CN208048976U - A kind of wearable lower limb movement exoskeleton robot - Google Patents

Abstract

The utility model discloses a wearable lower limb mobile exoskeleton robot, which comprises a shoe body component, a calf rod I, a calf rod II, a length adjustment device, a hydraulic drive device, a thigh rod I, a thigh rod II, a back frame component, a safety Airbags, protective gear, crutches and wireless remote control; the shoe body assembly is fixedly connected to the calf rod II, the length adjustment device is divided into a calf rod length adjustment device and a thigh rod length adjustment device, and the upper end of the calf rod length adjustment device is connected to the calf rod I is fixedly connected, the lower end is fixedly connected with the calf rod II, the upper end of the thigh rod length adjustment device is fixedly connected with the thigh rod I, and the lower end is fixedly connected with the thigh rod II, the crutch is inserted in the fixed round table of the shoe body assembly, the wireless remote control placed on the user. The utility model has high safety performance, long running time, can be adaptively adjusted according to the body shape of the human body, and can assist the user to smoothly move in a straight line, avoid obstacles and go up and down stairs.

Description

A wearable lower limb mobile exoskeleton robot

technical field

The utility model relates to a medical device for assisting movement, in particular to a wearable lower limb mobile exoskeleton robot.

Background technique

Nowadays, the number of patients with lower limb paralysis caused by diseases or traffic accidents in our country is increasing day by day, and as the society gradually enters the stage of population aging, more and more middle-aged and elderly people suffer from joint function degeneration, osteoporosis, leg muscle strain, etc. Under the influence of these factors, symptoms such as soreness and weakness of the lower limbs have occurred, which have a strong impact on basic daily activities such as walking and going up and down stairs, and also bring heavy burdens to society and families.

In order to solve such problems, in addition to adopting conventional methods such as traditional physical exercise, traditional Chinese medicine health care treatment, and medical equipment assistance to ensure the normal body movement of the middle-aged and elderly people, the development of power-assisted robot technology has become the current solution for patients with paralysis of the lower extremities and middle-aged and elderly people. The most effective new intelligent nursing measures for people with limited mobility. Among them, wearable exoskeleton robot technology is the most closely related to the human body. However, the existing exoskeleton robot equipment cannot be adaptively adjusted according to the body shape of the human body, has low safety performance, short running time, and it is very difficult for the user to move in a straight line, avoid obstacles, and go up and down stairs.

Utility model content

The utility model aims to solve the above problems, and provides a wearable lower limb mobile exoskeleton robot, which has high safety performance, long running time, can be adaptively adjusted according to the body shape of the human body, and improves the relationship between the equipment and the human body. Coordination can assist users to smoothly move in a straight line, avoid obstacles and go up and down stairs. The concrete technical scheme that the utility model adopts is as follows:

A wearable lower limb mobile exoskeleton robot, including shoe body assembly, calf rod I, calf rod II, length adjustment device, hydraulic drive device, thigh rod I, thigh rod II, back frame assembly, airbag, protective gear, Crutches and wireless remote control; the shoe body assembly is fixedly connected to the calf rod II, the length adjustment device is divided into a calf rod length adjustment device and a thigh rod length adjustment device, the upper end of the calf rod length adjustment device is fixedly connected to the calf rod I, and the lower end It is fixedly connected with the calf rod II, the upper end of the thigh rod length adjustment device is fixedly connected with the thigh rod I, and the lower end is fixedly connected with the thigh rod II. The hydraulic drive device is divided into a calf rod hydraulic drive device and a thigh rod hydraulic drive device. One end of the driving device is fixedly connected to the calf rod I, and the other end is fixedly connected to the thigh rod II. One end of the thigh rod hydraulic drive device is fixedly connected to the thigh rod I, and the other end is fixedly connected to the femoral rod in the back frame assembly. The airbag is divided into It is a leg airbag and a back airbag. The leg airbag is fixed on the front side of the thigh rod II, and the back airbag is fixed on the rear side of the back frame assembly. The protective gear is divided into a calf rod protector and a thigh rod protector. The rod protector is installed on the inner side of the calf rod I, the thigh rod protector is installed on the inner side of the thigh rod II, the crutches are inserted in the fixed round platform of the shoe body assembly, and the wireless remote control is placed on the user.

Preferably, the shoe body assembly includes a camera, a fixed round platform, a U-shaped groove column, a foot frame, a foot plate, a foot rope, a track, a drive wheel, a drive wheel, a drive shaft, a drive shaft, gear I, gear II, stepper Motor and transmission bearing; the camera for collecting road condition information is installed on the front end of the foot frame, the U-shaped groove column is fixed on the rear end of the foot frame, the fixed round table with an inner hole is installed on the rear end of the camera, and the bottom of the foot The plate is installed in the groove at the bottom of the foot frame, and the foot rope is fixedly connected to the middle of the foot frame to prevent the user's feet from sliding with the lower extremity exoskeleton robot. In the hole, and a transmission bearing is installed in the through hole, the stepping motor is installed on the foot frame, the driving wheel is fixed at both ends of the driving shaft, and the driving wheel is fixed at both ends of the driving shaft. The driving wheel and the transmission wheel are connected by crawlers, and the gear II installed at the end of the output shaft of the stepping motor drives the gear I installed on the driving shaft to rotate, and the rotation of the stepping motor drives the driving wheel and the transmission wheel to rotate, so that the wearable The lower extremity mobile exoskeleton robot can assist the user to complete the linear movement.

Preferably, the back frame assembly includes a back frame, a strap, a solar panel, a control box, a wireless receiver, a steering gear, a coupling, a bearing, a lead screw, a slide bar, a femoral rod, a set nut, a bolt and a base cover; the strap is fixed on one side of the back frame, the control box is fixed on the back frame by bolts, the solar panel for collecting energy is fixed on the upper surface of the control box, and the The wireless receiver is installed on the side of the control box, and the bottom cover is fixed on the bottom surface of the back frame by bolts. The end of the slide bar is fixedly connected with the set nut. The lead screw, the slide bar and the femoral rod with threaded holes and round holes are installed in the bottom groove of the back frame. One end of the lead screw passes through the bearing through the coupling and The steering gear is connected, and the other end passes through the bearing and is installed in the concave hole of the back frame. The distance between the femoral rods on both sides of the screw is adjusted by controlling the rotation of the steering gear through wireless remote control, so as to realize the adaptive adjustment of the waist size of different users.

Preferably, the length adjustment device includes a U-shaped double connector, a support rod, a hinge, a slider, and an adjustment screw; self-locking sliders are symmetrically installed on both sides of the adjustment screw, and one end of the support rod The hinge is hinged with the U-shaped double connector, and the other end is hinged with the slider through the hinge. By rotating the adjustment screw to control the movement of the slider, the U-shaped ends of the calf length adjustment device and the thigh length adjustment device of the length adjustment device are respectively adjusted. The distance between the double connectors realizes the adaptive adjustment of the length and size of the calves and thighs of different users.

Preferably, the hydraulic drive device includes a hydraulic cylinder, an I-shaped joint, an amphora, a U-shaped joint, and a flat joint; the flat joint fixed on the hydraulic cylinder is hinged to the two-eared seat, and the I-shaped joint One end is threadedly connected with the movable rod of the hydraulic cylinder, and the other end is hinged with the U-shaped joint. The telescopic movement of the hydraulic cylinder of the hydraulic driving device of the calf rod and the hydraulic driving device of the thigh rod is controlled by wireless remote control to realize the precise control of the movement of the calf rod and the thigh rod, and assist The user successfully completes obstacle avoidance and up and down stairs.

The beneficial effects of the utility model are as follows:

(1) High safety performance; the user can use crutches to maintain the balance of the body when going up and down the stairs, and prevent the center of gravity from shifting. If the user is detected to fall, the airbag will be deployed quickly to prevent the user from being injured due to the fall , improved safety performance.

(2) Long running time; the solar panel can continuously convert the collected solar energy into electric energy and store it in the control box, prolonging the running time.

(3) Adaptive adjustment can be made according to the body shape of the human body; the distance between the femoral rods on both sides of the screw can be adjusted by controlling the rotation of the steering gear through wireless remote control, so as to realize the adaptive adjustment of the waist size of different users. The bar controls the movement of the slider to adjust the distance between the U-shaped double connectors at both ends of the length adjustment device, so as to realize the adaptive adjustment of the length and size of the calf and thigh of different users, and improve the coordination between the equipment and the human body.

(4) It can assist the user to smoothly move in a straight line, avoid obstacles and go up and down stairs; the wireless remote control in the operator's hand sends a signal to the control box through the wireless receiver, and the control box controls the rotation of the stepping motor and the hydraulic drive device in the shoe body assembly The expansion and contraction of the middle hydraulic cylinder enables the wearable lower limb mobile exoskeleton robot to assist the user to complete linear movement, obstacle avoidance and up and down stairs.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Figure 1: A schematic diagram of the overall structure of a wearable lower limb mobile exoskeleton robot of the present invention;

Figure 2: Schematic diagram of the shoe body assembly of a wearable lower limb mobile exoskeleton robot of the present invention;

Figure 3: Schematic diagram of the structure of the back frame assembly of a wearable lower limb mobile exoskeleton robot of the present invention;

Figure 4: Schematic diagram of the structure of a length adjustment device for a wearable lower limb mobile exoskeleton robot of the present invention;

Figure 5: A structural schematic diagram of a hydraulic drive device of a wearable lower limb mobile exoskeleton robot of the present invention;

Figure 6: A schematic diagram of the airbag opening structure of a wearable lower limb mobile exoskeleton robot according to the utility model.

Symbol Description:

1. Back frame assembly, 101, back frame, 102, strap, 103, bottom cover, 104, femoral rod, 105, slide bar, 106, lead screw, 107, bearing, 108, shaft coupling, 109, set nut , 110, steering gear, 111, control box, 112, wireless receiver, 113, bolt, 114, solar panel, 2, crutches, 3, thigh rod Ⅰ, 4, protective gear, 5, airbag, 6, calf Rod Ⅰ, 7, length adjustment device, 701, U-shaped double connector, 702, support rod, 703, slide block, 704, adjustment screw, 705, hinge, 8, shoe body assembly, 801, camera, 802, fixed Round platform, 803, foot rope, 804, U-shaped groove column, 805, foot frame, 806, stepping motor, 807, transmission shaft, 808, transmission bearing, 809, transmission wheel, 810, crawler belt, 811, driving wheel, 812 , gear II, 813, gear I, 814, drive shaft, 815, foot plate, 9, calf rod II, 10, thigh rod II, 11, wireless remote control, 12, hydraulic drive device, 1201, double ear seat, 1202, Flat connector, 1203, hydraulic cylinder, 1204, I-type connector, 1205, U-type connector.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the utility model, rather than all implementations example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

As shown in Figures 1 and 6, a wearable lower limb mobile exoskeleton robot includes a shoe body assembly (8), calf rod I (6), calf rod II (9), length adjustment device (7), hydraulic Driving device (12), thigh bar I (3), thigh bar II (10), back frame assembly (1), airbag (5), protective gear (4), crutches (2) and wireless remote control (11); The shoe body assembly (8) is fixedly connected with the calf bar II (9), the length adjusting device (7) is divided into a calf bar length adjusting device and a thigh bar length adjusting device, and the upper end of the calf bar length adjusting device is connected with the calf bar I (6) Fixed connection, the lower end is fixedly connected with the calf rod II (9), the upper end of the thigh rod length adjustment device is fixedly connected with the thigh rod I (3), the lower end is fixedly connected with the thigh rod II (10), the hydraulic drive device ( 12) It is divided into calf rod hydraulic drive device and thigh rod hydraulic drive device. One end of the calf rod hydraulic drive device is fixedly connected with the calf rod I (6), the other end is fixedly connected with the thigh rod II (10), and one end of the thigh rod hydraulic drive device is It is fixedly connected with the thigh rod I (3), and the other end is fixedly connected with the femoral rod (104) in the back frame assembly (1). The airbag (5) is divided into a leg airbag and a back airbag, and the legs are safe The airbag is fixed on the front side of the thigh rod II (10), the back airbag is fixed on the rear side of the back frame assembly (1), the protector (4) is divided into a calf rod protector and a thigh rod protector, and the calf rod protector is installed On the inner side of the calf bar I (6), the thigh bar protector is installed on the inner side of the thigh bar II (10), the crutches (2) are inserted in the fixed round platform (802) of the shoe body assembly (8), and the wireless remote control ( 11) Place it on the user.

As shown in Figure 2, the shoe body assembly (8) includes a camera (801), a fixed round table (802), a U-shaped groove column (804), a foot frame (805), a foot plate (815), a foot rope (803 ), track (810), drive wheel (811), drive wheel (809), drive shaft (814), drive shaft (807), gear I (813), gear II (812), stepper motor (806) and Transmission bearing (808); the camera (801) for collecting road condition information is installed on the front end of the foot frame (805), the U-shaped groove column (804) is fixed on the rear end of the foot frame (805), and the inner The fixed round platform (802) of the hole is installed on the rear end of the camera (801), the sole plate (815) is installed in the bottom groove of the foot frame (805), and the foot rope (803) is fixedly connected to the foot frame (805). The middle part is to prevent the user’s feet from sliding with the lower extremity exoskeleton robot. The transmission shaft (807) and the drive shaft (814) are installed in the through hole of the foot frame (805) groove, and the through hole is installed transmission bearing (808), the stepper motor (806) is installed on the foot frame (805), the drive wheel (811) is fixedly connected to both ends of the drive shaft (814), and the drive wheel (809) is fixedly connected to At both ends of the transmission shaft (807), the driving wheel (811) and the transmission wheel (809) are connected by crawlers (810), and the gear II (812) installed at the end of the output shaft of the stepping motor (806) drives the The gear I (813) on the shaft (814) rotates, and the rotation of the stepping motor (806) drives the driving wheel (811) and the transmission wheel (809) to rotate, so that the wearable lower limb mobile exoskeleton robot can assist the user complete straight line movement.

As shown in Figure 3, the back frame assembly (1) includes a back frame (101), a strap (102), a solar panel (114), a control box (111), a wireless receiver (112), a steering gear (110 ), coupling (108), bearing (107), lead screw (106), slide bar (105), femoral rod (104), set nut (109), bolt (113) and bottom cover (103); The strap (102) is fixed on one side of the back frame (101), the control box (111) is fixed on the back frame (101) by bolts (113), and the solar panel (114) for collecting energy Fixed on the upper surface of the control box (111), the wireless receiver (112) for receiving the signal of the wireless remote control (11) is installed on the side of the control box (111), and the bottom cover (103) is connected by a bolt (113) Fixed on the bottom surface of the back frame (101), the threads at both ends of the threaded screw (106) inserted into the threaded hole of the femoral rod (104) have the opposite direction of rotation, and the sliding rod (105) inserted into the round hole of the femoral rod (104) ) end is fixedly connected with the set nut (109), and the lead screw (106), slide bar (105) and femoral rod (104) with threaded holes and round holes are all installed in the bottom groove of the back frame (101) , one end of the lead screw (106) passes through the bearing (107) and is connected to the steering gear (110) through a coupling (108), and the other end passes through the bearing (107) and is installed in the concave hole of the back frame (101), The wireless remote control (11) controls the rotation of the steering gear (110) to adjust the distance between the femoral rods (104) on both sides of the lead screw (106), so as to realize the adaptive adjustment of the waist size of different users.

As shown in Figure 4, the length adjustment device (7) includes a U-shaped double connector (701), a support rod (702), a hinge (705), a slider (703) and an adjustment screw (704); Self-locking sliders (703) are symmetrically installed on both sides of the adjustment screw (704), one end of the support rod (702) is hinged to the U-shaped double connector (701) through a hinge (705), and the other end is hinged to the U-shaped double connector (701) through a hinge. (705) is hinged with the slider (703), and the movement of the slider (703) is controlled by rotating the adjustment screw (704) to adjust the length adjustment device (7) of the calf length adjustment device and the two ends of the thigh length adjustment device. The distance between the type double connectors (701) realizes the adaptive adjustment of the length and size of the calf and thigh of different users.

As shown in Figure 5, the hydraulic drive device (12) includes a hydraulic cylinder (1203), an I-type joint (1204), an ear seat (1201), a U-shaped joint (1205) and a flat joint (1202); The flat joint (1202) fixed on the hydraulic cylinder (1203) is hinged with the double ear seat (1201), and one end of the I-shaped joint (1204) is threadedly connected with the movable rod of the hydraulic cylinder (1203), and the other end is connected with the U-shaped The joint (1205) is hinged, and the telescopic movement of the hydraulic cylinder (1203) of the calf rod hydraulic drive device and the thigh rod hydraulic drive device is controlled by the wireless remote control (11) to realize precise control of the movement of the calf rod and thigh rod, and assist the user to successfully complete avoidance. barriers and up and down stairs.

When the utility model is working, the user operates the wireless remote control (11) carried with him, and adjusts the distance between the two femoral rods (104) by controlling the rotation of the steering gear (110), so that the wearable lower limbs can move the hip of the exoskeleton robot. The upper body is very comfortable to wear; manually rotate the adjustment screw (704) in the length adjustment device (7) to control the distance between the U-shaped double connectors (701) at both ends, so that the wearable lower limbs can move the thighs of the exoskeleton robot The length and the length of the calf meet the needs of the user and improve the coordination with the human body; after the user wears the lower limb mobile exoskeleton robot, the wireless remote control (11) in the operator's hand sends a signal to the control box ( 111), through the control box (111) to control the rotation of the stepper motor (806) in the shoe body assembly (8) and the expansion and contraction of the hydraulic cylinder (1203) in the hydraulic drive device (12), so that the wearable lower limbs can move the exoskeleton robot It assists the user to move in a straight line, avoid obstacles and go up and down stairs.

When moving in a straight line, the stepper motor (806) in the foot frame (805) drives the drive wheel (811), transmission wheel (809) and crawler belt (810) to rotate simultaneously, and when the camera (801) on the foot frame (805) detects When there is an obstacle in front, the exoskeleton robot will automatically adjust the direction of movement, bypassing the obstacle and continue to move to the target; when going up and down the stairs, when the camera (801) collects a certain distance from the stairs in front, it will pass through the control box (111) The expansion and contraction of the hydraulic cylinder (1203) in the hydraulic drive device (12) is controlled, so that the user can go up and down the stairs according to the gait of a normal person. In order to prevent the center of gravity from shifting, the user can use crutches (2) to maintain the balance of the body when going up and down the stairs. If the posture detection device in the control box (111) detects that the user has a tendency to fall during the movement, it is fixed on the thigh The airbag (5) on the front side of the rod II (10) and the rear side of the back frame assembly (1) will be opened quickly, preventing the user from being hurt by the external environment due to a fall, and improving the safety of the wearable lower limb mobile exoskeleton robot. safety performance. At the same time, when the utility model works outdoors, the solar panel (114) can continuously convert the collected solar energy into electric energy and store it in the control box (111), prolonging the running time of the lower limb mobile exoskeleton robot.

Apparently, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. In this way, if the modifications and variations of the embodiments of the utility model fall within the scope of the claims of the utility model and equivalent technologies thereof, the utility model also intends to include these modifications and variations.

Claims (5)

1. A wearable lower extremity mobile exoskeleton robot, characterized in that it includes a shoe body assembly, a calf rod I, a calf rod II, a length adjustment device, a hydraulic drive device, a thigh rod I, a thigh rod II, a back frame assembly, Airbags, protective gear, crutches and wireless remote control; the shoe body assembly is fixedly connected to the calf rod II, the length adjustment device is divided into a calf rod length adjustment device and a thigh rod length adjustment device, and the upper end of the calf rod length adjustment device is connected to the lower leg The rod I is fixedly connected, the lower end is fixedly connected with the calf rod II, the upper end of the thigh rod length adjustment device is fixedly connected with the thigh rod I, and the lower end is fixedly connected with the thigh rod II. The hydraulic drive device is divided into a calf rod hydraulic drive device and a thigh rod hydraulic drive device. Driving device, one end of the calf rod hydraulic drive device is fixedly connected with the calf rod I, and the other end is fixedly connected with the thigh rod II, one end of the thigh rod hydraulic drive device is fixedly connected with the thigh rod I, and the other end is fixedly connected with the femoral rod in the back frame assembly , the airbag is divided into a leg airbag and a back airbag, the leg airbag is fixed on the front side of the thigh rod II, the back airbag is fixed on the rear side of the back frame assembly, and the protective gear is divided into a calf rod protective gear and a rear airbag. The thigh protector and the calf protector are installed on the inner side of the calf rod I, the thigh protector is installed on the inner side of the thigh rod II, the crutches are inserted in the fixed round platform of the shoe body assembly, and the wireless remote control is placed on the user. 2. A wearable lower extremity mobile exoskeleton robot according to claim 1, characterized in that: the shoe body assembly includes a camera, a fixed round table, a U-shaped groove column, a foot frame, a foot plate, a foot rope, and a track , drive wheel, transmission wheel, drive shaft, transmission shaft, gear I, gear II, stepping motor and transmission bearing; the camera for collecting road condition information is installed at the front end of the foot stand, and the U-shaped groove column is fixed on the sole of the foot The rear end of the frame, the fixed round platform with inner holes is installed at the rear end of the camera, the sole plate is installed in the bottom groove of the foot frame, and the foot rope is fixedly connected to the middle part of the foot frame to prevent the user's feet from touching the lower limbs. When the skeletal robot slides, the transmission shaft and the driving shaft are installed in the through hole of the foot frame groove, and the transmission bearing is installed in the through hole, the stepping motor is installed on the foot frame, and the driving wheel is fixed Connected to both ends of the drive shaft, the transmission wheel is fixedly connected to both ends of the transmission shaft, the drive wheel and the transmission wheel are connected by crawlers, and the gear II installed at the end of the output shaft of the stepping motor drives the gear I installed on the drive shaft Rotation, the rotation of the stepping motor drives the driving wheel and the transmission wheel to rotate, so that the wearable lower limb mobile exoskeleton robot can assist the user to complete the linear movement. 3. A wearable lower limb mobile exoskeleton robot according to claim 1, characterized in that: the back frame assembly includes a back frame, a strap, a solar panel, a control box, a wireless receiver, a steering gear, a connected Shaft, bearing, lead screw, slide bar, femoral rod, set nut, bolt and bottom cover; the strap is fixed on one side of the back frame, the control box is fixed on the back frame by bolts, and the The energy solar panel is fixed on the upper surface of the control box, the wireless receiver for receiving wireless remote control signals is installed on the side of the control box, the bottom cover is fixed on the bottom surface of the back frame by bolts, and the femoral rod threaded hole is inserted The screw threads at both ends of the internal screw are opposite in direction of rotation. The end of the slide bar inserted into the round hole of the femoral rod is fixedly connected with the set nut. The screw, the slide bar, and the femoral rod with threaded holes and round holes are all installed In the groove at the bottom of the back frame, one end of the lead screw passes through the bearing and connects with the steering gear through a coupling, and the other end passes through the bearing and is installed in the concave hole of the back frame. The distance between the side femoral rods realizes the adaptive adjustment to the waist size of different users. 4. A wearable lower limb mobile exoskeleton robot according to claim 2 or 3, characterized in that: the length adjustment device includes a U-shaped double connector, a support rod, a hinge, a slider and an adjustment screw; Self-locking sliders are symmetrically installed on both sides of the adjusting screw, one end of the support rod is hinged to the U-shaped double connector, the other end is hinged to the slider, and the slider is controlled by rotating the adjusting screw Move to adjust the distance between the calf length adjustment device of the length adjustment device and the U-shaped double connectors at both ends of the thigh length adjustment device, so as to realize the adaptive adjustment of the length and size of the calf and thigh of different users. 5. A wearable lower extremity mobile exoskeleton robot according to claim 2 or 3, characterized in that: the hydraulic drive device includes a hydraulic cylinder, an I-shaped joint, an amphora, a U-shaped joint and a flat joint The flat connector fixed on the hydraulic cylinder is hinged with the double ear seat, one end of the I-type connector is threadedly connected with the movable rod of the hydraulic cylinder, and the other end is hinged with the U-shaped connector, and the calf rod hydraulic drive device is controlled by wireless remote control. The telescopic movement of the hydraulic cylinder of the thigh rod hydraulic drive device realizes the precise control of the movement of the calf rod and the thigh rod, and assists the user to avoid obstacles and go up and down stairs smoothly.