A self-powered assist device for reducing human walking energy

Abstract

A self-powered power-assisting device for reducing the energy consumed by human walking belongs to the technical field of walking assistance and energy recovery. The present invention solves the problem that the existing driving device of the walking assistance device is too bulky, causing inconvenience to people walking. The self-powered power-assisting device provided by the present application includes a shoulder restraint belt, a backboard, an energy storage module, a control module, a waist board, a waist restraint belt, a self-powered power-assisting module, a first foot linkage assembly and a second foot linkage assembly. The self-powered power-assisting module includes a shell frame assembly, a generator assembly, a No. 1 executive component, a No. 2 executive component, a No. 1 sliding transmission assembly and a No. 2 sliding transmission assembly. The self-powered power-assisting device provided by the present application is used to collect the negative work generated when the human body walks, and convert the collected negative work into electrical energy for storage, and use the stored energy as a power source for subsequent auxiliary human walking devices.

Description

Technical Field

[0001] The present invention belongs to the technical field of walking assistance and energy recovery, and in particular relates to a self-powered assistance device for reducing the energy consumed by human walking. Background Art

[0002] As human society progresses, various life scenarios related to social activities are becoming increasingly diverse and complex. Such changes in social life sometimes place higher demands on the human body's performance. For ordinary people, walking for long periods of time in life or work sometimes consumes a lot of energy.

[0003] Researchers analyzing human electromyographic signals have discovered that during exercise, some muscles dissipate energy as additional work (negative work). This energy is often difficult to collect and utilize, and is dissipated into the external environment. If this form of energy can be collected, stored, and effectively utilized, it would have significant practical applications.

[0004] In order to reduce the energy dissipation of human movement, researchers have proposed a variety of power-assisting devices. Traditional walking-assisting devices are mostly divided into two types: active and passive. Active devices mainly use motors and other devices to provide mechanical power to the lower limbs. If a large driving force is desired, the driving device will be designed to be very bulky, causing inconvenience to people walking. Unpowered devices store energy through the human body's natural movement and can achieve auxiliary effects without the need for additional driving force. Although they can avoid the weight brought by the driving device, they also face challenges such as insufficient driving force and inability to better adapt to the characteristics of human gait.

[0005] In response to the above problems, this patent specifically designs a self-powered power-assisting device that reduces the energy required for human walking. When worn on the human body, it collects the negative work of knee joint movement to achieve self-powered power assistance, reducing muscle activity and metabolic consumption when taking steps, thereby achieving the purpose of reducing the energy required for human walking. Summary of the Invention

[0006] In order to solve the drawbacks of traditional walking assist devices in practical applications, the present invention provides a self-powered assist device that reduces the energy required for human walking.

[0007] A self-powered power-assisting device for reducing the energy consumed by a human body while walking, the self-powered power-assisting device comprising a shoulder restraint, a backboard, an energy storage module, a control module, a waist board, a waist restraint, a self-powered power-assisting module, a first foot linkage assembly and a second foot linkage assembly, the backboard being arranged on the back side of the shoulder restraint, and the backboard being fixedly connected to the shoulder restraint, the backboard being arranged to fit the back of the human body through the shoulder restraint, the energy storage module being arranged on the backboard, and the energy storage module being detachably connected to the backboard, the waist board being arranged directly below the backboard, and the top of the waist board being detachably connected to the bottom of the backboard, a waist restraint is provided on the inner side of the lower part of the waist board, and the waist board being fixedly connected to the waist restraint, the waist board being arranged to fit the waist of the human body through the waist restraint, the self-powered power-assisting module being arranged on the back side of the waist board, and the self-powered power-assisting module being tightly connected to the waist board, the control module being arranged between the energy storage module and the self-powered power-assisting module, The energy storage module is detachably connected to the lower part of the backplate, the power input end of the energy storage module is connected to the No. 1 power supply end of the control module through a wire, the power output end of the energy storage module is connected to the No. 1 power input end of the control module through a wire, the No. 2 power input end of the control module is connected to the power output end of the self-powered power-assisting module through a wire, the No. 1 power output end of the control module is connected to the power input end of the No. 1 executive component in the self-powered power-assisting module through a wire, the No. 2 power output end of the control module is connected to the power input end of the No. 2 executive component in the self-powered power-assisting module through a wire, one end of the first foot linkage assembly is connected to the No. 1 executive component in the self-powered power-assisting module, the other end of the first foot linkage assembly is connected to the left ankle of the human body, one end of the second foot linkage assembly is connected to the No. 2 executive component in the self-powered power-assisting module, and the other end of the second foot linkage assembly is connected to the right ankle of the human body;

[0008] Furthermore, the first foot linkage assembly and the second foot linkage assembly have the same composition, the first foot linkage assembly includes a No. 1 flexible rope and a No. 1 ankle strap, one end of the No. 1 flexible rope is connected to the No. 1 actuator in the self-powered power-assisting module, the other end of the No. 1 flexible rope is fixedly connected to the No. 1 ankle strap, and the No. 1 ankle strap is tied to the left ankle of the human body, the second foot linkage assembly includes a No. 2 flexible rope and a No. 2 ankle strap, one end of the No. 2 flexible rope is connected to the No. 2 actuator in the self-powered power-assisting module, the other end of the No. 2 flexible rope is fixedly connected to the No. 2 ankle strap, and the No. 2 ankle strap is tied to the right ankle of the human body;

[0009] Furthermore, the self-powered power assist module includes a shell frame assembly, a generator assembly, a No. 1 actuator, a No. 2 actuator, a No. 1 sliding transmission assembly and a No. 2 sliding transmission assembly, the generator assembly is installed at the center of the shell frame assembly, and the power input end of the generator assembly extends into the shell frame assembly, the power output end of the generator assembly extends to the outside of the shell frame assembly, and the power output end of the generator assembly is connected to the No. 2 power input end of the control module through a wire, the No. 1 actuator and the No. 2 actuator are both installed on the shell frame assembly, and the No. 1 actuator and the No. 2 actuator are relatively arranged on both sides of the generator assembly, a No. 1 sliding transmission assembly is provided between the No. 1 actuator and the power input end of the generator assembly, the No. 1 sliding transmission assembly is arranged in the shell frame assembly, and the No. 1 sliding transmission assembly is slidably connected to the shell frame assembly, a No. 2 sliding transmission assembly is provided between the No. 2 actuator and the power input end of the generator assembly, the No. 2 sliding transmission assembly is arranged in the shell frame assembly, and the No. 2 sliding transmission assembly is slidably connected to the shell frame assembly;

[0010] Furthermore, the shell frame assembly includes a self-powered power assist device rear shell, a self-powered power assist device front shell, a left carbon fiber tube, a left guide support, a transverse carbon fiber tube, a right guide support and a right carbon fiber tube. The self-powered power assist device front shell is arranged on the back side of the lumbar plate, and the self-powered power assist device front shell is fastened to the lumbar plate, the self-powered power assist device rear shell is arranged on the self-powered power assist device front shell, and the self-powered power assist device rear shell is detachably connected to the self-powered power assist device front shell, the self-powered power assist device rear shell, the left guide support and the right guide support are three vertices of an isosceles triangle, the left carbon fiber tube is arranged between the self-powered power assist device rear shell and the left guide support, and one end of the left carbon fiber tube is connected to the self-powered power assist device rear shell, the other end of the left carbon fiber tube is connected to the left guide support, the right carbon fiber tube is arranged between the self-powered power assist device rear shell and the right guide support, and the right carbon fiber One end of the vascular tube is connected to the rear shell of the self-powered power-assisting device, the other end of the right carbon fiber tube is connected to the right guide support, the transverse carbon fiber tube is arranged between the left guide support and the right guide support, and one end of the transverse carbon fiber tube is connected to the left guide support, and the other end of the transverse carbon fiber tube is connected to the right guide support, the No. 1 actuator is arranged in the rear shell of the self-powered power-assisting device, and the end of the No. 1 actuator passes through the left carbon fiber tube and the left guide support in sequence and is connected to one end of the No. 1 flexible rope, the No. 2 actuator is arranged in the rear shell of the self-powered power-assisting device, and the end of the No. 2 actuator passes through the right carbon fiber tube and the right guide support in sequence and is connected to one end of the No. 2 flexible rope, the No. 1 sliding transmission assembly and the No. 2 sliding transmission assembly are both arranged in the rear shell of the self-powered power-assisting device, and the No. 1 sliding transmission assembly and the No. 2 sliding transmission assembly are both slidably connected to the rear shell of the self-powered power-assisting device;

[0011] Furthermore, a left first guide wheel, a left first guide shaft, a left second guide wheel, a first bearing of the left second guide shaft group, a left second guide shaft group support shaft and a second bearing of the left second guide shaft group are provided in the left guide support member, the left first guide shaft is inserted in the left guide support member, and both ends of the left first guide shaft are fixedly connected to the side wall of the left guide support member, the left first guide wheel is sleeved on the first guide shaft, and two rotating bearings are provided between the left first guide wheel and the first guide shaft, the left first guide wheel is rotatably connected to the first guide shaft through the two rotating bearings, and the left second guide shaft group support shaft It is arranged below the left first guide shaft, and the axis of the left second guide shaft group support shaft is horizontally deflected 90° from the axis of the left first guide shaft. Both ends of the left second guide shaft group support shaft are fixedly connected to the inner wall of the left guide support member. The left second guide wheel is sleeved on the left second guide shaft group support shaft. The left second guide shaft group first bearing and the left second guide shaft group second bearing are both arranged between the left second guide wheel and the left second guide shaft group support shaft. The left second guide wheel is rotatably connected to the left second guide shaft group support shaft through the left second guide shaft group first bearing and the left second guide shaft group second bearing.

[0012] The right guide support is provided with a right second guide shaft group, a right second guide wheel, a right first guide shaft group and a right first guide wheel, the right second guide shaft group includes a right second guide shaft and two right second guide shaft rotation bearings, the right second guide shaft is inserted into the right guide support, and the two ends of the right second guide shaft are fixedly connected to the side wall of the right guide support, the right second guide wheel is sleeved on the right second guide shaft, and two right second guide shaft rotation bearings are provided between the right second guide wheel and the right second guide shaft, and the right second guide wheel is connected to the right second guide shaft through the two right second guide shaft rotation bearings The right first guide shaft group includes a right first guide shaft and two right first guide shaft rotation bearings. The right first guide shaft is arranged above the right second guide shaft, and the axis of the right first guide shaft is horizontally deflected 90° from the axis of the right second guide shaft. Both ends of the right first guide shaft are fixedly connected to the inner wall of the right guide support member. The right first guide wheel is sleeved on the right first guide shaft, and two right first guide shaft rotation bearings are provided between the right first guide wheel and the right first guide shaft. The right first guide wheel is rotationally connected to the right first guide shaft through the two right first guide shaft rotation bearings.

[0013] Furthermore, the generator assembly includes a generator gear, a generator bearing and a generator motor, the generator motor is inserted into the rear shell of the self-powered assist device, and the shell of the generator motor is fixedly connected to the rear shell of the self-powered assist device, the power output end of the generator motor extends to the outside of the rear shell of the self-powered assist device, and the power output end of the generator motor is connected to the No. 2 power input end of the control module through a wire, the power input shaft of the generator motor extends to the front shell of the self-powered assist device, and the end of the power input shaft of the generator motor is inserted into the side wall where the front shell of the self-powered assist device is fixed to the waist plate, a generator bearing is provided between the power input shaft of the generator motor and the front shell of the self-powered assist device, the power input shaft of the generator motor is rotatably connected to the front shell of the self-powered assist device through the generator bearing, the generator gear is sleeved on the power input shaft of the generator motor, and the generator gear is fixedly connected to the power input shaft of the generator motor;

[0014] Furthermore, the No. 1 execution component includes a left flexible rope, a left rope driving wheel, a left driving gear, a left first spring steel pulley, a left spring steel belt, a left first bearing, a left second spring steel pulley, a left drive motor first bearing, a left drive motor second bearing, a left drive motor, a left second bearing and a left support shaft, the left support shaft is arranged on the left side of the power generating gear, the left support shaft is arranged between the rear shell of the self-powered power assist device and the front shell of the self-powered power assist device, one end of the left support shaft is inserted in the front shell of the self-powered power assist device, and a left first bearing is provided between the left support shaft and the rear shell of the self-powered power assist device, the left support shaft is rotatably connected to the front shell of the self-powered power assist device through the left first bearing, the other end of the left support shaft is inserted in the rear shell of the self-powered power assist device, and a left second bearing is provided between the left support shaft and the rear shell of the self-powered power assist device, the left support shaft is rotatably connected to the rear shell of the self-powered power assist device through the left second bearing, the left rope driving wheel, the left driving gear and the left first spring steel pulley are sequentially mounted on the left support shaft from front to back, and the left rope driving wheel is close to the self-powered power assist device. The front shell of the energy supply assisting device is provided, and the left first spring steel pulley is provided near the rear shell of the self-powered assisting device, one end of the left flexible rope is wrapped around the left rope driving wheel, and the other end of the left flexible rope passes through the left first guide wheel and the left second guide wheel in sequence and is connected to the No. 1 flexible rope, the left drive motor is provided above the generator motor, and the left drive motor is inserted in the rear shell of the self-powered assisting device, the housing of the left drive motor is fixedly connected to the rear shell of the self-powered assisting device, the power output shaft of the left drive motor extends into the front shell of the self-powered assisting device, and the left second spring steel pulley is sleeved on the power output shaft of the left drive motor, one end of the left spring steel belt is sleeved on the left first spring steel pulley, and the other end of the left spring steel belt is sleeved on the left second spring steel pulley, the first bearing of the left drive motor and the second bearing of the left drive motor are both provided between the power output shaft of the left drive motor and the rear shell of the self-powered assisting device, and the power output shaft of the left drive motor is rotatably connected to the rear shell of the self-powered assisting device through the first bearing of the left drive motor and the second bearing of the left drive motor;

[0015] Furthermore, the length of the first inclined inner support rod, the length of the second inclined inner support rod, the length of the third inclined inner support rod and the length of the fourth inclined inner support rod are the same, and the angles of the first inclined inner support rod, the second inclined inner support rod, the third inclined inner support rod and the fourth inclined inner support rod to the inner side of the y-axis direction are the same, and the value range of is 10°~60°;

[0016] Furthermore, the second execution component includes a right first bearing, a right drive motor first bearing, a right drive motor second bearing, a right drive motor, a right second bearing, a right support shaft, a right second spring steel pulley, a right rope drive pulley, a right spring steel belt, a right driving gear, a right first spring steel pulley and a right flexible rope, the right support shaft is arranged on the right side of the power generating gear, the right support shaft is arranged between the rear shell of the self-powered power assist device and the front shell of the self-powered power assist device, one end of the right support shaft is inserted in the front shell of the self-powered power assist device, and a right first bearing is provided between the left support shaft and the rear shell of the self-powered power assist device, the right support shaft is rotatably connected to the front shell of the self-powered power assist device through the right first bearing, the other end of the right support shaft is inserted in the rear shell of the self-powered power assist device, and a right second bearing is provided between the right support shaft and the rear shell of the self-powered power assist device, the left support shaft is rotatably connected to the rear shell of the self-powered power assist device through the right second bearing, the right rope drive pulley, the right driving gear and the right first spring steel pulley are sequentially mounted on the right support shaft from front to back, and the right rope drive pulley is close to the self-powered power assist device. The front shell of the energy supply assisting device is provided, and the right first spring steel pulley is provided near the rear shell of the self-powered assisting device, one end of the right flexible rope is wrapped around the right rope driving wheel, and the other end of the right flexible rope passes through the right first guide wheel and the right second guide wheel in sequence and is connected to the No. 2 flexible rope, the right drive motor is provided below the generator motor, and the right drive motor is inserted in the rear shell of the self-powered assisting device, the housing of the right drive motor is fixedly connected to the rear shell of the self-powered assisting device, the power output shaft of the right drive motor extends into the front shell of the self-powered assisting device, and the right second spring steel pulley is sleeved on the power output shaft of the right drive motor, one end of the right spring steel belt is sleeved on the right first spring steel pulley, and the other end of the right spring steel belt is sleeved on the right second spring steel pulley, the first bearing of the right drive motor and the second bearing of the right drive motor are both provided between the power output shaft of the right drive motor and the rear shell of the self-powered assisting device, and the power output shaft of the right drive motor is rotatably connected to the rear shell of the self-powered assisting device through the first bearing of the right drive motor and the second bearing of the right drive motor;

[0017] Furthermore, the No. 1 sliding transmission assembly includes a left sliding gear and a left sliding shaft, the left sliding shaft is arranged between the rear shell of the self-powered power-assisting device and the front shell of the self-powered power-assisting device, and one end of the left sliding shaft is slidingly connected to the rear shell of the self-powered power-assisting device, and the other end of the left sliding shaft is slidingly connected to the front shell of the self-powered power-assisting device, the left sliding gear includes a left large gear segment and a left small gear segment, and the left small gear segment is fixed to one end of the left large gear segment, and the axis of the left small gear segment is collinear with the axis of the left large gear segment, the left large gear segment in the left sliding gear is correspondingly matched with the power generation gear, and the left small gear segment in the left sliding gear is correspondingly matched with the left driving gear;

[0018] Furthermore, the No. 2 sliding transmission assembly includes a right sliding gear and a right sliding shaft, the right sliding shaft is arranged between the rear shell of the self-powered power assist device and the front shell of the self-powered power assist device, and one end of the right sliding shaft is slidingly connected to the rear shell of the self-powered power assist device, and the other end of the right sliding shaft is slidingly connected to the front shell of the self-powered power assist device, the right sliding gear includes a right large gear segment and a right small gear segment, and the right small gear segment is fixed to one end of the right large gear segment, and the axis of the right small gear segment is collinear with the axis of the right large gear segment, the right large gear segment in the right sliding gear is correspondingly matched with the power generation gear, and the right small gear segment in the right sliding gear is correspondingly matched with the right driving gear.

[0019] The beneficial effects of this application compared to the prior art are as follows:

[0020] The self-powered power-assist device of the present invention, which reduces the energy required for walking, solves the problem of existing power-assist devices being too bulky and causing inconvenience. With the exception of standard gears, spring steel sheets, flexible ropes, bearings, and motors, all other components of the device are made of carbon fiber polymer. The overall system weight is expected to be no more than 2% of human body weight. It does not consume significant additional energy for the human body.

[0021] The device of the present invention converts the changes in the human body's gait during walking into low-torque, high-speed mechanical energy through the acceleration effect of the gear transmission, thereby increasing the power generation efficiency. Secondly, the innovative sliding groove configuration guides the upper and lower meshing of the sliding gears to accurately collect the negative work during the calf's descent phase, without requiring the human body to perform additional work when collecting electrical energy.

[0022] The self-powered power-assisting device of the present invention for reducing the energy consumed by human walking is a non-powered device. It collects negative work during human movement and stores electrical energy in an energy storage module, thereby providing electrical energy to a drive motor. The spring steel sheet and the drive motor jointly provide a high-torque driving force, thereby reducing muscle activity and metabolic consumption when taking steps. The professional control module is adapted to the gait characteristics of the human body to ensure that the operation of the drive motor does not affect the normal walking pattern, thereby ensuring the comfort of the human body to the greatest extent. This device follows ergonomic design, and the overall structure is relatively small and compact, with a long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the human body installation of the self-powered power assist device described in this application;

[0024] Figure 2 This is an exploded view of the self-powered power module structure described in this application;

[0025] Figure 3 This is the front view of the self-powered power-assisting module described in this application;

[0026] Figure 4 This is a rear view of the self-powered power-assisting module described in this application after assembly;

[0027] Figure 5 This is a diagram showing the relative positions of the internal structure of the self-powered power-assisting module described in this application;

[0028] Figure 6 This is a view of the left guide support assembly in the self-powered power-assisting module described in this application;

[0029] Figure 7 This is a diagram of the internal gear structure of the rear housing of the self-powered power-assisting module described in this application;

[0030] Figure 8 This is a schematic diagram of the relative positions of the gears, pulleys, and motors of the self-powered power-assisting module described in this application;

[0031] Figure 9 This is a schematic diagram of the main view of the rear shell of the self-powered power-assisting device in the self-powered power-assisting module described in this application;

[0032] Figure 10 This is a side view of the rear shell of the self-powered power-assisting device in the self-powered power-assisting module described in this application;

[0033] Figure 11 This is a rear view schematic diagram of the rear shell of the self-powered power-assisting device in the self-powered power-assisting module described in this application;

[0034] Figure 12 This is an AA view of the rear shell of the self-powered power-assisting device in the self-powered power-assisting module described in this application;

[0035] Figure 13 This is a BB view of the rear shell of the self-powered power-assisting device in the self-powered power-assisting module described in this application;

[0036] Figure 14 This is a CC-direction view of the rear housing of the self-powered power-assisting device in the self-powered power-assisting module described in this application;

[0037] Figure 15 This is a state diagram of the working force output of the driving motor in the self-function power-assisting module described in this application;

[0038] In the figure, 1 is a shoulder restraint, 2 is a back plate, 3 is an energy storage module, 4 is a control module, 5 is a waist plate, 6 is a waist restraint, 7 is a self-powered power assist module, 701 is a rear shell of a self-powered power assist device, 702 is a front shell of a self-powered power assist device, 703 is a left flexible rope, 704 is a left first guide wheel, 705 is a left carbon fiber tube, 706 is a left first guide shaft, 707 is a left second guide wheel, 708 is a left second guide shaft group first bearing, 709 is a left second guide shaft group support shaft, 710 is a left second guide shaft group second bearing, 711 is a left guide support, 712 is a left rope drive wheel, 713 is a left driving gear, 714 is a left first spring steel pulley, 715 is a left spring steel belt, 716 is a left first bearing, 717 is a left second spring steel pulley, 718 is a generating gear, 719 is a generating bearing, 72 0 left drive motor first bearing, 721 left drive motor second bearing, 722 left drive motor, 723 right first bearing, 724 right sliding gear, 725 left second bearing, 726 left support shaft, 727 left sliding gear, 728 generator motor, 729 right drive motor first bearing, 730 right drive motor second bearing, 731 right drive motor, 732 transverse carbon fiber tube, 733 right second bearing, 734 right support shaft, 735 right second spring steel pulley, 736 right rope drive pulley, 737 right spring steel belt, 738 right driving gear, 739 right first spring steel pulley, 740 right guide support, 741 right second guide shaft assembly, 742 right second guide wheel, 743 right first guide shaft assembly, 744 right first guide wheel, 745 right carbon fiber tube, 746 right flexible rope, 8 flexible rope No. 1 and 9 ankle strap No. 1. DETAILED DESCRIPTION

[0039] Specific implementation method 1: Combination Figures 1 to 14The present embodiment is described. In the present embodiment, a self-powered power-assisting device for reducing the energy of human walking is provided, which is characterized in that: the self-powered power-assisting device includes a shoulder restraint 1, a backboard 2, an energy storage module 3, a control module 4, a waist board 5, a waist restraint 6, a self-powered power-assisting module 7, a first foot linkage assembly and a second foot linkage assembly. The backboard 2 is arranged on the back side of the shoulder restraint 1, and the backboard 2 is fixedly connected to the shoulder restraint 1, the backboard 2 is arranged to fit the back of the human body through the shoulder restraint 1, the energy storage module 3 is arranged on the backboard 2, and the energy storage module 3 is detachably connected to the backboard 2, the waist board 5 is arranged directly below the backboard 2, and the top of the waist board 5 is detachably connected to the bottom of the backboard 2, a waist restraint 6 is provided on the inner side of the lower part of the waist board 5, and the waist board 5 is fixedly connected to the waist restraint 6, the waist board 5 is arranged to fit the waist of the human body through the waist restraint 6, the self-powered power-assisting module 7 is arranged on the back side of the waist board 5, and the self-powered power-assisting module 7 is tightly connected to the waist board 5, the control module 4 is arranged between the energy storage module 3 and the self-powered power-assisting module 7, and the energy storage module 3 is detachably connected to the lower part of the backplate 2, the power input end of the energy storage module 3 is connected to the No. 1 power supply end of the control module 4 through a wire, the power output end of the energy storage module 3 is connected to the No. 1 power input end of the control module 4 through a wire, the No. 2 power input end of the control module 4 is connected to the power output end of the self-powered power-assisting module 7 through a wire, the No. 1 power output end of the control module 4 is connected to the power input end of the No. 1 executive component in the self-powered power-assisting module 7 through a wire, the No. 2 power output end of the control module 4 is connected to the power input end of the No. 2 executive component in the self-powered power-assisting module 7 through a wire, one end of the first foot linkage assembly is connected to the No. 1 executive component in the self-powered power-assisting module 7, the other end of the first foot linkage assembly is connected to the left ankle of the human body, one end of the second foot linkage assembly is connected to the No. 2 executive component in the self-powered power-assisting module 7, and the other end of the second foot linkage assembly is connected to the right ankle of the human body.

[0040] In this embodiment, the shoulder strap 1 is tightly connected to the backboard 2, mainly through the shoulder strap to tightly fit the backboard to the back, reducing the shaking discomfort caused by walking. The energy storage module 3 is fixed to the backboard 2 using a quick plug device. It should be noted that the energy storage module is not charged in advance in a disorderly manner. It mainly stores the energy generated by the negative work of human movement collected by the self-powered power assist device and uses the stored electrical energy to provide power to the drive motor;

[0041] The energy storage module 3 is connected to the control module 4 using a wire. The control module 4 is responsible for stably storing the electric energy generated by the self-powered assist module 7 in the energy storage module 3. At the same time, it monitors the signal generated by its generator encoder to determine whether it is in walking mode and which side of the device is collecting negative work. The corresponding real-time output electric energy is provided to the drive motor on the other side to reduce the muscle activity and metabolic consumption when the leg steps on that side.

[0042] The control module 4 is connected to the generator motor and the drive motor in the self-powered power module 7 to control the conversion of electric energy and the output of electric energy;

[0043] The waist plate 5 is firmly connected to the waist restraint belt 6, and the waist plate 5 is movably connected to the back plate 2, which does not affect the bending movement of the waist and provides lateral and longitudinal restrictions;

[0044] The self-powered power-assisting module 7 is firmly connected to the waist plate 5, and the waist restraint belt 6 fits tightly to the waist of the body, ensuring that the self-powered power-assisting module 7 does not slide during exercise, and can ensure the transmission efficiency of the flexible rope and the tension provided by the driving motor during power assistance are fully transmitted to the ankle.

[0045] Specific implementation method 2: Combination Figures 1 to 14 This embodiment is described. The difference between this embodiment and the first embodiment is that the first foot linkage assembly and the second foot linkage assembly have the same composition. The first foot linkage assembly includes a No. 1 flexible rope 8 and a No. 1 ankle strap 9. One end of the No. 1 flexible rope 8 is connected to the No. 1 actuator in the self-powered power-assisting module 7, and the other end of the No. 1 flexible rope 8 is fixedly connected to the No. 1 ankle strap 9. The No. 1 ankle strap 9 is tied to the left ankle of the human body. The second foot linkage assembly includes a No. 2 flexible rope and a No. 2 ankle strap. One end of the No. 2 flexible rope is connected to the No. 2 actuator in the self-powered power-assisting module 7, and the other end of the No. 2 flexible rope is fixedly connected to the No. 2 ankle strap. The No. 2 ankle strap is tied to the right ankle of the human body. Other components and connection methods are the same as those in the first embodiment.

[0046] Specific implementation method three: Combination Figures 1 to 14 To explain this embodiment, the difference between this embodiment and the specific embodiment 2 is that the self-powered assist module 7 includes a shell frame assembly, a generator assembly, an actuator No. 1, an actuator No. 2, a sliding transmission assembly No. 1 and a sliding transmission assembly No. 2. The generator assembly is installed at the center of the shell frame assembly, and the power input end of the generator assembly extends into the shell frame assembly, the power output end of the generator assembly extends to the outside of the shell frame assembly, and the power output end of the generator assembly is connected to the No. 2 power input end of the control module 4 through a wire. The actuator No. 1 and the actuator No. 2 are both installed on the shell frame assembly, and the actuator No. 1 and the actuator No. 2 are relatively arranged on both sides of the generator assembly. A sliding transmission assembly No. 1 is provided between the actuator No. 1 and the power input end of the generator assembly, the No. 1 sliding transmission assembly is arranged in the shell frame assembly, and the No. 1 sliding transmission assembly is slidingly connected to the shell frame assembly, and a No. 2 sliding transmission assembly is provided between the No. 2 actuator and the power input end of the generator assembly, the No. 2 sliding transmission assembly is arranged in the shell frame assembly, and the No. 2 sliding transmission assembly is slidingly connected to the shell frame assembly. Other components and connection methods are the same as those in the second embodiment.

[0047] In this embodiment, the self-powered assist module 7 is the core component of this application. By connecting with the first foot linkage component and the second foot linkage component, it can effectively collect and store the negative work generated when people walk, and convert it into an energy source for driving the motor, and ultimately used to assist people in walking.

[0048] Specific implementation method four: Combination Figures 1 to 14 This embodiment is described. The difference between this embodiment and the specific embodiment is that the shell frame assembly includes a self-powered power assist device rear shell 701, a self-powered power assist device front shell 702, a left carbon fiber tube 705, a left guide support 711, a transverse carbon fiber tube 732, a right guide support 740 and a right carbon fiber tube 745. The self-powered power assist device front shell 702 is arranged on the back side of the waist plate 5, and the self-powered power assist device front shell 702 is fastened to the waist plate 5. The self-powered power assist device rear shell 701 is arranged on the self-powered power assist device front shell 702, and The rear shell 701 of the self-powered power assist device is detachably connected to the front shell 702 of the self-powered power assist device. The rear shell 701 of the self-powered power assist device, the left guide support 711 and the right guide support 740 are arranged at the three vertices of an isosceles triangle. The left carbon fiber tube 705 is arranged between the rear shell 701 of the self-powered power assist device and the left guide support 711, and one end of the left carbon fiber tube 705 is connected to the rear shell 701 of the self-powered power assist device, and the other end of the left carbon fiber tube 705 is connected to the left guide support 711. The right carbon fiber tube 745 is arranged in the self-powered power assist device. Between the rear shell 701 and the right guide support 740, one end of the right carbon fiber tube 745 is connected to the rear shell 701 of the self-powered power assist device, and the other end of the right carbon fiber tube 745 is connected to the right guide support 740. The transverse carbon fiber tube 732 is set between the left guide support 711 and the right guide support 740, and one end of the transverse carbon fiber tube 732 is connected to the left guide support 711, and the other end of the transverse carbon fiber tube 732 is connected to the right guide support 740. The No. 1 execution component is set in the rear shell 701 of the self-powered power assist device. The end of the first actuator passes through the left carbon fiber tube 705 and the left guide support 711 in sequence, and is connected to one end of the first flexible rope 8. The second actuator is located in the rear housing 701 of the self-powered power assist device, and the end of the second actuator passes through the right carbon fiber tube 745 and the right guide support 740 in sequence, and is connected to one end of the second flexible rope. The first and second sliding transmission assemblies are both located in the rear housing 701 of the self-powered power assist device, and are both slidably connected to the rear housing 701 of the self-powered power assist device. The other components and connection methods are the same as those of the third embodiment.

[0049] In this embodiment, the shell frame assembly serves as the main supporting structure of the self-powered assist module 7, and is used to carry the generator assembly, the No. 1 actuator, the No. 2 actuator, the No. 1 sliding transmission assembly and the No. 2 sliding transmission assembly. The profiles of the shell frame assembly are all made of carbon fiber, which is light and high-strength. Compared with the traditional unpowered assisted walking structure, the weight of the device is greatly reduced, and it is more suitable for human carrying and use.

[0050] Specific implementation method five: Combination Figures 1 to 14 Describing this embodiment, the difference between this embodiment and the specific embodiment 4 is that the left guide support 711 is provided with a left first guide wheel 704, a left first guide shaft 706, a left second guide wheel 707, a left second guide shaft group first bearing 708, a left second guide shaft group support shaft 709 and a left second guide shaft group second bearing 710, the left first guide shaft 706 is inserted into the left guide support 711, and both ends of the left first guide shaft 706 are fixedly connected to the side wall of the left guide support 711, the left first guide wheel 704 is sleeved on the left first guide shaft 706, and two rotating bearings are provided between the left first guide wheel 704 and the left first guide shaft 706, and the left first guide wheel 704 rotates with the left first guide shaft 706 through the two rotating bearings. Dynamic connection, the left second guide shaft group support shaft 709 is arranged below the left first guide shaft 706, and the axis of the left second guide shaft group support shaft 709 is horizontally deflected 90° with the axis of the left first guide shaft 706, and both ends of the left second guide shaft group support shaft 709 are fixedly connected to the inner wall of the left guide support member 711, the left second guide wheel 707 is sleeved on the left second guide shaft group support shaft 709, the left second guide shaft group first bearing 708 and the left second guide shaft group second bearing 710 are both arranged between the left second guide wheel 707 and the left second guide shaft group support shaft 709, and the left second guide wheel 707 is rotatably connected to the left second guide shaft group support shaft 709 through the left second guide shaft group first bearing 708 and the left second guide shaft group second bearing 710;

[0051] The right guide support 740 is provided with a right second guide shaft group 741, a right second guide wheel 742, a right first guide shaft group 743 and a right first guide wheel 744. The right second guide shaft group 741 includes a right second guide shaft and two right second guide shaft rotation bearings. The right second guide shaft is inserted into the right guide support 740, and the two ends of the right second guide shaft are fixedly connected to the side walls of the right guide support 740. The right second guide wheel 742 is sleeved on the right second guide shaft, and two right second guide shaft rotation bearings are provided between the right second guide wheel 742 and the right second guide shaft. The right second guide wheel 742 rotates through the two right second guide shafts. The right first guide shaft assembly 743 includes a right first guide shaft and two right first guide shaft rotation bearings. The right first guide shaft is disposed above the right second guide shaft, with its axis horizontally offset 90° from the axis of the right second guide shaft. Both ends of the right first guide shaft are fixedly connected to the inner wall of the right guide support 740. The right first guide wheel 744 is sleeved on the right first guide shaft, with two right first guide shaft rotation bearings disposed between the right first guide wheel 744 and the right first guide shaft. The right first guide wheel 744 is rotationally connected to the right first guide shaft via the two right first guide shaft rotation bearings. Other components and connection methods are the same as those in the fourth embodiment.

[0052] In this embodiment, the left guide support member 711 and the right guide support member 740 mainly play a guiding role, so that the No. 1 execution component and the No. 2 execution component can be accurately connected to the first foot linkage component or the second foot linkage component. Through guidance, the negative work generated by human body movement can be more accurately transferred to the self-powered assist module 7, which is conducive to improving the accuracy of negative work conversion.

[0053] Specific implementation method six: Combination Figures 1 to 14This embodiment is described. The difference between this embodiment and the specific embodiment 5 is that the generator assembly includes a generator gear 718, a generator bearing 719 and a generator motor 728. The generator motor 728 is inserted into the rear shell 701 of the self-powered assist device, and the shell of the generator motor 728 is fixedly connected to the rear shell 701 of the self-powered assist device. The power output end of the generator motor 728 extends to the outside of the rear shell 701 of the self-powered assist device, and the power output end of the generator motor 728 is connected to the second power input end of the control module 4 through a wire. The power of the generator motor 728 is connected to the second power input end of the control module 4 through a wire. The force input shaft extends to the front housing 702 of the self-powered assisting device, and the end of the power input shaft of the generator motor 728 is inserted into the side wall of the front housing 702 of the self-powered assisting device and fixed to the lumbar plate 5. A generator bearing 719 is provided between the power input shaft of the generator motor 728 and the front housing 702 of the self-powered assisting device. The power input shaft of the generator motor 728 is rotationally connected to the front housing 702 of the self-powered assisting device via the generator bearing 719. The generator gear 718 is sleeved on the power input shaft of the generator motor 728 and is fixedly connected to the power input shaft of the generator motor 728. The other components and connection methods are the same as those of the fifth embodiment.

[0054] In this embodiment, the generator motor 728 is the main conversion component of negative work. The negative work collected by the No. 1 execution component and the No. 2 execution component is transmitted to the generator motor 728 through the generator gear 718. The generator motor 728 converts the transmitted mechanical energy into kinetic energy and finally transmits it to the control module 4 through the wire, and finally transmits it to the energy storage module 3 through the wire for storage.

[0055] Specific implementation method seven: Combination Figures 1 to 14This embodiment is described. The difference between this embodiment and the specific embodiment six is ​​that the first execution component includes a left flexible rope 703, a left rope drive wheel 712, a left driving gear 713, a left first spring steel pulley 714, a left spring steel belt 715, a left first bearing 716, a left second spring steel pulley 717, a left drive motor first bearing 720, a left drive motor second bearing 721, a left drive motor 722, a left second bearing 725 and a left support shaft 726. The left support shaft 726 is arranged on the left side of the power generation gear 718. The left support shaft 726 is arranged between the rear shell 701 of the self-powered power assist device and the front shell 702 of the self-powered power assist device. The left support shaft 726 One end of the left support shaft 726 is inserted into the front shell 702 of the self-powered power-assisting device, and a left first bearing 716 is provided between the left support shaft 726 and the rear shell 701 of the self-powered power-assisting device. The left support shaft 726 is rotatably connected to the front shell 702 of the self-powered power-assisting device through the left first bearing 716. The other end of the left support shaft 726 is inserted into the rear shell 701 of the self-powered power-assisting device, and a left second bearing 725 is provided between the left support shaft 726 and the rear shell 701 of the self-powered power-assisting device. The left support shaft 726 is rotatably connected to the rear shell 701 of the self-powered power-assisting device through the left second bearing 725. The left rope drive wheel 712, the left driving gear 713 and the left first spring steel pulley 714 are arranged in order from front to back. It is mounted on the left support shaft 726, and the left rope drive wheel 712 is arranged close to the front shell 702 of the self-powered power assist device, and the left first spring steel pulley 714 is arranged close to the rear shell 701 of the self-powered power assist device. One end of the left flexible rope 703 is wound around the left rope drive wheel 712, and the other end of the left flexible rope 703 passes through the left first guide wheel 704 and the left second guide wheel 707 in sequence and is connected to the No. 1 flexible rope 8. The left drive motor 722 is arranged above the generator motor 728, and the left drive motor 722 is inserted into the rear shell 701 of the self-powered power assist device. The shell of the left drive motor 722 is fixedly connected to the rear shell 701 of the self-powered power assist device, and the power output of the left drive motor 722 The shaft extends into the front housing 702 of the self-powered assist device, and the left second spring steel pulley 717 is mounted on the power output shaft of the left drive motor 722. One end of the left spring steel belt 715 is mounted on the left first spring steel pulley 714, and the other end of the left spring steel belt 715 is mounted on the left second spring steel pulley 717. The left drive motor first bearing 720 and the left drive motor second bearing 721 are both arranged between the power output shaft of the left drive motor 722 and the rear housing 701 of the self-powered assist device, and the power output shaft of the left drive motor 722 is rotatably connected to the rear housing 701 of the self-powered assist device via the left drive motor first bearing 720 and the left drive motor second bearing 721. The other components and connection methods are the same as those of the sixth embodiment.

[0056] Specific implementation method eight: Combination Figures 1 to 14This embodiment is described. The difference between this embodiment and the specific embodiment seven is that the second execution component includes a right first bearing 723, a right drive motor first bearing 729, a right drive motor second bearing 730, a right drive motor 731, a right second bearing 733, a right support shaft 734, a right second spring steel pulley 735, a right rope drive wheel 736, a right spring steel belt 737, a right driving gear 738, a right first spring steel pulley 739 and a right flexible rope 746. The right support shaft 734 is arranged on the right side of the power generation gear 718. The right support shaft 734 is arranged between the rear shell 701 of the self-powered power assist device and the front shell 702 of the self-powered power assist device. The right support shaft 734 is arranged between the rear shell 701 of the self-powered power assist device and the front shell 702 of the self-powered power assist device. One end of the left support shaft 726 is inserted into the front shell 702 of the self-powered power-assisting device, and a right first bearing 723 is provided between the left support shaft 726 and the rear shell 701 of the self-powered power-assisting device, and the right support shaft 734 is rotatably connected to the front shell 702 of the self-powered power-assisting device through the right first bearing 723. The other end of the right support shaft 734 is inserted into the rear shell 701 of the self-powered power-assisting device, and a right second bearing 733 is provided between the right support shaft 734 and the rear shell 701 of the self-powered power-assisting device, and the left support shaft 726 is rotatably connected to the rear shell 701 of the self-powered power-assisting device through the right second bearing 733. The right rope drive wheel 736, the right driving gear 738 and the right first spring steel pulley 739 are arranged in order from front to back. It is mounted on the right support shaft 734, and the right rope drive wheel 736 is arranged near the front shell 702 of the self-powered power assist device, and the right first spring steel pulley 739 is arranged near the rear shell 701 of the self-powered power assist device. One end of the right flexible rope 746 is wrapped around the right rope drive wheel 736, and the other end of the right flexible rope 746 passes through the right first guide wheel 744 and the right second guide wheel 742 in sequence and is connected to the second flexible rope. The right drive motor 731 is arranged below the generator motor 728, and the right drive motor 731 is inserted into the rear shell 701 of the self-powered power assist device. The shell of the right drive motor 731 is fixedly connected to the rear shell 701 of the self-powered power assist device, and the power output shaft of the right drive motor 731 The right second spring steel pulley 735 extends into the front housing 702 of the self-powered power assist device, and one end of the right spring steel belt 737 is mounted on the right first spring steel pulley 739, and the other end of the right spring steel belt 737 is mounted on the right second spring steel pulley 735. The right drive motor first bearing 729 and the right drive motor second bearing 730 are both arranged between the power output shaft of the right drive motor 731 and the rear housing 701 of the self-powered power assist device, and the power output shaft of the right drive motor 731 is rotatably connected to the rear housing 701 of the self-powered power assist device via the right drive motor first bearing 729 and the right drive motor second bearing 730. The other components and connection methods are the same as those in the seventh embodiment.

[0057] Specific implementation method nine: Combination Figures 1 to 14This embodiment is described. The difference between this embodiment and the eighth embodiment is that the first sliding transmission assembly includes a left sliding gear 727 and a left sliding shaft. The left sliding shaft is arranged between the rear shell 701 and the front shell 702 of the self-powered power assist device, and one end of the left sliding shaft is slidingly connected to the rear shell 701 of the self-powered power assist device, and the other end of the left sliding shaft is slidingly connected to the front shell 702 of the self-powered power assist device. The left sliding gear 727 includes a left large gear segment and a left small gear segment, and the left small gear segment is fixed to one end of the left large gear segment, and the axis of the left small gear segment is collinear with the axis of the left large gear segment. The left large gear segment in the left sliding gear 727 is correspondingly matched with the power generation gear 718, and the left small gear segment in the left sliding gear 727 is correspondingly matched with the left driving gear 713. Other components and connection methods are the same as those in the eighth embodiment.

[0058] Specific implementation method 10: Combination Figures 1 to 14 This embodiment is described. The difference between this embodiment and the ninth embodiment is that the second sliding transmission assembly includes a right sliding gear 724 and a right sliding shaft. The right sliding shaft is arranged between the rear shell 701 of the self-powered power assist device and the front shell 702 of the self-powered power assist device, and one end of the right sliding shaft is slidingly connected to the rear shell 701 of the self-powered power assist device, and the other end of the right sliding shaft is slidingly connected to the front shell 702 of the self-powered power assist device. The right sliding gear 724 includes a right large gear segment and a right small gear segment, and the right small gear segment is fixed to one end of the right large gear segment, and the axis of the right small gear segment is collinear with the axis of the right large gear segment. The right large gear segment in the right sliding gear 724 is correspondingly matched with the power generation gear 718, and the right small gear segment in the right sliding gear 724 is correspondingly matched with the right driving gear 738. Other components and connection methods are the same as those in the ninth embodiment.

[0059] In combination with the description of specific embodiments seven to ten, a left spring steel belt groove 701-1 and a right spring steel belt groove 701-4 are processed in the rear shell 701 of the self-powered power assist device, the left spring steel belt 715 is correspondingly arranged in the left spring steel belt groove 701-1, and one side of the left spring steel belt groove 701-1 is processed with a left lateral opening 701-14 for the spring steel belt to pass through, the right spring steel belt 737 is correspondingly arranged in the right spring steel belt groove 701-4, and one side of the right spring steel belt groove 701-4 is processed with a right lateral opening 701-7 for the spring steel belt to pass through, a diamond-shaped fixing plate 701-3 is formed on the back side of the rear shell 701 of the self-powered power assist device, and four left drive motor fixing holes are processed on the diamond-shaped fixing plate 701-3. 701-5 and four right drive motor fixing holes 701-2, the left drive motor 722 and the right drive motor 731 are respectively arranged corresponding to the left drive motor fixing holes 701-5 and the right drive motor fixing holes 701-2. The shell of the left drive motor 722 cooperates with the four left drive motor fixing holes 701-5 through four bolts to realize the fastening connection between the left drive motor 722 and the rear shell 701 of the self-powered power assist device, and the right drive motor 731 cooperates with the four right drive motor fixing holes 701-2 through four bolts to realize the fastening connection between the right drive motor 731 and the rear shell 701 of the self-powered power assist device. A generator motor connection flange 701-8 is provided at the center of the back side of the rear shell 701 of the self-powered power assist device, and the generator motor connection flange 701-8 is processed There are 6 countersunk holes 701-11, and the housing of the generator motor 728 is installed by using bolts and countersunk holes 701-11 to achieve the fixation of the generator motor 728 to the rear shell 701 of the self-powered power assist device. The side of the rear shell 701 of the self-powered power assist device facing the front shell 702 of the self-powered power assist device is provided with a gear set cavity 701-6, which provides sufficient space to accommodate the various gear sets in the self-powered power assist module 7 and provides a stable space for the meshing operation of the gears. The rear shell 701 of the self-powered power assist device is processed with a left bearing hole 701-9 and a right bearing hole 701-13, which are used to fix the left second bearing 725 and the right second bearing 733 respectively. The diamond-shaped connecting plate 701-3 is also processed with a left drive motor bearing hole 701-15 and a right The drive motor bearing hole 701-16 is used to support the power output shaft of the left drive motor and the power output shaft of the right drive motor respectively, wherein the left drive motor bearing hole 701-15 provides installation space for the first bearing 720 of the left drive motor and the second bearing 721 of the left drive motor, and the right drive motor bearing hole 701-16 provides installation space for the first bearing 729 of the right drive motor and the second bearing 730 of the right drive motor. Two carbon fiber tube jacks are provided at the bottom of the front shell 702 of the self-powered power-assisting device, and the two carbon fiber tube jacks correspond to the left carbon fiber tube 705 and the right carbon fiber tube 745 respectively. The left carbon fiber tube 705 and the right carbon fiber tube 745 are detachably connected to the front shell 702 of the self-powered power-assisting device through the two carbon fiber tube jacks.The left sliding groove 701-10 and the right sliding groove 701-12 processed on the rear housing 701 of the self-powered power-assisting device correspond to the two front housing sliding grooves processed on the front housing 702 of the self-powered power-assisting device. The left sliding groove 701-10 and the corresponding front housing sliding groove serve to guide and limit the left sliding gear 727, while the right sliding groove 701-12 and the corresponding front housing sliding groove serve to guide and limit the right sliding gear 724.

[0060] The present invention has been disclosed as above with reference to preferred embodiments, but this is not intended to limit the present invention. Any technician familiar with the present invention can make slight changes or modifications to equivalent embodiments using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0061] How it works

[0062] When in use, the self-powered power assist device is first placed on a person's back. For example, when the right leg begins walking, as the right calf is lifted, the right flexible rope 746 decreases in length. Since the right rope drive pulley 736 and the right first spring steel pulley 739 are both fixed to the right support shaft 734, they rotate simultaneously, causing the preloaded right spring steel belt 737 to rotate counterclockwise. At this point, the right second spring steel pulley 735 also rotates, causing the right drive motor 731 to rotate counterclockwise (note that the drive motor's rotation is driven counterclockwise by the preload of the spring steel belt). At this point, the control module 4 receives a signal from the encoder of the right drive motor 731 and immediately controls the energy storage module to output electrical energy to the right drive motor 731, increasing the output torque and minimizing leg muscle exertion, thereby reducing leg energy consumption. The drive motor then remains locked, providing continuous resistance to maintain a relaxed calf as the thigh swings. When the thigh swings forward, the human body requires the calf to be lowered to maintain balance. At this point, the control module 4 cuts off the power supply to the right drive motor 731, causing the motor to immediately become disabled. The calf's own weight can easily overcome the elastic damping force of the right spring steel belt 737. At this point, the right flexible rope 746 stretches and extends, driving the right driving gear to rotate clockwise. Simultaneously, the right spring steel belt 737 stores energy, and the right driving gear 738 engages with the small gear in the right sliding gear 724. When the right sliding gear 724 rotates clockwise, it rotates counterclockwise, generating a force that climbs upward along the guide slot 701-12. Subsequently, the large gear in the right sliding gear 724 engages with the generator gear 718, driving the generator motor to rotate clockwise. The generator motor generates electrical energy, which is stored in the energy storage module 3 via the control module 4, providing energy for the operation of the drive motor. Because the number of teeth can be controlled, the transmission ratio can be designed to be large, ensuring that the single-time power generation fully meets the single-time power consumption of the drive motor, forming a self-powered power-assisting solution.

[0063] Take, for example, the human body's behavioral awareness of the left leg starting to walk. When the left calf is raised, the length of the left flexible rope 703 decreases as the calf is lifted. Since the left rope drive pulley 712 and the left first spring steel pulley 714 are both fixed to the left support shaft 726, they rotate simultaneously, causing the preloaded left spring steel belt 715 to rotate counterclockwise. At this point, the left second spring steel pulley 717 also rotates, causing the left drive motor 722 to rotate counterclockwise (note that the drive motor's rotation is driven counterclockwise by the preload of the spring steel belt). At this point, the control module 4 receives a signal from the encoder of the left drive motor 722 and immediately controls the energy storage module to output electrical energy to the left drive motor 722, increasing the output torque and minimizing leg muscle exertion, thereby reducing leg energy consumption. The drive motor then remains locked, providing resistance as the thigh swings, keeping the calf relaxed. When the thigh swings forward, the human body requires the calf to lower to maintain balance. At this point, control module 4 cuts off power to the left drive motor 722, instantly disabling the motor. The calf's own weight easily overcomes the elastic damping force of the left spring steel belt 715. At this point, the left flexible rope 703 stretches, driving the left driving gear clockwise. Simultaneously, the left spring steel belt 715 accumulates energy, causing the left driving gear 713 to mesh with the small gear in the left sliding gear 727. When the left sliding gear 727 rotates clockwise, it rotates counterclockwise, generating a force that propels the left sliding gear 727 upward along the guide slot 701-10. Subsequently, the large gear in the left sliding gear 727 meshes with the generator gear 718, driving the generator motor clockwise. This generates electricity, which is stored in the energy storage module 3 via control module 4, providing energy for the drive motor. Because the number of teeth can be controlled, the transmission ratio can be designed to be large, ensuring that the power generated per single shot fully meets the power consumption of the drive motor, creating a self-powered power-assisting solution.

Claims

1. A self-powered power-assisting device for reducing the energy required for walking, characterized in that: The self-powered power-assisting device comprises a shoulder restraint (1), a backboard (2), an energy storage module (3), a control module (4), a waist board (5), a waist restraint (6), a self-powered power-assisting module (7), a first foot linkage component and a second foot linkage component, one end of the first foot linkage component is connected to the first executive component in the self-powered power-assisting module (7), the other end of the first foot linkage component is connected to the left ankle of the human body, one end of the second foot linkage component is connected to the second executive component in the self-powered power-assisting module (7), and the other end of the second foot linkage component is connected to the right ankle of the human body; The first foot linkage assembly is identical to the second foot linkage assembly, and the first foot linkage assembly comprises a No. 1 flexible rope (8) and a No. 1 ankle restraint (9), one end of the No. 1 flexible rope (8) is connected to the No. 1 executive component in the self-powered assist module (7), and the other end of the No. 1 flexible rope (8) is fixedly connected to the No. 1 ankle restraint (9), and the No. 1 ankle restraint (9) is tied to the left ankle of the human body; The self-powered power-assisting module (7) comprises a housing frame assembly, a generator assembly, a No. 1 actuator, a No. 2 actuator, a No. 1 sliding transmission assembly and a No. 2 sliding transmission assembly, wherein the generator assembly is mounted at the center of the housing frame assembly, the No. 1 actuator and the No. 2 actuator are both mounted on the housing frame assembly, and the No. 1 actuator and the No. 2 actuator are relatively arranged on both sides of the generator assembly, and the No. 1 sliding transmission assembly and the No. 2 sliding transmission assembly are respectively arranged between the No. 1 actuator and the No. 2 actuator and the power input end of the generator assembly, and the sliding transmission assembly is arranged in the housing frame assembly, and the sliding transmission assembly is slidably connected to the housing frame assembly; The housing frame assembly comprises a self-powered assisting device rear shell (701), a self-powered assisting device front shell (702), a left carbon fiber tube (705), a left guide support (711), a transverse carbon fiber tube (732), a right guide support (740) and a right carbon fiber tube (745), wherein the self-powered assisting device front shell (702) is arranged on the back side of the waist plate (5), and the self-powered assisting device front shell (702) is fastened to the waist plate (5), the self-powered assisting device rear shell (701) is arranged on the self-powered assisting device front shell (702), and the self-powered assisting device rear shell (701) is detachably connected to the self-powered assisting device front shell (702), and the self-powered assisting device rear shell (701) and the left guide support are detachably connected to the self-powered assisting device front shell (702). The first and second actuators are arranged in the rear shell (701) of the self-powered power assist device, and the end of the first actuator passes through the left carbon fiber tube (705) and the left guide support member (711) in sequence and is connected to one end of the first flexible rope (8). The end of the second actuator passes through the right carbon fiber tube (745) and the right guide support member (740) in sequence and is connected to one end of the second flexible rope. The first sliding transmission assembly and the second sliding transmission assembly are both arranged in the rear shell (701) of the self-powered power assist device, and the first sliding transmission assembly and the second sliding transmission assembly are both slidably connected to the rear shell (701) of the self-powered power assist device. The first sliding transmission assembly includes a left sliding gear (727) and a left sliding shaft, wherein the left sliding shaft is arranged between the rear shell (701) of the self-powered power assist device and the front shell (702) of the self-powered power assist device, and one end of the left sliding shaft is slidingly connected to the rear shell (701) of the self-powered power assist device, and the other end of the left sliding shaft is slidingly connected to the front shell (702) of the self-powered power assist device, the left sliding gear (727) includes a left large gear segment and a left small gear segment, and the left small gear segment is fixed to one end of the left large gear segment, and the axis of the left small gear segment is arranged colinearly with the axis of the left large gear segment, the left large gear segment in the left sliding gear (727) is arranged in correspondence with the generator gear (718) in the generator assembly, and the left small gear segment in the left sliding gear (727) is arranged in correspondence with the left driving gear (713) in the first execution component.

2. A self-powered power-assisting device for reducing human walking energy according to claim 1, characterized in that: The backboard (2) is arranged on the back side of the shoulder restraint belt (1), and the backboard (2) is fixedly connected to the shoulder restraint belt (1), and the backboard (2) is arranged to fit the back of the human body through the shoulder restraint belt (1), the energy storage module (3) is arranged on the backboard (2), and the energy storage module (3) is detachably connected to the backboard (2), the waist board (5) is arranged directly below the backboard (2), and the top of the waist board (5) is detachably connected to the bottom of the backboard (2), a waist restraint belt (6) is provided on the inner side of the lower part of the waist board (5), and the waist board (5) is fixedly connected to the waist restraint belt (6), and the waist board (5) is arranged to fit the waist of the human body through the waist restraint belt (6), and the self-powered power module (7) is arranged on the back side of the waist board (5), and the self-powered power module (7) is tightly connected to the waist board (5). The control module (4) is arranged between the energy storage module (3) and the self-powered power-assisting module (7), and the energy storage module (3) is detachably connected to the lower part of the back plate (2). The power input end of the energy storage module (3) is connected to the No. 1 power supply end of the control module (4) through a wire, the power output end of the energy storage module (3) is connected to the No. 1 power input end of the control module (4) through a wire, the No. 2 power input end of the control module (4) is connected to the power output end of the self-powered power-assisting module (7) through a wire, the No. 1 power output end of the control module (4) is connected to the power input end of the No. 1 executive component in the self-powered power-assisting module (7) through a wire, and the No. 2 power output end of the control module (4) is connected to the power input end of the No. 2 executive component in the self-powered power-assisting module (7) through a wire.

3. The self-powered power-assisting device for reducing human walking energy according to claim 2, characterized in that: The second foot linkage assembly includes a second flexible rope and a second ankle strap, one end of the second flexible rope is connected to the second execution component in the self-powered power module (7), and the other end of the second flexible rope is fixedly connected to the second ankle strap, and the second ankle strap is tied to the right ankle of the human body.

4. The self-powered power-assisting device for reducing human walking energy according to claim 3, characterized in that: The power input end of the generator assembly extends into the housing frame assembly, the power output end of the generator assembly extends to the outside of the housing frame assembly, and the power output end of the generator assembly is connected to the second power input end of the control module (4) through a wire.

5. The self-powered power-assisting device for reducing human walking energy according to claim 4, characterized in that: The left carbon fiber tube (705) is arranged between the rear shell (701) of the self-powered assisting device and the left guide support (711), and one end of the left carbon fiber tube (705) is connected to the rear shell (701) of the self-powered assisting device, and the other end of the left carbon fiber tube (705) is connected to the left guide support (711). The right carbon fiber tube (745) is arranged between the rear shell (701) of the self-powered assisting device and the right guide support (740), and one end of the right carbon fiber tube (745) is connected to the rear shell (701) of the self-powered assisting device, and the other end of the right carbon fiber tube (745) is connected to the right guide support (740). The transverse carbon fiber tube (732) is arranged between the left guide support (711) and the right guide support (740), and one end of the transverse carbon fiber tube (732) is connected to the left guide support (711), and the other end of the transverse carbon fiber tube (732) is connected to the right guide support (740).

6. The self-powered power-assisting device for reducing human walking energy according to claim 5, characterized in that: The left guide support (711) is provided with a left first guide wheel (704), a left first guide shaft (706), a left second guide wheel (707), a first bearing (708) of the left second guide shaft group, a support shaft (709) of the left second guide shaft group and a second bearing (710) of the left second guide shaft group. The left first guide shaft (706) is inserted into the left guide support (711), and both ends of the left first guide shaft (706) are fixedly connected to the side wall of the left guide support (711). The left first guide wheel (704) is sleeved on the left first guide shaft (706), and two rotating bearings are provided between the left first guide wheel (704) and the left first guide shaft (706). The left first guide wheel (704) is rotatably connected to the left first guide shaft (706) through the two rotating bearings. The left second guide shaft group support The support shaft (709) is arranged below the left first guide shaft (706), and the axis of the left second guide shaft group support shaft (709) is arranged to be horizontally deflected by 90 degrees from the axis of the left first guide shaft (706), both ends of the left second guide shaft group support shaft (709) are fixedly connected to the inner wall of the left guide support member (711), the left second guide wheel (707) is sleeved on the left second guide shaft group support shaft (709), the left second guide shaft group first bearing (708) and the left second guide shaft group second bearing (710) are both arranged between the left second guide wheel (707) and the left second guide shaft group support shaft (709), and the left second guide wheel (707) is rotatably connected to the left second guide shaft group support shaft (709) through the left second guide shaft group first bearing (708) and the left second guide shaft group second bearing (710); The right guide support (740) is provided with a right second guide shaft group (741), a right second guide wheel (742), a right first guide shaft group (743) and a right first guide wheel (744). The right second guide shaft group (741) includes a right second guide shaft and two right second guide shaft rotation bearings. The right second guide shaft is inserted into the right guide support (740), and both ends of the right second guide shaft are fixedly connected to the side wall of the right guide support (740). The right second guide wheel (742) is sleeved on the right second guide shaft, and two right second guide shaft rotation bearings are provided between the right second guide wheel (742) and the right second guide shaft. The right second guide wheel (742) is connected to the right second guide shaft through two right second guide shafts. The second guide shaft rotation bearing is rotationally connected to the right second guide shaft. The right first guide shaft group (743) includes the right first guide shaft and two right first guide shaft rotation bearings. The right first guide shaft is arranged above the right second guide shaft, and the axis of the right first guide shaft is arranged to be horizontally deflected 90 degrees from the axis of the right second guide shaft. Both ends of the right first guide shaft are fixedly connected to the inner wall of the right guide support (740). The right first guide wheel (744) is sleeved on the right first guide shaft, and two right first guide shaft rotation bearings are provided between the right first guide wheel (744) and the right first guide shaft. The right first guide wheel (744) is rotationally connected to the right first guide shaft through the two right first guide shaft rotation bearings.

7. The self-powered power-assisting device for reducing human walking energy according to claim 6, characterized in that: The generator assembly includes a generator gear (718), a generator bearing (719) and a generator motor (728), wherein the generator motor (728) is inserted into the rear shell (701) of the self-powered assisting device, and the housing of the generator motor (728) is fixedly connected to the rear shell (701) of the self-powered assisting device, the power output end of the generator motor (728) extends to the outside of the rear shell (701) of the self-powered assisting device, and the power output end of the generator motor (728) is connected to the second power input end of the control module (4) through a wire, and the power input shaft of the generator motor (728) extends to the front shell of the self-powered assisting device (702), and the end of the power input shaft of the generator motor (728) is inserted into the side wall of the self-powered assisting device front shell (702) and the waist plate (5) fixed, a generator bearing (719) is provided between the power input shaft of the generator motor (728) and the self-powered assisting device front shell (702), the power input shaft of the generator motor (728) is rotatably connected to the self-powered assisting device front shell (702) through the generator bearing (719), the generator gear (718) is sleeved on the power input shaft of the generator motor (728), and the generator gear (718) is fixedly connected to the power input shaft of the generator motor (728).

8. The self-powered power-assisting device for reducing human walking energy according to claim 7, characterized in that: The first execution component comprises a left flexible rope (703), a left rope drive wheel (712), a left driving gear (713), a left first spring steel pulley (714), a left spring steel belt (715), a left first bearing (716), a left second spring steel pulley (717), a left drive motor first bearing (720), a left drive motor second bearing (721), a left drive motor (722), a left second bearing (725) and a left support shaft (726), wherein the left support shaft (726) is arranged on the left side of the power generation gear (718), the left support shaft (726) is arranged between the rear shell (701) and the front shell (702) of the self-powered power assist device, and one end of the left support shaft (726) is inserted into the front shell (703) of the self-powered power assist device. 02), and a left first bearing (716) is provided between the left support shaft (726) and the rear shell (701) of the self-powered power assist device, the left support shaft (726) is rotatably connected to the front shell (702) of the self-powered power assist device through the left first bearing (716), the other end of the left support shaft (726) is inserted into the rear shell (701) of the self-powered power assist device, and a left second bearing (725) is provided between the left support shaft (726) and the rear shell (701) of the self-powered power assist device, the left support shaft (726) is rotatably connected to the rear shell (701) of the self-powered power assist device through the left second bearing (725), the left rope drive wheel (712), the left driving gear (713) and the left first spring steel pulley (714) are sequentially sleeved on the left support shaft (726) from front to back. ), and the left rope drive wheel (712) is arranged near the front shell (702) of the self-powered power assist device, the left first spring steel pulley (714) is arranged near the rear shell (701) of the self-powered power assist device, one end of the left flexible rope (703) is wound around the left rope drive wheel (712), the other end of the left flexible rope (703) passes through the left first guide wheel (704) and the left second guide wheel (707) in sequence and is connected to the first flexible rope (8), the left drive motor (722) is arranged above the generator motor (728), and the left drive motor (722) is inserted into the rear shell (701) of the self-powered power assist device, the housing of the left drive motor (722) is fixedly connected to the rear shell (701) of the self-powered power assist device, and the power output shaft of the left drive motor (722) extends to the front housing (702) of the self-powered assisting device, and the left second spring steel pulley (717) is sleeved on the power output shaft of the left drive motor (722), one end of the left spring steel belt (715) is sleeved on the left first spring steel pulley (714), and the other end of the left spring steel belt (715) is sleeved on the left second spring steel pulley (717), the left drive motor first bearing (720) and the left drive motor second bearing (721) are both arranged between the power output shaft of the left drive motor (722) and the self-powered assisting device rear housing (701), and the power output shaft of the left drive motor (722) is rotatably connected to the self-powered assisting device rear housing (701) through the left drive motor first bearing (720) and the left drive motor second bearing (721).

9. The self-powered power-assisting device for reducing human walking energy according to claim 8, characterized in that: The second execution component includes a right first bearing (723), a right drive motor first bearing (729), a right drive motor second bearing (730), a right drive motor (731), a right second bearing (733), a right support shaft (734), a right second spring steel pulley (735), a right rope drive pulley (736), a right spring steel belt (737), a right driving gear (738), a right first spring steel pulley (739) and a right flexible rope (746), wherein the right support shaft (734) is arranged on the right side of the power generation gear (718), the right support shaft (734) is arranged between the rear shell (701) of the self-powered power assist device and the front shell (702) of the self-powered power assist device, and one end of the right support shaft (734) is inserted into the front shell (702) of the self-powered power assist device. 702), and a right first bearing (723) is provided between the right support shaft (734) and the rear shell (701) of the self-powered power-assisting device, the right support shaft (734) is rotatably connected to the front shell (702) of the self-powered power-assisting device through the right first bearing (723), the other end of the right support shaft (734) is inserted into the rear shell (701) of the self-powered power-assisting device, and a right second bearing (733) is provided between the right support shaft (734) and the rear shell (701) of the self-powered power-assisting device, the right support shaft (734) is rotatably connected to the rear shell (701) of the self-powered power-assisting device through the right second bearing (733), the right rope drive wheel (736), the right driving gear (738) and the right first spring steel pulley (739) are sequentially sleeved on the right support shaft (736) from front to back. 34), and the right rope drive wheel (736) is arranged near the front shell (702) of the self-powered power assist device, the right first spring steel pulley (739) is arranged near the rear shell (701) of the self-powered power assist device, one end of the right flexible rope (746) is wound around the right rope drive wheel (736), the other end of the right flexible rope (746) passes through the right first guide wheel (744) and the right second guide wheel (742) in sequence and is connected to the second flexible rope, the right drive motor (731) is arranged below the generator motor (728), and the right drive motor (731) is inserted into the rear shell (701) of the self-powered power assist device, the housing of the right drive motor (731) is fixedly connected to the rear shell (701) of the self-powered power assist device, and the power output shaft of the right drive motor (731) extends To the front shell (702) of the self-powered power assist device, and the right second spring steel pulley (735) is sleeved on the power output shaft of the right drive motor (731), one end of the right spring steel belt (737) is sleeved on the right first spring steel pulley (739), and the other end of the right spring steel belt (737) is sleeved on the right second spring steel pulley (735), the right drive motor first bearing (729) and the right drive motor second bearing (730) are both arranged between the power output shaft of the right drive motor (731) and the self-powered power assist device rear shell (701), and the power output shaft of the right drive motor (731) is rotatably connected to the self-powered power assist device rear shell (701) through the right drive motor first bearing (729) and the right drive motor second bearing (730).

10. The self-powered power-assisting device for reducing human walking energy according to claim 9, characterized in that: The second sliding transmission assembly includes a right sliding gear (724) and a right sliding shaft, wherein the right sliding shaft is arranged between the rear shell (701) of the self-powered power assist device and the front shell (702) of the self-powered power assist device, and one end of the right sliding shaft is slidingly connected to the rear shell (701) of the self-powered power assist device, and the other end of the right sliding shaft is slidingly connected to the front shell (702) of the self-powered power assist device. The right sliding gear (724) includes a right large gear segment and a right small gear segment, and the right small gear segment is fixed to one end of the right large gear segment, and the axis of the right small gear segment is arranged collinearly with the axis of the right large gear segment. The right large gear segment in the right sliding gear (724) is correspondingly matched with the power generation gear (718), and the right small gear segment in the right sliding gear (724) is correspondingly matched with the right driving gear (738).

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