A front walking power-assisted device

Abstract

The application discloses a front walking power-assisted device, which comprises a power module, a waist module and a leg rod module; the power module is horizontally arranged on the human body's lower abdomen along a central axis parallel to the human body's coronal plane; the power module can drive the relative rotation between its two ends, and the rotation plane is perpendicular to the central axis; the waist module comprises an abdominal frame, the abdominal frame comprises a frame center and two frame wings connected to the frame center, and the frame center is arranged on the human body's lower abdomen; the two frame wings extend to the human body's waist; the leg rod module is provided with two, and the upper ends of the two leg rod modules are respectively rotationally connected to the two ends of the power module based on corresponding leg rod folding axes, and the leg rod folding axes are parallel to the human body's sagittal plane and perpendicular to the upper ends of the leg rod modules. The application has the advantages of light weight, small storage volume, low cost and compactness.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton power devices, and more particularly to a front-mounted walking assistance device. Background Technology

[0002] In daily work and life, people often encounter situations where they want to enhance lower limb strength and endurance. Wearable exoskeleton power devices with walking assistance functions are devices that meet this need; they can be called walking assistance devices. These devices can help people walk further, climb higher, and exercise more fully. Many existing technical documents disclose the mechanisms that enable such devices.

[0003] Existing hip-assisted exoskeletons have power modules distributed on both sides of the hip joints, with a rigid lumbar support connecting the left and right power modules. These devices require dual power sources, and the rigid lumbar support needs to transmit a large torque. Furthermore, its length needs to be adjustable to fit different users, which increases the complexity and weight of the lumbar support and adds to the manufacturing cost, making it difficult to further reduce the weight of such devices. Moreover, because the left and right power modules are located around the user's waist, these devices are often quite large, making them difficult to carry. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a front-mounted walking assistance device, which aims to solve the problems of complex structure, high processing and assembly costs of existing front-mounted walking assistance devices.

[0005] To achieve the above objectives, this invention provides a front-mounted walking assistance device, which includes a power module, a waist support module, and a leg support module.

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

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

[0008] The leg bar module is provided in two parts. The upper ends of the two leg bar modules are rotatably connected to the two ends of the power module based on the corresponding leg bar extension and retraction axis. The leg bar extension and retraction axis is parallel to the sagittal plane of the human body and perpendicular to the upper end of the leg bar module.

[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 and can rotate relative to the stator based on the rotor shaft. The rotor shaft extends into the reduction mechanism. The reduction mechanism includes a reducer housing, a reducer gear set, and a reducer output arm. The reducer housing is drivenly connected to the stator. The reducer gear set includes a gear set input end and a gear set output end. The gear set input end is close to the side of the motor module and is drivenly connected to the rotor shaft. The gear set output end is drivenly connected to the reducer output arm. The reducer output arm is drivenly connected to the upper end of the leg module. Under drive, the reducer output arm can rotate perpendicular to the central axis to output power.

[0010] The advantages of this invention compared to existing technologies are: 1. Lightweight, its weight is only about 60% of that of existing walking assistance devices distributed around the waist and hip joints on both sides; 2. Small storage volume, as it eliminates the rigid ring-shaped waist bar connecting the left and right sides, greatly reducing the storage volume; 3. Low cost, requiring only one power module to work normally; 4. Compact and close-fitting, its power source is located near the lower abdomen on the front of the body, with a small power diameter, and no protruding rigid structures on the left and right sides or back, so it does not affect the human body's squatting, sitting, running, or jumping, nor does it affect the use of chairs with armrests when riding in a vehicle, resulting in a better overall experience. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a front view schematic diagram of an embodiment 1 of the front walking device of the present invention;

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

[0014] Figure 3 This is a partial schematic diagram of the power module of a front-mounted walking device according to Embodiment 1 of the present invention;

[0015] Figure 4 This is a schematic cross-sectional view of the power module of Embodiment 1 of the front-mounted walking device of the present invention;

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

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

[0018] The attached figures are labeled as follows:

[0019] 1—Power module; 11—Motor module; 111—Stator; 1111—Stator base; 1112—Stator output end; 1113—Base shaft; 1114—Central 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—Central axis;

[0020] 2—Waist module; 21—Abdominal frame; 211—Frame center; 212—Frame wings; 213—Power mounting shaft; 214—Power mounting shaft hole; 22—Waist belt; 23—Shoulder straps;

[0021] 3—Leg module; 31—Leg body; 311—Upper leg section; 312—Lower leg section; 32—Leg shell; 321—Leg shell pivot; 33—Leg belt; 34—Leg extension / retraction pivot; 35—Leg shell suspension rope;

[0022] 4—Sensing and control system; 41—Drive module; 411—Drive module mounting block; 42—Motor encoder; 421—Encoding magnet; 422—Encoding sensing circuit; 43—Angle sensor; 431—Angle magnet; 432—Angle sensing circuit;

[0023] 5—Battery module; 51—Power cable;

[0024] 6—Load. Detailed Implementation

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Similar component reference numerals in the drawings represent similar components. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort 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 "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0027] It should also be understood that the terminology used in this specification of embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of the invention. As used in this specification of embodiments of the invention and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] like Figures 1-4 As shown, the diagrams are a front view, a side view, a partial view of the power module, and a cross-sectional view of an embodiment 1 of a front-mounted walking assistance device. The front-mounted walking assistance device includes a power module 1, a waist module 2, a leg bar module 3, a sensor control system 4, and a battery module 5.

[0029] The power module 1 is horizontally installed on the lower abdomen of the human body along the 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 plane of rotation is perpendicular to the central axis 13;

[0030] The waist module 2 includes an abdominal frame 21, which includes a frame center 211 and frame wings 212 connected thereto. The frame center 211 is located in the lower abdomen of the human body and is rotatably connected to the power module 1 based on the central axis 13. The frame wings 212 extend to both sides to the vicinity of the waist of the human body.

[0031] Two leg bar modules 3 are provided. The upper ends of the two leg bar modules 3 are rotatably connected to the two ends of the power module 1 based on the corresponding leg bar extension and retraction shafts 34. The leg bar extension and retraction shafts 34 are parallel to the sagittal plane of the human body and perpendicular to the upper end of the leg bar module 3.

[0032] When the power module 1 is working, it can drive the relative rotation between the two ends, causing the left and right leg bar bodies 31 to swing relative to each other, thereby causing the human thighs, which are connected to the leg bar module 3, to swing back and forth differentially. This can satisfy the differential swing between the two lower limbs of the human body, and can apply a helping torque to help the human body step forward on one side while pushing backward on the other side, making walking more effortless and easier.

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

[0034] The reduction mechanism 12 includes a reducer housing 121, a reducer gear set 122, and a reducer output arm 123. The reducer housing 121 is connected to the stator 111 on the side near the center of the lower abdomen. The reducer gear set 122 includes a gear input end 1221 and a gear output end 1222. The gear input end 1221 is near the motor module 11, i.e., near the center of the lower abdomen, and is connected to the rotor shaft 113. The gear output end 1222 is connected to the reducer output arm 123. The reducer output arm 123 can rotate and output power under drive, with the plane of rotation perpendicular to the central axis 13, i.e., parallel to the sagittal plane of the human body. The reducer gear set 122 can be a multi-stage planetary reduction mechanism. In summary, the stator output end 1112 and the reducer output arm 123 are located at both ends of the power module 1, and the stator base 1111 and the reducer housing 121 are 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 in a transmission manner. The rotor 112 is rotatably connected to the reducer gear set 122 through the rotor shaft 113. The reducer output arm 123 is rotatably 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 output end 1222 of the gear set will rotate, and then the reducer output arm 123, which is connected to it in a transmission manner, will rotate relative to the stator 111. Since the stator 111, the stator output end 1112 and the reducer housing 121 are connected together, the reducer output arm 123 will actually 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, which has a power fixing shaft hole 214. The power fixing shaft hole 214 is connected to the base shaft. The outer diameter of the base shaft 1113 is matched, and the base shaft 1113 is inserted into the power fixed shaft hole 214 to form a rotary 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, which 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 connected to the gear set input end 1221 for transmission.

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

[0038] Two leg pole modules 3 are provided, each including a leg pole body 31, a leg shell 32, and a leg belt 33. The leg pole body 31 is located on the front side of the human thigh, along the direction of the human thigh. The leg pole body 31 includes an upper leg pole section 311 and a lower leg pole section 312. The upper leg pole section 311 and the lower leg pole section 312 are slidably connected and can slide relative to each other, so that the leg pole body 31 can extend or shorten to meet the positional changes between the power module 1 and the leg shell 32 when the human walks, and can transmit hip extension or hip flexion torque at the same time. The upper ends of the two upper leg pole sections 311 are respectively connected to the power module based on the corresponding leg pole extension and retraction axis 34. The stator output ends 1112 on both sides and the reducer output arm 123 are rotatably connected. The leg extension shaft 34 is parallel to the sagittal plane of the human body and perpendicular to the leg body 31. It can support the leg body 31 to perform inward and outward movements while transmitting the torque of the power output. The leg shell 32 is parallel to the human thigh and is fixed to the human thigh by the leg belt 33. The leg shell 32 has a leg shell rotating shaft 321 that is horizontally arranged parallel to the coronal plane. The lower section 312 of the leg rod 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 body 31 and the leg shell 32 when the human walks.

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

[0040] The power module 1, waist module 2, and leg bar module 3 constitute the main functional framework of an embodiment of the front-mounted walking assistance device of the present invention. Its working principle is as follows: The rotor 112 in the power module 1 rotates relative to the stator 111 under drive, causing the stator output end 1112 to rotate relative to the reducer output arm 123, which in turn causes the left and right leg bar bodies 31 to swing relative to each other. This, in turn, causes the human thigh, which is connected to the end of the leg bar body 31, to swing differentially forward and backward. This satisfies the differential swing between the two lower limbs of the human body, applying a assist torque to help one side of the body step forward while the other side pushes backward, making walking easier and less strenuous. When the human body bends forward... When the waist or torso leans back, the abdominal frame 21 is fixed to the human torso, and the power module 1 is fixed to the human lower limbs through the leg bar module 3. The base shaft 1113 and the power fixing shaft 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. This can support the movement between the human torso and the human lower limbs, that is, support the simultaneous rotation of both lower limbs relative to the torso, thereby meeting the needs of human squatting and sitting postures. The leg bar extension and retraction shaft 34 is perpendicular to the leg bar body 31. It can transmit the torque output by the power module 1 and support the abduction or adduction of the human legs, meeting the needs of flexible movement of the human lower limbs.

[0041] The leg pole module 3 also includes an adjustable leg shell suspension rope 35. The upper end of the leg shell suspension rope 35 is fixed to the waist module 2 or the upper section 311 of the leg pole, and the lower end of the leg shell suspension rope is fixed to the leg shell 32 or the leg strap 33. The leg shell suspension rope 35 can keep the relative position of the leg shell 32 or the leg strap 33 with the human thigh fixed when the upper section 311 and the lower section 312 of the leg pole slide relative to each other, ensuring the stability of the front walking assistance device.

[0042] like Figure 1 , Figure 3 , Figure 4As shown, the sensing control system 4 is used to sense human body movements and control the output torque. The sensing control system 4 includes a drive module 41, a motor encoder 42, and an angle sensor 43. The motor encoder 42 includes an encoding magnet 421 and an encoding sensing circuit 422. The encoding magnet 421 is disposed at the shaft end of the rotor shaft 113 and close to the encoding sensing circuit 422. The encoding sensing circuit 422 is fixedly disposed and close to the encoding magnet 421. In this embodiment, the encoding sensing circuit 422 is specifically disposed 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 causes the encoding magnet 421 to rotate relative to the encoding sensing circuit 422, which is then 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 located at the rotation center of the gear set output end 1222 or the reducer output arm 123 and rotates with the reducer output arm 123. The angle sensing circuit 432 is fixed to the reducer housing 121 and extends to the rotation center of the gear set output end 1222. The rotation of the reducer output arm 123 relative to the reducer housing 121 causes the angle magnet 431 to rotate relative to the angle sensing circuit 432, which is then 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 two side leg bodies 31.

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

[0044] The battery module 5 is mounted on the abdominal frame 21 and is electrically connected to the drive module 41. The battery module 5 may include two sets of batteries, which are respectively mounted on the left and right wings 212 of the frame. For users with different waist widths, the battery module 5 and the two wings 212 of the frame can be adjusted together to adjust their position 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. The power module 1 includes a motor module 11 and a reduction mechanism 12, which together with the drive module 41 fixed thereon rotate relative to the waist module 2. The battery module 5 is fixed on the waist module. In order to satisfy the relative rotation between the power module 1 and the waist module 2, the power cord 51 needs to be bent continuously during the operation of the device of the present invention, which reduces the service life of the power cord 51.

[0046] To solve the above problems, one end of the power cord 51 is connected to the battery module 5, extends to the vicinity of the center 211 of the frame and is fixed thereto, spirals 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 located on the front side of the lower abdomen. To facilitate movement and improve the user experience, the power module 1 includes a reduction mechanism 12 and a motor module 11 with small diameters, both of which 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 line 51 can be spirally wound around it.

[0048] like Figure 3 , Figure 4 As shown, in order to make the device of the present invention thin and 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 fixed on the stator output end 1112, close to the motor rotor 112. The encoding sensing circuit 422 is arranged on it, so as to make the device of the present invention more compact and thin.

[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 located on the side away from the reduction mechanism 12, and the stator output end 1112 is located on the side close to the reducer housing 121. The stator output end 1112 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 Embodiment 2 of the front walking assistance device of the present invention. This embodiment is similar in structure to Embodiment 1, both including a power module 1, a waist module 2, a leg bar module 3, a sensor control system 4, and a battery module 5; wherein the power module 1 is horizontally positioned near the lower abdomen of the human body, its main body is cylindrical, and its central axis 13 is also horizontally positioned and parallel to the coronal plane of the human body; the waist module 2 includes an abdominal frame 21, which is V-shaped, with its center 211 positioned in the lower abdomen of the human body, and the two wings 212 of the frame extending to the sides near the waist of the human body; the waist module 2 also has a waist belt 22, which wraps around the back of the waist of the human body and is connected to the two wings 212 of the frame on both sides of the waist, fixing the abdominal frame 21 to the waist of the human body.

[0051] The difference between Embodiment 2 and Embodiment 1 is that its power module 1 includes two motor modules 11 and two reduction mechanisms 12. The two motor modules 11 are arranged close together, and the two reduction mechanisms 12 are distributed on the outside of the two motor modules 11. Each 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. Each reduction mechanism 12 includes a reducer housing 121, a reducer gear set 122, and a reducer output arm. The two stators 111 are respectively connected to the two reduction mechanisms 12. The speed reducer housing 121 is fixed together, and the left and right rotors 112 are arranged back-to-back, both located near the center of the lower abdomen. The speed reducer gear set 122 includes a gear set input end 1221 and a gear set output end 1222. Both gear set input ends 1221 are located near the center of the lower abdomen. The two rotor shafts 113 pass through the corresponding stators 111 and are connected to the corresponding gear set input ends 1221. The gear set output ends 1222 are located on the outer side away from the center of the lower abdomen and are connected to the speed reducer output arms 123 distributed on the left and right sides. Similar to Embodiment 1, the speed reducer output arms 123 can rotate perpendicular to the central axis to output power under drive. The lower ends of the two speed reducer output arms 123 are rotatably connected to the two leg rod modules 3 through the corresponding leg rod extension and retraction shafts 34.

[0052] Unlike Embodiment 1, in Embodiment 2, the reducer housing 121 and motor stator 111 are fixedly connected to the frame center 211 rather than rotatedly connected. The reducer housing 121 has a reducer housing fixing block 1211, which fixes the reducer housing 121 to the frame center 211. Furthermore, in Embodiment 2, the drive module 41 has a drive module fixing block 411, which fixes the drive module 41 to the frame center 211.

[0053] Example 2 includes two sets of motor encoders 42 and two sets of angle sensors 43. The encoding magnet 421 is still set at the shaft end of the rotor shaft 113, close to the drive module 41. The encoding sensing circuit 422 is integrated on the drive module 41, close to the encoding magnet 421. The angle sensor 43 is set in the same way as in Example 1, and will not be described again.

[0054] Compared to Embodiment 1, Embodiment 2 has a more complex, heavier, and more expensive structure; however, Embodiment 2 can output bending or stretching torque, providing stretching torque when the wearer sits down and stands up to help them get up; at the same time, Embodiment 2 can apply assist torque independently to the left and right sides respectively, which can meet the diverse needs of users; in addition, the usable 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, thus improving reliability.

[0055] As can be seen from the above, Embodiment 1 and Embodiment 2 have similar frame structures, and are the same in terms of wearing position on the human body and assist principle. However, the number of motor modules 11 and reducer housings 121 they contain are different, resulting in different device weights and costs. Users can choose different embodiments to use according to their own circumstances.

[0056] Figure 6 This is a side view schematic diagram of an embodiment 3 of the front-mounted walking assistance device of the present invention. This embodiment includes the same power module 1, waist module 2, leg pole module 3, sensing and control 4, and battery module 5 as in embodiment 1 or embodiment 2; the difference is that the waist module 2 in this embodiment has a shoulder strap 23, which or the waist belt 22 fixes one side of the leg pole module 3 to the human torso; a load 6 is fixed to the end of the other side of the leg pole module 3, 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 holding 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 modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0058] The above description describes specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A front-mounted walking assistance device, characterized in that, The front-mounted walking assistance device includes a power module, a waist module, and a leg bar module; the power module is horizontally positioned 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, with the plane of rotation perpendicular to the central axis; The waist module includes an abdominal frame, which includes a frame center and two frame wings connected thereto. The frame center is located in the lower abdomen of the human body; the two frame wings extend to both sides to the vicinity of the waist of the human body. The leg pole module includes a leg shell and a leg belt. There are two leg pole modules. The upper ends of the two leg pole modules are rotatably connected to the two ends of the power module based on the corresponding leg pole extension and retraction axis. The leg pole extension and retraction axis is parallel to the sagittal plane of the human body and perpendicular to the upper end of the leg pole module. 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 and can rotate relative to the stator based on the rotor shaft. The rotor shaft extends into the reduction mechanism. The reduction mechanism includes a reducer housing, a reducer gear set, and a reducer output arm. The reducer housing is drivenly connected to the stator. The reducer gear set includes a gear set input end and a gear set output end. The gear set input end is close to the motor module and is drivenly connected to the rotor shaft. The gear set output end is drivenly connected to the reducer output arm. The reducer output arm is drivenly connected to the upper end of the leg module. Under drive, the reducer output arm can rotate perpendicular to the central axis to output power. The waist module is fixed to the human waist and abdomen, and the power module is rotatably connected to the waist module along the central axis; The stator includes a stator base and a stator output end, which are connected across the rotor via a drive connection. The stator base has a base shaft, the axis of which 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 frame has a centrally located power fixing shaft with a power fixing shaft hole that mates with the outer diameter of the base shaft to form a rotary connection. The front-mounted walking assist device also includes a battery module and a drive module. The battery module is mounted on the waist module, and the drive module is mounted on the power module. The battery module and the drive module are electrically connected via a power line, which spirals around the base shaft. The reduction mechanism and the motor module both have cylindrical structures, and the diameter of the base shaft is smaller than that of the reduction mechanism and the motor module. The battery module is mounted on both wings of the frame. One end of the power line is connected to the battery module, extends to the vicinity of the center of the frame and is fixed thereto, spirals around the base shaft and is then fixed to the stator, and is electrically connected to the drive module. The base shaft and the power fixed shaft on the abdominal frame rotate relative to each other. The power module as a whole can rotate relative to the waist module based on the central axis of the power module to support the movement between the human torso and the human lower limbs, and support the simultaneous rotation of both lower limbs relative to the torso. The two wings of the frame on both sides are respectively arranged on both sides of the center of the frame and are slidably connected to the left and right ends of the center of the frame; the center of the frame and the two wings of the frame are both rigid mechanisms; the waist module is also equipped with a waist belt, which wraps around the back of the waist and is connected to the two wings of the frame on both sides of the waist to fix the abdominal frame to the waist of the human body. The power module is also indirectly fixed to the waist of the human body through the abdominal frame, and it can rotate relative to the waist of the human body along the central axis. When the front walking assistance device applies a hip extension torque to one side of the wearer, a corresponding reaction torque, i.e., a hip flexion torque, will be generated on the other side. At this time, one side will apply pressure to the thigh of the human body through the leg shell, and the other side will apply a pulling force to the thigh of the human body through the leg belt. Correspondingly, the abdominal frame will be subjected to a rotational torque in the horizontal plane. The rigid frame wings will squeeze the waist of the human body on one side and tighten the waist belt on the other side, thereby balancing the derivative horizontal rotational torque brought about by the assistance device applying assistance to the human body.

2. The front-mounted walking assistance device according to claim 1, characterized in that, The drive module is arranged parallel to the rotation plane of the rotor.

3. The front-mounted walking assistance device according to claim 1, characterized in that, Also includes: A sensing and control system, which includes a motor encoder and an angle sensor; The motor encoder includes an encoding magnet and an encoding sensing circuit. The encoding magnet is disposed at the shaft end of the rotor shaft, and the encoding sensing circuit is fixedly disposed and close to the encoding magnet. The angle sensor includes an angle magnet and an angle sensing circuit. The angle magnet is located at the rotation center of the gear set output end or the reducer output arm. The angle sensing circuit is fixed to the reducer housing and extends to the rotation center of the gear set output end. The drive module is electrically connected to the motor encoder and the angle sensor. The drive module can control the rotation of the motor module or output torque based on the information sensed by the motor encoder and the angle sensor.

4. The front-mounted walking assistance device according to claim 1, characterized in that, There are two motor modules and two reduction mechanisms; the two reduction mechanisms are located on the outside of the two motor modules. The two stators are fixedly connected to the two reducer housings respectively, and the two rotors are arranged back to back, both located near the center of the lower abdomen of the human body; the reducer gear set includes a gear set input end and a gear set output end, and the two gear set input ends are both located 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 for transmission. Both gear sets have their output ends located on the outer side away from the center of the human abdomen, and are respectively connected to the output arms of the reducers. The output arms of the reducers can rotate perpendicular to the central axis to output power under drive. The lower ends of the two output arms of the reducers are rotatably connected to the two leg modules through the corresponding leg extension and retraction shafts. The reducer housing has a reducer housing fixing block, which fixes the reducer housing to the center of the frame.

5. The front-mounted walking assistance device according to any one of claims 1-4, characterized in that, The leg pole module also includes a leg pole body; the leg pole body is arranged along the direction of the human thigh, and the leg pole body includes an upper leg pole section and a lower leg pole section, which are slidably connected and can slide relative to each other, so that the leg pole 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 pivot axis arranged horizontally parallel to the coronal plane, and the lower leg pole body and the leg shell are rotatably connected based on the leg shell pivot axis.

6. The front-mounted walking assistance device according to claim 5, characterized in that, The leg pole module also includes an adjustable leg shell suspension rope, the upper end of which is fixed to the waist module or the upper section of the leg pole, and the lower end of which is fixed to the leg shell or leg strap.

7. The front-mounted walking assistance device according to claim 6, characterized in that, The waist module fixes one side of the leg bar module to the human torso, while the lower end of the other leg bar module is fixed with a load. The power module can lift the leg bar module on the side with the load.

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