Leg support exoskeleton with assistance function

Abstract

This invention relates to the field of exoskeleton technology and provides a leg support exoskeleton with assistive function. It includes a mounting frame, a pair of upper arm assemblies, a pair of forearm assemblies, and a pair of ankle assemblies arranged sequentially. The pair of upper arm assemblies are hinged between the mounting frame and the pair of forearm assemblies, and the pair of ankle assemblies are respectively hinged to the bottom of the pair of forearm assemblies. A pair of foot pedals are fixedly installed on the inner side of the pair of forearm assemblies. A pair of assistive mechanisms are respectively located on the outer side of the pair of forearm assemblies to assist the patient's movement. The leg support exoskeleton with assistive function provided by this solution uses foldable wheel sets for the pair of assistive mechanisms to support and move the leg during use, which can reduce the patient's exercise pressure, increase usage time, ensure exercise effectiveness, and the overall performance is better than existing technologies.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, and in particular relates to a leg support exoskeleton with assistive function. Background Technology

[0002] Lower limb exoskeleton devices can help frail elderly people walk and also assist rehabilitation patients in their rehabilitation training.

[0003] Existing lower limb exoskeletons are one-piece lower limb exoskeletons. When wearing them, the wearer needs to put their waist, legs and feet into the device at the same time. When walking, they mainly rely on the movement of their own legs. However, since patients are usually weak, they get tired after walking for a long time. Current leg support exoskeletons usually do not have an assistive function, which greatly reduces the patient's exercise time and reduces the exercise effect. Summary of the Invention

[0004] This invention provides a leg support exoskeleton with assistive function, aiming to solve the problem that current leg support exoskeletons do not have assistive function, forcing patients to use them for a limited time.

[0005] The present invention is implemented as follows: a leg support exoskeleton with assistive function, comprising: an assembly frame, a pair of upper arm assemblies, a pair of forearm assemblies, and a pair of ankle assemblies arranged sequentially, wherein the pair of upper arm assemblies is hinged between the assembly frame and the pair of forearm assemblies, and the pair of ankle assemblies are respectively hinged to the bottom of the pair of forearm assemblies; a pair of foot pedals, which are respectively fixedly installed on the inner side of the pair of forearm assemblies; and a pair of assistive mechanisms, which are respectively disposed on the outer side of the pair of forearm assemblies for assisting the patient's movement.

[0006] Preferably, a telescopic rod is hinged between the assembly frame and the pair of boom assemblies, and a hanger is fixedly fitted on the pair of boom assemblies and the forearm assemblies, with the same telescopic rod hinged to the corresponding pair of hangers.

[0007] Preferably, each of the pair of upper arm assemblies and forearm assemblies is provided with an adjustable strap, and each of the pair of forearm assemblies and ankle assemblies is provided with a return spring.

[0008] Preferably, the assist mechanism includes a hollow central shaft fixedly installed on the outside of the forearm assembly. The hollow central shaft has two annular guide grooves, and guide rings are rotatably installed in both annular guide grooves. Power wheels are provided on the two guide rings, and the hollow central shaft and the two guide rings are connected by a power mechanism transmission.

[0009] Preferably, the power wheel includes connecting arms that are fixedly mounted on the two guide rings respectively, and the same housing is fixedly mounted on the two connecting arms. A drive motor is fixedly mounted inside the housing. A drive shaft is rotatably mounted on one side of the housing. One end of the drive shaft is connected to the output shaft of the drive motor, and the other end of the drive shaft is located outside the housing and is fixedly mounted with a Mecanum wheel.

[0010] Preferably, the power mechanism includes a main shaft and a secondary shaft rotatably mounted inside the housing. The main shaft and the secondary shaft are arranged parallel to each other. Both guide rings have annular toothed grooves on their inner sides. A first drive gear is fixedly sleeved on the main shaft, and a second drive gear is fixedly sleeved on the secondary shaft. The first drive gear and the second drive gear mesh with the two annular toothed grooves respectively. A motor is fixedly mounted on the outer side of the hollow central shaft, and the output shaft of the motor is connected to one end of the main shaft for transmission.

[0011] Preferably, a first transmission gear is fixedly sleeved on the main shaft, and a connecting shaft that is rotatably connected to the hollow central shaft is provided between the main shaft and the secondary shaft. A second transmission gear and a third transmission gear are fixedly sleeved on the connecting shaft. The second transmission gear meshes with the first transmission gear, and the third transmission gear meshes with the second drive gear.

[0012] Preferably, each of the two annular guide grooves has an opening on its inner wall, and the two openings are respectively adapted to drive gear one and drive gear two.

[0013] Preferably, the differential ratios of the first drive gear and the second drive gear are the same, and the two annular tooth grooves are respectively adapted to the differential ratios of the first drive gear and the second drive gear.

[0014] Preferably, the first transmission gear, the second transmission gear, and the third transmission gear have a differential ratio, and the dimensions of the first transmission gear, the second transmission gear, and the third transmission gear are all different.

[0015] Compared with related technologies, the drug pulverizing device provided by the present invention has the following beneficial effects:

[0016] Compared with existing technologies, the leg support exoskeleton with assistive function provided by this invention uses a pair of foldable wheel sets for leg support and movement during use, which can reduce the exercise pressure on patients, increase the usage time, and ensure the exercise effect. The overall use effect is better than existing technologies. At the same time, this device is equipped with multiple safety features to meet the needs of various emergency situations and improve the safety of use. Attached Figure Description

[0017] Figure 1 This is a side view of a leg support exoskeleton with assistive function provided by the present invention.

[0018] Figure 2 for Figure 1 An enlarged structural diagram of part E shown in the figure;

[0019] Figure 3 This is a schematic diagram of the main view of a leg support exoskeleton with assistive function provided by the present invention;

[0020] Figure 4 for Figure 3 An enlarged structural diagram of part F shown in the figure;

[0021] Figure 5 This is a side sectional view of the power wheel in this invention.

[0022] Figure 6 This is a side cross-sectional view of the first embodiment of the hollow central shaft, guide ring, and power mechanism in this invention.

[0023] Figure 7 for Figure 6 An enlarged structural diagram of part G shown in the figure;

[0024] Figure 8 for Figure 6 A schematic cross-sectional view of section AA shown in the diagram;

[0025] Figure 9 for Figure 6 A schematic cross-sectional view of section BB shown in the diagram;

[0026] Figure 10 for Figure 6 A cross-sectional view of the CC portion shown in the diagram;

[0027] Figure 11 for Figure 10 An enlarged structural diagram of section H shown in the figure;

[0028] Figure 12 for Figure 6 A schematic cross-sectional view of the DD section shown in the diagram;

[0029] Figure 13 This is a side view of the hollow central shaft, guide ring, and power mechanism in this invention.

[0030] Figure 14 This is a side view of the hollow central shaft in this invention.

[0031] Figure 15 This is a three-dimensional structural diagram of the power mechanism in this invention;

[0032] Figure 16 This is a three-dimensional structural diagram of the guide ring, connecting arm, and housing in this invention;

[0033] Figure 17 This is a side cross-sectional view of another embodiment of the hollow central shaft, guide ring, and power mechanism in the present invention.

[0034] Figure 18 for Figure 17 The diagram shows an enlarged view of section Z.

[0035] Reference numerals: 1. Assembly frame; 2. Boom assembly; 3. Arm assembly; 4. Ankle assembly; 5. Foot pedal; 6. Telescopic rod one; 7. Hanger; 8. Telescopic rod two; 9. Strap; 10. Return spring; 11. Hollow core shaft; 12. Annular guide groove; 13. Guide ring; 14. Connecting arm; 15. Housing; 16. Drive motor; 17. Drive shaft; 18. Mecanum wheel; 19. Annular toothed groove; 20. Main shaft; 21. Drive gear one; 22. Countershaft; 23. Drive gear two; 24. Motor; 25. Transmission gear one; 26. Transmission gear 27. Transmission Gear 3; 28. Connecting Seat; 29. ​​Assembly Cylinder; 30. Positioning Slot; 31. Middle Cavity; 32. Slide Rail; 33. Compression Spring; 34. Positioning Column; 35. Pull Cable; 36. Electric Telescopic Rod; 37. Guide Shaft; 38. Anti-detachment Ring; 39. Connecting Shaft; 40. Through Port; 22a. Half Shaft 1; 22b. Half Shaft 2; 41. Rectangular Sleeve; 42. Rectangular Guide Slot; 43. Rectangular Guide Rod; 44. Rectangular Guide Sleeve; 45. Engaging Block 1; 46. Engaging Block 2; 47. Holding Spring; 48. Adjusting Bolt; 49. Emergency Stop Switch. Detailed Implementation

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] This invention provides a leg support exoskeleton with assistive function, such as... Figure 1-16 As shown, the leg support exoskeleton with assistive function includes: an assembly frame 1, a pair of upper arm assemblies 2, a pair of forearm assemblies 3, and a pair of ankle assemblies 4 arranged sequentially. The pair of upper arm assemblies 2 are hinged between the assembly frame 1 and the pair of forearm assemblies 3, and the pair of ankle assemblies 4 are respectively hinged to the bottom of the pair of forearm assemblies 3; a pair of foot pedals 5, which are respectively fixedly installed on the inner side of the pair of forearm assemblies 3; and a pair of assistive mechanisms, which are respectively located on the outer side of the pair of forearm assemblies 3 to assist the patient's movement.

[0039] In this embodiment, the assembly frame 1, a pair of upper arm assemblies 2, a pair of forearm assemblies 3, a pair of ankle assemblies 4, and a pair of foot pedals 5 constitute the basic structure of the leg support exoskeleton, which can be used by patients. The structure and usage of the leg support exoskeleton are basically the same as those of the prior art. When in use, a pair of assistive mechanisms use foldable wheel sets to support and move the legs, which can reduce the exercise pressure on patients, increase the usage time, and ensure the exercise effect. The overall usage effect is better than that of the prior art.

[0040] In a further preferred embodiment of the present invention, a telescopic rod 6 is hinged between the assembly frame 1 and the pair of boom assemblies 2, and a hanger 7 is fixedly sleeved on the pair of boom assemblies 2 and the forearm assemblies 3, with the same telescopic rod 8 hinged to the corresponding pair of hangers 7.

[0041] In this embodiment, telescopic rod 6 can support and adjust the angle of the assembly frame 1 and the upper arm assembly 2, and telescopic rod 8 can support and adjust the angle of the upper arm assembly 2 and the forearm assembly 3, so as to meet the bending needs of various parts of the exoskeleton when people use it.

[0042] In a further preferred embodiment of the present invention, an adjustable strap 9 is provided on each of the pair of upper arm assemblies 2 and forearm assemblies 3, and a return spring 10 is provided between each of the pair of forearm assemblies 3 and ankle assemblies 4.

[0043] In this embodiment, the strap 9 can be tied around the user's body, and the return spring 10 supports and returns the forearm assembly 3 and ankle assembly 4 to assist the patient in use.

[0044] In a further preferred embodiment of the present invention, the assist mechanism includes a hollow central shaft 11 fixedly installed on the outside of the forearm assembly 3. Two annular guide grooves 12 are provided on the hollow central shaft 11. Guide rings 13 are rotatably installed in both annular guide grooves 12. Power wheels are provided on the two guide rings 13. The hollow central shaft 11 and the two guide rings 13 are connected by a power mechanism transmission.

[0045] In this embodiment, the guide ring 13 rotating in the annular guide groove 12 on the hollow central shaft 11 can be connected to the power mechanism and make the power mechanism contact the ground to realize the support and movement of the legs, which can reduce the exercise pressure of the patient, increase the usage time, and ensure the exercise effect.

[0046] In a further preferred embodiment of the present invention, the power wheel includes connecting arms 14 respectively fixedly mounted on two guide rings 13, and the same housing 15 is fixedly mounted on the two connecting arms 14. A drive motor 16 is fixedly mounted inside the housing 15, and a drive shaft 17 is rotatably mounted on one side of the housing 15. One end of the drive shaft 17 is connected to the output shaft of the drive motor 16, and the other end of the drive shaft 17 is located outside the housing 15 and is fixedly mounted with a Mecanum wheel 18.

[0047] In this embodiment, the Mecanum wheel 18 in the drive wheel contacts the ground and is driven by the drive motor 16, which can provide support and assistance when walking. Its rotation is slow and can be controlled by a hand controller or a ground contact sensor, making it more labor-saving in use.

[0048] In a further preferred embodiment of the present invention, the power mechanism includes a main shaft 20 and a secondary shaft 22 rotatably mounted within the housing 15. The main shaft 20 and the secondary shaft 22 are arranged in parallel. Annular toothed grooves 19 are provided on the inner sides of both guide rings 13. A first drive gear 21 is fixedly sleeved on the main shaft 20, and a second drive gear 23 is fixedly sleeved on the secondary shaft 22. The first drive gear 21 and the second drive gear 23 respectively mesh with the two annular toothed grooves 19. A motor 24 is fixedly mounted on the outer side of the hollow central shaft 11, and the output shaft of the motor 24 is connected to one end of the main shaft 20 for transmission.

[0049] In this embodiment, when it is necessary to adjust the angle of the Mecanum wheel 18, the motor 24 is started. The output shaft of the motor 24 generates power, causing the main shaft 20 and the secondary shaft 22 to rotate. At this time, the drive gear 1 21 and the drive gear 23 drive the two guide rings 13 to rotate respectively, thus completing the angle adjustment.

[0050] In a further preferred embodiment of the present invention, a transmission gear 25 is fixedly sleeved on the main shaft 20, and a connecting shaft 39 rotatably connected to the hollow central shaft 11 is provided between the main shaft 20 and the secondary shaft 22. A transmission gear 26 and a transmission gear 27 are fixedly sleeved on the connecting shaft 39. The transmission gear 26 meshes with the transmission gear 25, and the transmission gear 27 meshes with the drive gear 23.

[0051] In this embodiment, when the main shaft 20 rotates, it drives the transmission gear 1 25 to rotate synchronously. The transmission gear 1 25 drives the transmission gear 26 to rotate synchronously. The transmission gear 26 drives the transmission gear 3 27 to rotate through the connecting shaft 39. The transmission gear 3 27 drives the drive gear 2 23 to rotate, so as to complete the power transmission.

[0052] In a further preferred embodiment of the present invention, each of the two annular guide grooves 12 has an opening 40 on its inner wall, and the two openings 40 are respectively adapted to drive gear 1 21 and drive gear 23.

[0053] In this embodiment, the opening 40 is designed so that drive gear 1 21 and drive gear 2 23 can pass through it.

[0054] The invention also includes a connecting seat 28 fixedly connected to the hollow central shaft 11 between the two guide rings 13. An assembly cylinder 29 is fixedly mounted on the connecting seat 28. Multiple positioning grooves 30 are provided on one side of each of the two guide rings 13 located on the assembly cylinder 29. A central cavity 31 is provided in the middle of the assembly cylinder 29. Slide rails 32 are provided on both sides of the assembly cylinder 29. Compression springs 33 are provided in each of the two slide rails 32. Positioning posts 34, which can be inserted into the corresponding positioning grooves 30, are slidably installed in each of the two slide rails 32. The positioning posts 34 are connected to the corresponding compression springs 33. The hollow central shaft 11, connecting seat 28, and assembly cylinder 29 are slidably mounted with the same pull wire 35, which is fixedly connected to two positioning posts 34 respectively. An electric telescopic rod 36 is fixedly installed inside the hollow central shaft 11. The output rod of the electric telescopic rod 36 is fixedly connected to the pull wire 35. A guide shaft 37 is rotatably installed inside the hollow central shaft 11. The pull wire 35 passes around the guide shaft 37. An anti-detachment ring 38 located on the side of the pull wire 35 is fixedly sleeved on the guide shaft 37. Threading holes are opened on the inner wall of the hollow central shaft 11, the connecting seat 28, the inner wall of the central cavity 31, and the inner wall of the slide 32.

[0055] In the above embodiment, after the angle adjustment is completed, in order to reduce the pressure on each gear during support, the positioning pin 34 is embedded in the positioning groove 30 of the guide ring 13 to complete the positioning of the guide ring 13. When unlocking, the electric telescopic rod 36 is started before the motor 24 is run. The output rod of the electric telescopic rod 36 retracts and pulls the pull cable 35, so that the pull cable 35 pulls the two positioning pins 34 to slide out of the positioning groove 30 and puts the compression spring 33 in a compressed state. When the pull cable 35 slides, it slides along the guide shaft 37. The anti-slip rings 38 on both sides can prevent slippage and ensure the accuracy of normal use.

[0056] In a further preferred embodiment of the present invention, the differential ratios of the first drive gear 21 and the second drive gear 23 are the same, and the two annular tooth grooves 19 are respectively adapted to the differential ratios of the first drive gear 21 and the second drive gear 23.

[0057] In a further preferred embodiment of the present invention, the first transmission gear 25, the second transmission gear 26, and the third transmission gear 27 have a differential ratio, and the dimensions of the first transmission gear 25, the second transmission gear 26, and the third transmission gear 27 are all different.

[0058] In other embodiments, such as Figure 17-18 As shown, the secondary shaft 22 includes two parts: half-shaft one 22a and half-shaft two 22b. Half-shaft one 22a and half-shaft two 22b are rotatably connected to the inner walls of the two sides of the hollow central shaft 11 by bearings. Half-shaft one 22a is fixedly connected to drive gear two 23. A rectangular sleeve 41 is fixedly sleeved on the outside of half-shaft one 22a. The rectangular sleeve 41 is slidably sleeved on half-shaft two 22b. A rectangular guide groove 42 is opened at one end of half-shaft two 22b located inside the rectangular sleeve 41. A rectangular guide rod 43 is slidably installed in the rectangular guide groove 42. A rectangular guide sleeve 44 is slidably sleeved on the outside of the rectangular guide rod 43. A meshing block one is fixedly installed at one end of the rectangular guide sleeve 44 located on half-shaft one 22a. 45. A meshing block 46 is fixedly installed at one end of the rectangular guide sleeve 44 on the half-shaft 22a. The side of the meshing block 45 that contacts the meshing block 46 is inclined and slides in contact. A retaining spring 47 is slidably sleeved on the rectangular guide rod 43 and the rectangular guide sleeve 44. The two ends of the retaining spring 47 are in contact with the half-shaft 22b and the meshing block 45, respectively. An adjusting bolt 48 extending into the rectangular guide rod 43 is threaded on the half-shaft 22b. The adjusting bolt 48 is rotatably connected to the rectangular guide rod 43. An emergency stop switch 49 is fixedly connected to the meshing block 45 inside the rectangular guide sleeve 44. The emergency stop switch 49 is a wireless switch that transmits a wireless signal to control the emergency stop of the motor 24.

[0059] In the above embodiment, when the Mecanum wheel 18 contacts the ground, if some people cannot turn off the motor 24 in time or the motor 24 malfunctions, at this time, under high torque, half shaft 1 22a and half shaft 22b have a differential speed. Half shaft 1 22a rotates, causing the engagement block 2 46 to slide along the inclined plane with engagement block 1 45, and forcing engagement block 1 45 to disengage. At this time, engagement block 1 45 drives the rectangular guide sleeve 44 to slide along the rectangular guide rod 43 and compress the retaining spring 47. At this time, the emergency stop switch 49 contacts the end of the rectangular guide rod 43 and sends a signal to turn off the motor 24. During use, the adjusting bolt 48 can adjust the position of the rectangular guide rod 43.

[0060] In this scheme, the output end of the motor 24 can be connected to the main shaft 20 via a signal coupling. When the torque of the signal coupling is too high, the motor 24 can be shut down.

[0061] In summary, compared with related technologies, the present invention uses a pair of foldable wheel sets for leg support and movement during use, which can reduce the exercise pressure on patients, increase the usage time, and ensure the exercise effect. The overall effect is better than the existing technology. At the same time, the device is equipped with multiple safety features to meet the needs of various emergency situations and improve the safety of use.

[0062] It should be understood that the disclosed apparatus can be implemented in other ways, given the several embodiments provided in this application. For example, the apparatus embodiments described above are merely illustrative; the division of units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or communication connections shown or discussed may be through some interfaces; the indirect coupling or communication connections between devices or units may be telecommunications or other forms.

[0063] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A leg support exoskeleton with assistive function, characterized in that, include: The assembly includes, in sequence, a pair of upper arm assemblies, a pair of forearm assemblies, and a pair of ankle assemblies. The pair of upper arm assemblies are hinged between the assembly and the pair of forearm assemblies, and the pair of ankle assemblies are respectively hinged to the bottom of the pair of forearm assemblies. A pair of foot pedals are fixedly installed on the inner side of the pair of forearm assemblies. A pair of assistive mechanisms are respectively located on the outer side of the pair of forearm assemblies to assist the patient's movement. The assist mechanism includes a hollow central shaft fixedly installed on the outside of the forearm assembly. Two annular guide grooves are provided on the hollow central shaft. Guide rings are rotatably installed in both annular guide grooves. Power wheels are provided on the two guide rings. The hollow central shaft and the two guide rings are connected by a power mechanism transmission. The power mechanism includes a main shaft and a secondary shaft rotatably installed inside the housing. The main shaft and the secondary shaft are arranged in parallel. The inner sides of the two guide rings are provided with annular tooth grooves. A drive gear one is fixedly sleeved on the main shaft, and a drive gear two is fixedly sleeved on the secondary shaft. The drive gear one and the drive gear two respectively mesh with the two annular tooth grooves. A motor is fixedly installed on the outer side of the hollow central shaft. The output shaft of the motor is connected to one end of the main shaft for transmission. A transmission gear one is fixedly sleeved on the main shaft. A connecting shaft that is rotatably connected to the hollow central shaft is provided between the main shaft and the secondary shaft. A transmission gear two and a transmission gear three are fixedly sleeved on the connecting shaft. The transmission gear two meshes with the transmission gear one, and the transmission gear three meshes with the drive gear two. Both annular guide grooves have openings on their inner walls, and the two openings are respectively adapted to drive gear one and drive gear two.

2. The leg support exoskeleton with a boosting function according to claim 1, wherein A telescopic rod is hinged between the assembly frame and the pair of boom assemblies. A hanger is fixedly mounted on both the pair of boom assemblies and the forearm assemblies, and the same telescopic rod is hinged to the corresponding pair of hangers.

3. The leg support exoskeleton with a boosting function according to claim 1, wherein Each pair of upper arm and forearm assemblies is provided with an adjustable strap, and each pair of forearm assemblies and ankle assemblies is provided with a return spring.

4. The leg support exoskeleton with a boosting function according to claim 3, wherein The power wheel includes connecting arms that are fixedly mounted on the two guide rings respectively. The same housing is fixedly mounted on the two connecting arms. A drive motor is fixedly mounted inside the housing. A drive shaft is rotatably mounted on one side of the housing. One end of the drive shaft is connected to the output shaft of the drive motor. The other end of the drive shaft is located outside the housing and is fixedly mounted with a Mecanum wheel.

5. The leg-support exoskeleton with a boosting function according to claim 1, wherein The differential ratios of the first and second drive gears are the same, and the two annular tooth grooves are respectively adapted to the differential ratios of the first and second drive gears.

6. The leg-support exoskeleton with a boosting function according to claim 5, wherein The transmission gear one, transmission gear two, and transmission gear three have a differential ratio, and the dimensions of the transmission gear one, transmission gear two, and transmission gear three are all different.

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