Walking assistance device with differential transmission mechanism

Abstract

A walking assistance device with a differential transmission mechanism, comprising a power module (1), a waist module (2), and leg rod modules (3). The power module (1) is horizontally arranged in front of a human body near the lower abdomen. A rotation axis (15) of the power module is horizontally arranged and parallel to the coronal plane of the human body. The power module (1) comprises a motor module (11), a speed reduction mechanism (12), a differential transmission mechanism (13), a first power output end (16), and a second power output end (17). The motor module (11) is in transmission connection to an input end (123) of the speed reduction mechanism (12). The differential transmission mechanism (13) is in transmission connection at one end to an output end (124) of the speed reduction mechanism (12) and the first power output end (16), and at the other end to the second power output end (17). On the basis of the differential transmission mechanism (13), rotation of an output end (125) of the speed reduction mechanism (12) can drive the first power output end (16) and the second power output end (17) to rotate in opposite directions relative to each other. The walking assistance device has advantages such as light weight, small storage volume, small occupied space, low complexity, and body-hugging compactness.

Description

Travel assist device with differential transmission mechanism

[0001] This application is based on and claims priority to the Chinese patent application with application number 202410134521.X and application date January 31, 2024. The entire contents of the application are hereby introduced as a whole into this application. Technical Field

[0002] The present application relates to the field of wearable exoskeleton devices, and in particular to a walking assistance device with a differential transmission mechanism. Background Art

[0003] In daily life, humans often desire to enhance lower limb strength and endurance. Wearable powered exoskeletons are devices that meet this need. Wearable powered exoskeletons with walking assistance are generally referred to as walking assistance devices. Walking assistance devices can help people walk farther, climb higher, and exercise more effectively. Numerous documents have been published describing the mechanisms for implementing such walking assistance devices.

[0004] In the existing walking assistance device, the power modules are distributed at the hip joints on both sides of the human body, and the waist is connected to the left and right power modules through a rigid waist bar. This type of device requires the use of dual power modules, 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 certain manufacturing costs. Moreover, because the left and right power modules of this type of device are wrapped around the user's waist, its volume is often relatively large, which makes it difficult to carry.

[0005] To solve the above problems, the existing technology provides some improvement solutions, such as using a single power module to drive two legs to walk, but the existing improvement solutions still have problems such as large implementation space and high implementation complexity. Application Contents

[0006] The purpose of this application is to overcome the defects of the prior art and provide a walking assistance device that is light in weight, small in storage volume, small in implementation space, low in complexity, and compact and close-fitting.

[0007] To achieve the above objectives, the embodiments of the present application propose;

[0008] A walking assist device with a differential transmission mechanism, the walking assist device comprising a power module, a waist module and a leg rod module;

[0009] The power module is horizontally arranged near the lower abdomen in front of the human body, and the rotation axis of the power module is horizontally arranged and parallel to the coronal plane of the human body; the power module includes a motor module, a reduction mechanism, a differential transmission mechanism, a first power output end, and a second power output end; the motor module is transmission-coupled to the input end of the reduction mechanism, one end of the differential transmission mechanism is transmission-coupled to the output end of the reduction mechanism and the first power output end, and the other end of the differential transmission mechanism is transmission-coupled to the second power output end; based on the differential transmission mechanism, the rotation of the output end of the reduction mechanism can drive the first power output end to rotate in the opposite direction relative to the second power output end;

[0010] The waist module is arranged around the waist of the human body and is transmission-connected to the power module. The power module can rotate relative to the waist module.

[0011] The upper portion of the leg rod module is distributed on both sides of the power module and is transmission-connected to the first power output end and the second power output end respectively.

[0012] The walking assistance device provided in the embodiment of the present application has the following advantages: 1. Light weight, its weight is only about 60% of the existing walking assistance device distributed on the human waist and both hip joints; 2. Small storage volume, it eliminates the rigid annular waist bar connecting the left and right sides, greatly reducing the storage volume; 3. Low cost, it only needs one power module to work normally; 4. Compact and close-fitting, the power module is arranged near the lower abdomen on the front of the human body, the power diameter is small, and there are no protruding rigid structures on the left and right sides and the back, which does not affect the human body's squatting, running and jumping, and does not affect riding in a car or sitting on a chair with armrests, and the overall experience is good; 5. It has a small space and low complexity, the motor module and the deceleration mechanism in the power module are more compact, and the differential motion of the power module is realized through a simple differential transmission mechanism; the complex wiring harnesses of the motor and drive module are all fixedly wired, avoiding the reliability problems caused by high-frequency winding of the wiring harness. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0014] FIG1 is a schematic diagram of a power module embodiment 1 of the present application;

[0015] FIG2 is a front view of a walking assist device according to an embodiment 1 of the present invention;

[0016] FIG3 is a side view of a walking assist device according to an embodiment 1 of the present invention;

[0017] FIG4 is a side view of the power module and leg rod module of the present application in walking state;

[0018] FIG5 is a side view of the power module and leg rod module of the present application in a sitting position;

[0019] FIG6 is a schematic diagram of a power module embodiment 2 of the present application;

[0020] FIG7 is a schematic diagram of a power module embodiment 3 of the present application;

[0021] FIG8 is a side view of a second embodiment of the walking assist device of the present application.

[0022] The reference numerals are as follows:

[0023] 1. Power module; 11. Motor module; 111. Stator; 1111. Motor three-phase line; 112. Rotor; 113. Rotor shaft; 12. Speed ​​reduction mechanism; 121. Speed ​​reducer housing; 122. Speed ​​reducer gear set; 123. Speed ​​reducer input; 124. Speed ​​reducer output; 13. Differential transmission mechanism; 131. Left differential gear set; 1311. First differential gear; 1312. Second differential gear; 132. Right transmission gear set; 1321. First transmission gear; 1322, second transmission gear; 1323, third transmission gear; 133, differential drive shaft; 134, left differential mount; 135, right transmission mount; 136, reducer differential mount; 14, power module cover; 141, first connection end; 142, second connection end; 15, rotation axis; 16, first power output end; 17, second power output end; 18, universal joint; 181, first universal joint; 182, second universal joint;

[0024] 2. Waist module; 21. Waist frame front end; 211. Waist frame connecting shaft; 22. Waist frame main body; 23. Waist frame rear end; 24. Back waist belt;

[0025] 3. Leg rod module; 31. Leg rod upper section; 32. Leg rod body; 321. Leg rod chute; 33. Leg rod lower section; 34. Leg rod retraction and extension axis; 35. Leg shell; 351. Leg shell body; 352. Leg shell chute; 353. Pulley; 354. Spherical shaft; 36. Leg strap; 37. Leg shell sling;

[0026] 4. Sensing control system; 41. Drive module; 411. Drive module fixing block; 42. Motor encoder; 421. Encoding magnet; 422. Encoding sensing circuit; 43. Main control circuit; 44. Main control drive harness;

[0027] 5. Battery module; 51. Power cord. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0029] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0030] It should also be understood that the terms used in this specification of the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present application. As used in the specification of the embodiments of the present application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] As shown in Figures 1 and 2, the walking assistance device of the present application includes a power module 1, a waist module 2 and a leg rod module 3, wherein the power module 1 embodiment 1 is horizontally arranged near the lower abdomen in front of the human body, and the rotation axis of the power module is horizontally arranged and parallel to the coronal plane of the human body. The power module 1 includes a motor module 11, a reduction mechanism 12, a differential transmission mechanism 13, a power module cover 14, a first power output end 16 and a second power output end 17; the motor module 11 and the reduction mechanism 12 are both cylindrical structures, and the motor module 11 and the reduction mechanism 12 are arranged side by side and are both distributed on the rotation axis 15. The motor module 11 includes a stator 111 and a rotor 112. The stator 111 is arranged on a side close to the reduction mechanism 12; the rotor 112 is arranged on a side away from the reduction mechanism 12. The rotor 112 has a rotor shaft 113, which passes through the stator 111 and extends into the reduction mechanism 12. The rotor 112 can rotate relative to the stator 111 based on the rotor shaft 113; the reduction mechanism 12 includes a reducer housing 121, a reducer gear set 122, a reducer input end 123 and a reducer output end 124. The reducer input end 123 (i.e., the input end of the reduction mechanism 12) is arranged on a side close to the motor module 11, and the reducer output end 124 (i.e., the output end of the reduction mechanism 12) is arranged on a side away from the motor module 11. The reducer housing 121 is transmission-connected to the stator 111 on a side close to the reducer input end 123; the reducer input end 123 is transmission-connected to the rotor shaft 113.

[0032] In this embodiment, the differential transmission mechanism 13 includes a first transmission group, a second transmission group and a differential transmission shaft 133, wherein the first transmission group is a left differential gear group 131, and the second transmission group is a right transmission gear group 132. The left differential gear group 131 is arranged on the outside of the reducer output end 124, and the right transmission gear group 132 is arranged on the outside of the motor module 11. The differential transmission shaft 133 is arranged parallel to the rotation axis 15 and transmission-connects the left differential gear group 131 and the right transmission gear group 132; the left differential gear group 131 includes an even number of mutually meshing gears arranged in parallel. In this embodiment, a pair of mutually meshing gear groups is adopted, namely, a first differential gear 1311 and a second differential gear Wheel 1312, the rotating shaft of the first differential gear 1311 is set on the rotating axis 15, and the first differential gear 1311 is transmission-connected with the reducer output end 124 and the first power output end 16; the second differential gear 1312 is arranged in parallel with the first differential gear 1311, and the rotating shaft of the second differential gear 1312 is set on the axis of the differential drive shaft 133, and is transmission-connected with one end of the differential drive shaft 133. The rotational motion of the reducer output end 124 is transmitted to the differential drive shaft 133 after being transmitted by the left differential gear set 131, and rotates in opposite directions, that is, the reducer output end 124 and the differential drive shaft 133 rotate synchronously in opposite directions. The right transmission gear set 132 includes an odd number of parallel gears meshing with each other. In this embodiment, three transmission gears are used, namely a first transmission gear 1321, a second transmission gear 1322 and a third transmission gear 1323. The rotating shaft of the first transmission gear 1321 is set on the axis of the differential transmission shaft 133 and the first transmission gear 1321 is transmission-connected to the other end of the differential transmission shaft 133. The rotating shaft of the third transmission gear 1323 is set on the rotation axis 15 and the third transmission gear 1323 is transmission-connected to the second power output end 17. The second transmission gear 1322 is rotationally connected to the first transmission gear 1321 and the third transmission gear 1323; through the mutual rotational meshing of the first transmission gear 1321, the second transmission gear 1322 and the third transmission gear 1323, the rotation of the differential transmission shaft 133 is translated to the rotating shaft of the third transmission gear 1323 set on the rotation axis 15.

[0033] The working principle of the power module 1 of this embodiment is as follows: the rotation of the rotor 112 in the motor module 11 drives the reducer output end 124 to rotate, and then drives the first differential gear 1311 to rotate in the same direction as the reducer output end 124; after the gear set of the left differential gear set 131 is engaged and transmitted, the reducer output end 124 rotates and translates to the differential transmission shaft 133 and the rotation direction is opposite; after the gear set of the right transmission gear set 132 is engaged and transmitted, the reducer output end 124 rotates and translates back to the rotation axis 15 and the rotation direction is opposite; in this way, the rotation of the reducer output end 124 will drive the first power output end 16 to rotate at the same time coaxially and in opposite directions relative to the second power output end 17, realizing that one power module drives the coaxial differential rotation output distributed on both sides of the power module.

[0034] In other embodiments of the power module 1, the same effect can be achieved by swapping the positions of the left differential gear set 131 and the right transmission gear set 132. Furthermore, the number of gears in the left differential gear set 131 and the right transmission gear set 132 can be adjusted as needed, but ultimately, the first power output end 16 and the second power output end 17 must be coaxial and rotate in opposite directions. These simple variations or substitutions that do not require inventive effort are within the scope of protection of this application.

[0035] As shown in Figures 1 and 2, the differential transmission mechanism 13 also has a left differential fixed seat 134 and a right transmission fixed seat 135. The left differential fixed seat 134 is fixed to the reducer housing 121; the right transmission fixed seat 135 is fixed to the reducer housing 121 through a reducer differential fixed plate 136; the left differential gear set 131 is rotationally connected to the left differential fixed seat 134 through its rotating shaft, and the right transmission gear set 132 is rotationally connected to the right transmission fixed seat 135 through its rotating shaft; in this way, the stator 111, the reducer housing 121, the left differential fixed seat 134 and the right transmission fixed seat 135 are fixed together to form a fixed large base, and the rotor 112, the reducer gear set 122, the left differential gear set 131 and the right transmission gear set 132 can all rotate relative to the above-mentioned large base.

[0036] As shown in Figures 1 and 2, the power module 1 also includes a power module housing 14. The reducer housing 121, the left differential mounting base 134, and the right transmission mounting base 135 are all fixed to the power module housing 14. The power module housing 14 has two connection points on its left and right sides: a first connection end 141 and a second connection end 142, which are used for rotational connection with the waist module 2 described below.

[0037] As shown in Figures 2 and 3, they are schematic diagrams of different viewing angles of a walking assist device embodiment 1 having the power module 1. The 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.

[0038] The waist module 2 is arranged around the human waist, and the two sides of the waist module 2 are rotationally connected to the first connection end 141 and the second connection end 142 respectively through the waist frame connecting shaft 211; the rotational connection can support the waist module 2 and the power module 1 to rotate freely relative to each other based on the waist frame connecting shaft 211; the waist frame connecting shaft 211 is arranged horizontally, that is, parallel to the rotation axis of the power module, so as to support the power module 1 to extend or flex in the sagittal plane relative to the waist module 2.

[0039] Specifically, in this embodiment, the waist module 2 includes a waist frame front end 21, a waist frame main body 22, a waist frame rear end 23 and a back waist belt 24; the waist frame front end 21 is distributed on the left and right sides of the power module 1, and is respectively rotatably connected to the first connecting end 141 and the second connecting end 142 based on an axis parallel to the rotation axis 15 (i.e., the waist frame connecting axis 211), that is, the power module 1 can rotate downward relative to the waist module 2; the waist frame rear end 23 is distributed near the left and right sides of the human body's back waist, and the waist frame rear ends 23 on both sides are connected together by the back waist belt 24; the waist frame main body 22 connects the waist frame front end 21 and the waist frame rear end 23 together; the power module 1 and the waist module 2 form a closed loop structure that fits tightly against the human body's waist, and tightening the back waist belt 24 can tightly fix the power module 1 to the front lower abdomen of the human body.

[0040] The leg rod module 3 includes a leg rod upper section 31, a leg rod main body 32, a leg rod lower section 33, a leg rod retraction and expansion shaft 34, a leg shell 35, a leg belt 36 and a leg shell sling 37. The leg rod main body 32 is arranged on the front side of the human thigh and is arranged along the direction of the human thigh. The upper end of the leg rod main body 32 is rotatably connected to the leg rod upper section 31 through the leg rod retraction and expansion shaft 34. The leg rod retraction and expansion shaft 34 is arranged perpendicular to the extension direction of the leg rod main body 32 to meet the degree of freedom of abduction and adduction of the human leg. The lower end of the leg rod main body 32 is transmission-connected to the leg rod lower section 33; the leg rod upper section 31 is distributed on the left and right sides of the power module 1, and is transmission-connected to the first power output end 16 and the second power output end 17 respectively; the leg shell 35 is arranged on the front side of the human thigh, and the leg shell 35 includes a leg shell main body 351, which is rectangular and distributed up and down along the human thigh; the leg shell main body 351 is provided with leg shells distributed up and down along the human thigh. The slide groove 352 has a sliding part in it, and in this embodiment, the sliding part is a pulley 353, and the pulley 353 can slide freely up and down in the leg shell slide groove 352; the axis of the pulley 353 is rotationally connected to the lower section of the leg rod 33 through the spherical shaft 354 to meet the requirements of different angles between the leg rod body 32 and the leg shell 35 when people of different body shapes use the walking assist device of this application. The spherical shaft 354 can make the walking assist device of this application more flexible during walking and adaptable to people of more body shapes; the leg strap 36 fixes the leg shell 35 to the human leg; the leg shell sling 37 connects the leg shell 35 to the waist module 2 to prevent the leg shell 35 from falling during exercise, and fixes the initial position of the pulley 353 and the leg shell 35.

[0041] The upper section 31 of the leg rod, the main body 32 of the leg rod, the lower section 33 of the leg rod and the leg shell 35 are all rigid structures. The power module 1 rotates and outputs power through the first power output end 16 and the second power output end 17, which can drive the leg shell 35 to lift or press the human thigh, that is, drive the human thigh to swing back and forth; the leg rod extension axis 34 is always perpendicular to the leg rod main body 32, which can support the leg rod main body 32 to perform inward and outward movements while transmitting the torque of the power output; the sliding connection formed by the lower section 33 of the leg rod and the leg shell 35 through the spherical shaft 354 and the pulley 353 can support the changes in the relative position and angle between the power module 1 and the leg shell 35 during human movement, and at the same time can transmit hip extension or hip flexion torque.

[0042] The power module 1, waist module 2 and leg rod module 3 constitute the main functional framework of the walking assist device of the present application, and its working principle is as follows:

[0043] When a human body walks, the rotor 112 in the power module 1 is driven to rotate relative to the stator 111, and the rotor 112 drives the reducer output end 124 to rotate relative to the reducer housing 121, and the reducer output end 124 drives the first differential gear 1311 to rotate relative to the reducer housing 121, thereby driving the first differential gear 1311 to rotate in the opposite direction relative to the third transmission gear 1323, and correspondingly driving the first power output end 16 to rotate in the opposite direction relative to the second power output end 17; further driving the left and right leg rod bodies 32 to swing relative to each other, and finally driving the human thigh fixed to the leg rod lower section 33 to swing forward and backward differentially, thereby applying an assist torque to the human body to help one side of the human body move forward while the other side pushes backward, making walking more effortless and easier; as shown in Figure 4, when the human thigh swings forward and backward differentially, the left and right leg rod modules 3 are respectively located on the front and rear thighs, and at this time the power module 1 is located between the left and right leg rod modules 3.

[0044] When the human body bends over, leans back, or squats and sits down, the left and right legs of the human body stretch or flex simultaneously relative to the torso. Since the waist module 2 is fixed to the human torso, the leg rod module 3 and the human thigh stretch or flex simultaneously relative to the human torso. At this time, the power module 1 and the left and right leg rod modules 3 stretch or flex together relative to the waist module 2. The free rotation connection between the first connecting end 141, the second connecting end 142 and the waist module 2 can meet this stretching or flexing requirement, so that the human body can bend over, lean back, squat and sit down freely and unobstructed; as shown in Figure 5, at this time, the left and right leg rod modules 3 and the power module 1 stretch or flex together relative to the waist module 2. Figure 5 shows that when the human body moves from standing to sitting, the leg rod module 3 and the power module 1 rotate from position A to position B relative to the waist module 2.

[0045] The sensor control system 4 is used to sense human body movements and control the output of torque, and includes a drive module 41 , a motor encoder 42 and a main control circuit 43 .

[0046] The driving module 41 is arranged on the right transmission fixing seat 135, close to the rotor shaft 113; the motor encoder 42 includes a coding magnet 421 and a coding induction circuit 422, and the coding induction circuit 422 is arranged on the driving module 41, close to the shaft end of the rotor shaft 113; the coding magnet 421 is arranged at the shaft end of the rotor shaft 113, close to the coding induction circuit 422; the rotation of the rotor 112 relative to the stator 111 will cause the coding magnet 421 to rotate relative to the coding induction circuit 422, thereby 42 sensed; the drive module 41 is electrically connected to the motor encoder 42, and is also electrically connected to the motor module 11 through a motor harness. In this embodiment, the motor harness is a motor three-phase line 1111. The drive module 41 controls the rotation or output torque of the motor module 11 according to the information of the motor encoder 42; the main control circuit 43 is arranged near the motor module 11, and is electrically connected to the drive module 41 through a main control drive harness 44. The motor module 11, the deceleration mechanism 12, the differential transmission mechanism 13, and the sensor control system 4 are all arranged in the power module cover 14.

[0047] The battery module 5 is arranged on the waist module 2, near the rear end 23 of the waist frame; the battery module 5 may include two batteries, located on the left and right sides respectively, and the power line 51 of the battery module 5 extends along the waist frame body 22 to the front end 21 of the waist frame, and crosses the waist frame connecting shaft 211 to enter the power module cover 14, and is electrically connected to the drive module 41 and the main control circuit 43.

[0048] When a single power module is used for driving, the entire device will be simpler and lighter. However, due to the long-term and large-scale winding and twisting of the circuit harness in the power module, it may cause poor reliability problems. In view of the above problems, the structural characteristics of this application can be combined to solve the above problems well. Among all the wiring harnesses, the motor three-phase line 1111 and the main control drive harness 44 are wired along the shell of the power module. In this embodiment, the motor three-phase line 1111 is wired along the reducer differential fixing plate 136, and the main control drive harness 44 is wired along the power module cover 14. Since there is no relative movement among the reduction mechanism 12, the drive module 41, the main control circuit 43 and the power module cover 14, the above wiring harnesses are all static wiring (i.e., fixed wiring), and there is no continuous self-twisting or winding and bending. The wiring is fixed, simple, and reliable, avoiding the reliability problems caused by high-frequency winding of the wiring harness; the power cord 51 is led out from the waist module 2 to the power module 1, and there is a certain degree of continuous twisting through the waist frame connecting shaft 211, but the power cord 51 has relatively few wires and is relatively thick, and has a strong ability to withstand long-term twisting, and its reliability is better guaranteed.

[0049] In the waist module 2, the waist frame front end 21, waist frame body 22, and waist frame rear end 23 are all rigid or semi-rigid structures. When the walking assist device of the present application applies a hip extension torque to one side of the wearer, a corresponding reaction torque, i.e., a hip flexion torque, is generated on the other side. At this time, one side applies pressure to the human thigh through the leg shell 35, and the other side applies tension to the human thigh through the leg belt 36. Accordingly, the waist module 2 is subjected to a rotational torque in the horizontal plane. The rigid waist frame front end 21 squeezes the human waist on one side, and the waist frame rear end 23 and the back waist belt 24 tighten the human waist on the other side, thereby balancing the derived horizontal rotational torque caused by the assist device applying power to the human body, ensuring that the device can operate stably.

[0050] As shown in FIG6 , it is a schematic diagram of the structure of the embodiment 2 of the power module 1 of the present application. In this embodiment, by adopting two or more universal joints 18 commonly used in the industry to realize transmission, an effect similar to the right transmission gear set 132 of embodiment 1 can be achieved, that is, the universal joint 18 is used to realize the translation of the rotation axis; As shown in FIG6 , the differential transmission shaft 133 is divided into three sections, and the universal joint 18 includes a first universal joint 181 and a second universal joint 182. The differential transmission shaft 133 of the three sections is sequentially connected by the first universal joint 181 and the second universal joint 182. The first section The differential drive shaft 133 and the third section of the differential drive shaft 133 are both parallel to the rotation axis 15 of the power module 1. The first section of the differential drive shaft 133 is connected to the second differential gear 1312, and the third section of the differential drive shaft 133 is connected to the second power output end 17, thereby realizing the translation of the rotational motion; compared with the right side transmission gear set 132 in Example 1 of the power module 1 to realize the translation of the rotational motion axis, the universal joint transmission efficiency is higher and the weight is lighter, but the space it occupies is slightly larger. In actual products, a suitable transmission method is selected according to the situation.

[0051] As shown in Figure 7, it is a structural diagram of Example 3 of the power module 1 of the present application. In this embodiment, the right-side transmission gear set 132 in Example 1 is directly removed, and the differential transmission shaft 133 is directly connected to the second power output end 17 and outputs power. Compared with the power module 1 in Example 1, which realizes the translation of the rotational motion axis through the right-side transmission gear set 132, the structure of this embodiment is more streamlined and lighter, but the first power output end 16 and the second power output end 17 on the left and right sides are not on the same axis, which will bring a slight difference in force feeling on the left and right sides during operation. This transmission method can be selected according to the situation in low-end price-sensitive products.

[0052] As shown in Figure 8, it is a side view schematic diagram of embodiment 2 of the walking assist device of the present application. In this embodiment, the leg shell 35 and the leg rod lower section 33 are connected only by a spherical shaft 354, and there is no relative sliding. The relative position and angle changes between the power module 1 and the leg shell 35 when the human body walks are satisfied by the relative sliding between the leg rod main body 32 and the leg rod lower section 33. In this embodiment, a leg rod slide groove 321 is provided on the leg rod main body 32, and the upper end of the leg rod lower section 33 is provided with a sliding member. In this embodiment, the sliding member can be a pulley 353, and the pulley 353 can be The leg rod slot 321 can slide freely up and down, so that the leg rod lower section 33 can be extended and retracted relative to the leg rod main body 32. Alternatively, in other embodiments, a leg rod slot 321 can be provided at the upper end of the leg rod lower section 33, and the leg rod main body 32 has a pulley 353 at the lower end. The pulley 353 can slide freely up and down in the leg rod slot 321, so that the leg rod lower section 33 can be extended and retracted relative to the leg rod main body 32 through the pulley 353. Both schemes can meet the relative position and angle changes between the power module 1 and the leg shell 35 when the human body walks.

[0053] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, as long as these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0054] The above description is a specific embodiment of the present application, but the scope of protection of the present application 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 this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A walking assist device with a differential transmission mechanism, characterized in that: The walking assist device includes a power module, a waist module and a leg rod module; The power module is horizontally arranged near the lower abdomen in front of the human body, and the rotation axis of the power module is horizontally arranged and parallel to the coronal plane of the human body; the power module includes a motor module, a reduction mechanism, a differential transmission mechanism, a first power output end, and a second power output end; the motor module is transmission-coupled to the input end of the reduction mechanism, one end of the differential transmission mechanism is transmission-coupled to the output end of the reduction mechanism and the first power output end, and the other end of the differential transmission mechanism is transmission-coupled to the second power output end; based on the differential transmission mechanism, the rotation of the output end of the reduction mechanism can drive the first power output end to rotate in the opposite direction relative to the second power output end; The waist module is arranged around the waist of the human body and is transmission-connected to the power module. The power module can rotate relative to the waist module. The upper portion of the leg rod module is distributed on both sides of the power module and is transmission-connected to the first power output end and the second power output end respectively.

2. The walking assist device according to claim 1, characterized in that: The differential transmission mechanism includes a first transmission group and a differential transmission shaft. The first transmission group is arranged on the outside of the output end of the reduction mechanism. One end of the first transmission group is transmission-connected to the output end of the reduction mechanism and the first power output end. The other end of the first transmission group is transmission-connected to one end of the differential transmission shaft. The other end of the differential transmission shaft is directly or indirectly transmission-connected to the second power output end. The differential transmission shaft is arranged parallel to the rotation axis.

3. The walking assist device according to claim 2, characterized in that: The first transmission group includes an even number of mutually meshing differential gears arranged in parallel, the rotating shaft of the first differential gear is arranged on the rotation axis, and the first differential gear is transmission-connected to the output end of the reduction mechanism and the first power output end; the rotating shaft of the last differential gear is arranged on the axis of the differential drive shaft, and is transmission-connected to one end of the differential drive shaft.

4. The walking assist device according to claim 2, characterized in that: The power module also includes a second transmission group, which is arranged on the outside of the motor module. The second transmission group includes an odd number of parallel and mutually meshing transmission gears. The rotating shaft of the first transmission gear is arranged on the axis of the differential transmission shaft and the first transmission gear is transmission-connected to the other end of the differential transmission shaft. The rotating shaft of the last transmission gear is arranged on the rotation axis and the last transmission gear is transmission-connected to the second power output end.

5. The walking assist device according to claim 2, characterized in that: The differential drive shaft is divided into multiple sections, and two adjacent sections of the differential drive shaft are connected by a universal joint. The first section of the differential drive shaft is connected to the other end of the first transmission group, and the last section of the differential drive shaft is connected to the second power output end.

6. The walking assist device according to claim 1, characterized in that: The waist module includes a waist frame front end, a waist frame main body, a waist frame rear end and a rear waist belt; the waist frame front end is distributed on both sides of the power module and is rotatably connected to both sides of the power module based on a waist frame connecting shaft parallel to the rotation axis; the waist frame rear end is distributed near both sides of the back waist of the human body, and the waist frame rear ends on both sides are connected together through the rear waist belt; the waist frame main body connects the waist frame front end and the waist frame rear end.

7. The walking assist device according to claim 1, characterized in that: The leg rod module includes a leg rod upper section, a leg rod main body, a leg rod lower section, a leg rod retraction and extension shaft and a leg shell; The upper sections of the leg rods are distributed on both sides of the power module and are respectively connected to the first power output end and the second power output end; The leg rod body is arranged along the direction of the human thigh, and the upper end of the leg rod body is rotatably connected to the leg rod upper section through the leg rod retraction and extension axis, and the leg rod retraction and extension axis is arranged perpendicular to the extension direction of the leg rod body; The lower section of the leg rod is transmission-connected to the lower end of the leg rod body; The leg shell is transmission-connected to the lower section of the leg rod.

8. The walking assist device according to claim 7, characterized in that: The leg shell is provided with leg shell slide grooves distributed up and down, and the leg shell slide grooves are provided with sliding parts, and the sliding parts can slide freely up and down in the leg shell slide grooves; the sliding parts are rotationally connected to the lower section of the leg rod through a spherical shaft.

9. The walking assist device according to claim 7, characterized in that: The leg shell and the lower section of the leg rod are connected by a spherical shaft; The lower end of the leg rod main body is provided with a leg rod slide groove, and the upper end of the leg rod lower section is provided with a sliding part, and the leg rod lower section can be extended and retracted relative to the leg rod main body through the sliding part; or, the upper end of the leg rod lower section is provided with a leg rod slide groove, and the lower end of the leg rod main body is provided with a sliding part, and the leg rod lower section can be extended and retracted relative to the leg rod main body through the sliding part.

10. The walking assist device according to claim 6, characterized in that: The walking assist device also includes a sensor control system and a battery module; The sensing control system is used to sense human body movements and control the output of torque. The sensing control system includes a drive module, a motor encoder, and a main control circuit. The drive module is fixedly arranged in the power module. The motor encoder is used to sense the rotation information of the motor module. The main control circuit is arranged near the motor module. The drive module is electrically connected to the motor encoder. The main control circuit is electrically connected to the drive module through a main control drive harness. The drive module is electrically connected to the motor module through a motor harness. The motor harness and the main control drive harness are fixedly wired along the housing of the power module. The battery module is arranged on the waist module; the power line of the battery module extends along the waist frame body to the front end of the waist frame, crosses the waist frame connecting axis and enters the power module, and is electrically connected to the drive module and the main control circuit.

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