Light foldable single-knee-joint walking aid system

Abstract

An energy storage module is arranged in a thigh module and used for providing power, the thigh module recognizes a motion intention through a control circuit and a sensor which are arranged in the thigh module, and a knee joint module provides corresponding motion torque based on the recognized motion intention. The shank module and the ankle module are driven; the thigh module and the shank module wear and bind the lower limbs to share the supporting force of the lower limbs, and meanwhile, the ankle module is fixed to a shoe and makes contact with the ground to complete a structure-to-ground force transmission link, and equipment walking assistance is achieved. According to the scheme, the corresponding motion torque can be provided according to the user intention; besides, all the modules are quickly locked and unlocked through quick-release locking units, a pressing locking mechanism on a pressing unlocking shank module pulls out the ankle module and puts the ankle module into an unoccupied space between the thigh module and the shank module, the whole machine is folded and stored, the exoskeleton is stored to be in the size of a common backpack, and a user can conveniently carry the exoskeleton when going out.

Description

Technical Field

[0001] The present invention belongs to the field of lower limb exoskeletons, and in particular relates to a lightweight, foldable, and storable single-knee joint walking aid system. Background Art

[0002] The exoskeleton lower limb walking aid system is a wearable intelligent device that integrates technologies from multiple disciplines, including mechanical engineering, biomechanics, and control engineering. Its primary purpose is to assist or enhance the user's lower limb mobility and is widely used in rehabilitation medicine, elderly care, and sports assistance. Its core technologies include bionic lower limb joints, motion intention recognition, energy management, and intelligent motion interaction.

[0003] Combine Figure 1 In the existing technology, such as the instantaneous center adjustable variable stiffness flexible knee exoskeleton involved in patent CN202211063276.5, it includes a knee joint body, parallel cross springs and pneumatic artificial muscles. However, the existing technology similar to this patent has a relatively slow driving response when assisting walking, and the real-time switching of torque direction is poor. At the same time, the wearing arm is short and the weight of the whole machine needs to be borne by the human body, which affects normal gait. Summary of the Invention

[0004] In order to solve the above technical defects in the prior art, the present invention proposes a lightweight, foldable and storable single knee joint walking aid system.

[0005] The technical solutions for achieving the purpose of the present invention are: A lightweight, foldable, single-knee joint walking aid system, comprising an energy storage module, a thigh module, a knee joint module, a calf module, and an ankle module; The energy storage module is arranged in the thigh module and connected to the remaining modules to provide power; The thigh module is connected to the knee joint module, the knee joint module is connected to the calf module, and the calf module is connected to the ankle module; The thigh module recognizes movement intentions through built-in control circuits and sensors, and the knee joint module provides corresponding movement torque based on the recognized movement intentions to drive the calf module and ankle module; The thigh module and the calf module are used to wear and bind the lower limbs to share the supporting force of the lower limbs. At the same time, the ankle module is fixed to the shoe and in contact with the ground to complete the structure-to-ground force transmission link, thereby realizing the walking assistance of the equipment.

[0006] Furthermore, the energy storage module includes an upper cover, a lower cover, a charge and discharge module, a button, an enable output module and a battery; The charging and discharging module and the enabling output module are fixed to the lower cover by screws; the charging and discharging module and the enabling output module are connected to each other, the battery is placed in a specific groove in the middle of the lower cover, and the upper cover also has a corresponding groove for fixing the battery; the button is embedded in a specific slot on the front of the lower cover, and the upper cover also has a corresponding slot, and the two cooperate to form a circular fixed slot; the upper cover and the lower cover are connected and fixed by processes such as glue, ultrasound, and thermal fusion.

[0007] Furthermore, the thigh module includes a thigh member, a cover plate, a control circuit module and a press-lock module; The thigh member is provided with a control sensing module, which is connected to the thigh module and the knee joint module respectively. The human body's movement intention is identified by the extreme flexion and extension angles of the knee joint and the extreme difference in thigh angles. The control sensing module is provided with a cover plate to protect the control sensing module. The thigh piece is also provided with a press-locking module for adjusting the connection between the thigh piece and the lower limbs.

[0008] Furthermore, the push-lock module includes an adjustment rod, a button, a locking pin and a spring; The adjusting rod is arranged in a corresponding mounting groove on the thigh piece, the button and the locking pin are connected by a pin shaft or a rivet, the locking pin is connected to the corresponding hole on the adjusting rod, and the button and the spring are connected through the corresponding mounting hole on the thigh piece. By pressing the button, the locking pin can be pushed outward or reset to achieve unlocking and locking between the adjusting rod and the thigh piece.

[0009] Furthermore, the knee joint module includes a joint motor seat, a joint output, a motor, a drive seat, a drive circuit module and a cover plate; The joint motor seat is connected to the thigh module; One side of the joint motor seat is connected to the motor, the other side of the joint motor seat is connected to the joint output, and the output end of the motor is connected to the joint output; a drive seat is provided on one side of the joint motor seat where the motor is provided; The drive seat is also connected to a drive circuit module, which receives the movement intention sensed by the control sensing module, and predicts the rotation direction through the extreme point of the knee joint angle, drives the motor to provide positive assistance during the knee extension phase, drives the motor to provide buffer torque during the knee flexion phase, and plans the torque curve according to the joint angle; A cover plate is also provided on the outside of the knee joint module for protecting the knee joint module.

[0010] Furthermore, the calf module includes a calf member, a button, a locking pin and a spring; One end of the shank member is connected to the joint output; The button and the locking pin are connected by a pin shaft or a rivet, the locking pin is connected to the corresponding hole on the calf part, and the button and the spring are connected through the corresponding mounting holes on the calf part. By pressing the button, the locking pin can be pushed outward or reset to achieve unlocking and locking between the calf module and the ankle module.

[0011] Furthermore, the ankle module includes a foot support, a soft bionic ligament, an adjustment rod, a support rod, and a Vientiane ankle; One end of the adjustment rod is connected to the calf module, and the other end is connected to the ankle through a pin to form an abduction joint; The other end of the Vientiane ankle is connected to the support rod to form a flexion kinematic pair; The Vientiane ankle, the connection between the Vientiane ankle and the adjustment rod, and the connection between the Vientiane ankle and the support rod are covered with soft bionic ligaments and fixed through multiple fixing points to achieve a connection form similar to that of human ligaments, thereby realizing a bionic passive resetting configuration of the ankle; The other end of the support rod is connected to the foot support.

[0012] Furthermore, the foot support comprises a shoe hoop, a front pad, a tightening knob and a tightening strap; The shoe hoop is used to accommodate the foot, and a front pad is provided on the shoe hoop; A tightening knob is provided at the rear end of the shoe hoop, and a tightening belt is connected to the tightening knob; Symmetrical wiring grooves are respectively provided on both sides of the shoe hoop and the front pad. The tightening belt extends from the tightening knob, passes through the wiring groove on one side of the shoe hoop and the front pad, and the wiring groove on the other side of the shoe hoop and the front pad, and then returns to the tightening knob. The shoe hoop is provided with an external interface, which is connected to the support rod; The shoe hoop and the front pad are made of soft plastic material.

[0013] Furthermore, the knee joint module is fixedly connected to the thigh module and the calf module respectively through a quick-release shaft mechanism; The quick-release shaft mechanism includes a quick-release handle, a quick-release shaft, a limit pad and a fixing member; The quick-release handle is a variable radius cam, which is connected to the quick-release shaft to form a rotating pair. The limit pads are respectively arranged in the limit grooves corresponding to the knee joint module and the thigh module, and the knee joint module and the calf module to provide flexible fixed limitation. The fixing part is fixed to one end of the quick-release shaft by threads or riveting.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention sets a control circuit and a sensor in the thigh module to identify the user's movement intention. The knee joint module has a built-in drive circuit and a motor, which can provide corresponding movement torque according to the user's intention. The thigh module and the calf module are used to wear and tie the lower limbs of the human body to share the support force of the lower limbs. At the same time, the ankle module 5 is fixed to the shoe and contacts the ground to complete the structure-to-ground force transmission link, realizing the device's walking assistance. (2) The solution of the present invention realizes rapid locking and unlocking between the modules through the quick-release locking unit. For example, by prying out the two quick-release handles on the knee joint module, the quick-release shaft mechanism can be unlocked, so that the limit pad can be separated from the corresponding limit groove of the thigh module or the calf module, realizing the transformation of the fixed connection into a rotatable connection pair. The thigh module and the calf module can be rotated to form a wrapping shape with the knee joint module at a vertical angle of about 90 degrees, and then the pressing and locking mechanism on the calf module can be pressed to unlock the ankle module and the ankle module can be pulled out and placed in the empty space between the thigh module and the calf module, so that the whole machine can be folded and stored, and the exoskeleton can be stored to the size of an ordinary backpack, which is convenient for users to carry when going out.

[0015] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the prior art in the background technology of the present invention.

[0017] Figure 2 Schematic diagram of the structure of a lightweight, foldable, and storable single-knee joint walking aid system in an embodiment of the present invention.

[0018] Figure 3 1. An exploded view of a lightweight, foldable, and storable single-knee joint walking aid system according to an embodiment of the present invention.

[0019] Figure 4 Schematic diagram of the installation of the thigh module and energy storage module in an embodiment of the present invention.

[0020] Figure 5 Schematic diagram of the energy storage module structure in an embodiment of the present invention.

[0021] Figure 6 Schematic diagram of the thigh module structure in an embodiment of the present invention.

[0022] Figure 7 Schematic diagram of unlocking the thigh module in an embodiment of the present invention.

[0023] Figure 8 Schematic diagram of the knee joint module structure in an embodiment of the present invention.

[0024] Figure 9 This is a schematic diagram of the explosion of the knee joint module in an embodiment of the present invention.

[0025] Figure 10 Schematic diagram of the calf module structure in an embodiment of the present invention.

[0026] Figure 11 Schematic diagram of the ankle module structure in an embodiment of the present invention.

[0027] Figure 12 Schematic diagram of the foot support structure in an embodiment of the present invention.

[0028] Figure 13 Schematic diagram of a shoe hoop in an embodiment of the present invention.

[0029] Figure 14 Schematic diagram of the connection between the knee joint module, thigh module and calf module in an embodiment of the present invention.

[0030] Figure 15 Schematic diagram of the connection between the calf module and the ankle module in an embodiment of the present invention.

[0031] Figure 16 FIG2 is a schematic diagram of the folding of a lightweight, foldable, and storable single knee joint walking aid system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] It is easy to understand that, based on the technical solution of the present invention, a person of ordinary skill in the art can imagine various embodiments of the present invention without changing the essential spirit of the present invention. Therefore, the following specific embodiments and drawings are merely illustrative of the technical solution of the present invention and should not be regarded as the whole of the present invention or as a limitation or limitation of the technical solution of the present invention. On the contrary, the purpose of providing these embodiments is to enable those skilled in the art to understand the present invention more thoroughly. The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the innovative concept of the present invention. Example

[0033] Combine Figure 2 and Figure 3 , a lightweight foldable and storable single knee joint walking aid system, comprising an energy storage module 1, a thigh module 2, a knee joint module 3, a calf module 2 and an ankle module 5; The energy storage module 1 is arranged in the thigh module 2 and connected with the other modules to provide power, such as Figure 4 As shown, the energy storage module 1 can be directly inserted into the corresponding mounting slot of the thigh module 2; The thigh module 2 is connected to the knee joint module 3, the knee joint module 3 is connected to the calf module 4, and the calf module 4 is connected to the ankle module 5; The thigh module 2 recognizes the movement intention through the built-in control circuit and sensor, and the knee joint module 3 provides the corresponding movement torque based on the recognized movement intention, driving the calf module 4 and the ankle module 5; The thigh module 2 and the calf module 4 are used to wear and bind the lower limbs to share the supporting force of the lower limbs. At the same time, the ankle module 5 is fixed to the shoe and in contact with the ground to complete the structure-to-ground force transmission link, thereby realizing the walking assistance of the device.

[0034] like Figure 2 , which is a schematic diagram of the left and right lightweight foldable single knee joint walking aid system in this embodiment.

[0035] Combine Figure 5 , the energy storage module 1 includes an upper cover 101, a lower cover 102, a charge and discharge module 103, a button 104, an enable output module 105 and a battery 106; The charging and discharging module 103 and the enabling output module 105 are fixed to the lower cover 102 by screws; the charging and discharging module 103 and the enabling output module 105 are connected to each other, the battery is placed in a specific groove in the middle of the lower cover 102, and the upper cover 101 also has a corresponding groove for fixing the battery; the button 104 is embedded in a specific slot on the front of the lower cover 102, and the upper cover 101 also has a corresponding slot, and the two cooperate to form a circular fixed slot; the upper cover 101 and the lower cover 102 are connected and fixed by processes such as glue, ultrasonic waves, and thermal fusion.

[0036] Combine Figure 6 , the thigh module 2 includes a thigh member 201, a cover plate 203, a control circuit module 204 and a press-lock module; The thigh member 201 is provided with a control sensing module 204, which is connected to the thigh module 2 and the knee joint module 3 respectively. The control sensing module 204 has an integrated 6-axis IMU to detect the thigh angle in the sagittal plane, and identifies the human body's movement intention by the extreme flexion and extension angles of the knee joint and the extreme difference in thigh angles. The control sensing module 204 is provided with a cover plate 203 to protect the control sensing module 204; In this embodiment, the control sensing module 204 is fixed in the corresponding groove of the thigh member 201 by screws; The thigh piece 201 is also provided with a press-locking module for adjusting the connection between the thigh piece 201 and the lower limbs.

[0037] Furthermore, the push-lock module includes an adjustment rod 202, a button, a locking pin and a spring; The adjusting rod 202 is set in the corresponding mounting groove on the thigh member 201, the button and the locking pin are connected by a pin shaft or a rivet, the locking pin is connected to the corresponding hole on the adjusting rod 202, and the button and the spring are connected through the corresponding mounting hole on the thigh member 201. By pressing the button, the locking pin can be pushed outward or reset to achieve unlocking and locking between the adjusting rod 202 and the thigh member 201. The unlocking form is as follows Figure 7 shown.

[0038] Combine Figure 8 and Figure 9 , the knee joint module 3 includes a joint motor seat 301, a joint output 302, a motor 303, a drive seat 304, a drive circuit module 305 and cover plates 306 and 307; The joint motor seat 301 is connected to the thigh module 2; One side of the joint motor seat 301 is connected to the motor 303, the other side of the joint motor seat 301 is connected to the joint output 302, and the output end of the motor 303 is connected to the joint output 302; a drive seat 304 is set on one side of the joint motor seat 301 where the motor 303 is set, and the drive seat 304 is fixed to the joint motor seat 301 by bolts, buckles or glue; The drive seat 304 is also connected to a drive circuit module 305. The drive circuit module 305 receives the movement intention sensed by the control sensing module 204, and predicts the rotation direction based on the extreme point of the knee joint angle. The drive motor 303 is driven to provide positive assistance during the knee extension phase and to provide buffering torque during the knee flexion phase, and a torque curve is planned according to the joint angle. Cover plates 306 and 307 are also provided on the outside of the knee joint module 3 for protecting the knee joint module 3, wherein the cover plate 306 is fixed to the drive seat 304 by bolts, snaps or glue, and the cover plate 307 is fixed to the joint output 302 by bolts, snaps or glue.

[0039] Combine Figure 10 , the calf module 4 includes a calf member 401, a button, a locking pin and a spring; One end of the lower leg member 401 is connected to the joint output 302; The button and the locking pin are connected by a pin or a rivet, the locking pin is connected to the corresponding hole on the calf part 401, and the button and the spring are connected through the corresponding mounting holes on the calf part 401. By pressing the button, the locking pin can be pushed outward or reset to achieve unlocking and locking between the calf module 4 and the ankle module 5.

[0040] Combine Figure 11The ankle module 5 includes a foot support 501, a soft bionic ligament 502, an adjustment rod 503, a support rod 504, and a Vientiane ankle 505; One end of the adjusting rod 503 is connected to the calf module 4, and the other end is connected to the ankle 505 via a pin to form an abduction joint. The other end of the Vientiane ankle 505 is connected to the support rod 504 to form a flexion kinematic pair; The Vientiane ankle 505, the connection between the Vientiane ankle 505 and the adjustment rod 503, and the connection between the Vientiane ankle 505 and the support rod 504 are sleeved with soft bionic ligaments 502 and fixed through multiple fixing points to achieve a connection similar to that of human ligaments, thereby realizing a bionic passive resetting configuration of the ankle; The other end of the support rod 504 is connected to the foot support 501 .

[0041] Combine Figure 12 , the foot support 501 includes a shoe hoop 506, a front pad 507, a tightening knob 508 and a tightening belt 509; The shoe hoop 506 is used to accommodate the foot, and a front pad 507 is provided on the shoe hoop 506; The rear end of the shoe hoop 506 is provided with a tightening knob 508, and the tightening knob 508 is connected to the tightening belt 4; Symmetrical wiring grooves are provided on both sides of the shoe hoop 506 and the front pad 507. The tightening belt 4 extends from the tightening knob 508, passes through the wiring grooves on one side of the shoe hoop 506 and the front pad 507, and the wiring grooves on the other side of the shoe hoop 506 and the front pad 507, and then returns to the tightening knob 508. The shoe hoop 506 is provided with an external interface and is connected to the support rod 504; The shoe hoop 506 and the front pad 507 are made of soft plastic material.

[0042] The knee joint module 3 is fixedly connected to the thigh module 2 and the calf module 4 respectively through a quick-release shaft mechanism; The quick-release shaft mechanism includes a quick-release handle 001, a quick-release shaft 002, a limit pad 003 and a fixing part 004; The quick release handle 001 is a variable radius cam, which is connected to the quick release shaft 002 to form a rotating pair. The limit pads 003 are respectively arranged in the limit grooves corresponding to the knee joint module 3 and the thigh module 2, and the knee joint module 3 and the calf module 4 to provide flexible fixed limit. The fixing piece 004 is fixed to one end of the quick release shaft 002 by screw thread or riveting. Figure 14 shown.

[0043] Combine Figure 15The ankle module 5 can be inserted into the corresponding installation slot of the calf module 4 and fixed by pressing the locking mechanism on the calf module 4. The two quick-release handles 001 of the knee joint module 3 are opened outward to unlock the quick-release shaft mechanism, so that the limit pad 003 can be separated from the corresponding limit slot of the thigh module 2 or the calf module 4, thereby changing the fixed connection into a rotatable connection pair. The thigh module 2 and the calf module 4 can be rotated to form a wrapping shape with the knee joint module 3 at a vertical angle of about 90 degrees, and then the locking mechanism on the calf module 4 can be pressed to unlock the ankle module 5 and put it into the empty space between the thigh module 2 and the calf module 4 to realize the folding and storage of the whole machine. Figure 16 shown.

[0044] The present invention sets a control circuit and sensor in the thigh module to identify the user's movement intention. The knee joint module has a built-in drive circuit and motor, which can provide corresponding movement torque according to the user's intention. In addition, the modules are quickly locked and unlocked through a quick-release locking unit. For example, by prying the two quick-release handles on the knee joint module outward, the quick-release shaft mechanism can be unlocked, allowing the limit pad to be separated from the corresponding limit slot of the thigh module or calf module, thus converting the fixed connection into a rotatable connection pair. The thigh module and calf module can be rotated to form a vertical angle of about 90 degrees with the knee joint module. Then, the pressing and locking mechanism on the calf module can be unlocked to pull out the ankle module and place it in the empty space between the thigh module and the calf module, so that the entire machine can be folded and stored, and the exoskeleton can be stored to the size of an ordinary backpack, which is convenient for users to carry when going out.

[0045] The above embodiments illustrate and describe the basic principles and main features of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A lightweight, foldable, single-knee joint walking aid system, characterized in that: It includes an energy storage module (1), a thigh module (2), a knee joint module (3), a calf module (2) and an ankle module (5); The energy storage module (1) is arranged in the thigh module (2) and connected to the remaining modules to provide power; The thigh module (2) is connected to the knee joint module (3), the knee joint module (3) is connected to the calf module (4), and the calf module (4) is connected to the ankle module (5); The thigh module (2) identifies movement intentions through built-in control circuits and sensors, and the knee joint module (3) provides corresponding movement torque based on the identified movement intentions, thereby driving the calf module (4) and the ankle module (5); The thigh module (2) and the calf module (4) are used to wear and bind the lower limbs, sharing the supporting force of the lower limbs. At the same time, the ankle module (5) is fixed to the shoe and in contact with the ground to complete the structure-to-ground force transmission link, thereby achieving walking assistance of the device.

2. The lightweight foldable single knee joint walking aid system according to claim 1, characterized in that: The energy storage module (1) comprises an upper cover plate (101), a lower cover plate (102), a charge and discharge module (103), a button (104), an enable output module (105) and a battery (106); The charging and discharging module (103) and the enabling output module (105) are fixed to the lower cover plate 102 by screws; the charging and discharging module (103) and the enabling output module (105) are connected to each other, the battery is placed in a specific groove in the middle of the lower cover plate (102), and the upper cover plate (101) also has a corresponding groove for cooperating to fix the battery; the button (104) is embedded in a specific slot at the front of the lower cover plate (102), and the upper cover plate (101) also has a corresponding slot, and the two cooperate to form a circular fixed slot; the upper cover plate (101) and the lower cover plate (102) are connected and fixed by processes such as glue, ultrasonic waves, and thermal fusion.

3. The lightweight foldable single knee joint walking aid system according to claim 1, characterized in that: The thigh module (2) comprises a thigh piece (201), a cover plate (203), a control circuit module (204) and a press-lock module; The thigh member (201) is provided with a control sensing module (204), which is connected to the thigh module (2) and the knee joint module (3) respectively, and recognizes the movement intention of the human body through the extreme value of the flexion and extension angle of the knee joint and the extreme difference of the thigh angle. The control sensing module (204) is provided with a cover plate (203) for protecting the control sensing module (204); The thigh piece (201) is also provided with a press-locking module for adjusting the connection between the thigh piece (201) and the lower limb.

4. The lightweight foldable single knee joint walking aid system according to claim 3, characterized in that: The press-lock module comprises an adjustment rod (202), a button, a locking pin and a spring; The adjusting rod (202) is arranged in a corresponding mounting groove on the thigh member (201); the button and the locking pin are connected via a pin shaft or a rivet; the locking pin is connected to a corresponding hole on the adjusting rod (202); the button and the spring are connected via a corresponding mounting hole on the thigh member (201); the locking pin can be pushed outward or reset by pressing the button, thereby achieving unlocking and locking between the adjusting rod (202) and the thigh member (201).

5. The lightweight foldable single knee joint walking aid system according to claim 3, characterized in that: The knee joint module (3) comprises a joint motor seat (301), a joint output (302), a motor (303), a drive seat (304), a drive circuit module (305) and a cover plate; The joint motor seat (301) is connected to the thigh module (2); One side of the joint motor seat (301) is connected to the motor (303), the other side of the joint motor seat (301) is connected to the joint output (302), and the output end of the motor (303) is connected to the joint output (302); a driving seat (304) is provided on one side of the joint motor seat (301) where the motor (303) is provided; The driving seat (304) is also connected to a driving circuit module (305), which receives the movement intention sensed by the control sensing module (204), and predicts the rotation direction through the extreme point of the knee joint angle, drives the motor (303) to provide positive assistance in the knee extension phase, drives the motor (303) to provide buffer torque in the knee flexion phase, and plans the torque curve according to the joint angle; A cover plate is also provided on the outside of the knee joint module (3) for protecting the knee joint module (3).

6. The lightweight foldable single knee joint walking aid system according to claim 5, characterized in that: The calf module (4) comprises a calf member (401), a button, a locking pin and a spring; One end of the lower leg member (401) is connected to the joint output (302); The button and the locking pin are connected via a pin or a rivet, the locking pin is connected to a corresponding hole on the calf member (401), the button and the spring are connected via a corresponding mounting hole on the calf member (401), and the locking pin can be pushed outward or reset by pressing the button, thereby achieving unlocking and locking between the calf module (4) and the ankle module (5).

7. The lightweight foldable single knee joint walking aid system according to claim 1, characterized in that: The ankle module (5) includes a foot support (501), a soft bionic ligament (502), an adjustment rod (503), a support rod (504), and a universal ankle (505); One end of the adjustment rod (503) is connected to the calf module (4), and the other end is connected to the ankle (505) via a pin to form an abduction motion pair; The other end of the Vientiane ankle (505) is connected to the support rod (504) to form a flexion kinematic pair; The Vientiane ankle (505), the connection between the Vientiane ankle (505) and the adjustment rod (503), and the connection between the Vientiane ankle (505) and the support rod (504) are sleeved with soft bionic ligaments (502) and fixed through multiple fixing points to achieve a connection form similar to that of human ligaments, thereby realizing a bionic passive resetting configuration of the ankle; The other end of the support rod (504) is connected to the foot support (501).

8. The lightweight foldable single knee joint walking aid system according to claim 7, characterized in that: The foot support (501) comprises a shoe hoop (506), a front pad (507), a tightening knob (508) and a tightening belt (509); The shoe hoop (506) is used to accommodate the foot, and a front pad (507) is provided on the shoe hoop (506); A tightening knob (508) is provided at the rear end of the shoe hoop (506), and a tightening belt (4) is connected to the tightening knob (508); Symmetrical wiring grooves are respectively provided on both sides of the shoe hoop (506) and the front pad (507); the tightening belt (4) extends from the tightening knob (508), passes through the wiring groove on one side of the shoe hoop (506) and the front pad (507), and the wiring groove on the other side of the shoe hoop (506) and the front pad (507), and then returns to the tightening knob (508); The shoe hoop (506) is provided with an external interface, and is connected to the support rod (504); The shoe hoop (506) and the front pad (507) are made of soft plastic material.

9. The lightweight foldable single knee joint walking aid system according to claim 6, characterized in that: The knee joint module (3) is fixedly connected to the thigh module (2) and the calf module (4) respectively through a quick-release shaft mechanism; The quick-release shaft mechanism comprises a quick-release handle (001), a quick-release shaft (002), a limiting pad (003) and a fixing member (004); The quick-release handle (001) is a variable radius cam, which is connected to the quick-release shaft 002 to form a rotating pair. The limiting pad (003) is respectively arranged in the limiting grooves corresponding to the knee joint module (3) and the thigh module (2), and the knee joint module (3) and the calf module (4) to provide flexible fixed limiting. The fixing part (004) is fixed to one end of the quick-release shaft (002) by screw thread or riveting.

Images