton state, the support state and the wheel chair state of the robot is realized through mechanism deformation and recombination, the auxiliary walking function, the auxiliary sitting-up function and the wheel-type riding function are integrated, and the use requirements in daily life are met.

The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. The utility model provides a allosteric behavior auxiliary robot, its characterized in that, including waist (1), thigh (3), shank (4) and foot (8) that connect gradually, wherein the rear side of waist (1) is equipped with control box (2), and the rear side of thigh (3) and shank (4) is equipped with allosteric supporting mechanism, and control box (2) control allosteric supporting mechanism switches between standing mode and wheelchair attitude mode.

2. The allosteric behavior assistance robot according to claim 1, characterized in that the allosteric support mechanism comprises a thigh support module (5), a shank support module (6) and a wheel type riding instead module (7) which are sequentially hinged end to end, wherein the thigh support module (5) is arranged at the rear side of the thigh (3), the shank support module (6) is arranged at the rear side of the shank (4), the upper end of the shank support module is hinged with the thigh support module (5), and the wheel type riding instead module (7) is arranged at the rear side of the thigh support module (5) and the shank support module (6), and is hinged with the upper end of the thigh support module (5) and the lower end of the shank support module (6).

3. The allosteric behavior assistance robot according to claim 2, characterized by that, the thigh support module (5) comprises a thigh support connecting rod (19), a thigh support rod (20) and a linear push rod motor I (21), wherein one end of the thigh support connecting rod (19) is hinged with the upper end of the thigh (3), and the other end of the thigh support connecting rod (19) is provided with a kidney-shaped slot along the length direction, and the kidney-shaped slot is connected with the upper end of the thigh support rod (20) in a sliding manner;

the lower leg support module (6) comprises a lower leg baffle (22), a lower leg support rod (23) and a linear push rod motor II (24), wherein the lower leg support rod (23) is connected with the lower leg (4) through the lower leg baffle (22), and the upper end of the lower leg support rod (23) is hinged with the lower end of the thigh support rod (20);

the tail part of the linear push rod motor I (21) is hinged on the shank support rod (23), and the output end of the linear push rod motor I is hinged with the thigh support rod (20);

the wheel type travel module (7) comprises a telescopic supporting rod (25), a wheel rod (26), a front universal wheel (27) and a rear driving wheel (28), wherein one end of the telescopic supporting rod (25) is hinged to the upper end of the thigh supporting rod (20), the other end of the telescopic supporting rod is hinged to one end of the wheel rod (26), the other end of the wheel rod (26) is hinged to the lower end of the shank supporting rod (23), and the front universal wheel (27) and the rear driving wheel (28) are installed on the wheel rod (26);

the tail part of the linear push rod motor II (24) is hinged on the lower leg support rod (23), and the output end of the linear push rod motor II is hinged with the wheel rod (26).

4. The allosteric behavior auxiliary robot according to claim 3, characterized in that the thigh support bar (20) comprises a thigh support base bar (20-1), a slider guide rail (20-2), a slider (20-3), a screw (20-4) and an adjusting nut (20-5), wherein the slider guide rail (20-2) is arranged on the thigh support base bar (20-1), the slider (20-3) is slidably connected with the slider guide rail (20-2), the side surface of the thigh support base bar (20-1) is provided with a notch, the screw (20-4) is accommodated in the notch and connected with the slider (20-3), and the adjusting nut (20-5) is in threaded connection with the screw (20-4) and used for locking the screw (20-4);

the output end of the linear push rod motor I (21) is hinged with the sliding block (20-3).

5. The allosteric behavior assistance robot according to claim 1, characterized in that the waist (1) comprises a back plate (9), hip joint plates (10) and a waist strap (11), where the hip joint plates (10) are arranged at the front side of the back plate (9) and the waist strap (11) is arranged at the front side of the hip joint plates (10); the control box (2) is arranged at the rear side of the back plate (9).

6. The allosteric behavior assistance robot according to claim 5, characterized in that the thigh (3) comprises a hip joint (12), a thigh bar (13), a knee joint (14) and thigh straps (15), wherein the upper and lower ends of the thigh bar (13) are connected with the hip joint (12) and the knee joint (14), respectively, the hip joint (12) is connected with the hip joint connection plate (10), the length of the thigh bar (13) is adjustable, and one or two sets of thigh straps (15) are provided at the front side of the thigh bar (13).

7. The allosteric behavior assistance robot according to claim 6, characterized by that the hip joint (12) comprises a hip joint motor fixing shell (12-1), a hip joint motor (12-2), a hip joint harmonic reducer (12-3) and a hip joint multi-turn absolute value encoder (12-4), wherein the hip joint motor fixing shell (12-1) is fixed on the hip joint connection plate (10), the hip joint harmonic reducer (12-3) is arranged on the hip joint motor fixing shell (12-1), and the input end is connected with the hip joint motor (12-2), and the hip joint multi-turn absolute value encoder (12-4) is arranged on the hip joint motor (12-2);

the thigh rod (13) comprises a connecting rod adapter (13-1), a connecting rod pressing connecting piece (13-2), a sliding bush (13-3), an outer thigh connecting rod (13-4), an inner thigh connecting rod (13-5), a locking ring (13-6) and a quick fastening handle (13-7), wherein the connecting rod adapter (13-1) is connected with the output end of the hip joint harmonic reducer (12-3), the upper part of the connecting rod pressing connecting piece (13-2) is installed on the shell of the hip joint motor (12-2) through the sliding bush (13-3), and the connecting rod adapter (13-1) and the connecting rod pressing connecting piece (13-2) press the upper end of the outer thigh connecting rod (13-4) and are fixed; the upper end of the thigh inner connecting rod (13-5) is inserted and matched with the lower end of the thigh outer connecting rod (13-4) in a sliding way, and the locking ring (13-6) is sleeved at the lower end of the thigh outer connecting rod (13-4) and used for locking the thigh outer connecting rod (13-4) and the thigh inner connecting rod (13-5); the locking ring (13-6) is provided with a quick fastening handle (13-7).

8. The allosteric behavior assistance robot according to claim 7, characterized by that the knee joint (14) comprises a knee joint motor fixing shell (14-1), a knee joint motor (14-2), a knee joint harmonic reducer (14-3) and a knee joint multi-turn absolute value encoder (14-4), where the knee joint motor fixing shell (14-1) is connected with the thigh inner link (13-5), the knee joint harmonic reducer (14-3) is arranged on the knee joint motor fixing shell (14-1), and the input end is connected with the knee joint motor (14-2), and the knee joint multi-turn absolute value encoder (14-4) is arranged on the knee joint motor (14-2);

the output end of the knee joint harmonic reducer (14-3) is connected with the shank (4).

9. The allosteric behavior assistance robot according to claim 6, characterized in that the lower leg (4) comprises a lower leg bar (16) and an ankle joint (17), wherein the upper end of the lower leg bar (16) is connected to the knee joint (14) and the lower end of the lower leg bar (16) is connected to the ankle joint (17).

10. The allosteric behavior-assisted robot according to claim 9, characterized in that the foot (8) comprises a pedal adapter (29), a pedal (30) and a foot strap (31), wherein the pedal adapter (29) is fixed on the pedal (30) and the pedal adapter (29) is connected with the ankle joint (17); one or two groups of foot binding bands (31) are arranged on the upper surface of the pedal (30).