A knee joint exoskeleton

Abstract

The present invention relates to a power-assisted knee exoskeleton, comprising a calf exoskeleton and a thigh exoskeleton, wherein an adjustment combination mechanism is arranged on the outer walls of the calf exoskeleton and the thigh exoskeleton, a support power-assisted component is arranged on the outer wall between the calf exoskeleton and the thigh exoskeleton, and a linkage massage component is arranged on the inner wall of the calf exoskeleton and the thigh exoskeleton; the arrangement of the adjustment combination mechanism and the wearing adjustment component of the present invention can adjust the distance between the first side plate and the second side plate according to the leg circumference of the user during the wearing and use of the knee exoskeleton, and the knee exoskeleton structure can be adaptively adjusted according to the leg circumference of the user; the holding nut can be loosened, and then the knob can be rotated to drive the second gear to rotate through the connecting shaft, and the connecting arm can be moved along the slot under the cooperation of the second gear and the tooth groove, thereby realizing the adjustment of the calf exoskeleton and the thigh exoskeleton at the calf and thigh positions, which is convenient for wearing the knee exoskeleton.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and in particular to an exoskeleton for assisting knee joints. Background Art

[0002] A mechanical exoskeleton, or a power exoskeleton, is a machine device made of a steel frame that can be worn by people. This equipment can provide additional energy for the movement of the limbs; aliases: enhanced suits, power suits, and power armor. With this set of "clothing", humans can become so-called "iron men"; power exoskeletons are more inclined to military use. In addition to the basic function of enhancing human capabilities, they must also have good protection, adaptability to complex environments, and military functions such as auxiliary firepower, communication, and reconnaissance support; the knee joint exoskeleton is an important part of the power exoskeleton, and its main function is to transmit the gravity of the load, including the part above the leg of the exoskeleton, the load and the human body; Patent announcement number: CN 215740292 U discloses a knee joint exoskeleton device, including a thigh fixing component and a calf fixing component.

[0003] With the development of technology, the knee exoskeleton structure technology on the existing market is relatively mature, but the knee exoskeleton structure on the existing market is relatively simple. The power assistance of traditional knee exoskeletons is mostly driven by stepper motors. The power assistance structure is inconvenient to control and drive, and does not have the ability to support the knee pit, affecting the overall load-bearing capacity of the knee exoskeleton. Traditional knee exoskeletons are inconvenient to wear and cannot be adaptively adjusted according to the user's leg circumference. Traditional knee exoskeletons do not have a massage effect when idle.

[0004] In order to solve the above problems, the present invention proposes an exoskeleton foot structure. Summary of the invention

[0005] (1) Technical issues to be resolved

[0006] The purpose of the present invention is to overcome the problem that the power-assisted knee exoskeleton in the prior art is mostly driven by a stepper motor, the power-assisted structure is inconvenient to control and drive, and does not have the ability to support the knee socket, which affects the overall load-bearing capacity of the knee exoskeleton. The traditional knee exoskeleton is inconvenient to wear and cannot be adaptively adjusted according to the user's leg circumference. In addition, the traditional knee exoskeleton does not have a massage effect when idle. In order to meet actual needs, a power-assisted knee exoskeleton is provided to solve the above-mentioned technical problems.

[0007] (2) Technical solution

[0008] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is:

[0009] A knee joint assisting exoskeleton comprises a calf exoskeleton and a thigh exoskeleton, wherein an adjusting combination mechanism is arranged on the outer walls of the calf exoskeleton and the thigh exoskeleton, a supporting assisting component is arranged on the outer wall between the calf exoskeleton and the thigh exoskeleton, and a linkage massage component is arranged on the inner walls of the calf exoskeleton and the thigh exoskeleton.

[0010] Preferably, the adjustment combination mechanism includes a first side plate and a second side plate arranged on the outer walls on both sides of the calf exoskeleton and the thigh exoskeleton, and the outer walls on both sides of the first side plate and the second side plate are symmetrically provided with matching holes, and the inner walls between the matching holes are inserted with matching screws, and the matching screws are located on the outer walls between the side plates and are provided with springs, and the matching screws pass through the outer walls at both ends of the side plates and are threadedly connected with connecting nuts.

[0011] Preferably, the support and assist assembly includes a mounting frame arranged on the outer wall between the calf exoskeleton and the thigh exoskeleton, and first gears are symmetrically mounted on the inner walls on both sides of the end of the mounting frame for rotation, and a hydraulic rod is embedded and fixed on the outer wall on one side of the middle part of the mounting frame, and one end of the telescopic rod of the hydraulic rod is connected to a double-sided rack, and the end of the double-sided rack passes through between the first gears, and the double-sided rack is meshed with the first gears on both sides, and a connecting arm is fixed on the outer wall on one side of the first gear, and one end of the connecting arm is connected to the outer walls on both sides of the calf exoskeleton and the thigh exoskeleton, and a knee pit support seat is connected to the outer wall of the end between the double-sided racks, and a wearing adjustment assembly is provided at the connection between the connecting arm and the calf exoskeleton and the thigh exoskeleton.

[0012] Preferably, the wearing adjustment component includes slots opened on the outer walls on both sides of the calf exoskeleton and the thigh exoskeleton, one end of the connecting arm is inserted into the inside of the slot, and teeth are distributed on the outer wall of one side of the connecting arm. A connecting shaft is rotatably installed on the inner walls on both sides of the end of the slot, a second gear is fixed on the middle outer wall of the connecting shaft, the second gear is meshingly connected with the teeth, a knob is fixed on the outer wall of one end of the connecting shaft, an external thread is opened on the outer wall of the end of the connecting shaft, and a holding nut is threadedly connected to the outer wall of the external thread.

[0013] Preferably, the linkage massage component includes a mounting groove provided on the opposite inner walls of the first side panel and the second side panel, massage rollers are symmetrically rotatably mounted on the inner walls of the mounting grooves, a rotation groove is provided on the top inner walls of the first side panel and the second side panel, one end of the massage roller shaft passing through the interior of the rotation groove is connected to a worm gear, the rotation grooves are through-connected, an air pipe is through-connected on the outer wall between the rotation grooves on the first side panel and the second side panel, an air pump is installed on the outer wall of one side of the first side panel, an air delivery end of the air pump is through-connected with an air delivery pipe, and one end of the air delivery pipe passes through the interior of one side of the rotation groove, and an exhaust pipe is through-connected on the outer wall of one side of the rotation groove at the end of the second side panel.

[0014] Preferably, Velcro straps are connected to one side outer wall of the calf exoskeleton and the thigh exoskeleton.

[0015] Preferably, a limiting block is fixed on an outer wall at one side of the bottom end of the connecting arm.

[0016] Preferably, the vent pipe is a telescopic hose.

[0017] Preferably, the inner walls of the calf exoskeleton and the thigh exoskeleton and the outer wall of the knee support seat are both connected with soft pads. Beneficial Effects

[0018] The adjustment combination mechanism and the wearing adjustment component are set up. During the wearing and use of the calf exoskeleton and the thigh exoskeleton, the distance between the first side plate and the second side plate can be adjusted according to the leg circumference of the user, so that the knee exoskeleton can be worn. The knee exoskeleton structure can be adaptively adjusted according to the leg circumference of the user, which is convenient for wearing; the holding nut can be loosened, and then the knob can be rotated to drive the second gear to rotate through the connecting shaft, and the connecting arm can be moved along the slot under the cooperation of the second gear and the tooth groove, thereby realizing the adjustment of the calf exoskeleton and the thigh exoskeleton at the calf and thigh positions, which is convenient for wearing the knee exoskeleton.

[0019] The setting of the support and assisting component is that after the calf exoskeleton and the thigh exoskeleton are worn, the knee pit support seat is in contact with the user's knee pit. When knee flexion assistance is needed, the hydraulic rod is controlled to drive the double-sided rack in the installation frame to extend and retract, driving the first gear on both sides to rotate, thereby driving the connecting arms on both sides to flip, thereby driving the calf exoskeleton and the thigh exoskeleton on both sides to flip, achieving assistance in knee flexion and leg extension, facilitating the use of the knee exoskeleton, and the knee pit support seat is in contact with and supported at the user's knee pit, improving the load-bearing effect of the knee exoskeleton, and ensuring the drive and control of knee flexion and leg extension assistance.

[0020] The setting of the linkage massage component can control the operation of the air pump when the knee exoskeleton is idle. The generated compressed air is input into the various rotating grooves on the side panels through the air supply pipe, and then guided into the various rotating grooves on the knee exoskeleton through the ventilation pipe. The compressed air is discharged through the exhaust pipe. The compressed air impacts the worm gear in the rotating groove to make it rotate, thereby driving the various massage rollers on the side panels to rotate. The rotating massage rollers massage the user's calves and thighs, thereby improving the functionality and comfort of the use of the knee exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a power-assisted knee joint exoskeleton of the present invention;

[0022] Figure 2 It is a schematic diagram of a partial three-dimensional cross-section structure of a power-assisted knee joint exoskeleton of the present invention;

[0023] Figure 3 This is a schematic diagram of the enlarged structure of point A of a power-assisted knee joint exoskeleton of the present invention;

[0024] Figure 4 It is a schematic diagram of the front view cutaway structure of a supporting power-assisting component in a power-assisting knee joint exoskeleton of the present invention;

[0025] Figure 5 It is a schematic diagram of a partial three-dimensional cross-section structure of a wearable adjustment component in a power-assisted knee joint exoskeleton of the present invention;

[0026] Figure 6 This is a schematic diagram of the enlarged structure of point B of a power-assisted knee joint exoskeleton of the present invention;

[0027] Figure 7 This is a schematic diagram of the enlarged structure of the C position of a power-assisted knee joint exoskeleton of the present invention;

[0028] Figure 8 It is a schematic diagram of the side cutaway structure of a linkage massage component in a power-assisted knee exoskeleton of the present invention.

[0029] The reference numerals are as follows:

[0030] 1. Calf exoskeleton; 2. Thigh exoskeleton; 3. Adjustment assembly; 4. Velcro strap; 5. Support and assistance assembly; 6. Wearing adjustment assembly; 7. Linkage massage assembly; 8. Limit block;

[0031] 301, first side plate; 302, second side plate; 303, mounting hole; 304, docking screw; 305, spring; 306, connecting nut;

[0032] 501, mounting frame; 502, first gear; 503, hydraulic rod; 504, double-sided rack; 505, connecting arm; 506, knee support seat;

[0033] 601, slot; 602, connecting shaft; 603, second gear; 604, tooth groove; 605, knob; 606, external thread; 607, holding nut;

[0034] 701, mounting groove; 702, massage roller; 703, rotating groove; 704, worm gear; 705, ventilation pipe; 706, air pump; 707, air supply pipe; 708, exhaust pipe. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] The following is combined with Figure 1-8 The present invention is further described with examples:

[0037] In this embodiment, Figure 1-8 As shown, a power-assisted knee exoskeleton includes a calf exoskeleton 1 and a thigh exoskeleton 2. An adjustment combination mechanism 3 is arranged on the outer walls of the calf exoskeleton 1 and the thigh exoskeleton 2. A support power-assisted component 5 is arranged on the outer wall between the calf exoskeleton 1 and the thigh exoskeleton 2. A linkage massage component 7 is arranged on the inner walls of the calf exoskeleton 1 and the thigh exoskeleton 2. The knee exoskeleton is composed of the calf exoskeleton 1, the support power-assisted component 5 and the thigh exoskeleton 2, and the knee exoskeleton is driven by the support power-assisted component 5.

[0038] In this embodiment, refer to Figure 1-2The adjustment combination mechanism 3 includes a first side plate 301 and a second side plate 302 arranged on the outer walls of the calf exoskeleton 1 and the thigh exoskeleton 2. The first side plate 301 and the second side plate 302 are symmetrically provided with matching holes 303 on the outer walls of the two sides. A docking screw 304 is inserted on the inner wall between the matching holes 303. The docking screw 304 is located on the outer wall between the side plates and is provided with a spring 305. The docking screw 304 passes through the outer walls at both ends of the side plates and is screwed and connected with a connecting nut 306. During the wearing and use of the calf exoskeleton 1 and the thigh exoskeleton 2, the first side plate 301 and the second side plate 302 can be adjusted according to the leg circumference of the user. The spacing between the plates 302 is adjusted by loosening the connecting nuts 306 on both sides during the adjustment process, and the spacing between the first side plate 301 and the second side plate 302 is adjusted under the cooperation of the docking screw 304 and the docking hole 303. After the adjustment, when wearing the calf exoskeleton 1 and the thigh exoskeleton 2, the user clamps the thigh and calf between the first side plate 301 and the second side plate 302, and then screws the connecting nuts 306 on both sides to clamp the first side plate 301 and the second side plate 302 to clamp the legs, thereby realizing the wearing of the knee exoskeleton. The knee exoskeleton structure can be adaptively adjusted according to the leg circumference of the user, which is convenient for wearing.

[0039] In this embodiment, refer to Figure 1 , Figure 3 and Figure 4The support and assistance component 5 includes a mounting frame 501 arranged on the outer wall between the calf exoskeleton 1 and the thigh exoskeleton 2, and first gears 502 are symmetrically mounted on the inner walls on both sides of the end of the mounting frame 501. A hydraulic rod 503 is inlaid and fixed on the outer wall of one side of the middle part of the mounting frame 501, and one end of the telescopic rod of the hydraulic rod 503 is connected to a double-sided rack 504, and the end of the double-sided rack 504 passes through between the first gears 502, and the double-sided rack 504 is meshed and connected with the first gears 502 on both sides. A connecting arm 505 is fixed on the outer wall on one side of the first gear 502, and one end of the connecting arm 505 is connected to the outer walls on both sides of the calf exoskeleton 1 and the thigh exoskeleton 2, and a knee pit support seat 506 is connected on the outer wall of the end between the double-sided rack 504. A wearing adjustment component 6 is arranged at the connection between the connecting arm 505 and the calf exoskeleton 1 and the thigh exoskeleton 2. After the leg exoskeleton 2 is worn, the knee support seat 506 contacts the user's knee fossa. When knee flexion assistance is needed, the hydraulic rod 503 is controlled to work to drive the double-sided rack 504 in the installation frame 501 to retract and retract. During the extension of the double-sided rack 504, the first gear 502 on both sides is driven to rotate counterclockwise under the coordinated transmission of the rack and the gear, thereby driving the connecting arms 505 on both sides to flip, thereby driving the calf exoskeleton 1 and the thigh exoskeleton 2 on both sides to flip inward to achieve knee flexion assistance. During the contraction of the double-sided rack 504, the connecting arms 505 drive the calf exoskeleton 1 and the thigh exoskeleton 2 on both sides to flip outward to achieve leg extension assistance, which facilitates the use of the knee exoskeleton. The knee support seat 506 contacts and supports the user's knee fossa, which improves the load-bearing effect of the knee exoskeleton and ensures the drive and control of knee flexion and leg extension assistance.

[0040] In this embodiment, refer to Figure 1 , Figure 5 and Figure 6The wearing adjustment component 6 includes slots 601 provided on the outer walls of both sides of the calf exoskeleton 1 and the thigh exoskeleton 2, one end of the connecting arm 505 is inserted into the inside of the slot 601, and a tooth groove 604 is distributed on the outer wall of one side of the connecting arm 505. A connecting shaft 602 is rotatably installed on the inner walls of both sides of the end of the slot 601, and a second gear 603 is fixed on the outer wall of the middle part of the connecting shaft 602. The second gear 603 is meshed with the tooth groove 604, and a knob 605 is fixed on the outer wall of one end of the connecting shaft 602. An external thread 606 is provided on the outer wall of the part, and a holding nut 607 is threadedly connected to the outer wall of the external thread 606. During the wearing process of the above-mentioned calf exoskeleton 1 and thigh exoskeleton 2, the holding nut 607 can be loosened, and then the knob 605 is rotated to drive the second gear 603 to rotate through the connecting shaft 602, and the connecting arm 505 is moved along the slot 601 under the cooperation of the second gear 603 and the tooth groove 604, thereby realizing the adjustment of the calf exoskeleton 1 and the thigh exoskeleton 2 in the calf and thigh positions, which facilitates the wearing of the knee exoskeleton.

[0041] In this embodiment, refer to Figure 1 , Figure 2 , Figure 7 and Figure 8The linkage massage component 7 includes a mounting groove 701 provided on the inner wall opposite to the first side plate 301 and the second side plate 302, a massage roller 702 is symmetrically mounted on the inner wall of the mounting groove 701 for rotation, a rotation groove 703 is provided on the inner wall at the top of the first side plate 301 and the second side plate 302, a worm gear 704 is connected to one end of the rotation shaft of the massage roller 702 passing through the rotation groove 703, and the rotation grooves 703 are connected through and through, a ventilation pipe 705 is connected through and through on the outer wall between the rotation grooves 703 on the first side plate 301 and the second side plate 302, an air pump 706 is installed on the outer wall of one side of the first side plate 301, an air delivery end of the air pump 706 is connected through and through with an air delivery pipe 707, and one end of the air delivery pipe 707 passes through the interior of the rotation groove 703 on one side, and an exhaust pipe 708 is connected through and through on one side of the outer wall of the rotation groove 703 at the end of the second side plate 302, After the calf exoskeleton 1 and the thigh exoskeleton 2 are worn, the first side panel 301 and the second side panel 302 are clamped on the outer wall of the calf and the thigh, and the massage rollers 702 on the side panels are clamped on both sides of the calf and the thigh. When the knee exoskeleton is idle, the air pump 706 can be controlled to work, and the generated compressed air is input into the various rotating grooves 703 on the side panels through the air supply pipe 707, and is guided through the ventilation pipe 705 so that the compressed air is input into the various rotating grooves 703 on the knee exoskeleton. The compressed air is discharged through the exhaust pipe 708, and the compressed air continues to flow in the various rotating grooves 703, impacting the worm gear 704 in the rotating groove 703 to rotate it, thereby driving the various massage rollers 702 on the side panels to rotate, and the rotating massage rollers 702 massage the user's calves and thighs, thereby improving the functionality and comfort of the knee exoskeleton.

[0042] Furthermore, Velcro straps 4 are connected to the outer walls of one side of the calf exoskeleton 1 and the thigh exoskeleton 2. After the calf exoskeleton 1 and the thigh exoskeleton 2 are worn, the exoskeleton is fixed by covering them with sticky Velcro straps 4.

[0043] Furthermore, a limiting block 8 is fixed on an outer wall of one side of the bottom end of the connecting arm 505 , and the setting of the limiting block 8 can prevent the connecting arm 505 from being separated from the slot 601 .

[0044] Furthermore, the vent pipe 705 is a telescopic hose, so that the vent pipe 705 can normally transport gas during the adjustment of the distance between the first side plate 301 and the second side plate 302 .

[0045] Furthermore, the inner walls of the calf exoskeleton 1 and the thigh exoskeleton 2 and the outer wall of the knee support seat 506 are all connected with soft pads, which improves the wearing comfort of the knee exoskeleton.

[0046] Beneficial effects of the present invention:

[0047] By setting the adjustment combination mechanism 3 and the wearing adjustment component 6, during the wearing and use of the calf exoskeleton 1 and the thigh exoskeleton 2, the distance between the first side plate 301 and the second side plate 302 can be adjusted according to the leg circumference of the user, so as to realize the wearing of the knee exoskeleton. The knee exoskeleton structure can be adaptively adjusted according to the leg circumference of the user, which is convenient for wearing; the holding nut 607 can be loosened, and then the knob 605 is rotated to drive the second gear 603 to rotate through the connecting shaft 602, and the connecting arm 505 is moved along the slot 601 under the cooperation of the second gear 603 and the tooth groove 604, thereby realizing the adjustment of the calf exoskeleton 1 and the thigh exoskeleton 2 at the calf and thigh positions, which is convenient for wearing the knee exoskeleton.

[0048] Furthermore, with the setting of the support assistance component 5, after the calf exoskeleton 1 and the thigh exoskeleton 2 are worn, the knee pit support seat 506 is in contact with the user's knee pit. When knee flexion assistance is needed, the hydraulic rod 503 is controlled to drive the double-sided rack 504 in the installation frame 501 to retract and retract, driving the first gear 502 on both sides to rotate, thereby driving the connecting arms 505 on both sides to flip, thereby driving the calf exoskeleton 1 and the thigh exoskeleton 2 on both sides to flip, achieving knee flexion and leg extension assistance, facilitating the use of the knee exoskeleton, and the knee pit support seat 506 is in contact with and supported at the user's knee pit, improving the load-bearing effect of the knee exoskeleton, and ensuring the driving and control of knee flexion and leg extension assistance.

[0049] Furthermore, the setting of the linkage massage component 7 can control the operation of the air pump 706 when the knee exoskeleton is idle. The generated compressed air is input into the various rotating grooves 703 on the side panel through the air supply pipe 707, and is guided through the ventilation pipe 705 to be input into the various rotating grooves 703 on the knee exoskeleton. The compressed air is discharged through the exhaust pipe 708. The compressed air impacts the worm gear 704 in the rotating groove 703 to make it rotate, thereby driving the various massage rollers 702 on the side panel to rotate. The rotating massage rollers 702 massage the user's calves and thighs, thereby improving the functionality and comfort of the knee exoskeleton.

[0050] Working principle: When the present invention is in use, the distance between the first side plate 301 and the second side plate 302 can be adjusted according to the leg circumference of the user during the wearing and use of the calf exoskeleton 1 and the thigh exoskeleton 2. During the adjustment process, the connecting nuts 306 on both sides are loosened, and the distance between the first side plate 301 and the second side plate 302 is adjusted under the cooperation of the docking screw 304 and the docking hole 303. After the adjustment, when the calf exoskeleton 1 and the thigh exoskeleton 2 are worn, the user clamps the thigh and calf between the first side plate 301 and the second side plate 302, and then screws the connecting nuts 306 on both sides, so that the first side plate 301 and the second side plate 302 clamp the leg, so as to realize the knee joint exoskeleton. The knee joint exoskeleton structure can be adaptively adjusted according to the leg circumference of the user, which is convenient for wearing; the pressing nut 607 can be loosened, and then the knob 605 is rotated to drive the second gear 603 to rotate through the connecting shaft 602, and the connecting arm 505 is moved along the slot 601 under the cooperation of the second gear 603 and the tooth groove 604, so as to adjust the position of the calf exoskeleton 1 and the thigh exoskeleton 2 in the calf and thigh, and the position is fixed after the adjustment by tightening the pressing nut 607. After the above-mentioned calf exoskeleton 1 and thigh exoskeleton 2 are worn, the knee pit support seat 506 contacts the user's knee pit, and when knee flexion assistance is needed, the hydraulic rod 503 is controlled to work. It drives the double-sided rack 504 in the installation frame 501 to retract and retract. During the extension of the double-sided rack 504, the first gears 502 on both sides are driven to rotate counterclockwise under the coordinated transmission of the rack and the gear, thereby driving the connecting arms 505 on both sides to flip, thereby driving the calf exoskeleton 1 and the thigh exoskeleton 2 on both sides to flip inward to achieve knee flexion assistance. During the contraction of the double-sided rack 504, the connecting arms 505 drive the calf exoskeleton 1 and the thigh exoskeleton 2 on both sides to flip outward to achieve leg extension assistance, which facilitates the use of the knee exoskeleton, and the knee pit support seat 506 is supported at the user's knee pit, which improves the load-bearing effect of the knee joint exoskeleton and ensures knee flexion. , driving and controlling the leg extension assist; when the knee exoskeleton is idle, the air pump 706 can be controlled to work, and the compressed air generated is input into the rotating grooves 703 on the side panel through the air pipe 707, and is guided through the ventilation pipe 705 to input the compressed air into the rotating grooves 703 on the knee exoskeleton, and the compressed air is discharged through the exhaust pipe 708. The compressed air continues to flow in each rotating groove 703, impacting the worm gear 704 in the rotating groove 703 to make it rotate, thereby driving the various massage rollers 702 on the side panel to rotate, and the rotating massage rollers 702 massage the user's calves and thighs, thereby improving the functionality and comfort of the knee exoskeleton.

[0051] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A knee joint assisting exoskeleton, comprising a calf exoskeleton (1) and a thigh exoskeleton (2), characterized in that: An adjustment combination mechanism (3) is provided on the outer walls of the calf exoskeleton (1) and the thigh exoskeleton (2), a support assistance component (5) is provided on the outer wall between the calf exoskeleton (1) and the thigh exoskeleton (2), and a linkage massage component (7) is provided on the inner walls of the calf exoskeleton (1) and the thigh exoskeleton (2); The adjustment assembly mechanism (3) comprises a first side plate (301) and a second side plate (302) arranged on the outer walls of the calf exoskeleton (1) and the thigh exoskeleton (2), the outer walls of the first side plate (301) and the second side plate (302) being symmetrically provided with mating holes (303), the inner wall between the mating holes (303) being inserted with a mating screw (304), the mating screw (304) being located on the outer wall between the side plates and being sleeved with a spring (305), the mating screw (304) penetrating the outer wall at both ends of the outer side plates and being threadedly connected with a connecting nut (306); The support assist assembly (5) comprises a mounting frame (501) arranged on the outer wall between the calf exoskeleton (1) and the thigh exoskeleton (2); a first gear (502) is symmetrically mounted on the inner walls on both sides of the end of the mounting frame (501) for rotation; a hydraulic rod (503) is embedded and fixed on the outer wall on one side of the middle part of the mounting frame (501); one end of the telescopic rod of the hydraulic rod (503) is connected to a double-sided rack (504); the end of the double-sided rack (504) passes through between the first gear (502) and the outer wall of the middle part of the mounting frame (501). , and the double-sided rack (504) is meshedly connected with the first gears (502) on both sides, a connecting arm (505) is fixed on the outer wall of one side of the first gear (502), one end of the connecting arm (505) is connected to the outer walls of both sides of the calf exoskeleton (1) and the thigh exoskeleton (2), a knee support seat (506) is connected to the outer wall of the end between the double-sided rack (504), and a wearing adjustment component (6) is provided at the connection between the connecting arm (505) and the calf exoskeleton (1) and the thigh exoskeleton (2); The wearing adjustment component (6) comprises slots (601) provided on the outer walls of both sides of the calf exoskeleton (1) and the thigh exoskeleton (2); one end of the connecting arm (505) is inserted into the interior of the slot (601); tooth grooves (604) are provided on the outer wall of one side of the connecting arm (505); a connecting shaft (602) is rotatably mounted on the inner walls of both sides of the end of the slot (601); a second gear (603) is fixedly mounted on the outer wall of the middle part of the connecting shaft (602); the second gear (603) and the tooth groove (604) are meshingly connected; a knob (605) is fixed on the outer wall of one end of the connecting shaft (602); an external thread (606) is provided on the outer wall of the end of the connecting shaft (602); and a holding nut (607) is threadedly connected to the outer wall of the external thread (606).

2. The knee joint assisting exoskeleton according to claim 1, characterized in that: The linkage massage component (7) comprises a mounting groove (701) provided on the opposite inner walls of the first side plate (301) and the second side plate (302); a massage roller (702) is symmetrically mounted on the inner wall of the mounting groove (701) for rotation; a rotation groove (703) is provided on the top inner wall of the first side plate (301) and the second side plate (302); a rotation shaft of the massage roller (702) passes through the rotation groove (703) and is connected to a worm gear (704) at one end thereof; and the rotation grooves (703) are connected to each other through the rotation grooves. A ventilation pipe (705) is connected through the outer wall between the rotating grooves (703) on the first side plate (301) and the second side plate (302); an air pump (706) is installed on the outer wall of one side of the first side plate (301); a gas delivery end of the air pump (706) is connected through the air delivery pipe (707), and one end of the gas delivery pipe (707) passes through the interior of the rotating groove (703) on one side; an exhaust pipe (708) is connected through the outer wall of one side of the rotating groove (703) at the end of the second side plate (302).

3. The knee joint assisting exoskeleton according to claim 1, characterized in that: Velcro straps (4) are connected to one side outer wall of the calf exoskeleton (1) and the thigh exoskeleton (2).

4. The knee joint assisting exoskeleton according to claim 1, characterized in that: A limiting block (8) is fixed on an outer wall at one side of the bottom end of the connecting arm (505).

5. The knee joint assisting exoskeleton according to claim 2, characterized in that: The ventilation pipe (705) is a telescopic hose.

6. The knee joint assisting exoskeleton according to claim 1, characterized in that: The inner walls of the calf exoskeleton (1) and the thigh exoskeleton (2) and the outer wall of the knee support seat (506) are both cooperatively connected with soft pads.

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