A walking assistance device

Abstract

The present invention discloses a walking assistance device, comprising a power frame, a circuit system and a battery. The circuit system and the battery are both arranged in the power frame. The circuit system is used to control the power frame to output power torque to the outside, and the power input of the processor is controlled by controlling the main switch. After the processor is powered off, the first electronic switch will also be disconnected successively, thereby controlling the power off and power consumption of the entire device. The power control is completed in one step, and the power supply of the main control circuit and the drive circuit can be immediately cut off in a critical moment to protect the personal safety of the wearer; the first electronic switch is one of the checkpoints for controlling the connection of the drive circuit to the battery. The processor can determine whether it is in a certain specific scenario according to a set program, and control the power on or off of the drive circuit by controlling the first electronic switch to open or close. The power can be cut off in time to protect the personal safety of the wearer, and the power can be supplied in time when the device is needed.

Description

Technical Field

[0001] The present invention relates to the technical field of walking assistance devices, and in particular to a walking assistance device. Background Art

[0002] Wearable powered exoskeleton devices can enhance the strength and endurance of the upper or lower limbs of the human body. Currently, there are hip-assisted exoskeletons, knee-assisted exoskeletons, and upper limb-assisted exoskeletons on the market.

[0003] Walking assistance devices need to have safety protection functions so that they can automatically cut off or the user can cut off the power supply in an emergency to protect the wearer's safety. However, there is no relevant literature disclosing implementation plans for such walking assistance devices. Summary of the Invention

[0004] The purpose of the present invention is to provide a walking assistance device, which aims to solve the problem in the prior art that the safety protection level is too low and the power supply cannot be quickly cut off to protect the wearer's safety.

[0005] In a first aspect, an embodiment of the present invention provides a walking assistance device, comprising a power frame, a circuit system, and a battery, wherein the circuit system and the battery are both disposed in the power frame, and the circuit system is used to control the power frame to output power torque;

[0006] The circuit system includes a main control circuit, a drive circuit, and a main switch; the main switch is set between the main control circuit and the battery, the control end of the drive circuit is connected to the main control circuit, and the power input end of the drive circuit is connected to the battery through the main control circuit. The main control circuit is used to control the power frame to output power torque and control the power supply of the drive circuit through the drive circuit;

[0007] The main control circuit includes a processor and a first electronic switch, the first electronic switch is connected to the power input end of the drive circuit and the battery; the control end of the processor is respectively connected to the control end of the first electronic switch and the drive circuit, and the power input end of the processor is connected to the battery.

[0008] An embodiment of the present invention discloses a walking assistance device, which controls the power input of a processor by controlling a main switch. After the processor is powered off, a first electronic switch will also be disconnected in succession, thereby controlling the power off and power consumption of the entire device. The power control is completed in one step, and in a critical moment, the power supply of the main control circuit and the drive circuit can be immediately cut off to protect the personal safety of the wearer; the first electronic switch is one of the checkpoints for controlling the connection of the drive circuit to the battery. The processor can determine whether it is in a certain specific scenario according to a set program, and control the power on or off of the drive circuit by controlling the first electronic switch to be turned on or off. The power can be cut off in time to protect the personal safety of the wearer, and the power can be supplied in time when the device is needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 A schematic structural diagram of a walking assistance device provided in an embodiment of the present invention;

[0011] Figure 2 A schematic diagram of the internal structure of a walking assistance device provided in an embodiment of the present invention;

[0012] Figure 3 A circuit diagram of a walking assistance device according to an embodiment of the present invention;

[0013] Figure 4 This is another circuit structure diagram of the walking assistance device provided by an embodiment of the present invention.

[0014] The reference numerals are as follows:

[0015] 1 - Power frame; 11 - Waist and back frame; 111 - Back box; 112 - Waist bar; 113 - Waist board; 12 - Power module; 121 - Power assembly; 13 - Leg bar; 14 - Waist belt; 141 - Waist belt buckle; 15 - Leg belt;

[0016] 21—Main control circuit; 211—Processor; 212—First electronic switch; 2121—Control terminal of first electronic switch; 213—Current sensor; 214—Voltage sensor; 215—Temperature sensor; 216—Magnetic field sensor; 217—RF circuit; 218—AND gate; 2181—First pin of AND gate; 2182—Second pin of AND gate; 219—Second electronic switch; 22—Drive circuit; 221—Control button; 2211—Power button; 2212—Mode button; 2213—Force increase button; 2214—Force reduction button; 23—Connecting cable; 231—Power cord; 232—Communication cable; 233—Specialized cable; 234—Redundant part; 24—Main switch; 241—Fuse;

[0017] 3—Battery. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0020] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0021] It should be further understood that the term "and / or" used in the present description and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] See also Figure 1-2 A walking assist device includes a power frame 1, a circuit system, and a battery 3. The circuit system and the battery 3 are both arranged in the power frame 1. The circuit system is used to control the power frame 1 to output power torque to the outside.

[0023] The circuit system includes a main control circuit 21, a drive circuit 22, and a main switch 24; the main switch 24 is disposed between the main control circuit 21 and the battery 3. The control terminal of the drive circuit 22 is connected to the main control circuit 21, and the power input terminal of the drive circuit 22 is connected to the battery 3 through the main control circuit 21. The main control circuit 21 is used to control the power frame 1 through the drive circuit 22 (primarily for the drive circuit 22 to control the power component 121 disposed in the power frame 1 to output power torque to the outside) and to control the power supply of the drive circuit 22.

[0024] The main control circuit 21 includes a processor 211 and a first electronic switch 212. The first electronic switch 212 is connected to the power input end of the drive circuit 22 and the battery 3. The control end of the processor 211 is respectively connected to the control end of the first electronic switch 212 and the drive circuit 22, and the power input end of the processor 211 is connected to the battery 3.

[0025] In this embodiment, the power input of the processor 211 can be controlled by controlling the main switch 24. After the processor 211 is powered off, the first electronic switch 212 will also be disconnected one after another, thereby controlling the power off and power consumption of the entire device. The power control is completed in one step. In a critical moment, the power supply of the main control circuit 21 and the drive circuit 22 can be immediately cut off to protect the personal safety of the wearer; the first electronic switch 212 is the second checkpoint for controlling the connection between the drive circuit 22 and the battery 3. The processor 211 can determine whether it is in a certain specific scenario according to the set program, and control the power on or off of the drive circuit 22 by controlling the first electronic switch 212 to open or close. The power can be cut off in time to protect the personal safety of the wearer, and power can be supplied in time when the device is needed.

[0026] Among them, the connection between the main control circuit 21 and the driving circuit 22 can be wireless or wired, which does not affect the realization of the various functions in this application. Therefore, whether it is a wired or wireless connection, it is within the protection scope of this application. Specifically, this application explains the embodiment with a wired connection.

[0027] See also Figure 2 The main control circuit 21 is connected to the drive circuit 22 via a connecting cable 23.

[0028] The connecting cable 23 includes a power line 231 and a communication cable 232 ; the control end of the main control circuit 21 is directly connected to the drive circuit 22 via the communication cable 232 , so that control commands can be sent to the drive circuit 22 or response information from the drive circuit 22 can be received.

[0029] See also Figure 2 In one embodiment, a first circuit is provided, in which the power input terminal of the processor 211 and the first pin of the first electronic switch 212 are both connected to the battery 3 through the main switch 24, the second pin of the first electronic switch 212 is connected to the power input terminal of the drive circuit 22, and the control terminal of the processor 211 is connected to the control terminal of the first electronic switch 212. The processor 211 is used to control the opening and closing of the first electronic switch 212 and thereby control the power on and off of the drive circuit 22.

[0030] In this embodiment, the main control circuit 21 is provided with a processor 211 and a first electronic switch 212. The first electronic switch 212 can be turned off or connected under the control of the processor 211; the power input end of the drive circuit 22 is connected to the battery 3 through the power line 231, the first electronic switch 212 and the main switch 24, and the drive circuit 22 is also electrically connected to the main control circuit 21 through the communication cable 232.

[0031] The following functions can be achieved: turning off the main switch 24 can turn off the power of the main control circuit 21 and the drive circuit 22, and connecting the main switch 24 can turn on the power of the main control circuit 21. The processor 211 inside the main control circuit 21 controls the first electronic switch 212 according to the operation of the device of the present invention and the environmental conditions to turn on / off the power of the drive circuit 22, thereby protecting the safety of the wearer when the power frame 1 outputs abnormal power torque.

[0032] See also Figure 3 In one embodiment, a second circuit is provided, in which the main switch 24 and the first electronic switch 212 are both connected to the battery 3. The main switch 24 controls the processor 211 to connect or disconnect the battery 3 through the second electronic switch 219. The processor 211 and the main switch 24 jointly control the opening and closing of the first electronic switch through the AND gate 218.

[0033] In this embodiment, the first pin of the first electronic switch 212 is directly connected to the battery 3. In this way, the high current path for supplying power to the drive circuit 22 has fewer links, resulting in a small voltage drop, less loss, and better reliability.

[0034] Specifically, the main switch 24 and the first electronic switch 212 may also be connected to the battery 3 via a fuse.

[0035] By providing a fuse 241 at the output end of the battery 3 , the power input end of the main control circuit 21 is connected to the fuse 241 via the second electronic switch 219 to prevent excessive current from burning the system.

[0036] The main control circuit 21 has relatively low power consumption, and the second electronic switch 219 can be implemented by a transistor or a PMOS; one end of the main switch 24 is connected to the fuse 241, and the other end is connected to the control end of the second electronic switch 219 and the input end of the AND gate 218 (that is, the second pin 2182 of the AND gate).

[0037] When the main switch 24 is closed and connected, the control terminal of the second electronic switch 219 and the second pin 2182 of the AND gate are both at a high level. Therefore, the second electronic switch 219 is turned on, the main control circuit 21 is connected to the battery, and the processor 211 begins to operate. When the processor 211 determines that the system is operating normally, it sets the level of the first pin 2181 of the AND gate connected to it to a high level. The output terminal of the AND gate, that is, the control terminal 2121 of the first electronic switch, is also high. The first electronic switch 212 is turned on, and the drive circuit 22 is connected to the battery 3 and begins to operate.

[0038] When the main switch 24 is turned off, the level of the second pin 2182 of the AND gate is low, the second electronic switch 219 is disconnected, and the output end of the AND gate 218 is also low (that is, the first electronic switch control end 2121 is low). The first electronic switch 218 is disconnected, so the power supply of the main control circuit 21 and the drive circuit 22 are both turned off, and the system stops working.

[0039] Compared with the previous embodiment, this embodiment has a fuse 241, which has better protection in terms of safety. In addition, the high-current channel supplied by the drive circuit 22 has fewer links, small voltage drop, less loss, and good reliability. The main switch 24 is not set on the high-current path. When the main switch adopts a self-locking switch (technically, a self-locking switch is generally required), it has a long life and good reliability.

[0040] See also Figure 4 In one embodiment, a third circuit is provided, in which the processor 211 is connected to the battery 3 through the main switch 24 , and the first electronic switch 212 is directly connected to the battery 3 .

[0041] In this embodiment, the switch control related circuits are simplified.

[0042] Specific examples Figure 4 As shown, the first pin of the first electronic switch 212 is directly connected to the battery 3, the first electronic switch control terminal 2121 is connected to the processor, and the power input terminal of the main control circuit 21 is connected to the battery 3 through the main switch 24.

[0043] When the main switch 24 is closed and connected, the main control circuit 21 is connected to the battery 3, and the processor 211 starts to work. When the processor 211 determines that the system is working normally, it sets the control terminal 2121 of the first electronic switch 212 connected thereto to high, the first electronic switch 212 is turned on, and the drive circuit 22 is powered on and starts to work.

[0044] When the main switch 24 is turned off, the power supply of the main control circuit 21 is disconnected, the level of the first electronic switch control terminal 2121 is low, the first electronic switch 212 is turned off, and the power supply of the drive circuit 22 is turned off and stops working; thereby, the same function as the above two embodiments is achieved: when the main switch 24 is turned off, the main control circuit 21 and the drive circuit 22 are both turned off; when the main switch 24 is closed and connected, the power supply of the main control circuit 21 is turned on, and the drive circuit 22 is then controlled by the main control circuit 21 to be turned on; the difference from the previous two embodiments is that this embodiment is simpler and lowers the cost, but compared with the previous embodiment, the current flowing through the main switch 24 is relatively larger, which can generally meet the life requirement of long-term operation.

[0045] In specific real-world situations, you can choose a suitable circuit based on the specific situation.

[0046] In one embodiment, the main control circuit 21 is provided with at least one of a current sensor 213 , a voltage sensor 214 , a temperature sensor 215 and a magnetic field sensor 216 for detecting data information and feeding back the information to the processor 211 .

[0047] like Figure 2As shown, the above four sensors are set in the first circuit, which is one of the cases in this embodiment, that is, the main control circuit 21 is provided with a current sensor 213, a voltage sensor 214, a temperature sensor 215 and a magnetic field sensor 216, and the current sensor 213, the voltage sensor 214, the temperature sensor 215 and the magnetic field sensor 216 are all electrically connected to the processor 211.

[0048] The current sensor 213 can detect the magnitude of the current passing through the first electronic switch 212 and transmit the data to the processor 211. When the current sensor 213 detects that the current flowing through the first electronic switch 212 exceeds a preset value, the processor 211 will turn off the first electronic switch 212 and the drive circuit 22 will stop working, thereby preventing the power module 12 from being burned by excessive current.

[0049] Similarly, the voltage sensor 214 can detect the size of the voltage passing through the first electronic switch 212 and transmit the data to the processor 211. When the voltage sensor 214 detects that the voltage flowing through the first electronic switch 212 exceeds the preset range, the processor 211 will turn off the first electronic switch 212 and the drive circuit 22 will stop working, thereby preventing the power module 12 from being burned due to excessive voltage or from being unstable due to excessive voltage.

[0050] The temperature sensor 215 can detect the current ambient temperature of the device of the present invention and transmit the data to the processor 211. When the processor 211 determines that the current ambient temperature is too high or too low (exceeds the preset range), it will turn off the first electronic switch 212 and enter the sleep state. The drive circuit 22 and the main control circuit 21 will stop working, thereby protecting the device of the present invention from damage.

[0051] The magnetic field sensor 216 can detect the current magnetic field strength of the device of the present invention and transmit the data to the processor 211. When the processor 211 determines that the current magnetic field is too strong (exceeds the preset range), it will turn off the first electronic switch 212 and the drive circuit 22 will stop working to prevent the magnetic field from being too strong and causing the sensor in the power module to malfunction, thereby protecting the safety of the wearer.

[0052] Of course, other sensors may be provided in the circuit, and they may be selected according to the functions to be realized.

[0053] In this application only Figure 2 Four sensors are drawn in the figure, but in reality the user can select the corresponding sensor according to the actual situation. That is, various sensors can also be set in the other two circuits to perform corresponding detection to ensure the safety of the wearer.

[0054] like Figure 1-2As shown, in one embodiment, a power button 2211 is provided on the power frame 1 , and the power button 2211 is connected to the main control circuit 21 , and controls the first electronic switch 212 to be turned on and off by controlling the main control circuit 21 .

[0055] In this embodiment, the power button 2211 is arranged on the upper side of the power module 12 near the hip joint (close to the wearer's hand). The power button 2211 is a thin sheet-shaped reset button to save the space occupied by the button. The pressing information of the power button 2211 is analyzed and processed by the processor 211 to form a control command, so that the wearer can turn the device on and off through the power button 2211.

[0056] Since the power button 2211 is a thin sheet-shaped reset button, it can also be conveniently set on the belt 14 and electrically connected to the driving circuit 22 and the main control circuit 21 through a flat cable or a flexible FPC to achieve corresponding control functions.

[0057] like Figure 2 As shown, the power button 2211 is directly electrically connected to the main control circuit 21 through a dedicated cable 233 without passing through the drive circuit 22. In this way, even when the drive circuit 22 is not powered, the information of the wearer pressing the power button 2211 can still be transmitted to the main control circuit 21 for analysis and processing, so that the power button 2211 can realize the function of the power switch of the device of the present invention.

[0058] The power button 2211 implements the device power on and off function using the following method: When the driving circuit 22 is powered off or powered on, as long as the main control circuit 21 detects that the power button 2211 has been pressed for longer than a preset time, the main control circuit 21 opens or closes the first electronic switch 212, thereby turning the power of the driving circuit 22 on or off. The working process is as follows:

[0059] Step 1:

[0060] Check whether the power button 2211 is pressed for longer than the set time, if so, go to step 2;

[0061] Step 2:

[0062] If the current state is the power-on state, the current state is set to the power-off state, the first electronic switch 212 is turned off, the power supply of the driving circuit 21 is turned off, and the main control circuit 21 is controlled to enter a low power consumption state;

[0063] If the current state is the off state, the current state is set to the on state, the first electronic switch 212 is turned on, the power of the drive circuit 21 is turned on, and the main control circuit 21 is controlled to enter the normal working state, and then go to step 1.

[0064] like Figure 1-2As shown, in one embodiment, the power frame 1 is provided with a control button 221 connected to the drive circuit 22 and transmitting control information to the main control circuit 21, and the control button 221 includes at least one of a mode button 2212, a force adding button 2213 and a force reducing button 2214.

[0065] In this application Figure 2 In the embodiment, the control button 211 includes a power button 2211, a mode button 2212, a force-adding button 2213 and a force-reducing button 2214. For the convenience of description, in this embodiment, only the mode button 2212, the force-adding button 2213 and the force-reducing button 2214 are used for illustration. The power button 2211 is described in the previous embodiment, and the scope of protection shall be subject to the claims.

[0066] like Figure 2 As shown, for the convenience of description and explanation, an embodiment having the above three buttons is provided. The mode button 2212, the force key 2213 and the force reduction key 2214 are arranged on the upper side of the power module 12 near the hip joint (close to the wearer's hand). The mode button 2212, the force key 2213 and the force reduction key 2214 are all thin-sheet reset buttons to save the space occupied by the buttons. The pressing information of the power button 2211 is analyzed and processed by the processor 211 to form a control command, so that the wearer can turn the device on and off through the power button 2211.

[0067] Since the mode button 2212, the force-adding button 2213 and the force-reducing button 2214 are thin-sheet reset buttons, they can also be conveniently set on the belt 14 and electrically connected to the drive circuit 22 and the main control circuit 21 through a flat cable or a flexible FPC to realize corresponding control functions.

[0068] Different from the power button 2211 in the previous embodiment, the mode button 2212, the force increase button 2213 and the force reduction button 2214 are transferred to the main control circuit 21 for analysis and processing through the communication cable 232 on the driving circuit, without the need for a separate dedicated cable connection to simplify the connection cable 23.

[0069] When a user uses the device of the present invention, the required power assistance, power assistance speed, and power assistance curve model are quite different when climbing stairs and walking on the ground. It is necessary to support users to quickly switch between different usage scenarios with one click. To this end, the control button 221 of the present invention is designed with a mode button 2212 and a control processing method for the mode button 2212 to meet the above requirements. The control processing method process is as follows:

[0070] Step 1:

[0071] Parameters such as power assist size, power assist speed, and power assist curve model for three usage scenarios, including walking on flat ground, climbing stairs, and running, are pre-divided into three groups for storage. Each group of parameters is numbered in sequence: 1, 2, and 3. The current parameter number N is set to 0.

[0072] Step 2:

[0073] Check whether the mode button 2212 is pressed for a time greater than a set time (e.g., 1 second). If so, proceed to step 3; otherwise, proceed to step 2.

[0074] Step 3:

[0075] Current parameter number N+1;

[0076] If the current parameter number N is greater than 3, the current parameter number N = 1;

[0077] Read the power assist parameter group corresponding to the current parameter number N;

[0078] Go to step 2.

[0079] In this way, by pressing the mode button 2212, the user can quickly adjust the parameters when walking on flat ground, climbing stairs, and running.

[0080] Specifically, a force-increasing key 2213 and a force-reducing key 2214 are set to support the user in fine-tuning the size of the assist force. When the main control circuit 21 detects that the force-increasing key 2213 is pressed, the main control circuit 21 commands the drive circuit 22 to increase the output torque; when the main control circuit 21 detects that the force-reducing key 2214 is pressed, the main control circuit 21 commands the drive circuit 22 to reduce the output torque.

[0081] like Figure 2 As shown, in one embodiment, the main control circuit 21 is provided with a radio frequency unit 217 for communicating with the outside.

[0082] In this embodiment, the RF unit 217 can communicate with an external RF device through a RF signal. By setting a control button 221 (having at least one of a power button 2211, a mode button 2212, a force-adding button 2213, and a force-reducing button 2214) on the external device and sending a control command to the main processor 211 through the RF channel, all functions of the control button 221 can be realized, including turning off / connecting the first electronic switch 212 to turn on or off the power supply of the drive circuit 22, or selecting different pre-set parameter groups, or adjusting the power assist size, which will not be repeated here. The advantage of this design is that the position of the control button 221 is not restricted and can be arbitrarily set anywhere within the RF communication range.

[0083] The main control circuit 21 of the walking assistance device also analyzes the human body's movement intention according to the wearer's movement state, drives the power module 12 to output simulated walking torque, and lifts or presses the wearer's legs through the leg rod 13 to reduce the burden on the wearer's walking muscles and achieve easy walking.

[0084] like Figure 1-2 As shown, in one embodiment, the power frame includes a waist and back frame 11, a power module 12, a leg rod 13, a waist belt 14 and a leg belt 15. The waist and back frame 11 is a C-shaped structure. The waist and back frame 11 includes a back box 111, a waist bar 112 and a waist plate 113. The back box 111 is set at the back waist of the wearer. The waist plate 113 is set in the back box 111. The waist bar 112 is connected to the waist bar 112 on both sides of the waist plate 113. The waist bar 112 extends from the back waist of the wearer to the hips on both sides and is fixedly connected to the power modules 12 set on the hips on both sides of the wearer; the leg rod 13 is set on the outside of the wearer's thigh and is rotatably connected to the power module 12. The waist belt 14 is fixedly connected to the waist and back frame 11, and the end thereof is provided with a waist belt buckle 141, which is fastened to tightly couple the waist and back frame 11 to the wearer's waist; the leg rods 13 are respectively arranged on the outer sides of the wearer's thighs, and the ends thereof are provided with leg straps 15, which are used to fix the leg rods 13 to the wearer's thighs; the power module 12, the leg rods 13, the leg straps 15 and the waist bar 112 are each provided with two groups and are symmetrically arranged with the center line of the waist and back frame 11 as the axis; the power module 12 is provided with a power component 121, and the power component 121 outputs power torque to the outside under the control of the drive circuit.

[0085] Specifically, the driving circuit 22 can control the power component 121 to output a rotational torque to the leg rod 13 or generate relative rotational motion according to the command of the main control circuit 21.

[0086] In this embodiment, the above-mentioned main control circuit 21 is arranged in the back box 111, the drive circuit 22 is arranged in the power module 12, and the main control circuit 21 is electrically connected to the left and right drive circuits 22 through the connecting cable 23; the battery 3 is arranged in the back box 111, and the main switch 24 is arranged on the back box 111.

[0087] like Figure 2 As shown, in one embodiment, two sets of waist bars 112 are respectively connected to each other on both sides of the waist plate 113 for adjusting the position of the waist bars 112 left and right, thereby adjusting the relative distance between the two sets of power modules 12 respectively connected to the two sets of waist bars 112.

[0088] In this embodiment, the left and right waist bars 112 are respectively connected to the left and right sides of the waist plate 113, and the portion thereof in the waist plate 113 can be adjusted left and right, thereby adjusting the relative distance between the two groups of power modules 12 respectively connected to the two groups of waist bars 112. In this way, the walking assistance device of the present invention can be adapted to wearers with different waist circumferences.

[0089] Specifically, the drive circuit 22 is arranged in the power module 12, the main control circuit 21 is connected to the drive circuit 22 through a connecting cable 23, the connecting cable 23 is arranged in the waist bar 112, and a redundant part 234 is provided on the side of the connecting cable 23 close to the main control circuit 21 or the drive circuit 22, which is used to cooperate with the two sets of waist bars 112 for left and right adjustment.

[0090] The waist bar 112 is hollow and has a through hole inside. The cable 24 is arranged along the through hole inside the waist bar 112 and connects the drive circuit 22 and the main control circuit 12. Accordingly, to accommodate the adjustment of the relative distance between the two sets of waist bars 112, the length of the connecting cable 23 near the main control circuit 21 or the drive circuit 22 is provided with a redundant portion 234. This prevents the connecting cable 23 from being torn due to being too short when adjusting the left or right waist bar 112. When the redundant portion 234 is located near the main control circuit 21, the redundant portion 234 is located in the back box 111; when the redundant portion 234 is located near the drive circuit, the redundant portion 234 is located in the power module 12.

[0091] The first electronic switch 212 and the second electronic switch 219 in this article refer to components or circuits that control the opening or closing of a larger current channel through a logic signal or a smaller current. Common electronic switches in the industry include transistors, MOS tubes, relays, thyristors or application-specific integrated circuits, which can all be selected for use in the present invention and will not be described in detail.

[0092] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A walking assistance device, characterized in that: It comprises a power frame (1), a circuit system and a battery (3), wherein the circuit system and the battery (3) are both arranged in the power frame (1), and the circuit system is used to control the power frame (1) to output power torque externally; The circuit system comprises a main control circuit (21), a drive circuit (22) and a main switch (24); the main switch (24) is arranged between the main control circuit (21) and the battery (3); the control end of the drive circuit (22) is connected to the main control circuit (21); the power input end of the drive circuit (22) is connected to the battery (3) through the main control circuit (21); the main control circuit (21) is used to control the power frame (1) to output power torque to the outside and control the power supply of the drive circuit (22) through the drive circuit (22); The main control circuit (21) comprises a processor (211) and a first electronic switch (212), wherein the first electronic switch (212) is connected to a power input terminal of the drive circuit (22) and the battery (3); a control terminal of the processor (211) is respectively connected to the control terminal of the first electronic switch (212) and the drive circuit (22), and a power input terminal of the processor (211) is connected to the battery (3); The main control circuit (21) is provided with a current sensor (213), a voltage sensor (214), a temperature sensor (215), and a magnetic field sensor (216) for detecting data information and feeding back to the processor (211); the current sensor (213) can detect the magnitude of the current passing through the first electronic switch (212) and transmit the data to the processor (211); when the current sensor (213) detects that the current flowing through the first electronic switch (212) exceeds a preset value, the processor (211) turns off the first electronic switch (212); the voltage sensor (214) can detect the magnitude of the voltage passing through the first electronic switch (212) and transmit the data to the processor (211). The data is transmitted to the processor (211); when the voltage sensor (214) detects that the voltage flowing through the first electronic switch 212 exceeds a preset range, the processor (211) turns off the first electronic switch (212); the temperature sensor (215) can detect the current ambient temperature and transmit the data to the processor (211); when the processor (211) determines that the current ambient temperature exceeds the preset range, the first electronic switch (212) is turned off and enters a dormant state; the magnetic field sensor (216) can detect the current magnetic field strength and transmit the data to the processor (211); when the processor (211) determines that the current magnetic field is too strong and exceeds the preset range, the first electronic switch (212) is turned off; The power frame (1) is provided with a power button (2211), which is a thin sheet-shaped reset button. The power button (2211) is connected to the main control circuit (21) and controls the opening and closing of the first electronic switch (212) by controlling the main control circuit (21).

2. The walking assistance device according to claim 1, wherein: The power input terminal of the processor (211) and the first pin of the first electronic switch (212) are both connected to the battery (3) via the main switch (24); the second pin of the first electronic switch (212) is connected to the power input terminal of the drive circuit (22); the control terminal of the processor (211) is connected to the control terminal of the first electronic switch (212); the processor (211) is used to control the opening and closing of the first electronic switch (212) and thereby control the power on and off of the drive circuit (22).

3. The walking assistance device according to claim 1, wherein: The main switch (24) and the first electronic switch (212) are both connected to the battery (3); the main switch (24) controls the processor (211) to connect or disconnect the battery (3) via the second electronic switch (219); and the processor (211) and the main switch (24) jointly control the opening and closing of the first electronic switch (212) via the AND gate (218).

4. The walking assistance device according to claim 1, wherein: The processor (211) is connected to the battery (3) via the main switch (24), and the first electronic switch (212) is directly connected to the battery (3).

5. The walking assistance device according to any one of claims 1 to 4, characterized in that: The power frame (1) is provided with a control button (221) connected to the drive circuit (22) and transmitting control information to the main control circuit (21), and the control button (221) includes at least one of a mode button (2212), a force adding button (2213) and a force reducing button (2214).

6. The walking assistance device according to any one of claims 1 to 4, characterized in that: The power frame (1) comprises a waist and back frame (11), a power module (12), a leg rod (13), a waist belt (14) and a leg belt (15); the waist and back frame (11) is a C-shaped structure; the waist and back frame (11) comprises a back box (111), a waist rod (112) and a waist plate (113); the back box (111) is arranged at the back waist of the wearer; the waist plate (113) is arranged in the back box (111); the waist plate (113) is connected to the waist rod (112) on both sides; the waist rod (112) extends from the back waist of the wearer to the hips on both sides and is fixedly connected to the power module (12) arranged at the hips on both sides of the wearer; the leg rod (13) is arranged on the outer side of the wearer's thigh , and is rotatably connected to the power module (12); the waist belt (14) is fixedly connected to the waist and back frame (11), and its end is provided with a waist belt buckle (141); the leg rods (13) are respectively arranged on the two outer sides of the wearer's thighs, and its ends are provided with leg belts (15), and the leg rods (13) and the wearer's thighs are fixed by the leg belts (15); the power module (12), the leg rods (13), the leg belts (15) and the waist bar (112) are each provided with two groups and are symmetrically arranged with the center line of the waist and back frame (11) as the axis; the power module (12) is provided with a power component (121), and the power component (121) outputs power torque to the outside under the control of the drive circuit.

7. The walking assistance device according to claim 6, wherein: The two sides of the waist plate (113) are respectively connected to the two groups of waist bars (112) for adjusting the position of the waist bars (112) left and right, thereby adjusting the relative distance between the two groups of power modules (12) respectively connected to the two groups of waist bars (112).

8. The walking assistance device according to claim 7, wherein: The drive circuit (22) is arranged in the power module (12), the main control circuit (21) is connected to the drive circuit (22) via a connecting cable (23), the connecting cable (23) is arranged in the waist bar (112), and a redundant part (234) is provided on one side of the connecting cable (23) close to the main control circuit (21) or the drive circuit (22), for cooperating with the two sets of waist bars (112) to perform left and right adjustment.

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