Front walking power assisting device

Abstract

The invention discloses a front walking power assisting device which comprises a power module, a waist module and a leg rod module. The power module is horizontally arranged on the lower abdomen of the human body along the central axis parallel to the coronal plane of the human body. The power module can drive the two ends of the power module to rotate relatively, and the rotating plane is perpendicular to the central axis. The waist module comprises an abdomen frame, the abdomen frame comprises a frame center and two frame wings connected with the frame center, and the frame center is arranged on the lower abdomen of the human body; two wings of the frame extend towards two sides to be near the waist of a human body; the number of the leg rod modules is two, the upper ends of the two leg rod modules are rotationally connected with the two ends of the power module based on corresponding leg rod folding and unfolding shafts, and the leg rod folding and unfolding shafts are parallel to the sagittal plane of the human body and perpendicular to the upper ends of the leg rod modules. The invention has the advantages of light weight, small storage volume, low cost, compactness, close fitting and the like.

Description

Technical Field

[0001] The invention relates to the field of human body exoskeleton power devices, and in particular to a front-mounted walking assisting device. Background Art

[0002] In daily work and life, people often want to enhance the strength and endurance of their lower limbs. Wearable exoskeleton power devices with walking assistance functions are devices that meet this type of application, which can be called walking assistance devices. Such devices can help people walk farther, climb higher, and exercise more fully. Many documents in the prior art disclose the implementation mechanism of such devices.

[0003] The existing hip-assisted exoskeleton devices have power modules distributed on the hip joints on both sides of the human body, and a rigid waist bar at the waist connects the left and right power modules. This type of device requires dual power, and the rigid waist bar needs to transmit a large torque, and its length needs to be adjustable to match different users. This will increase the complexity and weight of the waist bar and have a certain manufacturing cost. The weight of this type of device is difficult to further reduce; moreover, because the left and right power modules of this type of device are around the user's waist, its size is often relatively large, which makes it difficult to carry. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a front walking assist device, aiming to solve the problems of the existing front walking assist device having a complex structure and high processing and assembly costs.

[0005] To achieve the above-mentioned purpose, an embodiment of the present invention provides a front walking assist device, which includes a power module, a waist module and a leg rod module;

[0006] The power module is horizontally arranged on the lower abdomen of the human body along a central axis parallel to the coronal plane of the human body; the power module can drive relative rotation between its two ends, and the rotation plane is perpendicular to the central axis;

[0007] The waist module includes an abdominal frame, the abdominal frame includes a frame center and two frame wings connected thereto, the frame center is arranged at the lower abdomen of the human body; the two frame wings extend to both sides to the vicinity of the human waist;

[0008] The leg rod modules are provided with two, and the upper ends of the two leg rod modules are rotatably connected to the two ends of the power module based on the corresponding leg rod retraction and extension axes, and the leg rod retraction and extension axes are parallel to the sagittal plane of the human body and perpendicular to the upper ends of the leg rod modules;

[0009] The power module includes a motor module and a reduction mechanism, the motor module includes a stator and a rotor, the rotor has a rotor shaft, the rotor can rotate relative to the stator based on the rotor shaft, and the rotor shaft extends into the reduction mechanism; the reduction mechanism includes a reduction gear housing, a reduction gear set and a reduction gear output arm, the reduction gear housing and the stator are transmission connected; the reduction gear set includes a gear set input end and a gear set output end, the gear set input end is close to one side of the motor module, and is transmission connected to the rotor shaft, and the gear set output end is transmission connected to the reduction gear output arm; the reduction gear output arm is transmission connected to the upper end of the leg rod module, and the reduction gear output arm can rotate perpendicular to the central axis to output power under drive.

[0010] Compared with the prior art, the beneficial effects of the present invention are: 1. Light weight, its weight is only about 60% of the existing walking assistance device distributed on the human waist and hip joints on both sides; 2. Small storage volume, it cancels the rigid annular waist bar connecting the left and right sides, greatly reducing the storage volume; 3. Low cost, only one power module is needed to work normally; 4. Compact and close-fitting, its power is set near the lower abdomen on the front side of the human body, the power diameter is small, there is no protruding rigid structure on the left and right sides and the back, it does not affect the human body's squatting, running and jumping, does not affect sitting in a car or sitting in a chair with armrests, and the overall experience is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0012] Figure 1 It is a front view schematic diagram of a front traveling device embodiment 1 of the present invention;

[0013] Figure 2 It is a side view schematic diagram of a front walking device embodiment 1 of the present invention;

[0014] Figure 3 This is a partial schematic diagram of a power module of a front traveling device embodiment 1 of the present invention;

[0015] Figure 4 This is a cross-sectional schematic diagram of a power module of a front traveling device embodiment 1 of the present invention;

[0016] Figure 5 It is a front view schematic diagram of a front walking device embodiment 2 of the present invention;

[0017] Figure 6It is a side view schematic diagram of embodiment 3 of a front walking device of the present invention.

[0018] The reference numerals are as follows:

[0019] 1—power module; 11—motor module; 111—stator; 1111—stator base; 1112—stator output end; 1113—base shaft; 1114—center through hole; 112—rotor; 113—rotor shaft; 12—reduction mechanism; 121—reduction gear housing; 1211—reduction gear housing fixing block; 122—reduction gear set; 1221—gear set input end; 1222—gear set output end; 123—reduction gear output arm; 13—center axis;

[0020] 2—waist module; 21—abdomen frame; 211—frame center; 212—frame wings; 213—power fixing shaft; 214—power fixing shaft hole; 22—waist belt; 23—shoulder belt;

[0021] 3—leg rod module; 31—leg rod body; 311—leg rod upper section; 312—leg rod lower section; 32—leg shell; 321—leg shell rotation axis; 33—leg belt; 34—leg rod retraction and extension axis; 35—leg shell suspension rope;

[0022] 4—sensing control system; 41—driving module; 411—driving module fixing block; 42—motor encoder; 421—encoding magnetic steel; 422—encoding sensing circuit; 43—angle sensor; 431—angle magnetic steel; 432—angle sensing circuit;

[0023] 5—battery module; 51—power line;

[0024] 6—Load. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the terms used in this description of the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. As used in the description of the embodiments of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms.

[0028] like Figure 1-Figure 4 As shown, they are respectively a front view schematic diagram, a side view schematic diagram, a power module related part and a cross-sectional schematic diagram of an embodiment 1 of a front walking assist device, wherein the front walking assist device includes a power module 1, a waist module 2, a leg rod module 3, a sensor control system 4 and a battery module 5.

[0029] The power module 1 is horizontally arranged on the lower abdomen of the human body along a central axis 13 parallel to the coronal plane of the human body; the power module 1 can drive the relative rotation between its two ends, and the rotation plane is perpendicular to the central axis 13;

[0030] The waist module 2 includes an abdominal frame 21, and the abdominal frame 21 includes a frame center 211 and two frame wings 212 connected thereto, wherein the frame center 211 is arranged at the lower abdomen of the human body and is rotationally connected to the power module 1 based on the central axis 13; the two frame wings 212 extend to both sides to the vicinity of the human waist;

[0031] The leg rod modules 3 are provided with two, and the upper ends of the two leg rod modules 3 are rotationally connected to the two ends of the power module 1 based on the corresponding leg rod retraction and extension axes 34, and the leg rod retraction and extension axes 34 are parallel to the sagittal plane of the human body and perpendicular to the upper ends of the leg rod modules 3.

[0032] When the power module 1 is working, it can drive the relative rotation between the two ends, drive the left and right sides of the leg rod body 31 to swing relative to each other, and then drive the human thigh connected to the leg rod module 3 to swing forward and backward differentially, so as to meet the differential swing between the lower limbs on both sides of the human body, and can apply an assist torque to help one side of the human body move forward while the other side pushes backward, making walking more labor-saving and easier.

[0033] Specifically, the power module 1 is horizontally arranged near the lower abdomen in front of the human body, and its main part is a cylindrical structure, and its central axis 13 is also horizontally arranged and parallel to the coronal plane of the human body; the power module 1 includes a motor module 11 and a reduction mechanism 12, and the motor module 11 and the reduction mechanism 12 are both cylindrical structures, and are distributed on the central axis 13 of the power module 1, and are transmission-connected near the center of the lower abdomen of the human body. The motor module 11 includes a stator 111 and a rotor 112, the stator 111 includes a stator base 1111 and a stator output end 1112, the stator base 1111 and the stator output end 1112 are transmission-connected across the rotor 112; the stator base 1111 is arranged near the center of the lower abdomen of the human body and close to the reduction mechanism 12, and the stator output end 1112 is arranged on the outside of the rotor 112 and away from the center of the lower abdomen of the human body; the rotor 112 is arranged on the outside of the stator base 1111 and away from the reduction mechanism 12, the rotor 112 has a rotor shaft 113, the rotor 112 can rotate relative to the stator 111 based on the rotor shaft 113, and the rotor shaft 113 passes through the stator 111 and extends into the reduction mechanism 12.

[0034] The deceleration mechanism 12 includes a decelerator housing 121, a decelerator gear set 122 and a decelerator output arm 123. The decelerator housing 121 is connected to the stator 111 at a side near the center of the lower abdomen of the human body; the decelerator gear set 122 includes a gear set input end 1221 and a gear set output end 1222. The gear set input end 1221 is close to one side of the motor module 11, that is, close to the center of the lower abdomen of the human body, and is connected to the rotor shaft 113. The gear set output end 1222 is connected to the decelerator output arm 123; the decelerator output arm 123 can rotate to output power under driving, and the rotation plane is perpendicular to the central axis 13, that is, parallel to the sagittal plane of the human body. Wherein, the decelerator gear set 122 can be a multi-polar planetary deceleration mechanism. In summary, the stator output end 1112 and the reducer output arm 123 are distributed at two ends of the power module 1 , and the stator base 1111 and the reducer housing 121 are transmission-connected in the middle of the power module 1 .

[0035] The working principle of the power module 1 is as follows: the reducer housing 121 and the stator 111 are connected together by transmission, the rotor 112 is rotationally connected to the reducer gear set 122 through the rotor shaft 113, and the reducer output arm 123 is rotationally connected to the reducer gear set 122; when the rotor 112 rotates relative to the stator 111, it will drive the reducer gear set 122 to rotate, the gear set output end 1222 will rotate, and then the reducer output arm 123 connected thereto by transmission will rotate relative to the stator 111, because the stator 111, the stator output end 1112 and the reducer housing 121 are connected together, which will actually drive the reducer output arm 123 to rotate relative to the stator output end 1112; that is, the rotation of the rotor 112 will drive the relative rotation between the stator output end 1112 and the reducer output arm 123.

[0036] The stator base 1111 has a base shaft 1113, which is a hollow tubular structure. The axis of the base shaft 1113 coincides with the central axis 13. One end of the base shaft 1113 is fixedly connected to the stator base 1111, and the other end is fixedly connected to the reducer housing 121. The frame center 211 has a power fixing shaft 213, and the power fixing shaft 213 has a power fixing shaft hole 214, which is connected to the base shaft. The outer diameter of 1113 is matched, and the base shaft 1113 is inserted into the power fixed shaft hole 214 to form a rotational connection, so that the entire power module 1 can rotate relative to the abdominal frame 21 based on the central axis 13; the base shaft 1113 has a central through hole 1114, and the central through hole 1114 is larger than the outer diameter of the rotor shaft 113, so that the rotor shaft 113 can pass through the central through hole 1114 and be transmission-connected with the input end 1221 of the gear set.

[0037] The two wings 212 of the frame are correspondingly arranged on both sides of the frame center 211, and are slidably connected to the left and right ends of the frame center 211 respectively, so that the distance between the left and right sides can be adjusted to adapt to users with different waist widths and fatness.

[0038] The leg rod modules 3 are provided with two, each including a leg rod body 31, a leg shell 32 and a leg belt 33; the leg rod body 31 is arranged on the front side of the human thigh and arranged along the direction of the human thigh, the leg rod body 31 includes a leg rod upper section 311 and a leg rod lower section 312, the leg rod upper section 311 and the leg rod lower section 312 are slidably connected and can slide relative to each other, so that the leg rod body 31 can be extended or shortened to meet the position change between the power module 1 and the leg shell 32 when the human body walks, and at the same time can transmit hip extension or hip flexion torque; the upper ends of the two leg rod upper sections 311 are respectively connected to the power module 1 based on the corresponding leg rod retraction and extension axis 34. The stator output ends 1112 and the reducer output arms 123 on both sides are rotatably connected, the leg bar extension and retraction axis 34 is parallel to the sagittal plane of the human body and perpendicular to the leg bar body 31, which can support the leg bar body 31 to do inward and outward movement while transmitting the torque of the power output; the leg shell 32 is arranged parallel to the human thigh, and is fixed to the human thigh through the leg belt 33. The leg shell 32 has a leg shell rotating shaft 321 arranged horizontally parallel to the coronal plane. The leg bar lower section 312 is rotatably connected to the leg shell 32 based on the leg shell rotating shaft 321 to meet the relative angle change between the leg bar body 31 and the leg shell 32 when the human body walks.

[0039] In the waist module 2, the abdominal frame 21 is V-shaped, and the frame center 211 and the frame wings 212 are both rigid structures. The waist module 2 also has a waist belt 22, which surrounds the back of the human waist and is transmission-connected with the frame wings 212 on both sides of the waist to fix the abdominal frame 21 to the human waist; the power module 1 is also indirectly fixed to the human waist through the abdominal frame 21, and it can rotate relative to the human waist along the central axis 13. When the front walking assist device applies a hip extension torque to one side of the wearer, the other side will generate a corresponding reaction torque, i.e., a hip bending torque. At this time, one side will apply pressure to the human thigh through the leg shell 32, and the other side will apply tension to the human thigh through the leg belt 33. Correspondingly, the abdominal frame 21 will be subjected to a rotational torque in the horizontal plane direction, and the rigid frame wings 212 will squeeze the human waist on one side and tighten the waist belt 22 on the other side, thereby balancing the derived horizontal rotational torque brought by the assist device for the human body, ensuring that the device can work stably.

[0040] The power module 1, waist module 2 and leg rod module 3 constitute the main functional framework of an embodiment of a front walking assist device of the present invention, and its working principle is as follows: the rotor 112 in the power module 1 rotates relative to the stator 111 under driving, driving the stator output end 1112 to rotate relative to the reducer output arm 123, driving the left and right leg rod bodies 31 to swing relative to each other, and then driving the human thighs connected to the end of the leg rod bodies 31 to swing forward and backward differentially, thereby satisfying the differential swing between the lower limbs on both sides of the human body, and applying an assist torque to help one side of the human body step forward while the other side pushes backward, making walking more labor-saving and easier; and when the human body bends over The waist or torso leans back, and since the abdominal frame 21 is fixed to the human torso, the power module 1 is fixed to the lower limbs of the human body through the leg rod module 3. The base axis 1113 and the power fixing axis 213 on the abdominal frame 21 rotate relative to each other, that is, the power module 1 as a whole can rotate relative to the waist module 2 based on the central axis 13 of the power module 1, and can support the movement of the human torso relative to the lower limbs of the human body, that is, support the lower limbs on both sides to rotate relative to the torso at the same time, thereby meeting the needs of squatting and other postures of the human body; the leg rod retraction and extension axis 34 is perpendicular to the leg rod body 31, which can transmit the torque output by the power module 1 and support the abduction or adduction of the human legs, thereby meeting the needs of flexible movement of the lower limbs of the human body.

[0041] The leg rod module 3 further includes a leg shell sling 35 with adjustable length, the upper end of the leg shell sling 35 is fixed to the waist module 2 or the leg rod upper section 311, and the lower end of the leg shell sling is fixed to the leg shell 32 or the leg band 33. The leg shell sling 35 can keep the relative position of the leg shell 32 or the leg band 33 and the human thigh fixed when the leg rod upper section 311 and the leg rod lower section 312 slide relative to each other, thereby ensuring the stability of the front walking assist device.

[0042] like Figure 1 , Figure 3 , Figure 4As shown, the sensor control system 4 is used to sense human body movements and control the output of torque. The sensor control system 4 includes a drive module 41, a motor encoder 42 and an angle sensor 43. The motor encoder 42 includes a coding magnet 421 and a coding induction circuit 422. The coding magnet 421 is arranged at the shaft end of the rotor shaft 113 and is close to the coding induction circuit 422. The coding induction circuit 422 is fixedly arranged and close to the coding magnet 421. In this embodiment, the coding induction circuit 422 is specifically arranged on the stator output end 1112, close to the center of the rotor 112. The rotation of the rotor 112 relative to the stator 111 will cause the relative rotation of the coding magnet 421 relative to the coding induction circuit 422, which is sensed by the motor encoder 42. The angle sensor 43 includes an angle magnet 431 and an angle sensing circuit 432. The angle magnet 431 is arranged at the rotation center of the output end 1222 of the gear set or the output arm 123 of the reducer, and rotates with the output arm 123 of the reducer. The angle sensing circuit 432 is fixed to the reducer housing 121 and extends to the rotation center of the output end 1222 of the gear set. The rotation of the reducer output arm 123 relative to the reducer housing 121 will cause the angle magnet 431 to rotate relative to the angle sensing circuit 432, which is sensed by the angle sensor 43. Therefore, the motor encoder 42 senses the rotation angle and / or angular velocity information of the rotor 112 of the motor module 11 relative to the stator 111, and the angle sensor 43 senses the relative angle and / or angular velocity between the reducer output arm 123 and the reducer housing 121, that is, between the leg rod bodies 31 on both sides.

[0043] The driving module 41 is electrically connected to the motor encoder 42, the angle sensor 43 and the motor module 11. The driving module 41 can control the motor module 11 to rotate or output torque according to the information sensed by the motor encoder 42 and the angle sensor 43. In embodiment 1, the driving module 41 is disposed on the stator output terminal 1112.

[0044] The battery module 5 is arranged on the abdominal frame 21, and the battery module 5 is electrically connected to the driving module 41; the battery module 5 may include two groups of batteries, which are respectively arranged on the left and right wings 212 of the frame. For users with different waist widths, the battery module 5 and the frame wings 212 adjust their positions relative to the center 211 of the frame.

[0045] like Figure 3 , Figure 4As shown, the battery module 5 also includes a power cord 51, which is electrically connected to the drive module 41 through the power cord 51; the power module 1 includes a motor module 11, a deceleration mechanism 12, and together with the drive module 41 fixed thereon, they rotate relative to the waist module 2, and the battery module 5 is fixed on the waist module. In order to meet the relative rotation between the power module 1 and the waist module 2, the power cord 51 needs to be continuously bent during the operation of the device of the present invention, thereby reducing the working life of the power cord 51.

[0046] To solve the above problem, one end of the power line 51 is connected to the battery module 5, extends to the vicinity of the frame center 211 and is fixed thereto, spirally wound around the base shaft 1113 (specifically, it can be wound around the outside of the base shaft 1113), and is fixed to the stator 111, and is electrically connected to the drive module 41. The advantages of adopting the above solution are: the spiral winding method has a long bending life and high reliability.

[0047] In this embodiment, the power module 1 is arranged on the front side of the lower abdomen of the human body. In order to facilitate movement and improve the user experience, the power module 1 includes a reduction mechanism 12 and a motor module 11 with smaller diameters, and both adopt a cylindrical structure layout; in addition, the diameter of the base shaft 1113 connecting the motor module 11 and the reduction mechanism 12 is smaller than the diameters of the reduction mechanism 12 and the motor module 11, so that the power cord 51 can be spirally wound thereon.

[0048] like Figure 3 , Figure 4 As shown, in order to make the device of the present invention light and easy to move, the power module 1 is small in size and has limited space. The drive module 41 is arranged parallel to the rotation plane of the motor module 11 and is fixed on the stator output end 1112, close to the motor rotor 112, and the encoding sensing circuit 422 is arranged thereon to make the device of the present invention more compact and light.

[0049] In this embodiment, the positions of the stator base 1111 and the stator output end 1112 can be interchanged, that is, the stator base 1111 is arranged on the side away from the reduction mechanism 12, and the stator output end 1112 is arranged on the side close to the reducer housing 121, and is connected to the reducer housing 121 through the base shaft 1113. The principle and function remain unchanged and do not affect the effect of the present invention.

[0050] Figure 5This is a front view schematic diagram of a front walking assist device embodiment 2 of the present invention. This embodiment is similar in structure to embodiment 1, and both include a power module 1, a waist module 2, a leg rod module 3, a sensor control system 4, and a battery module 5; wherein the power module 1 is horizontally arranged near the lower abdomen in front of the human body, and its main part is a cylindrical structure, and its central axis 13 is also arranged horizontally and parallel to the coronal plane of the human body; the waist module 2 includes an abdominal frame 21, which is V-shaped, and its frame center 211 is arranged at the lower abdomen of the human body, and the two wings 212 of the frame extend to both sides to the vicinity of the human waist; the waist module 2 also has a belt 22, which surrounds the back side of the human waist and is transmission-connected with the two wings 212 of the frame on both sides of the waist, fixing the abdominal frame 21 to the human waist.

[0051] The difference between Example 2 and Example 1 is that its power module 1 has two motor modules 11 and two reduction mechanisms 12, the two motor modules 11 are arranged close to each other, and the two reduction mechanisms 12 are distributed on the outside of the two motor modules 11; the motor module 11 includes a stator 111 and a rotor 112, the rotor 112 has a rotor shaft 113, and the rotor 112 can rotate relative to the stator 111 based on the rotor shaft 113; the reduction mechanism 12 includes a reduction gear housing 121, a reduction gear set 122 and a reduction gear output arm, and the two stators 111 are respectively connected to the two reduction gears. The speed reducer housing 121 is fixed together, and the left and right rotors 112 are arranged back to back, and both are arranged near the center of the human lower abdomen; the speed reducer gear set 122 includes a gear set input end 1221 and a gear set output end 1222, and the two gear set input ends 1221 are arranged near the center of the human lower abdomen, and the two rotor shafts 113 respectively pass through the corresponding stator 111 and are transmission-connected with the corresponding gear set input end 1221; the gear set output ends 1222 are both arranged on the outside away from the center of the human lower abdomen, and are transmission-connected with the speed reducer output arms 123 distributed on the left and right sides. Similar to Example 1, the speed reducer output arm 123 can rotate perpendicular to the central axis to output power under drive, and the lower ends of the two speed reducer output arms 123 are rotationally connected with the two leg rod modules 3 through the corresponding leg rod retraction and expansion shafts 34.

[0052] Different from the first embodiment, the reducer housing 121 and the motor stator 111 in the second embodiment are fixedly connected to the frame center 211 instead of being rotationally connected, and the reducer housing 121 is provided with a reduction housing fixing block 1211, which fixes the reducer housing 121 and the frame center 211 together. In the second embodiment, the driving module 41 is provided with a driving module fixing block 411, which fixes the driving module 41 on the frame center 211.

[0053] Embodiment 2 has two sets of motor encoders 42 and two sets of angle sensors 43. The encoding magnet 421 is still arranged at the shaft end of the rotor shaft 113, close to the driving module 41; the encoding sensing circuit 422 is integrated on the driving module 41, close to the encoding magnet 421; the angle sensor 43 is arranged the same as that in Embodiment 1 and will not be repeated.

[0054] Compared with Example 1, Example 2 has a more complex structure, is heavier, and has a higher cost; however, Example 2 can output a bending torque or an extension torque, and can provide an extension torque when the wearer sits down or stands up, to help them get up; at the same time, Example 2 can independently apply assist torque to the left and right sides, respectively, to meet the diverse needs of users; in addition, the available area of ​​the drive module 41 is larger, and the cable from the battery to the drive module 41 will not bend continuously as the human body walks, thereby increasing reliability.

[0055] From the above, it can be seen that Example 1 and Example 2 have similar frame structures, and the wearing position on the human body and the power assistance principle are the same, but the different numbers of motor modules 11 and reducer housings 121 they contain result in different device weights and costs. Users can choose different embodiments to use according to their own circumstances.

[0056] Figure 6 It is a side view schematic diagram of a front walking assist device embodiment 3 of the present invention. This embodiment includes the same power module 1, waist module 2, leg rod module 3, sensor control 4 and battery module 5 as embodiment 1 or embodiment 2; the difference is that the waist module 2 of this embodiment has a shoulder strap 23, and the shoulder strap 23 or waist belt 22 fixes the leg rod module 3 to the human body on one side; a load 6 is fixed to the end of the leg rod module 3 on the other side, and the power module 1 can lift the load 6 under the drive of power, thereby freeing the wearer's hands and reducing the burden on the wearer's arms when lifting the load 6 for a long time. The load can be a camera or a video camera.

[0057] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0058] The above is a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A front walking assist device, characterized in that: The front walking assist device comprises a power module, a waist module and a leg rod module; The power module is horizontally arranged on the lower abdomen of the human body along a central axis parallel to the coronal plane of the human body; the power module can drive relative rotation between its two ends, and the rotation plane is perpendicular to the central axis; The waist module includes an abdominal frame, the abdominal frame includes a frame center and two frame wings connected thereto, the frame center is arranged at the lower abdomen of the human body; the two frame wings extend to both sides to the vicinity of the human waist; The leg rod modules are provided with two, and the upper ends of the two leg rod modules are rotatably connected to the two ends of the power module based on the corresponding leg rod retraction and extension axes, and the leg rod retraction and extension axes are parallel to the sagittal plane of the human body and perpendicular to the upper ends of the leg rod modules; The power module includes a motor module and a reduction mechanism, the motor module includes a stator and a rotor, the rotor has a rotor shaft, the rotor can rotate relative to the stator based on the rotor shaft, and the rotor shaft extends into the reduction mechanism; the reduction mechanism includes a reduction gear housing, a reduction gear set and a reduction gear output arm, the reduction gear housing and the stator are transmission connected; the reduction gear set includes a gear set input end and a gear set output end, the gear set input end is close to one side of the motor module, and is transmission connected to the rotor shaft, and the gear set output end is transmission connected to the reduction gear output arm; the reduction gear output arm is transmission connected to the upper end of the leg rod module, and the reduction gear output arm can rotate perpendicular to the central axis to output power under drive.

2. The front walking assist device according to claim 1, characterized in that: The waist module is fixed to the waist and abdomen of the human body, and the power module is rotationally connected to the waist module along the central axis.

3. The front walking assist device according to claim 2, characterized in that: The stator includes a stator base and a stator output end, and the stator base and the stator output end are transmission-connected across the rotor; the stator base is provided with a base shaft, and the axis of the base shaft coincides with the central axis, one end of the base shaft is fixedly connected to the stator base or the stator output end, and the other end is fixedly connected to the reducer housing; the center of the frame is provided with a power fixing shaft, and the power fixing shaft is provided with a power fixing shaft hole, and the power fixing shaft hole matches the outer diameter of the base shaft to form a rotating connection; the base shaft is provided with a central through hole, and the rotor shaft passes through the central through hole and is transmission-connected to the input end of the gear set.

4. The front walking assist device according to claim 3, characterized in that: The front walking assist device also includes a battery module and a drive module. The battery module is arranged on the waist module, and the drive module is arranged on the power module. The battery module and the drive module are electrically connected through the power line, and the power line is spirally wound around the base shaft.

5. The front walking assist device according to claim 4, characterized in that: The driving module is arranged parallel to the rotation plane of the rotor.

6. The front walking assist device according to claim 4, characterized in that: Also includes: A sensor control system, the sensor control system comprising a motor encoder and an angle sensor; The motor encoder comprises a coding magnetic steel and a coding induction circuit, wherein the coding magnetic steel is arranged at the shaft end of the rotor shaft, and the coding induction circuit is fixedly arranged and close to the coding magnetic steel; The angle sensor includes an angle magnet and an angle sensing circuit, wherein the angle magnet is arranged at the rotation center of the output end of the gear set or the output arm of the reducer, and the angle sensing circuit is fixed to the reducer housing and extends to the rotation center of the output end of the gear set; The driving module is electrically connected to the motor encoder and the angle sensor. The driving module can control the motor module to rotate or output torque according to information sensed by the motor encoder and the angle sensor.

7. The front walking assist device according to claim 3, characterized in that: The speed reduction mechanism and the motor module both adopt a cylindrical structure, and the diameter of the base shaft is smaller than the speed reduction mechanism and / or the motor module.

8. The front walking assist device according to claim 1, characterized in that: There are two motor modules and two speed reduction mechanisms; the two speed reduction mechanisms are distributed outside the two motor modules; The power module includes a motor module, and the motor module includes a stator and a rotor. The rotor has a rotor shaft, and the rotor can rotate relative to the stator based on the rotor shaft; the speed reduction mechanism includes a speed reducer housing, a speed reducer gear set and a speed reducer output arm, the two stators are fixedly connected to the two speed reducer housings respectively, and the two rotors are arranged back to back and are both arranged near the center of the lower abdomen of the human body; the speed reducer gear set includes a gear set input end and a gear set output end, the two gear set input ends are both arranged near the center of the lower abdomen of the human body, and the two rotor shafts are respectively connected to the corresponding gear set input ends in transmission; The two output ends of the gear set are both arranged on the outside away from the center of the lower abdomen of the human body, and are respectively connected to the two output arms of the reducer for transmission. The output arms of the reducer can rotate perpendicular to the central axis to output power under driving; the lower ends of the two output arms of the reducer are connected to the two leg rod modules for rotation through the corresponding leg rod retraction and extension shafts; The reducer housing is provided with a reduction housing fixing block, and the reduction housing fixing block fixes the reducer housing and the center of the frame together.

9. The front walking assist device according to any one of claims 1 to 8, characterized in that: The leg rod module includes a leg rod body, a leg shell and a leg strap; the leg rod body is arranged along the direction of the human thigh, and the leg rod body includes a leg rod upper section and a leg rod lower section, and the leg rod upper section and the leg rod lower section are slidably connected and can slide relative to each other so that the leg rod body can be extended or shortened; the leg shell is arranged parallel to the human thigh, and is fixed to the human thigh by the leg strap, and the leg shell has a leg shell rotating shaft arranged horizontally parallel to the coronal plane, and the lower section of the leg rod body is rotationally connected to the leg shell based on the leg shell rotating shaft.

10. The front walking assist device according to claim 9, characterized in that: The leg bar module also includes a leg shell sling with adjustable length, the upper end of the leg shell sling is fixed to the waist module or the upper section of the leg bar, and the lower end of the leg shell sling is fixed to the leg shell or leg strap.

11. The front walking assist device according to any one of claims 1 to 8, characterized in that: The two wings of the frame on both sides are correspondingly arranged on both sides of the center of the frame, and are respectively slidably connected with the left and right ends of the center of the frame.

12. The front walking assist device according to any one of claims 1 to 8, characterized in that: The center of the frame and the two wings of the frame are both rigid structures. The waist module also has a belt, which surrounds the back of the human waist and is transmission-connected to the two wings of the frame on both sides of the waist to fix the abdominal frame to the human waist.

13. The front walking assist device according to any one of claims 1 to 8, characterized in that: The waist module fixes the leg rod module on one side to the human body trunk, and a load is fixed to the lower end of the leg rod module on the other side. The power module can lift the leg rod module on the side with the load.

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