Walking-assisting knee joint exoskeleton structure and assisting trousers thereof

Abstract

The walking-assisting knee joint exoskeleton structure comprises an exoskeleton, the exoskeleton comprises an assisting assembly, a thigh supporting assembly, a shank supporting assembly and a crossed four-bar linkage assembly, the assisting assembly comprises a waistband and a driving mechanism arranged on the waistband, the thigh supporting assembly comprises a thigh binding mechanism and a thigh support, and the shank supporting assembly comprises a shank binding mechanism and a shank support. The shank supporting assembly comprises a shank binding mechanism and a shank support, and the thigh support is in power connection with the shank support through a crossed four-connecting-rod assembly. The power assisting assembly further comprises a motor assembly, a first brake cable and a second brake cable, and the first brake cable and the second brake cable are connected with the front end and the rear end of the shank binding mechanism respectively. The motor assembly is moved upwards to the waist, the load of the knee joint area is reduced, joint abrasion and muscle fatigue can be reduced, the wearing comfort and the feasibility of long-time walking are improved, the trousers bear part of the weight of the exoskeleton, the load of the legs is reduced, and the overall attractiveness is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary walking devices, and in particular to an auxiliary walking knee joint exoskeleton structure and power-assisting pants thereof. Background Art

[0002] In the field of daily wear and assisted walking, existing knee assistive devices usually only include a knee exoskeleton part. However, due to the limitation of trousers, the knee exoskeleton can usually only be set outside the trousers and tied to the wearer's legs through the cloth, which has a great impact on the stability of the binding, especially when the trousers fabric is smooth, it is easy to slip, and it is difficult to achieve the effect of effective assisted walking. At the same time, the exoskeleton is tied to the trousers, and the trousers are tightened and only stick to the legs, affecting the aesthetics. User satisfaction is low. The traditional design lacks integration of the overall wearable system, resulting in the knee exoskeleton device being not convenient enough in daily use.

[0003] Existing knee exoskeletons usually set the motor or drive device directly at the knee joint. When walking, the wearer's legs need to drive the drive device to do work, resulting in excessive joint load, affecting the flexibility and comfort of wearing, making the equipment bulky and inconvenient for long-term use. At the same time, the weight of the drive device can easily cause the movement trajectory to deviate from the natural knee joint movement pattern of the human body, resulting in a stiff movement process and uneven assistance, affecting the user experience. Existing knee exoskeletons are generally divided into only adult and children's models, which are difficult to meet the needs of users of different heights and different leg shapes. The present invention proposes a new solution to the above problems. Summary of the invention

[0004] In order to overcome at least one of the above-mentioned disadvantages, the present invention provides a walking-assisting knee joint exoskeleton structure and its power-assisting pants. The purpose of the present invention can be achieved by adopting the following technical solutions:

[0005] In a first aspect of the present invention, there is provided a walking-assisting knee joint exoskeleton structure, comprising an exoskeleton, wherein the exoskeleton comprises:

[0006] A power-assisting assembly, the power-assisting assembly comprising a waist belt and a driving mechanism, the waist belt is used to be tied around the waist of the wearer, and the driving mechanism is arranged on the waist belt and located at the waist;

[0007] A thigh support assembly, the thigh support assembly comprising a thigh binding mechanism and a thigh support, the thigh binding mechanism being used for binding at the thigh;

[0008] A calf support assembly, the calf support assembly comprising a calf binding mechanism and a calf support, the calf binding mechanism being used for binding at the calf;

[0009] A cross four-bar linkage assembly, through which the thigh support is dynamically connected to the calf support;

[0010] Among them, the power-assisting assembly also includes a motor assembly, a first brake line and a second brake line. The motor assembly includes a driving motor and a wire drum connected to the output shaft of the driving motor. The first brake line and the second brake line are both connected to the wire drum. An upper anchor point is provided on the thigh support assembly. The first brake line passes through the upper anchor point and is connected to the front end of the calf binding mechanism. The second brake line passes through the upper anchor point and is connected to the rear end of the calf binding mechanism.

[0011] In one embodiment, the cross four-bar linkage assembly includes:

[0012] a femoral support frame connected to the thigh support assembly;

[0013] a tibial support frame connected to the calf support assembly;

[0014] a first cross link, wherein a first end of the first cross link is rotatably connected to a first end of the femoral support frame, and a second end of the first cross link is rotatably connected to a first end of the tibial support frame;

[0015] a second cross link, wherein a first end of the second cross link is rotatably connected to a second end of the femoral support frame, and a second end of the second cross link is rotatably connected to a second end of the tibial support frame;

[0016] The thigh support assembly is rotatably connected to the calf support assembly via a cross four-bar linkage assembly; the calf support assembly can rotate by an angle of 0°-120° relative to the thigh support assembly along a first direction; the calf support assembly can rotate by an angle of 0°-30° relative to the thigh support assembly along a second direction; the first direction is opposite to the second direction.

[0017] In one possible implementation, the calf binding mechanism is provided with a first lower anchor point and a first brake line adjustment device, the first brake line passes through the upper anchor point and the first lower anchor point in sequence and is connected to the first brake line adjustment device, and the first brake line adjustment device is used to adjust the tension of the first brake line;

[0018] The calf binding mechanism is provided with a second lower anchor point and a second brake line adjusting device, the second brake line passes through the upper anchor point and the second lower anchor point in sequence and is connected to the second brake line adjusting device, and the second brake line adjusting device is used to adjust the tension of the second brake line.

[0019] In one embodiment, the first brake line adjustment device and the second brake line adjustment device both include:

[0020] A pressing plate, the pressing plate is arranged on the calf binding mechanism, and the pressing plate is provided with a hole for the first brake line or the second brake line to pass through;

[0021] A winding wheel, the winding wheel is arranged in the cavity of the pressure plate and connected to the first brake line or the second brake line;

[0022] A spring, one end of which is connected to the winding wheel, and the other end of which is connected to the pressure plate, wherein the spring applies elastic force to the winding wheel so that a portion of the winding wheel is located in the limiting groove of the calf binding mechanism, and the limiting groove forms a stop for the rotation of the winding wheel;

[0023] A knob is connected to the winding wheel, and can drive the winding wheel to overcome the elastic force and move axially to connect with or separate from the limiting groove, and is used to drive the winding wheel to rotate and adjust the tightness of the first brake line or the second brake line.

[0024] In one possible embodiment, the thigh support has one end connected to the cross four-bar linkage assembly and the calf support has one end connected to the cross four-bar linkage assembly and an adjustment shaft is provided. The axes of the two adjustment shafts are parallel and perpendicular to the plane where the cross four-bar linkage assembly is located, so as to adjust the position of the calf support.

[0025] In one possible implementation, the thigh binding mechanism and the calf binding mechanism both include a fixing plate, which is used to be sleeved on the leg and is provided with a first meshing tooth. The thigh support and the calf support both include a support plate, which is provided with a second meshing tooth matched with the first meshing tooth. The support plate is adjusted in position by staggered docking between the first meshing tooth and the second meshing tooth and is fixed by a buckle.

[0026] In one embodiment, the thigh binding mechanism and the calf binding mechanism both include:

[0027] A fixing plate, the fixing plate is arc-shaped and is used for sleeve connection on the leg;

[0028] A flexible pad, the flexible pad is arranged on the inner side of the fixing plate and is used for flexibly contacting with the legs;

[0029] A binding wire, one end of which is connected to the fixing plate or the flexible pad;

[0030] The binding adjustment component is arranged on the fixing plate, the binding wire is arranged circumferentially on the outside of the flexible pad, and the binding adjustment component is connected to the other end of the binding wire for adjusting the tension of the binding wire.

[0031] The second aspect of the present invention provides power-assisting pants, comprising any one of the auxiliary walking knee joint exoskeleton structures as described in the first aspect, and also comprising pants, wherein the auxiliary walking knee joint exoskeleton structure is detachably connected to the pants, the thigh binding mechanism and the calf binding mechanism are located inside the pants, the power-assisting assembly, the thigh support, the calf support and the cross four-bar linkage assembly are located outside the pants, and the pants are provided with openings for the thigh binding mechanism and the calf binding mechanism to pass through.

[0032] In one embodiment, the trousers include:

[0033] A side zipper, the side zipper is longitudinally arranged on the outside of the trouser legs of the trousers and extends to the bottom of the trouser legs;

[0034] A first zipper, wherein the first zipper is arranged at an upper portion of a trouser leg, and the trouser leg is detachably connected to the thigh support assembly through the first zipper;

[0035] A second zipper is provided at the lower part of the trouser leg, and the trouser leg is detachably connected to the thigh support assembly through the second zipper.

[0036] In one possible implementation, the trousers are of a split structure, comprising shorts, a left trouser leg and a right trouser leg, wherein the left trouser leg and the right trouser leg both comprise a first trouser leg and a second trouser leg;

[0037] The shorts are detachably connected to the first trouser leg via an upper zipper arranged along the circumference, and the first trouser leg is detachably connected to the second trouser leg via a lower zipper arranged along the circumference; and / or,

[0038] The shorts are provided with a first adjustment hole for adjusting the tightness of the thigh binding mechanism; the second trouser leg is provided with a second adjustment hole for adjusting the tightness of the calf binding mechanism.

[0039] Beneficial technical effects of the present invention: According to the content of the present disclosure, the walking-assisting knee joint exoskeleton structure moves the heavier driving mechanism to the waist belt, so the wearer's legs do not need to drive the driving mechanism to move, which reduces the load on the knee joint area and makes the knee joint position lighter and more flexible, thereby improving the wearing comfort and the feasibility of long-term walking; the instantaneous rotation center of the human knee joint is simulated by the cross four-link assembly, so that the movement trajectory of the power-assisting pants is more in line with the natural movement trajectory of the human knee joint; the two brake lines are respectively connected to the front and rear ends of the calf binding mechanism to simulate the gastrocnemius and tibialis anterior muscles of the human calf, and the two brake lines The rigid-flexible coupling combined with the cross four-bar linkage assembly makes the exoskeleton movement more natural and comfortable, bringing a smoother walking experience and avoiding the interference of rigid mechanical movements on the knee joints. It can also be fine-tuned according to the leg contour to ensure the fit and comfort of the power-assist pants during walking, thereby improving the user experience and achieving better power-assist effects. The power-assist pants combine the exoskeleton with trousers, and the trousers bear part of the weight of the exoskeleton, which reduces the load on the legs and helps reduce joint wear and muscle fatigue. The wearer can walk, run and other movements more easily. Part of the exoskeleton is located inside the trousers, which improves the overall aesthetics. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In the accompanying drawings, the following are given by way of example and not limitation:

[0041] Figure 1 A schematic diagram showing the structure of the exoskeleton from one angle;

[0042] Figure 2 A schematic diagram showing the structure of the exoskeleton from another angle;

[0043] Figure 3 A schematic diagram showing the structure of the exoskeleton operation process is shown;

[0044] Figure 4 An exploded view of the structure of the cross-four-link assembly is shown;

[0045] Figure 5 An enlarged schematic diagram of the structure of the cross four-bar linkage assembly at one angle is shown;

[0046] Figure 6 An enlarged schematic diagram of the structure of the cross four-bar linkage assembly from another angle is shown;

[0047] Figure 7 A schematic diagram of the structure of the waist belt and the driving mechanism is shown;

[0048] Figure 8 A schematic structural diagram of a thigh support assembly is shown;

[0049] Fig. 9 A schematic structural diagram of a calf support assembly is shown;

[0050] Fig.10 A schematic structural diagram of a thigh support is shown;

[0051] Fig.11 A schematic diagram of the structure of the first buckle and the second buckle is shown;

[0052] Fig.12 A schematic diagram of the structure of the binding adjustment assembly is shown;

[0053] Fig.13 A schematic structural diagram of a base is shown;

[0054] Fig.14 The schematic diagram of the structure of the tablet pressing motor and the ratchet mechanism is shown;

[0055] Fig.15 A schematic structural diagram of a rotating buckle is shown;

[0056] Fig.16 A schematic diagram of the structure of a first brake line adjustment device and a second brake adjustment assembly is shown;

[0057] Fig.17 A schematic structural diagram of a pressing plate is shown;

[0058] Fig.18 A schematic diagram of the structure of a winding wheel is shown;

[0059] Fig.19 The overall structural schematic diagram of the power-assisting pants is shown.

[0060] In the figure:

[0061] 100, exoskeleton; 200, pants; 210, first zipper; 220, second zipper; 230, upper zipper; 240, lower zipper; 250, first adjustment hole; 260, second adjustment hole; 270, side zipper;

[0062] 1. Power assist assembly; 2. Thigh support assembly; 3. Calf support assembly; 4. Cross four-link assembly;

[0063] 11. Waist belt; 12. Driving mechanism; 13. First brake line; 14. Second brake line; 15. Upper anchor point; 16. First lower anchor point; 17. First brake line adjustment device; 18. Second lower anchor point; 19. Second brake line adjustment device; 21. Thigh binding mechanism; 22. Thigh support; 31. Calf binding mechanism; 32. Calf support; 41. Femoral support frame; 42. First cross link; 43. Second cross link; 44. Tibia support frame;

[0064] 171, pressing plate; 172, winding wheel; 173, knob; 174, spring; 211, fixing plate; 212, first meshing tooth; 213, flexible pad; 214, binding wire; 215, binding adjustment assembly; 221, supporting plate; 222, second meshing tooth; 223, adjustment shaft; 224, buckle;

[0065] 2151. base; 2152. tablet pressing motor; 2153. ratchet mechanism; 2154. rotating buckle. DETAILED DESCRIPTION

[0066] In the following detailed disclosure, these embodiments are fully described with reference to the accompanying drawings. In order to make the technical scheme of the present invention more clear and specific to those skilled in the art, the implementation methods described below are not limited to this. The present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings.

[0067] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0069] The first aspect of the present invention, as Figure 1-Figure 19As shown, a walking-assisting knee joint exoskeleton structure is provided, including an exoskeleton 100, the exoskeleton 100 including a power-assisting assembly 1, a thigh support assembly 2, a calf support assembly 3 and a cross four-link assembly 4, the power-assisting assembly 1 including a waist belt 11 and a driving mechanism 12, the waist belt 11 is used to be tied to the waist of the wearer, the driving mechanism 12 is arranged on the waist belt 11 and is located at the waist, the thigh support assembly 2 includes a thigh binding mechanism 21 and a thigh support 22, the thigh binding mechanism 21 is used to be tied to the thigh, the calf support assembly 3 includes a calf binding mechanism 31 and a calf support 32, the calf binding mechanism 32 is used to be tied to the thigh, and the calf support assembly 3 includes a calf binding mechanism 31 and a calf support 32. The binding mechanism 31 is used for binding at the calf, and the thigh support 22 is dynamically connected to the calf support 32 through a cross four-bar linkage assembly 4; the power-assisting assembly 1 also includes a motor assembly, a first brake line 13 and a second brake line 14, the motor assembly includes a drive motor and a cable drum connected to the output shaft of the drive motor, the first brake line 13 and the second brake line 14 are both connected to the cable drum, an upper anchor point 15 is provided on the thigh support assembly 2, the first brake line 13 passes through the upper anchor point 15 and is connected to the front end of the calf binding mechanism 31, and the second brake line 14 passes through the upper anchor point 15 and is connected to the rear end of the calf binding mechanism 31.

[0070] The walking-assisted knee joint exoskeleton structure optimizes the instantaneous center position of the knee joint rotation and enhances the fixation of the thigh and calf parts by moving the heavier driving mechanism 12 upward to the waist belt 11. The wearer's legs do not need to drive the driving mechanism 12 to move, which reduces the load on the knee joint area and makes the pants lighter and more flexible at the knee joint position, thereby improving wearing comfort and the feasibility of long-term walking. The knee joint is one of the joints in the human body that is easily damaged. Especially during load-bearing activities, moving the heavier driving mechanism 12 upward and connecting it to the waist belt 11 can not only reduce the weight and pressure at the knee joint, optimize the instantaneous center position of the knee joint rotation, reduce the risk of joint wear and injury, but also ensure the connection stability of the driving mechanism 12.

[0071] Among them, Figure 7 As shown, the waist belt 11 includes elastic material. The elastic waist belt 11 can better fit the waist of the wearer, provide stable support, and reduce the discomfort caused by long-term wearing. The elastic waist belt 11 has good adaptability and can adapt to wearers with different waist circumferences, thereby improving the versatility of the exoskeleton 100. The drive mechanism 12 is arranged on the hard fixing buckle of the waist belt 11, which can ensure the stability of the position of the drive mechanism 12, so that the weight distribution of the entire exoskeleton 100 is more balanced, and the pressure on the knee joint is reduced. At the same time, the motor is integrated into the waist belt 11, which can make the exoskeleton 100 system more compact and lightweight, easy to carry and store, and the retractability of the elastic waist belt 11 also makes it easier to fold and store the exoskeleton 100 when not in use.

[0072] In the conventional exoskeleton 100 design, the drive mechanism 12 is usually located near the knee joint and directly drives the movement of the lower leg. This design often creates greater pressure and burden on the knee joint, especially when walking for a long time or performing high-intensity exercise.

[0073] The walking-assisted knee joint exoskeleton structure provided in this embodiment moves the driving mechanism 12 upward to the waist of the wearer, dispersing the pressure originally concentrated on the knee joint to the waist, thereby reducing the burden on the knee joint, reducing the wear and damage of the knee joint, and extending the service life of the knee joint. The waist is an important supporting part of the human body and has higher stability. The heavier driving mechanism 12 is set at this part, which can make the exoskeleton 100 more stable during exercise, reduce shaking and trembling, and improve the walking stability and safety of the wearer. The upward movement of the driving mechanism 12 can also make the movement trajectory of the exoskeleton 100 more consistent with the natural movement trajectory of the human body, which can not only improve the comfort of the wearer, but also reduce the extra energy consumption and fatigue caused by the mismatch of the movement trajectory, reduce the burden on the human body during exercise, and improve exercise efficiency and comfort.

[0074] It is understandable that the outwardly protruding drive mechanism 12 is at a lower height at the knee joint position, and is not easily noticed by the surrounding people, especially in a crowded space, and the drive mechanism 12 is prone to bumping into others. The auxiliary walking knee joint exoskeleton structure provided in this embodiment will be moved to the waist, and the waist position is higher than the knee joint, making the drive mechanism 12 more conspicuous and easy to be noticed by the surrounding people. Due to the raised position, the chance of the drive mechanism 12 contacting the legs, knees and other parts of others during walking is reduced. At the same time, the waist movement range is smaller than the knee joint, and the inward concave position of the waist is more convenient for placing the drive mechanism 12, reducing the degree of outward protrusion of the drive mechanism 12 and reducing the possibility of bumping; the waist drive mechanism 12 occupies a relatively high position in space, which naturally increases the safe distance from the ground and other obstacles.

[0075] The assisted walking knee joint exoskeleton structure provided in this embodiment simulates the instantaneous rotation center of the human knee joint through the cross four-bar linkage assembly 4, so that the movement trajectory of the power-assisting pants is more consistent with the natural movement trajectory of the human knee joint; two brake lines are respectively connected to the front and rear ends of the calf binding mechanism 31 to simulate the biological characteristics of the gastrocnemius and tibialis anterior muscles of the human calf, and the two brake lines cooperate with the cross four-bar linkage assembly 4 to achieve rigid-flexible coupling, so that the movement trajectory of the exoskeleton 100 is more consistent with the natural movement trajectory of the human knee joint, and the movement is more natural and comfortable, bringing a smoother walking experience, avoiding the interference of rigid mechanical movements on the knee joint, and can also be fine-tuned according to the leg contour to ensure the fit and comfort of the power-assisting pants during walking, thereby improving the user experience and achieving a better power-assisting effect.

[0076] Among them, the auxiliary walking knee joint exoskeleton structure provided in this embodiment adopts a cable drive method to achieve active flexion / extension freedom, which can better adapt to the complex movement requirements of the human knee joint. The cable drive connects the posterior and anterior anchor points of the calf through two brake lines, simulates the natural movement trajectory of the knee joint, and provides accurate and effective assistance during flexion and extension; at the same time, the cross four-link assembly 4 optimizes the mechanical path of the cable drive, so that the exoskeleton 100 can better fit the natural movement trajectory of the human body, ensuring the naturalness and flexibility of the walking process. When the motor rotates forward, the inner core steel wire of the second brake line 14 is tightened, driving the knee joint to bend backward, simulating the biomechanical process of the gastrocnemius muscle on the posterior side of the human calf when the knee joint is flexed; when the motor is reversed, the inner core steel wire of the first brake line 13 is tightened, thereby driving the knee joint to extend forward, simulating the role of the tibialis anterior muscle on the front side of the human calf when the knee joint is extended.

[0077] In one possible implementation, Figure 1-Figure 6 As shown, the cross four-bar linkage assembly 4 includes a femoral support frame 41, a tibial support frame 44, a first cross link 42 and a second cross link 43. The femoral support frame 41 is connected to the thigh support assembly 2, the tibial support frame 44 is connected to the calf support assembly 3, the first end of the first cross link 42 is rotatably connected to the first end of the femoral support frame 41, the second end of the first cross link 42 is rotatably connected to the first end of the tibial support frame 44, the first end of the second cross link 43 is rotatably connected to the second end of the femoral support frame 41, and the second end of the second cross link 43 is rotatably connected to the second end of the tibial support frame 44.

[0078] Among them, Figure 4 As shown, the auxiliary walking knee joint exoskeleton structure provided in this embodiment adopts a bionic cross four-link assembly 4 to achieve bionic movement. The cross four-link assembly 4 includes a femoral support frame 41, a tibial support frame 44, a first cross link 42 and a second cross link 43, which are fixed by connecting bolts to form a flexible support system for the knee joint. Figure 2-Figure 6As shown, the femoral support frame 41 is connected to the thigh support assembly 2, and the tibial support frame 44 is connected to the calf support assembly 3. The femoral support frame 41 and the tibial support frame 44 are rotated through the first cross link 42 and the second cross link 43. The first cross link 42 and the second cross link 43 play the role of connecting and transmitting motion, so that the femoral support frame 41 and the tibial support frame 44 can move relative to each other. During walking, running and jumping, the human knee joint will perform complex rotational motion around an instantaneous rotation center. The cross four-link assembly 4 simulates the instantaneous rotation center of the human knee joint, so that the motion trajectory of the knee joint of the power-assisted pants is more consistent with the motion of the natural knee joint of the human body, effectively increasing the naturalness and comfort of the flexion and extension of the knee joint, ensuring that the motion trajectory of the knee joint of the power-assisted pants is more consistent with the motion of the natural knee joint of the human body, avoiding stiff movements during mechanical driving, and allowing the wearer to enjoy a more natural and smoother motion experience during wearing.

[0079] Among them, the cross four-bar mechanism is composed of a femoral support frame 41, a tibial support frame 44 and two groups of cross links. This structure can perform multi-axis rotation like the human knee joint, so as to adapt to various complex movement postures. By accurately controlling the rotation angle and speed of the connecting rod, it is ensured that the auxiliary walking pants always keep in sync with the human knee joint during exercise, reducing friction and resistance during exercise. The highly simulated design enables the auxiliary walking pants to provide just the right amount of assistance when the wearer performs various daily activities, reduce the burden on the knee joint, and improve walking efficiency and comfort.

[0080] The thigh support assembly 2 is rotatably connected to the calf support assembly 3 through a cross four-link assembly 4. Figure 3 As shown, the calf support assembly 3 can rotate relative to the thigh support assembly 2 along a first direction at an angle of 0°-120°, and the calf support assembly 3 can rotate relative to the thigh support assembly 2 along a second direction at an angle of 0°-30°, and the first direction is opposite to the second direction.

[0081] It is understandable that the exoskeleton 100 imitates the human skeleton and muscle structure to provide assistance or rehabilitation training for the wearer. In the exoskeleton 100, the thigh support assembly 2 and the calf support assembly 3 are key components, which are fixed to the wearer's thigh and calf respectively, and realize connection and power transmission through mechanical structure. The cross four-bar linkage assembly 4 serves as a connecting component between the thigh support assembly 2 and the calf support assembly 3 to realize the rotation connection between the two, so that the exoskeleton 100 can more accurately simulate the movement trajectory of the human knee joint, improve the assistance effect and the comfort of the wearer.

[0082] In the process of walking, when the knee joint bends, the calf support assembly 3 will rotate a certain angle relative to the thigh support assembly 2. Through the precise control of the cross four-bar linkage assembly 4, this rotation angle can be consistent with the natural bending angle of the human knee joint, thereby ensuring that the exoskeleton 100 can smoothly follow the wearer's movement trajectory to provide assistance. The flexion rotation angle range of the calf support assembly 3 relative to the thigh support assembly 2 is 0°-120°, and the extension rotation angle range of the calf support assembly 3 relative to the thigh support assembly 2 is 0°-30°. This range covers the range of motion of the human knee joint in most daily activities, thereby achieving mechanical limits of 0°-30° extension and 0°-120° flexion of the joint. The auxiliary walking knee exoskeleton structure provided in this embodiment not only ensures flexion operation, but also ensures extension movement. Knee extension helps support and forward propulsion during gait, and can also help reduce the load on the knee extensor muscles, reduce fatigue, thereby reducing the risk of fatigue-related knee injuries, and reduce the load on the knee joint, avoiding excessive knee flexion leading to decreased functional ability and loss of mobility. Providing knee extension assistance can improve the load capacity of patients with knee dysfunction on the affected limb, maintain stability during the standing phase of gait, and improve overall mobility, reduce energy consumption during tasks that require high load support of the limb, such as sit-to-stand transitions and going up and down stairs, and help prevent spasms and abnormal joint coupling during gait. Within this angle range, the cross four-link assembly 4 can ensure that the relative movement between the calf support assembly 3 and the thigh support assembly 2 is both flexible and stable, thereby meeting the wearer's assistance needs in different scenarios.

[0083] In one possible implementation, Figure 2 As shown, a first lower anchor point 16 and a first brake line adjusting device 17 are provided on the calf binding mechanism 31, and the first brake line 13 passes through the upper anchor point 15 and the first lower anchor point 16 in sequence and is connected to the first brake line adjusting device 17, and the first brake line adjusting device 17 is used to adjust the tension of the first brake line 13; a second lower anchor point 18 and a second brake line adjusting device 19 are provided on the calf binding mechanism 31, and the second brake line 14 passes through the upper anchor point 15 and the second lower anchor point 18 in sequence and is connected to the second brake line adjusting device 19, and the second brake line adjusting device 19 is used to adjust the tension of the second brake line 14.

[0084] Among them, the driving mechanism 12 also includes a motor assembly and a cable drum, the motor assembly includes a motor housing and a driving motor, the output end of the driving motor is connected to the cable drum, one end of the first brake line 13 is connected to the cable drum, one end of the second brake line 14 is connected to the cable drum, an upper anchor point 15 is provided on the outer side of the thigh support 22, a first lower anchor point 16 is provided on the outer front side of the calf binding mechanism 31, and a second lower anchor point 18 is provided on the outer rear side of the calf binding mechanism 31. The other end of the first brake line 13 passes through the upper anchor point 15 and the first lower anchor point 16 in sequence and is connected to the first brake line adjustment device 17, and the other end of the second brake line 14 passes through the upper anchor point 15 and the second lower anchor point 18 in sequence and is connected to the second brake line adjustment device 19.

[0085] The upper anchor point 15 is provided with two separate holes for the first brake line 13 and the second brake line 14 to pass through respectively.

[0086] The walking-assisting knee exoskeleton structure provided in this embodiment adopts a combination of a pull-wire drive and a manual tensioning device to achieve active flexion / extension freedom and multi-directional flexible fitting freedom, and can better adapt to the complex movement requirements of the human knee joint.

[0087] Among them, the driving mechanism 12 includes a motor assembly installed on the upper part of the thigh support assembly 2, which is used to drive the knee joint to extend or flex. The driving motor is connected to the wire drum, and the brake line consists of a fixed outer skin and a freely sliding inner core steel wire. The outer skin is fixed to the thigh and calf supports 32 through anchor points respectively and remains stationary, while the inner core steel wire is tightened when the driving motor rotates, thereby driving the flexion and extension of the knee joint.

[0088] In one possible implementation, Figure 16-18 As shown, the first brake line adjustment device 17 and the second brake line adjustment device 19 both include a pressure plate 171, a winding wheel 172, a spring 174 and a knob 173. The pressure plate 171 is arranged on the calf binding mechanism 31. The pressure plate 171 is provided with a hole for the first brake line 13 or the second brake line 14 to pass through. The winding wheel 172 is arranged in the cavity of the pressure plate 171 and is connected to the first brake line 13 or the second brake line 14. One end of the spring 174 is connected to the winding wheel 172. The other end of the spring 174 is connected to the pressure plate 171, and the spring 174 applies elastic force to the winding wheel 172 so that a part of the winding wheel 172 is located in the limiting groove of the calf binding mechanism 31. The limiting groove forms a stop for the rotation of the winding wheel 172. The knob 173 is connected to the winding wheel 172, and can drive the winding wheel 172 to overcome the elastic force and move axially to connect with or separate from the limiting groove, so as to drive the winding wheel 172 to rotate and adjust the tightness of the first brake line 13 or the second brake line 14.

[0089] The present embodiment provides a brake line adjustment device, which adopts a rotation adjustment and self-locking structure. The winding wheel 172 is composed of a rod and two end plates arranged on the rod, wherein the end plate away from the knob 173 can be a polygon, and a limit groove corresponding to the end plate is opened on the calf binding mechanism 31. A spring 174 is provided in the pressure plate 171. The spring 174 is sleeved on the rod and applies elastic force to the winding wheel 172 to make the end plate embed into the limit groove. When the brake line needs to be adjusted, the knob 173 is pulled outward, and the knob 173 overcomes The elastic force drives the winding wheel 172 to disengage from the limiting groove, and the brake line is tightened around the winding wheel 172 by turning the knob 173, thereby adjusting the tightness of the rope, and pressing down the fixed winding wheel 172 to embed it into the limiting groove again to form a limit, so that the rope length can be quickly adjusted and stably locked, thereby realizing flexible adjustment and efficient fixation of manual tightening of the brake line, which can be suitable for people of different heights, is convenient to operate, and ensures the reliability and stability of the system, ensuring that the length of the brake line does not change during movement, and avoiding affecting the power assistance effect.

[0090] In one possible implementation, Figure 4 As shown, one end of the thigh support 22 connected to the cross four-bar linkage assembly 4 and one end of the calf support 32 connected to the cross four-bar linkage assembly 4 are both provided with an adjustment shaft 223, and the axes of the two adjustment shafts 223 are parallel and perpendicular to the plane where the cross four-bar linkage assembly 4 is located, so as to adjust the position of the calf support 32.

[0091] Among them, one end of the thigh support 22 is rotatably connected to the cross four-bar linkage assembly 4, one end of the calf support 32 is rotatably connected to the cross four-bar linkage assembly 4, the cross four-bar linkage assembly 4 is rotatably connected to the thigh support 22 through the first adjustment axis 223, and the cross four-bar linkage assembly 4 is rotatably connected to the calf support 32 through the second adjustment axis 223, so that the calf support 32 can rotate in the vertical plane, and the position of the calf support 32 can be adaptively adjusted, so that the exoskeleton 100 can be fine-tuned at the knee joint according to the leg contour and body shape of the wearer to meet the needs of people with different leg shapes, ensuring that the knee joint part can dynamically fit the leg curve, thereby providing personalized wearing adaptability and comfort.

[0092] Furthermore, the axes of the two adjustment shafts 223 are parallel and perpendicular to the plane where the cross four-bar linkage assembly 4 is located, so as to adjust the position of the calf support 32 and can be suitable for different leg shapes such as X-shaped legs and O-shaped legs.

[0093] The walking-assisting knee joint exoskeleton structure provided in this embodiment has two degrees of freedom, including active flexion / extension and multi-directional flexible fit. The multi-directional flexible fit is achieved through the adjustment axis 223. The adjustment axis 223 at the knee joint can adapt to small angle changes in different directions as the joint moves, dynamically adjust the fit angle between the exoskeleton 100 and the leg, and avoid discomfort caused by joint changes.

[0094] In one possible implementation, Figure 8-Figure 11 As shown, the thigh binding mechanism 21 and the calf binding mechanism 31 both include a fixing plate 211, which is used to be sleeved on the leg and is provided with a first meshing tooth 212. The thigh support 22 and the calf support 32 both include a supporting plate 221, which is provided with a second meshing tooth 222 that is matched with the first meshing tooth 212. The support plate 221 is adjusted in position by staggered docking between the first meshing tooth 212 and the second meshing tooth 222 and is fixed by a buckle 224.

[0095] Among them, a length adjustment device based on a sawtooth structure is provided between the thigh support 22 and the thigh binding mechanism 21, and between the calf support 32 and the calf binding mechanism 31. Specifically, a first meshing tooth 212 is provided on the fixing plate 211, and a second meshing tooth 222 is provided on the support plate 221. The first meshing tooth 212 and the second meshing tooth 222 can be aligned and meshed together, and the position of the support plate 221 can be adjusted by the alignment of the teeth. The sawtooth structure can not only provide multi-gear adjustment accuracy, but also can be quickly fixed through the buckle 224. It can adjust the distance between the thigh binding mechanism 21 and the cross four-bar linkage assembly 4, and the distance between the cross four-bar linkage assembly 4 of the calf binding mechanism 31, which significantly simplifies the operation process. Compared with the slide rail or threaded adjustment method, this design solves the problem of sliding or loosening under the exercise load, and at the same time effectively reduces the overall weight of the device, improves durability and adaptability, adapts to the needs of users of different heights and leg shapes, and realizes multi-directional adaptation of the lateral width and vertical height of the knee joint, ensuring stability and safety after adjustment. By adjusting the position and angle of the exoskeleton 100, it can accurately match the contour of the user's knee to avoid discomfort caused by insufficient rigidity or excessive pressure of the device. The dynamic adaptation device makes multi-directional fine-tuning to enable the support mechanism to fit closely to the leg during exercise, optimizing the matching between the knee joint movement trajectory and the device's power assistance path, thereby improving naturalness and flexibility during walking.

[0096] In one possible implementation, Figure 8 and Fig. 9As shown, the thigh binding mechanism 21 and the calf binding mechanism 31 both include a fixed plate 211, a flexible pad 213, a binding wire 214 and a binding adjustment component 215. The fixed plate 211 is arc-shaped for being sleeved on the leg, the flexible pad 213 is arranged on the inner side of the fixed plate 211 for flexible contact with the leg, one end of the binding wire 214 is connected to the fixed plate 211 or the flexible pad 213, the binding adjustment component 215 is arranged on the fixed plate 211, the binding wire 214 is circumferentially arranged on the outer side of the flexible pad 213, and the binding adjustment component 215 is connected to the other end of the binding wire 214 for adjusting the tension of the binding wire 214.

[0097] Among them, the fixing plate 211 is arc-shaped, and the arc-shaped notch is located on the inner side of the leg when worn, which reduces the friction on the leg during walking and improves the comfort and stability of wearing.

[0098] The flexible pad 213 is arranged on the inner side of the fixing plate 211 and is in direct contact with human skin. It is made of soft material and can provide comfortable flexible support while dispersing the pressure of the exoskeleton 100 on the legs, further reducing discomfort when worn.

[0099] The binding wire 214 is circumferentially bound to the outside of the fixing plate 211 and the flexible pad 213, and the tension of the binding wire 214 is adjusted by the binding adjustment component 215, so as to ensure that the thigh binding mechanism 21 and the calf binding mechanism 31 can fit tightly to the leg. The binding adjustment component 215 is arranged on the fixing plate 211, which is convenient for the wearer to make quick adjustments. By adjusting the binding adjustment component 215, the wearer can easily adjust the tension of the binding wire 214 according to his / her leg size and comfort requirements, and realize a personalized wearing experience.

[0100] This embodiment provides a specific structure of a binding adjustment component 215, such as Figure 12-Figure 15 As shown, the binding adjustment component 215 includes a base 2151, a pressing motor 2152, a ratchet mechanism 2153 and a rotating buckle 2154. The base 2151 is set on the fixed plate 211, the pressing motor 2152 is set on the base 2151, the ratchet mechanism 2153 includes a matching ratchet and pawl, the output end of the pressing motor 2152 is connected to the pawl, the binding wire 214 is connected to the ratchet, and the rotating buckle 2154 is set on the base 2151. The rotating buckle 2154 is rotated to release or tighten the binding wire 214.

[0101] Among them, the base 2151 is the supporting structure of the binding adjustment component 215, which is arranged on the fixed plate 211. The pressing motor 2152 is arranged on the base 2151. It is the power source for driving the ratchet mechanism 2153 to operate. The output shaft of the pressing motor 2152 is connected to the pawl, and the ratchet is connected to the binding line 214. When the pawl rotates or moves under the drive of the pressing motor 2152, it will interact with the ratchet, thereby driving the ratchet to rotate, and then tighten or release the binding line 214 to adjust the binding tightness.

[0102] Among them, the rotating buckle 2154 is set on the base 2151, which provides the wearer with an interface for manually adjusting the tightness of the binding line 214. The binding line 214 can be released or tightened by twisting the rotating buckle 2154, so as to adjust the tightness of the binding according to one's own needs and comfort, making the binding adjustment more convenient and flexible.

[0103] Furthermore, the trouser legs of the trousers 200 are provided with adjustment holes corresponding to the rotating buckles 2154, and fingers can pass through the adjustment holes to directly operate the binding adjustment components 215, thereby achieving rapid adjustment of the binding tightness.

[0104] Among them, the setting of the compression motor 2152 is light in weight and small in thickness, which helps to reduce the weight of the entire exoskeleton 100 and reduce the space occupied by the drive mechanism 12, so that the wearer can carry and use it more easily. It can also reduce interference and consumption to human movement while ensuring the power-assisting effect.

[0105] The second aspect of the present invention, as Figure 1-Figure 19 As shown, there is provided a power-assisting trousers, comprising any one of the auxiliary walking knee joint exoskeleton structures in the first aspect, and also comprising trousers 200, wherein the auxiliary walking knee joint exoskeleton structure is detachably connected to the trousers 200, the thigh binding mechanism 21 and the calf binding mechanism 31 are located inside the trousers 200, the power-assisting component 1, the thigh support 22, the calf support 32 and the cross four-bar linkage component 4 are located outside the trousers 200, and the trousers 200 are provided with openings for the thigh binding mechanism 21 and the calf binding mechanism 31 to pass through.

[0106] The power-assisted pants provided in this embodiment combine the exoskeleton 100 with the pants 200, and fix the exoskeleton 100 on the pants 200. The weight originally borne by the legs is shared by the pants 200 and the exoskeleton 100, thereby reducing the load on the legs, helping to reduce joint wear and muscle fatigue, and allowing the wearer to walk, run, and other movements more easily and freely.

[0107] The power-assisting pants provided in this embodiment will locate the part that needs to be in direct contact with the legs inside the pants 200, that is, the thigh binding mechanism 21 and the calf binding mechanism 31 are located inside the pants 200, which can ensure the comfort and tightness of wearing, and the binding mechanism can fit the legs more closely, providing good support and stability. The part that does not need to be in direct contact with the legs is located outside the pants 200, that is, the power-assisting component 1, the thigh support 22, the calf support 32 and the cross four-link assembly 4 are located outside the pants 200, so as to avoid the large volume of the internal structure of the pants 200 affecting the appearance, and also simplify the wearing and taking off process, and facilitate maintenance, debugging and replacement. The external structure of the pants 200 can make the drive mechanism 12 dissipate heat better, avoid affecting the temperature inside the pants 200, and improve the comfort of the wearer. By dividing and arranging the functional arrangement of the exoskeleton 100 inside and outside the pants 200, it is possible to ensure normal operation and good heat dissipation while ensuring the stability of the binding, and it is also possible to reduce the bulkiness of the exoskeleton 100, increase the modular advantages, and improve the overall aesthetics.

[0108] In one possible implementation, Fig.19 As shown, the pants 200 includes a side zipper 270, a first zipper 210 and a second zipper 220. The side zipper 270 is longitudinally arranged on the outside of the trouser legs of the pants 200 and extends to the bottom of the trouser legs. The first zipper 210 is arranged on the upper part of the trouser legs, and the trouser legs are detachably connected to the thigh support assembly 2 through the first zipper 210. The second zipper 220 is arranged on the lower part of the trouser legs, and the trouser legs are detachably connected to the calf support assembly 3 through the second zipper 220.

[0109] The outer side of the trouser legs of the trousers 200 is provided with a side zipper 270 which is longitudinally arranged and extends to the bottom of the trouser legs. The side zipper 270 on the side of the trouser legs is pulled upward from the bottom to gradually spread the trouser legs from the bottom, making the trousers more convenient to put on and take off. Especially when the exoskeleton 100 needs to be tied, in hot weather or during exercise, the side zipper 270 can also be opened to allow the feet or legs to get better ventilation, thereby increasing comfort and helping to regulate body temperature.

[0110] An additional opening is provided on the outside of the trouser legs to facilitate the installation of the exoskeleton 100, so that a portion of the exoskeleton 100 can be located inside the trousers 200 and another portion can be located outside the trousers 200.

[0111] The upper part of the trouser leg is provided with a first zipper 210, the first zipper 210 is provided with a first upper chain, the thigh binding mechanism 21 is provided with a first lower chain, the flexible pad 213 protrudes from the upper end of the fixing plate 211, the first lower chain can be provided on the flexible pad 213 of the thigh binding mechanism 21, and the trouser leg can be detachably connected to the thigh binding mechanism 21 through the first upper chain and the first lower chain that match. The lower part of the trouser leg is provided with a second zipper 220, the second zipper 220 is provided with a second upper chain, the calf binding mechanism 31 is provided with a second lower chain, the flexible pad 213 protrudes from the upper end of the fixing plate 211, the second lower chain can be provided on the flexible pad 213 of the calf binding mechanism 31, and the trouser leg can be detachably connected to the calf binding mechanism 31 through the second upper chain and the second lower chain that match. The weight originally borne by the legs is shared by the pants 200 and the exoskeleton 100, which reduces the load on the legs and helps reduce joint wear and muscle fatigue.

[0112] In one possible implementation, Fig.19 As shown, the trousers 200 are of a split structure, and the trousers 200 include shorts, a left trouser leg and a right trouser leg, and the left trouser leg and the right trouser leg both include a first trouser leg and a second trouser leg.

[0113] It can be understood that the present embodiment provides a rigid-flexible coupled knee joint power-assisting pants with an instantaneous rotation center. The pants 200 can adopt a three-section structural design. The shorts, the first trouser leg and the second trouser leg can be connected by buckles 224, zippers, etc. to form an integral structure, which is easy to wear and adjust.

[0114] The shorts and the first trouser leg are detachably connected via an upper zipper 230 arranged along the circumference, and the first trouser leg and the second trouser leg are detachably connected via a lower zipper 240 arranged along the circumference.

[0115] It can be understood that the shorts are the basic part, and the left and right trouser legs are independent and detachably connected to the shorts. The left and right trouser legs both contain a first trouser leg and a second trouser leg, which can be connected by a zipper for easy wearing and taking off. An upper zipper 230 is set between the shorts and the first trouser leg, and a lower zipper 240 is set between the first trouser leg and the second trouser leg. The zipper connection simplifies the wearing process, facilitates assembly with the exoskeleton 100, improves the convenience of wearing, and meets diverse wearing needs.

[0116] The shorts are provided with a first adjustment hole 250 for adjusting the tightness of the thigh binding mechanism 21 ; the second trouser leg is provided with a second adjustment hole 260 for adjusting the tightness of the calf binding mechanism 31 .

[0117] It can be understood that adjustment holes are provided on the trouser legs of the trousers 200, and the adjustment holes are arranged corresponding to the positions of the binding adjustment components 215. The first adjustment hole 250 is arranged at the front end of the shorts and corresponds to the rotating buckle 2154 of the thigh binding mechanism 21, and the rotating buckle 2154 can pass through the first adjustment hole 250 to be exposed for easy adjustment. The second adjustment hole 260 is arranged at the front end of the second trouser leg and corresponds to the rotating buckle 2154 of the calf binding mechanism 31, and the rotating buckle 2154 can pass through the second adjustment hole 260 to be exposed for easy adjustment, thereby realizing rapid adjustment of the binding tightness and improving the flexibility of adjusting the binding tightness.

[0118] When putting on the pants, first open the outer layer of the pants 200 through the side zipper 270, and put the pants 200 on from the legs. After putting them on, adjust the position of the pants 200, align the thigh binding mechanism 21 with the thigh, and align the calf binding mechanism 31 with the calf, use the first zipper 210 to connect the pants 200 with the thigh binding mechanism 21, and use the second zipper 220 to connect the pants 200 with the calf binding mechanism 31, first put on the thigh binding mechanism 21 and install the thigh support 22, adjust the position so that the instantaneous center of rotation of the cross four-bar linkage assembly 4 is aligned with the knee position, then put on the calf binding mechanism 31 and install the calf support 32 to adjust the position, adjust the binding tightness through the adjustment hole of the pants 200, ensure that the pants fit the legs, and finally close the zipper 230 to complete the installation.

[0119] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0120] The power-assist pants provided by the present invention realize efficient donning and doffing and improved adaptability through a unique trouser 200 structural design, including an ingenious layout of inner and outer layers and related zippers and binding mechanisms; the cross four-link assembly 4 is innovatively integrated with a dual brake line drive, a brake line adjustment device, a zigzag length adjustment device and a dynamic adaptation device to accurately simulate the human knee joint movement in multiple degrees of freedom; a rigid-flexible coupling exoskeleton 100 design is adopted to realize bionic flexion and extension movement with the help of a motor, two brake lines, a cross four-link mechanism, etc., and an adjustment shaft 223 and a length adjustment device are provided to adapt to different body shapes; its bionic artificial muscle structure limits movement within a specific angle range and dynamically adjusts according to the movement amplitude and load, so that the knee joint moves smoothly and naturally, effectively avoiding interference damage, and providing a highly valuable innovative solution for the field of knee joint assistance, with broad application prospects and significant social benefits.

[0121] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0122] In view of the above detailed description, these and other changes can be made to these embodiments, and this written description includes the best mode embodiments to disclose the present invention. The scope of the patent obtained by the present invention is defined by the claims, which are not limited by the present disclosure, and the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field within the scope disclosed by the present invention, according to the technical solution and its conception of the present invention, is equivalent to or changes, and all are within the protection scope of the present invention.

Claims

1. A walking-assisting knee joint exoskeleton structure, characterized in that: An exoskeleton (100) is provided, wherein the exoskeleton (100) comprises: A power-assisting assembly (1), the power-assisting assembly (1) comprising a waist belt (11) and a driving mechanism (12), the waist belt (11) being used to be tied around the waist of a wearer, and the driving mechanism (12) being arranged on the waist belt (11) and located at the waist; A thigh support assembly (2), the thigh support assembly (2) comprising a thigh binding mechanism (21) and a thigh support (22), the thigh binding mechanism (21) being used for binding at the thigh; A calf support assembly (3), the calf support assembly (3) comprising a calf binding mechanism (31) and a calf support (32), the calf binding mechanism (31) being used for binding at the calf; A cross four-bar linkage assembly (4), wherein the thigh support (22) is dynamically connected to the calf support (32) via the cross four-bar linkage assembly (4); The power assist assembly (1) further comprises a motor assembly, a first brake line (13) and a second brake line (14); the motor assembly comprises a drive motor and a cable drum connected to the output shaft of the drive motor; the first brake line (13) and the second brake line (14) are both connected to the cable drum; an upper anchor point (15) is provided on the thigh support assembly (2); the first brake line (13) passes through the upper anchor point (15) and is connected to the front end of the calf binding mechanism (31); the second brake line (14) passes through the upper anchor point (15) and is connected to the rear end of the calf binding mechanism (31).

2. The walking-assisted knee joint exoskeleton structure according to claim 1, characterized in that: The cross four-link assembly (4) comprises: A femoral support frame (41), wherein the femoral support frame (41) is connected to the thigh support assembly (2); A tibial support frame (44), wherein the tibial support frame (44) is connected to the calf support assembly (3); A first cross link (42), wherein a first end of the first cross link (42) is rotatably connected to a first end of the femoral support frame (41), and a second end of the first cross link (42) is rotatably connected to a first end of the tibial support frame (44); A second cross link (43), wherein a first end of the second cross link (43) is rotatably connected to a second end of the femoral support frame (41), and a second end of the second cross link (43) is rotatably connected to a second end of the tibial support frame (44); The thigh support assembly (2) is rotatably connected to the calf support assembly (3) via a cross four-bar linkage assembly (4); the calf support assembly (3) is rotatable at an angle of 0°-120° relative to the thigh support assembly (2) along a first direction; the calf support assembly (3) is rotatable at an angle of 0°-30° relative to the thigh support assembly (2) along a second direction; the first direction is opposite to the second direction.

3. The walking-assisted knee joint exoskeleton structure according to claim 1, characterized in that: The calf binding mechanism (31) is provided with a first lower anchor point (16) and a first brake line adjustment device (17); the first brake line (13) passes through the upper anchor point (15) and the first lower anchor point (16) in sequence and is connected to the first brake line adjustment device (17); the first brake line adjustment device (17) is used to adjust the tension of the first brake line (13); The calf binding mechanism (31) is provided with a second lower anchor point (18) and a second brake line adjustment device (19); the second brake line (14) passes through the upper anchor point (15) and the second lower anchor point (18) in sequence and is connected to the second brake line adjustment device (19); the second brake line adjustment device (19) is used to adjust the tension of the second brake line (14).

4. The walking-assisting knee joint exoskeleton structure according to claim 3, characterized in that: The first brake line adjusting device (17) and the second brake line adjusting device (19) both comprise: A pressing plate (171), the pressing plate (171) being arranged on the calf binding mechanism (31), and the pressing plate (171) being provided with a hole for the first brake line (13) or the second brake line (14) to pass through; A winding wheel (172), the winding wheel (172) being arranged in the cavity of the pressure plate (171) and connected to the first brake line (13) or the second brake line (14); A spring (174), one end of the spring (174) is connected to the winding wheel (172), and the other end of the spring (174) is connected to the pressure plate (171), the spring (174) applies elastic force to the winding wheel (172) so that a part of the winding wheel (172) is located in the limiting groove of the calf binding mechanism (31), and the limiting groove forms a stop for the rotation of the winding wheel (172); A knob (173) is connected to the winding wheel (172) and can drive the winding wheel (172) to overcome the elastic force and move axially to connect with or separate from the limiting groove, and is used to drive the winding wheel (172) to rotate and adjust the tightness of the first brake line (13) or the second brake line (14).

5. The walking-assisting knee joint exoskeleton structure according to claim 1, characterized in that: The thigh support (22) has one end connected to the cross four-bar linkage assembly (4) and the calf support (32) has one end connected to the cross four-bar linkage assembly (4) and both are provided with an adjustment shaft (223). The axes of the two adjustment shafts (223) are parallel and perpendicular to the plane where the cross four-bar linkage assembly (4) is located, so as to adjust the position of the calf support (32).

6. The walking-assisting knee joint exoskeleton structure according to claim 1, characterized in that: The thigh binding mechanism (21) and the calf binding mechanism (31) both comprise a fixing plate (211), the fixing plate (211) being used for being sleeved on the leg, the fixing plate (211) being provided with a first meshing tooth (212), the thigh support (22) and the calf support (32) both comprise a supporting plate (221), the supporting plate (221) being provided with a second meshing tooth (222) matched with the first meshing tooth (212), the supporting plate (221) being adjusted in position by staggered docking between the first meshing tooth (212) and the second meshing tooth (222) and being fixed by a buckle (224).

7. The walking-assisting knee joint exoskeleton structure according to claim 1, characterized in that: The thigh binding mechanism (21) and the calf binding mechanism (31) both include: A fixing plate (211), wherein the fixing plate (211) is arc-shaped and is used for sleeve connection on the leg; A flexible pad (213), the flexible pad (213) being arranged on the inner side of the fixing plate (211) and being used for flexibly contacting with the legs; a binding wire (214), one end of the binding wire (214) being connected to the fixing plate (211) or the flexible pad (213); A binding adjustment component (215), wherein the binding adjustment component (215) is arranged on the fixing plate (211), the binding wire (214) is arranged circumferentially on the outside of the flexible pad (213), and the binding adjustment component (215) is connected to the other end of the binding wire (214) for adjusting the tension of the binding wire (214).

8. A power-assisting trousers, characterized in that: The invention comprises an auxiliary walking knee joint exoskeleton structure as described in any one of claims 1 to 7, and also comprises trousers (200), wherein the auxiliary walking knee joint exoskeleton (100) structure is detachably connected to the trousers (200), the thigh binding mechanism (21) and the calf binding mechanism (31) are located inside the trousers (200), the power-assisting assembly (1), the thigh support (22), the calf support (32) and the cross four-bar linkage assembly (4) are located outside the trousers (200), and the trousers (200) are provided with openings for the thigh binding mechanism (21) and the calf binding mechanism (31) to pass through.

9. The power-assisting pants according to claim 8, characterized in that: The trousers (200) include: A side zipper (270), the side zipper (270) being longitudinally arranged on the outside of the trouser legs of the trousers (200) and extending to the bottom of the trouser legs; A first zipper (210), wherein the first zipper (210) is arranged on the upper part of the trouser leg, and the trouser leg is detachably connected to the thigh support assembly (2) via the first zipper (210); A second zipper (220), wherein the second zipper (220) is arranged at the lower part of the trouser leg, and the trouser leg is detachably connected to the thigh supporting assembly (2) via the second zipper (220).

10. The power-assisting pants according to claim 9, characterized in that: The trousers (200) are of a split structure, comprising shorts, a left trouser leg and a right trouser leg, wherein the left trouser leg and the right trouser leg both comprise a first trouser leg and a second trouser leg; The shorts and the first trouser leg are detachably connected via an upper zipper (230) arranged along the circumference, and the first trouser leg and the second trouser leg are detachably connected via a lower zipper (240) arranged along the circumference; and / or, The shorts are provided with a first adjustment hole (250) for adjusting the tightness of the thigh binding mechanism (21); the second trouser leg is provided with a second adjustment hole (260) for adjusting the tightness of the calf binding mechanism (31).

Images