CN111529319A - Step climbing booster, control device and control method - Google Patents

Abstract

The application relates to the technical field of walking auxiliary equipment, in particular to a step booster, a control device and a control method. The invention provides a step climbing booster, which comprises a first supporting piece, a second supporting piece and a driving device, wherein the first supporting piece is hinged with the second supporting piece; the driving device is in transmission connection with the first support, and the driving device is configured to drive the first support to rotate relative to the second support so as to extend the thigh and the calf. The first supporting part is fixedly connected to the thigh, the second supporting part is fixedly connected to the shank, and when the thigh and the shank of the user are bent, namely the first supporting part and the second supporting part are close to each other, the driving device drives the first supporting part to increase the angle between the first supporting part and the second supporting part, namely an auxiliary force is provided for the thigh to increase the included angle between the thigh and the shank, namely the leg of the user is straightened, and the auxiliary climbing ladder is realized.

Description

A ladder booster, control device and control method

technical field

The present application relates to the technical field of walking aids, and in particular, to a ladder booster, a control device and a control method.

Background technique

With the development of society, the problem of population aging in my country has become increasingly prominent, and the problem of lower limb motor dysfunction is also increasing with the age of the elderly. It is still difficult for the elderly and the weak to walk on flat roads, especially when going upstairs. Or it is more difficult to climb the stairs, and to improve the quality of life of this group, you need to reduce the burden of exercise aids. However, the current walking assistant devices on the market are complex in structure, inconvenient to use, have low safety performance, and have high costs, which cannot effectively meet the needs of users.

SUMMARY OF THE INVENTION

The present application provides a step booster, which includes a first support for supporting a thigh, a second support for supporting a lower leg, and a driving device, the first support and the first support The two supports are hinged; the driving device is drive-connected with the first support, and the driving device is configured to drive the first support to rotate relative to the second support, so as to make the thigh and the calf rotate stretch.

The embodiments of the present application are implemented as follows:

A step booster, comprising a first support for supporting a thigh, a second support for supporting a lower leg, and a driving device, wherein the first support is hinged with the second support; the driving A device is drivingly connected to the first support, and the drive device is configured to drive the first support to rotate relative to the second support to extend the thigh and calf. During use, the first support member is fixedly connected to the thigh, and the second support member is fixedly connected to the calf. When climbing the ladder, when the user's thigh and calf are bent, that is, the first support member and the second support member are mutually When approaching, the driving device will drive the first support member to rotate relative to the second support member, that is, provide an auxiliary force to the thigh to stretch the thigh and calf, that is, the user's leg can be straightened, and the stair climbing assistance is realized. The ladder booster product provided by the invention has the advantages of simple structure, convenient use, good safety and low cost, which can meet the needs of users.

In an embodiment of the present application: the step-up booster includes a thigh sleeve for connecting to the thigh and a calf sleeve for connecting to the lower leg; the thigh sleeve is disposed away from the first support member the end of the second support; the lower leg sleeve is disposed at the end of the second support away from the first support. The setting of the thigh sleeve is convenient for firmly connecting the first support to the thigh and preventing it from slipping;

In an embodiment of the present application: both the thigh sleeve and the lower leg sleeve are made of silicone material. Silica gel has good anti-oxidation ability and high stability, and has excellent characteristics such as non-toxic, tasteless, anti-static, fire-retardant and flame-retardant. The thigh sleeve and calf sleeve are made of silicone material to improve the user's experience.

In an embodiment of the present application: the thigh sleeve includes a first arc-shaped portion and a second arc-shaped portion, the first arc-shaped portion is hinged to the first support member, and the second arc-shaped portion is hinged to the a first support, the first arc-shaped part and the second arc-shaped part together define a first accommodation space; the lower leg sleeve includes a third arc-shaped part and a fourth arc-shaped part, the third arc-shaped part is hinged to the In the second support member, the fourth arc-shaped portion is hinged to the second support member, and the third arc-shaped portion and the fourth arc-shaped portion jointly define a second accommodating space. The thigh sleeve is set to include a first arc-shaped part and a second arc-shaped part, and at the same time, the first arc-shaped part and the second arc-shaped part jointly define a first accommodating space, and the first accommodating space is used for accommodating the user's thigh. The thigh sleeve is configured to include a first arc-shaped part and a second arc-shaped part, so that the user can make appropriate adjustments according to different sizes of the thighs according to the needs, which is convenient for different users to use. Similarly, the calf sleeve is set to include a third arc-shaped part and a fourth arc-shaped part, and the third arc-shaped part and the fourth arc-shaped part jointly define a second accommodating space, and the second accommodating space is used for accommodating the user's For the calf, the calf sleeve is configured to include a third arc-shaped part and a fourth arc-shaped part, so that the user can make appropriate adjustments according to different sizes of the calf according to the needs, which is convenient for different users.

In an embodiment of the present application, the end of the first arc-shaped portion away from the first support member is provided with first lock holes arranged at equal intervals along the length direction of the first support member, and the second The end of the arc-shaped portion away from the first support member is provided with a first lock matched with at least one of the first locking holes; the end of the third arc-shaped portion away from the second support member is provided with a flange The second lock holes are arranged at equal intervals in the length direction of the second support member, and the end of the fourth arc-shaped portion away from the second support member is provided with a second lock hole matched with at least one of the second lock holes. lock catch. A plurality of first locking holes are arranged on the first arc-shaped portion, and a first locking buckle matched with at least one of the first locking holes is arranged on the second arc-shaped portion, so that the user can adjust according to different thigh sizes of the user during use. A first lock hole and a first lock. Similarly, the third arc-shaped portion is provided with a plurality of second locking holes, and the fourth arc-shaped portion is provided with a second locking buckle matched with at least one of the second locking holes, which is convenient for the user to use according to different users. The thigh size adjusts the second locking hole and the second locking buckle.

In an embodiment of the present application: the drive device includes a drive motor, a speed reduction device and a limiting member; the speed reduction device is drivingly connected with a drive shaft of the drive motor; the limiting member is configured to limit The range of rotation of the drive shaft. Setting the drive device to include a drive motor facilitates that the drive shaft of the drive motor drives the first support member to rotate relative to the second support member, so as to stretch the thigh and the calf; it is convenient to convert the rotational speed of the drive shaft of the drive motor by setting the deceleration device , the rotation speed of the drive shaft of the drive motor can be adjusted to the user's suitable speed through the reduction device. At the same time, the driving device includes a limiter, which can limit the rotation range of the driving shaft.

In an embodiment of the present application: the step booster includes an elastic piece, the step booster includes an elastic piece, one end of the elastic piece is connected to the first support, and the other end is connected to the second support When the first support member is rotated relative to the second support member to stretch the thigh and the lower leg, the elastic member stretches and accumulates elastic restoring force. The provision of the elastic piece facilitates that after assisting the user to climb the stairs and after the driving device stops driving, the first support piece and the second support piece approach each other under the action of the elastic piece, thereby assisting the user to bend the thigh and calf to achieve the second support. Bend your legs for the second time to achieve the second step up the stairs, and then better assist in climbing the stairs.

In an embodiment of the present application: the elastic member includes at least two springs.

A control device comprising a single chip circuit, a parameter setting circuit, an angle sensor and a power supply device; the single chip circuit, the parameter setting circuit and the angle sensor are all electrically connected to the power supply device, and the power supply The device is configured to supply power to the single-chip circuit, the parameter setting circuit and the angle sensor; the parameter setting circuit is electrically connected to the single-chip circuit for inputting the first preset angle value and the single-chip circuit to the single-chip circuit. a second preset angle value; the angle sensor is configured to measure the angle between the first support member and the second support member; the input end of the single-chip circuit is connected to the angle sensor, and the angle sensor is used to The single-chip circuit transmits the angle between the first support and the second support in real time; an output end of the single-chip circuit is connected with a switch drive circuit, and the switch drive circuit is electrically connected to the drive device. connect.

A control method, the above-mentioned control device of the control method, the control method comprising:

Set the preset first preset angle value and the second preset angle value through the parameter setting circuit;

The single chip circuit accepts the angle between the first support and the second support fed back by the angle sensor, and compares the angle with the first preset angle value and the second preset angle respectively. Angle value comparison;

When the comparison result satisfies the first condition, and the first condition is that the included angle is less than or equal to the first preset angle value, the switch drive circuit of the single-chip circuit sends an instruction to make the drive device drive the first support the member to rotate relative to the second support member to stretch the thigh and calf;

When the comparison result satisfies the second condition, and the second condition is that the included angle is greater than or equal to the second preset angle value, the switch drive circuit of the single-chip circuit sends an instruction to stop the drive device from driving.

Through the technical solutions provided by at least one embodiment of the present application, at least the following beneficial effects can be achieved:

The step booster provided in the present invention includes a first support for supporting the thigh, a second support for supporting the lower leg, and a driving device, wherein the first support is hinged with the second support; The driving device is in driving connection with the first support member, and the driving device is configured to drive the first support member to rotate relative to the second support member so as to extend the thigh and the lower leg. During use, the first support member is fixedly connected to the thigh, and the second support member is fixedly connected to the calf. When climbing the ladder, when the user's thigh and calf are bent, that is, the first support member and the second support member are mutually When approaching, the driving device will drive the first support member to rotate relative to the second support member, that is, provide an auxiliary force to the thigh to stretch the thigh and calf, that is, the user's leg can be straightened, and the stair climbing assistance is realized. The ladder booster product provided by the invention has the advantages of simple structure, convenient use, good safety and low cost, which can meet the needs of users.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the drawings to be used in the embodiments. It should be understood that the following drawings illustrate only certain embodiments of the present application and should not be construed as limiting the scope of the present application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

1 is a schematic diagram of the overall structure of the step-up booster provided in Embodiment 1 of the present application in a first state;

Fig. 2 is the enlarged view of II place of Fig. 1;

3 is a schematic diagram of the overall structure of the step-up booster provided in Embodiment 1 of the present application in a second state;

FIG. 4 is a schematic structural diagram of the control device provided in Embodiment 2 of the present application.

Icon: 10-step booster; 100-first support; 200-second support; 300-drive device; 310-drive motor; 320-deceleration device; 330-limiter; 400-thigh sleeve; 410-first arc-shaped part; 412-first locking hole; 420-second arc-shaped part; 422-first locking buckle; 430-first accommodation space; 500-calf sleeve; 510-third arc-shaped part; 512- 520- the fourth arc-shaped part; 522- the second lock; 530- the second accommodating space; 600- elastic piece; 610- spring; 700- control device; 710- single-chip circuit; 720- parameter setting circuit ; 730 - angle sensor; 740 - power supply.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setting" and "connection" should be understood in a broad sense, for example, it may be a fixed connection or a connection Detachable connection, or integral connection; may be mechanical connection or electrical connection; may be direct connection, or indirect connection through an intermediate medium, or internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

Example 1:

Referring to FIGS. 1 to 3 , an embodiment of the present application provides a step booster 10 , which includes a first support member 100 for supporting the thigh, a second support member 200 for supporting the lower leg, and a driving device 300 . The first support member 100 is hinged with the second support member 200; the driving device 300 is drivingly connected with the first support member 100, and the driving device 300 is configured to drive the first support member 100 to be opposite to each other Rotate on the second support member 200 to stretch the thigh and calf.

In the embodiment of the present application, the step booster 10 includes a thigh sleeve 400 for connecting to the thigh and a calf sleeve 500 for connecting to the lower leg; the thigh sleeve 400 is disposed on the first support The end of the second support member 100 away from the second support member 200 ; the lower leg sleeve 500 is disposed at the end of the second support member 200 away from the first support member 100 . The setting of the thigh sleeve 400 is convenient for firmly connecting the first support 100 to the thigh to prevent it from slipping;

Specifically, in this embodiment, both the thigh sleeve 400 and the lower leg sleeve 500 are made of silicone material. Silica gel has good anti-oxidation ability and high stability, and has excellent characteristics such as non-toxic, tasteless, anti-static, fire-retardant and flame-retardant. Using silicone material to make the thigh sleeve 400 and the calf sleeve 500 is convenient to improve the user's experience.

It should be noted that this does not limit the specific materials of the thigh sleeve 400 and the calf sleeve 500. It can be understood that in other specific embodiments, those skilled in the art can also use the The specific materials of the thigh sleeve 400 and the lower leg sleeve 500 are set to other materials, such as elastic plastic and the like.

Specifically, in the embodiment of the present application, the thigh sleeve 400 includes a first arc-shaped portion 410 and a second arc-shaped portion 420. The first arc-shaped portion 410 is hinged to the first support member 100, and the second arc-shaped portion 410 The arc-shaped portion 420 is hinged to the first support member 100 , and the first arc-shaped portion 410 and the second arc-shaped portion 420 together define a first accommodating space 430 ; the lower leg sleeve 500 includes a third arc-shaped portion 510 and a first accommodating space 430 . Four arc-shaped portions 520 , the third arc-shaped portion 510 is hinged to the second support member 200 , the fourth arc-shaped portion 520 is hinged to the second support member 200 , the third arc-shaped portion 510 and the second support member 200 The four arc-shaped portions 520 together define the second accommodating space 530 . The thigh sleeve 400 is configured to include a first arc-shaped portion 410 and a second arc-shaped portion 420, and the first arc-shaped portion 410 and the second arc-shaped portion 420 together define a first accommodating space 430. The first accommodating space 430 is used for In order to accommodate the user's thigh, the thigh sleeve 400 is configured to include a first arc-shaped portion 410 and a second arc-shaped portion 420, so that the user can make appropriate adjustments according to different sizes of thighs according to needs, which is convenient for different users. Similarly, the calf sleeve 500 is configured to include a third arc-shaped portion 510 and a fourth arc-shaped portion 520, and the third arc-shaped portion 510 and the fourth arc-shaped portion 520 together define a second accommodating space 530, the second accommodating space 530 The space 530 is used to accommodate the user's calf, and the calf sleeve 500 is configured to include a third arc-shaped portion 510 and a fourth arc-shaped portion 520, so that the user can make appropriate adjustments according to different sizes of the calf according to needs, which is convenient for different users. use.

It should be noted that the specific structures of the thigh sleeve 400 and the calf sleeve 500 are not limited here. It can be understood that in other specific embodiments, those skilled in the art can also use the thigh sleeve 400 and the calf sleeve according to actual needs. The sleeve 500 is provided as an elastic annular member.

In the embodiment of the present application, the end of the first arc-shaped portion 410 away from the first support member 100 is provided with first locking holes 412 arranged at equal intervals along the length direction of the first support member 100 . The end of the second arc-shaped portion 420 away from the first support member 100 is provided with a first lock 422 that matches with at least one of the first locking holes 412 ; the third arc-shaped portion 510 is away from the second support The end portion of the second support member 200 is provided with second locking holes 512 arranged at equal intervals along the length direction of the second support member 200, and the end portion of the fourth arc-shaped portion 520 away from the second support member 200 is provided with at least A second lock 522 matched with the second lock hole 512 .

The first arc-shaped portion 410 is provided with a plurality of first locking holes 412, and the second arc-shaped portion 420 is provided with a first locking buckle 422 that cooperates with at least one of the first locking holes 412, so that the user can use it according to the user’s requirements. The first locking hole 412 and the first locking buckle 422 can be adjusted for different thigh sizes. Similarly, a plurality of second locking holes 512 are arranged on the third arc-shaped portion 510, and a second locking buckle 522 matched with at least one of the second locking holes 512 is arranged on the fourth arc-shaped portion 520, which is convenient for users to use , and adjust the second locking hole 512 and the second locking buckle 522 according to different thigh sizes of the user.

Specifically, in this embodiment, the driving device 300 includes a driving motor 310 , a deceleration device 320 and a limiting member 330 ; the decelerating device 320 is drivingly connected to the drive shaft of the driving motor 310 ; the limiting member 330 is configured to define the range of rotation of the drive shaft. Setting the drive device 300 to include the drive motor 310 facilitates the drive shaft of the drive motor 310 to drive the first support member 100 to rotate relative to the second support member 200 so as to stretch the thigh and calf; it is convenient to realize the conversion of the drive motor by setting the deceleration device 320 The rotational speed of the drive shaft of the drive motor 310 can be adjusted by the speed reduction device 320 to the speed suitable for the user. Meanwhile, the driving device 300 includes a limiting member 330, which can limit the rotation range of the driving shaft.

Specifically, the included angle between the limiting member 330 and the second supporting member 200 is 180°, so that the driving shaft of the driving device 300 is rotated, so that the included angle between the first supporting member 100 and the second supporting member 200 is 180° °, stop driving. That is, during use, when the included angle between the first support member 100 and the second support member 200 is 180°, the driving device 300 will stop driving to achieve the auxiliary force required for boarding. The user can bend the thigh and calf to step up the steps by themselves. At this time, the drive motor 310 facilitates the drive shaft of the drive motor 310 to drive the first support member 100 to rotate relative to the second support member 200, thereby increasing the size of the first support member 100 and the second support member 200. The angle between the second support members 200 further assists boarding, and repeating this action can realize assisted boarding.

In this embodiment, the step booster 10 includes an elastic member 600, one end of the elastic member 600 is connected to the first support member 100, and the other end is connected to the second support member 200; The elastic member 100 and the second support member 200 are rotated so that when the thigh and the calf are stretched, the elastic member 600 is stretched and the elastic restoring force is accumulated. The provision of the elastic member 600 facilitates that after assisting the user to climb the stairs, after the driving device 300 stops driving, the first support member 100 and the second support member 200 can approach each other under the action of the elastic member 600, thereby assisting the user to carry Bend to achieve the second bending of the legs, the second time to climb the steps, and then better assist in climbing the steps.

Specifically, in this embodiment, the elastic member 600 includes at least two springs 610 . It should be noted that the number of the springs 610 is not limited here, nor is the specific structure of the elastic member 600 limited. That is, in other specific embodiments, the elastic member 600 can also be set to other structures according to the needs of the user.

Example 2:

Referring to FIG. 4 , the present embodiment provides a control device 700 , and the control device 700 is used to control the above-mentioned step booster 10 . The control device 700 includes a single-chip circuit 710 , a parameter setting circuit 720 , an angle sensor 730 and a power supply device 740 ; the single-chip circuit 710 , the parameter setting circuit 720 and the angle sensor 730 are all electrically connected to the power supply device 740 , the power supply device 740 is configured to supply power to the single chip circuit 710, the parameter setting circuit 720 and the angle sensor 730;

The parameter setting circuit 720 is electrically connected to the single-chip circuit 710 for inputting a first preset angle value and a second preset angle value to the single-chip circuit 710; the angle sensor 730 is configured to measure the first support the angle between the component 100 and the second support 200; the input end of the single-chip circuit 710 is connected to the angle sensor 730, which is used to transmit the first support 100 and the The included angle between the second support members 200 ; the output end of the single-chip circuit 710 is connected with a switch driving circuit, and the switch driving circuit is electrically connected with the driving device 300 .

The present embodiment provides a control device 700, which is used in the above-mentioned step booster 10, and thus also has the above-mentioned beneficial effects.

Example 3:

This embodiment provides a control method, the control method is based on the above-mentioned control device 700, and the control method includes:

Set the preset first preset angle value and the second preset angle value through the parameter setting circuit 720;

The single-chip circuit 710 accepts the angle between the first support member 100 and the second support member 200 fed back by the angle sensor 730, and compares the angle with the first preset angle value and the second preset angle value, respectively. Angle value comparison;

When the comparison result satisfies the first condition, and the first condition is that the included angle is less than or equal to the first preset angle value, the switch driving circuit of the single-chip circuit 710 sends an instruction to make the driving device 300 drive the first A support member 100 is rotated relative to the second support member 200 to stretch the thigh and calf;

When the comparison result satisfies the second condition, which is that the included angle is greater than or equal to the second preset angle value, the switch driving circuit of the single-chip circuit 710 sends an instruction to stop the driving device 300 from driving.

This embodiment provides a control method, which is based on the above-mentioned control device 700 and thus also has the above-mentioned beneficial effects.

Obviously, the above-mentioned embodiments of the present application are only examples for clearly illustrating the present application, rather than limiting the implementation of the present application. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. Any modifications, equivalent replacements and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. A step booster is characterized by comprising a first support part for supporting a thigh, a second support part for supporting a shank and a driving device, wherein the first support part is hinged with the second support part; the driving device is in transmission connection with the first support, and the driving device is configured to drive the first support to rotate relative to the second support so as to extend the thigh and the calf.

2. Step booster of claim 1, wherein the step booster comprises a thigh sleeve for connecting to a thigh and a shank sleeve for connecting to a shank; the thigh sleeve is arranged at the end part of the first support part far away from the second support part; the shank sleeve is arranged at the end part of the second support piece far away from the first support piece.

3. The stair climbing booster according to claim 2, wherein the thigh sleeve and the shank sleeve are made of a silicone material.

4. The stair climbing booster according to claim 2, wherein the thigh sleeve comprises a first arc-shaped portion and a second arc-shaped portion, the first arc-shaped portion is hinged to the first support, the second arc-shaped portion is hinged to the first support, and the first arc-shaped portion and the second arc-shaped portion together define a first accommodating space;

the shank sleeve comprises a third arc-shaped part and a fourth arc-shaped part, the third arc-shaped part is hinged to the second support part, the fourth arc-shaped part is hinged to the second support part, and the third arc-shaped part and the fourth arc-shaped part jointly limit a second accommodating space.

5. The stair climbing booster according to claim 4, wherein the end of the first arc-shaped part away from the first supporting part is provided with first locking holes arranged at equal intervals along the length direction of the first supporting part, and the end of the second arc-shaped part away from the first supporting part is provided with a first lock catch matched with at least one locking hole;

the end part, far away from the second support piece, of the third arc-shaped part is provided with locking holes which are arranged at equal intervals along the length direction of the second support piece, and the end part, far away from the second support piece, of the fourth arc-shaped part is provided with at least one second lock catch matched with the locking hole.

6. The stair climbing booster according to claim 1, wherein the driving device comprises a driving motor, a speed reducing device and a limiting member; the speed reducing device is in transmission connection with a driving shaft of the driving motor; the stopper is configured to limit a range of rotation of the drive shaft.

7. The step booster of claim 1, wherein the step booster comprises an elastic member having one end connected to the first support member and the other end connected to the second support member; when the first support part rotates relative to the second support part to extend the thigh and the calf, the elastic part extends and accumulates elastic restoring force.

8. The stair climbing booster of claim 7, wherein the elastic member comprises at least two springs.

9. A control device for controlling the stair climbing booster according to any one of claims 1 to 8, wherein the control device comprises a single chip circuit, a parameter setting circuit, an angle sensor and a power supply device;

the single chip circuit, the parameter setting circuit and the angle sensor are all electrically connected with the power supply device, and the power supply device is configured to supply power to the single chip circuit, the parameter setting circuit and the angle sensor;

the parameter setting circuit is electrically connected with the single chip microcomputer circuit and is used for inputting a first preset angle value and a second preset angle value to the single chip microcomputer circuit; the angle sensor is configured to measure an angle between the first support and the second support; the input end of the single chip microcomputer circuit is connected with the angle sensor, and the angle sensor is used for transmitting an included angle between the first supporting piece and the second supporting piece to the single chip microcomputer circuit in real time; the output end of the single chip microcomputer circuit is connected with a switch driving circuit, and the switch driving circuit is electrically connected with the driving device.

10. A control method based on the control device according to claim 9, characterized by comprising:

setting a preset first preset angle value and a preset second preset angle value through a parameter setting circuit;

the single chip microcomputer circuit receives an included angle between the first supporting piece and the second supporting piece fed back by the angle sensor and compares the included angle with the first preset angle value and the second preset angle value respectively;

when the comparison result meets a first condition, wherein the first condition is that the included angle is smaller than or equal to a first preset angle value, the switch driving circuit of the single chip microcomputer circuit sends an instruction to enable the driving device to drive the first supporting piece to rotate relative to the second supporting piece so as to enable the thigh and the shank to extend;

and when the comparison result meets a second condition, and the second condition is that the included angle is greater than or equal to a second preset angle value, the switch driving circuit of the single chip microcomputer circuit sends an instruction to enable the driving device to stop driving.

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