Novel modularized lower limb walking aid system

Abstract

The invention discloses a novel modularized lower limb walking aid system. A driving module is used for driving the walking aid system and is connected with a waist sealing module, the waist sealing module is connected with a hip joint module, the hip joint module is connected with a knee joint module, and the knee joint module is connected with an ankle-foot module; driving traction ropes are sequentially arranged between the driving module and the waist sealing module and between the hip joint module and the knee joint module, and stable springs and rope driving anchor points are arranged on rotating shafts connected among the waist sealing module, the hip joint module, the knee joint module and the ankle-foot module and used for achieving gait balance. According to the scheme, leg lifting assistance in the walking process can be achieved, movement consumption is reduced, movement stress of hip joints, knee joints and ankle joints in the walking process is reduced, joint movement fatigue is reduced, meanwhile, the proportion of the supporting period in the walking process is increased, the swing period is shortened, and ground load force transmission is enhanced; natural flexibility is considered while safe and stable movement of the joints is guaranteed, and the injury risk is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of lower limb exoskeletons, and particularly relates to a novel modular lower limb walking assistance system. Background Art

[0002] In the field of lower limb walking aids, the prior art such as the passive lower limb exoskeleton assisting device and method involved in CN114102564A includes the following components: a waist plate; a hip joint mechanism, including a hip joint cam, a hip joint end cover, a straight spring and a hip joint fixed end, the hip joint cam is assembled at the upper end of the hip joint end cover, the hip joint cam contacts the waist plate through a face bearing, the straight spring is rotatably connected to the lower end of the hip joint end cover, and the lower end of the straight spring is connected to the hip joint fixed end; an exoskeleton thigh, the upper end of the exoskeleton thigh is connected to the hip joint end cover; a knee joint energy storage mechanism, including a knee joint assembly, an elastic rod and a foot assembly, the upper end of the elastic rod is connected to the knee joint assembly, the lower end of the elastic rod is connected to the foot assembly, the knee joint assembly is connected to the lower end of the exoskeleton thigh, and the knee joint energy storage mechanism is used for storing and releasing the gravitational potential energy of the human body during walking; an exoskeleton calf, the upper and lower ends of the exoskeleton calf are respectively connected to the knee joint assembly and the foot assembly, as Figure 1 shown. It uses a straight spring for energy storage and release of assistance, but the assistance effect of the straight spring is obvious only under relatively large deformations, generally requiring a relatively large angle of the human joint, and there is basically no assistance effect for normal walking. This results in that in daily walking scenarios, users are difficult to obtain effective assistance support, and this structure may limit the natural movement of the human body to a certain extent, affecting the use experience and actual effect. Summary of the Invention

[0003] Aiming at the above problems, the purpose of the present invention is to provide a novel modular lower limb walking assistance system.

[0004] The specific technical solution for achieving the purpose of the present invention is as follows: A novel modular lower limb walking assistance system includes a drive module, a waist seal module, a hip joint module, a knee joint module and an ankle-foot module; The drive module is used to drive the walking assistance system and is connected to the waist seal module, the waist seal module is connected to the hip joint module, the hip joint module is connected to the knee joint module, and the knee joint module is connected to the ankle-foot module; Drive traction ropes are sequentially arranged between the drive module and the waist seal module, the hip joint module and the knee joint module, and stable springs and wire drive anchor points are arranged on the rotating shafts connecting the waist seal module, the hip joint module, the knee joint module and the ankle-foot module for achieving gait balance.

[0005] Further, the drive module includes a drive housing, a winch, a drive plate, a guide block and a drive motor; The winch, drive plate, guide block, and drive motor are all arranged inside the drive housing; The drive plate is electrically connected to the drive motor and controls the drive motor; The output end of the drive motor is connected to the winch. A drive rope is arranged inside the winch, and the drive rope is connected to the waist seal module, hip joint module, and knee joint module through the guide block.

[0006] Furthermore, the waist seal module includes a waist seal lining, a waist chain group, and a hip guide block; The waist chain group is formed by connecting multiple segments of the same type through pins and slots in series. The waist seal lining is arranged inside the waist chain group; The hip guide block is arranged on the outside of the waist chain group, and the waist chain group is also connected to the hip joint module; The hip guide block is a variable-angle guide block with an internal pulley. The drive rope passes through the hip guide block and is connected to the hip joint module for guiding the drive rope.

[0007] Furthermore, the hip joint module includes a quick-release buckle, a quick-release seat, a limit block, a limit swivel seat, an adjustment insert, a thigh protector, a first spring, a pressing block, a rotary pin seat, a pressing buckle, a pressing piece, a torsion spring, a pin, a second spring, and a snap button; The quick-release buckle, quick-release seat, and pressing block are connected to form a quick-release structure and are connected to the waist chain group to achieve connection and quick release with the waist seal module; A first spring is arranged inside the quick-release seat, and multiple limit blocks are arranged on the first spring; The other end of the first spring is connected to the limit swivel seat. The other end of the limit swivel seat passes through the adjustment insert and is connected to the pin of the rotary pin seat to form a rotating pair. A torsion spring is arranged between the limit swivel seat and the adjustment insert to provide a restoring force; The other end of the adjustment insert is connected to the thigh protector; Corresponding pressing buckles and pressing pieces are arranged on the thigh protector, and the pressing piece is pressed tightly by pressing the pressing buckle; A pin, a spring, and a snap button that cooperate with each other are also arranged on the thigh protector to achieve limit adjustment; Multiple anchor holes are arranged on the thigh protector for connecting and fixing the drive rope line.

[0008] Furthermore, the knee joint module includes a thigh connection unit, a calf connection unit, a first link unit, a second link unit, a guide wheel unit, a sleeve, and a guide wheel; The thigh connection unit and the calf connection unit are respectively connected to the thigh and the calf through interfaces. The thigh connection unit is respectively hinged to the first link unit and the second link unit through pins, and the calf connection unit is respectively hinged to the first link unit and the second link unit through pins; The thigh connection unit, the calf connection unit, the first link unit, and the second link unit form a four-bar linkage mechanism; The second link unit is fixedly connected to the guide wheel unit. The drive rope enters from the upper end of the guide wheel unit, is guided by it, and then reaches the calf connection unit and is fixed thereto.

[0009] Furthermore, a sleeve and a guide wheel are provided on the guide wheel unit; The sleeve is fixed in the corresponding hole provided on the guide wheel unit and fastened by bolts. The guide wheel is fixed between the link unit and the guide wheel unit by a pin shaft. The drive rope is connected to the calf connection unit after passing through the guide wheel.

[0010] Furthermore, a reset spring and ball mechanism is provided inside the thigh connection unit, including a reset spring and a rolling ball; One end of the reset spring is connected to the inside of the thigh connection unit, and the other end is in contact with the rolling ball. The rolling ball is in contact with the second link unit. The tendency direction of the four-bar linkage mechanism is reset by using the pre-compressive deformation of the reset spring.

[0011] Furthermore, the ankle-foot module includes a calf brace, an adjustment and compression mechanism, an adjustment and limit mechanism, a flexion-extension rotating shaft seat, an abduction shaft seat, a shoe cover, a foot support, a two-way connection block, and an adjustment insert; One end of the calf brace is connected to the knee joint module, and the other end is connected to one end of the adjustment insert; An adjustment and compression mechanism and an adjustment and limit mechanism are provided at the connection between the calf brace and the adjustment insert for realizing the adjustment and limitation of the adjustment insert; An abduction shaft seat is provided on the adjustment insert. A two-way connection block is provided at the lower end of the abduction shaft seat, and a flexion-extension rotating shaft seat is provided on the two-way connection block; A foot support is provided on the flexion-extension rotating shaft seat, and a shoe cover is provided on the foot support for placing and supporting the foot.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The solution of the present invention uses a rope drive method to achieve hip flexion assistance. The leg-lifting assistance drive rope comes out of the drive box, is led to the hip guide block through a catheter, is redirected by the guide wheel inside the hip guide block, and is fixed to the upper front part of the thigh brace with an anchor hole. During walking, the drive rope is lifted to help the thigh rise, helping the user to better lift the leg and increase the leg-lifting height; Meanwhile, this solution uses a wire-driven method to achieve knee extension assistance. The wire for knee support assistance comes out of the drive box, is led to the guide wheel module through a catheter and fixed to it. Then, the wire passes through the internal guide wheel, changes direction, and is connected to the calf connection module. The drive wire passes through the corresponding holes on the calf connection module and has a release ball designed at its end. During walking, pulling the drive wire helps lock and support the knee joint, enabling the user to better enter the gait support phase. At the same time, combined with an external rigid support structure, it forms an external stable support to achieve the function of stabilizing walking support. (2)The solution of the present invention uses the trend balance stabilizing springs of the lumbar corset, hip joint, and knee joint units, as well as the wire drive anchor points and mechanisms, to provide support for the human gait from multiple angles, adapt to different terrains and changes in walking speed, enhance walking stability, reduce the risk of falling, and boost the user's confidence. (3)The solution of the present invention designs the three-dimensional degree of freedom release and movement limit for the knee joint and foot function modules, which not only prevents excessive joint movement but also allows free movement within the normal range, conforms to the principles of ergonomics, ensures the safe and stable movement of the joints, and at the same time takes into account natural flexibility to reduce the risk of injury.

[0013] The following further describes the present invention in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic structural diagram of the assistive device for the passive lower limb exoskeleton in the background technology of the present invention.

[0015] Figure 2 It is a schematic structural diagram of the novel modular lower limb walking assistance system of the present invention.

[0016] Figure 3 It is a schematic structural diagram of the drive module of the present invention.

[0017] Figure 4 It is a schematic structural diagram of the lumbar corset module of the present invention.

[0018] Figure 5 It is a schematic structural diagram of the hip joint module of the present invention.

[0019] Figure 6 It is a schematic structural diagram of the knee joint module of the present invention.

[0020] Figure 7 It is a schematic structural diagram of the ankle-foot module of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Embodiment In order to clearly describe the technical solution of the present invention and the achieved effects, the following combines the drawings of the present invention and specific embodiments to clearly explain the technical solution of the present invention, so that those skilled in the art can implement the invention without creative labor. The structures shown in the drawings are not all of the actual structures but only a part of the actual structures. It should be noted that all other embodiments made by those ordinary skilled in the art on the basis of the embodiments of the present invention without creative labor shall fall within the protection scope of the present invention.

[0022] Some of the following listed embodiments are only for better explaining the present invention, but the content of the present invention is not limited to the applied embodiments. Therefore, those skilled in the art still fall within the protection scope of the present invention when making non-essential modifications to the implementation schemes based on the above-mentioned invention content and applying them to other embodiments. In addition, for the experimental methods without specifying specific conditions in the following embodiments, they should be carried out according to the conventional or the conditions recommended by the manufacturer. If the expressions in the text are not specially stated, they are only used for differentiation and have no other meanings.

[0023] Combined with Figure 2 , a novel modular lower limb walking assistance system, characterized in that it includes a drive module 1, a waist belt module 2, a hip joint module 3, a knee joint module 4, and an ankle-foot module 5; The drive module 1 is used to drive the walking assistance system and is connected to the waist belt module 2. The waist belt module 2 is connected to the hip joint module 3. Among them, the waist belt module 2 is connected to the human body. In this embodiment, the drive module 1 is arranged on the waist belt module 2, and in other embodiments, it can also be connected to the waist belt module 2 in other forms; The hip joint module 3 fits with the hip joint part of the human body and can be connected or not. In this embodiment, two symmetric hip joint modules 3, knee joint modules 4, and ankle-foot modules 5 are respectively arranged on the left and right sides of the human body; The hip joint module 3 is connected to the knee joint module 4, and the knee joint module 4 is connected to the ankle-foot module 5, respectively assisting the movement functions of the human hip joint, knee joint, and ankle-foot module 5; Drive traction ropes are sequentially arranged between the drive module 1 and the waist belt module 2, and between the hip joint module 3 and the knee joint module 4. Stabilizing springs and wire drive anchor points are arranged on the rotating shafts connecting the waist belt module 2, the hip joint module 3, the knee joint module 4, and the ankle-foot module 5 to achieve gait balance; In this embodiment, the drive ropes extended from the drive module 1 can pass through the catheter to connect the waist belt module 2, the hip joint module 3, and the knee joint module 4. By pulling, tightening, and relaxing the drive ropes by the drive module, the walking assistance of the lower limbs is realized.

[0024] The drive rope can be made of ropes with different materials or structures, such as high-strength fiber ropes or ropes with an elastic buffer layer, to optimize the power transmission performance and service life.

[0025] Among them, the lower end of the hip joint module 3 is connected to the upper end of the knee joint module 4 by bolts interlocking with slots. The hip joint module 3 is equipped with a length adjustment mechanism. The lower end of the hip joint module 3 is fixed to the human calf through a specially designed binding strap, magic tape, buckle, etc.; the hip joint module 3 is fixedly connected to the waistband module 2 through a quick-release mechanism at its upper end; the lower end of the knee joint module 4 is connected to the upper end of the ankle-foot module 5 by bolts interlocking with slots. The knee joint module 4 is designed with three-dimensional degree of freedom release and motion limit corresponding to the human knee joint; the upper end of the ankle-foot module 5 is fixed to the human calf through a specially designed binding strap, magic tape, buckle, etc. The ankle-foot module 5 is equipped with a length adjustment mechanism. The lower end of the ankle-foot module 5 is fixed to the human foot shoe through a specially designed binding structure. The ankle-foot module 5 is designed with three-dimensional degree of freedom release and motion limit corresponding to the human ankle joint; the waistband module 2, the hip joint module 3 and the knee joint module 4 are designed with a trend balance and stability spring, a rope drive anchor point and a mechanism on a specific rotation axis to help the human body achieve gait support.

[0026] In the connection of each module, in addition to the bolt interlocking with slot connection, magnetic attraction connection or embedded buckle connection and other methods are explored to further improve the convenience and stability of the connection.

[0027] Specifically, in combination with Figure 3 , the drive module 1 includes a drive housing 101, a winch 102, a drive plate 103, a guide block 104 and a drive motor 105; The winch 102, the drive plate 103, the guide block 104 and the drive motor 105 are all arranged in the drive housing 101; The drive plate 103 is electrically connected to the drive motor 105 and controls the drive motor 105; The output end of the drive motor 105 is connected to the winch 102. A drive rope is arranged in the winch 102. The drive rope is connected to the waistband module 2, the hip joint module 3 and the knee joint module 4 through the guide block 104. The guide block can realize the guiding of the traction rope.

[0028] In addition, in some embodiments, other forms of power sources can also be used to replace the drive motor group, such as a pneumatic or hydraulic drive system, and the power is transmitted to the rope drive mechanism through a corresponding conversion device to achieve a similar boosting effect.

[0029] In combination with Figure 4 , the waistband module 2 includes a waistband lining 201, a waist chain group 202 and a hip guide block 203; The waist chain group 202 is formed by connecting multiple sections of the same type in series through a pin shaft and a card slot. A waist seal lining 201 is arranged inside the waist chain group 202, and it can be fixed to the waist seal lining 201 by bolts or other means; The hip guide block 203 is arranged outside the waist chain group 202. The waist chain group 202 is also quickly detachably connected to the hip joint module 3. The waist seal lining 201 is made of a flexible material and can fit well with the human waist; The hip guide block 203 is a variable-angle guide block with an internal pulley, and its angle can be guided in various forms such as 90 degrees and 60 degrees. In this solution, 90-degree guidance is adopted to change the direction of the pulling rope; The driving rope passes through the hip guide block 203 and is connected to the hip joint module 3 to realize the guidance of the driving rope.

[0030] Combined Figure 5 The hip joint module 3 includes a quick-release buckle 301, a quick-release seat 302, a limit block 303, a limit rotating seat 304, an adjustment insert 305, a thigh guard 306, a first spring 307, a pressing block 308, a rotating pin seat 309, a pressing buckle 310, a pressing piece 311, a torsion spring 312, a plug pin 313, a second spring 314, and a snap button 315; The quick-release buckle 301, the quick-release seat 302, and the pressing block 308 are connected to each other to form a quick-release structure and are connected to the waist chain group 202 to realize the connection and quick release with the waist seal module 2; A first spring 307 is arranged inside the quick-release seat 302. Among them, spiral teeth can be arranged inside the quick-release seat 302 and connected to one end of the first spring 307. In addition, the quick-release seat 302 can also be firmly fixed to the first spring 307 by various methods such as bolt fastening / glue / ultrasonic welding; A plurality of limit blocks 303 are arranged on the first spring 307; The other end of the first spring 307 is connected to the limit rotating seat 304. The other end of the limit rotating seat 304 passes through the adjustment insert 305 and is connected to the pin of the rotating pin seat 309. The shaft on the rotating pin seat 309 forms a rotating pair through the rotating hole at the upper end of the adjustment insert 305. A torsion spring 312 is arranged between the limit rotating seat 304 and the adjustment insert 305 to provide a restoring force; The other end of the adjustment insert 305 is connected to the thigh guard 306. The thigh guard 306 is generally arranged on the front outer side of the thigh part, and the setting position of the thigh guard 306 can be adjusted through the adjustment insert 305; Corresponding pressing buckles 310 and pressing pieces 311 are arranged on the thigh guard 306, and the pressing piece 311 is pressed tightly by pressing the pressing buckle 310; A plug pin 313, a spring 314, and a snap button 315 that cooperate with each other are also arranged on the thigh guard 306 to realize limit adjustment; A plurality of anchor holes are provided on the thigh protector 306 for connecting and fixing the drive rope. More specifically, the pulling rope is fixed to the outside of the thigh protector 306 after passing through the hip guide block 203. Tightening the pulling rope can make the thigh protector 306 flex forward and backward (actually causing the first spring 307, the rotating pin seat 309, and the adjusting insert 305 to form a rotating pair and bend and deform together). Combined with Figure 6 , the knee joint module 4 includes a thigh connection unit 401, a calf connection unit 402, a first link unit 403, a second link unit 404, a guide wheel unit 405, a sleeve 406, and a guide wheel 407; The thigh connection unit 401 and the calf connection unit 402 are respectively connected to the thigh and the calf through interfaces; the thigh connection unit 401 is respectively hinged to the first link unit 403 and the second link unit 404 through pin shafts, and the calf connection unit 402 is respectively hinged to the first link unit 403 and the second link unit 404 through pin shafts; The thigh connection unit 401, the calf connection unit 402, the first link unit 403, and the second link unit 404 form a four-bar linkage mechanism; The second link unit 404 is fixedly connected to the guide wheel unit 405. The drive rope 408 enters from the upper end of the guide wheel unit 405, is guided by it, and then reaches the calf connection unit 402 and is fixed to it. The mechanism realizes the extension movement of the knee joint by pulling the drive rope to achieve walking support and step climbing assistance.

[0031] A sleeve 406 and a guide wheel 407 are provided on the guide wheel unit 405; The sleeve 406 is fixed in the corresponding hole provided on the guide wheel unit 405 and fastened by bolts. The guide wheel 407 is fixed between the second link unit 404 and the guide wheel unit 405 through a pin shaft. The drive rope 408 is connected to the calf connection unit 402 after passing through the guide wheel 407. In addition, the drive rope 408 passes through the corresponding hole on the calf connection unit 402 and a square escape ball is designed at its end.

[0032] A return spring ball mechanism is provided inside the thigh connection unit 401, including a return spring 409 and a rolling ball 410; One end of the return spring 409 is connected to the inside of the thigh connection unit 401, and the other end is in contact with the rolling ball 410. The rolling ball 410 is in contact with the second link unit 404. The pre-compression deformation of the return spring 409 is used to push the rolling ball 410, and the rolling ball 410 thus pushes the second link unit 404, thereby realizing the reset of the trend direction of the four-bar linkage mechanism. Correspondingly, a cam surface can be designed at the upper end of the second link unit 404 to adjust the reset force.

[0033] The ankle-foot module 5 includes a calf brace 501, an adjustment and pressing mechanism 502, an adjustment and limiting mechanism 503, a flexion-extension rotating shaft seat 504, an abduction shaft seat 505, a shoe cover 506, a foot support 507, a two-way connection block 508, and an adjustment insert 509; One end of the calf brace 501 is connected to the knee joint module 4, and the other end is connected to one end of the adjustment insert 509; An adjustment and pressing mechanism 502 and an adjustment and limiting mechanism 503 are arranged at the connection between the calf brace 501 and the adjustment insert 509 for realizing the adjustment and limitation of the adjustment insert 509; An abduction shaft seat 505 is arranged on the adjustment insert 509, a two-way connection block 508 is arranged at the lower end of the abduction shaft seat 505, and a flexion-extension rotating shaft seat 504 is arranged on the two-way connection block 508; A foot support 507 is arranged on the flexion-extension rotating shaft seat 504, and a shoe cover 506 is arranged on the foot support 507 for placing and supporting the foot.

[0034] From the perspective of specific implementation, one end of the abduction shaft seat 505 is provided with a square empty groove and a circular hole on the side. One end of the two-way connection block 508 is inserted into this square empty groove and the circular hole on the abduction shaft seat 505 is concentric with the corresponding circular hole on the two-way connection block 508 and a pin is inserted, thus realizing the rotation activity around the sagittal axis; similarly, there are corresponding slots on the foot support 507 and corresponding cylinders on the flexion-extension rotating shaft seat 504. We insert one end of the two-way connection block 508 into the corresponding slot on the foot support 507 as shown in the figure, and at the same time insert the corresponding cylinder of the flexion-extension rotating shaft seat 504 into the corresponding circular hole on the two-way connection block 508 and firmly fix it to the foot support 507. Then we obtain a degree of freedom that can rotate around the coronal axis.

[0035] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A novel modular lower limb walking assistance system, characterized in that, It includes a drive module (1), a lumbar support module (2), a hip joint module (3), a knee joint module (4) and an ankle-foot module (5); The drive module (1) is used to drive the walking assistance system and is connected to the lumbar support module (2). The lumbar support module (2) is connected to the hip joint module (3), the hip joint module (3) is connected to the knee joint module (4), and the knee joint module (4) is connected to the ankle-foot module (5); Drive traction ropes are sequentially arranged between the drive module (1) and the lumbar support module (2), the hip joint module (3) and the knee joint module (4). Stabilizing springs and cable drive anchor points are arranged on the rotating shafts connecting the lumbar support module (2), the hip joint module (3), the knee joint module (4) and the ankle-foot module (5) to achieve gait balance.

2. The novel modular lower limb walking assistance system according to claim 1, characterized in that, The drive module (1) includes a drive housing (101), a winch (102), a drive plate (103), a guide block (104) and a drive motor (105); The winch (102), the drive plate (103), the guide block (104) and the drive motor (105) are all arranged inside the drive housing (101); The drive plate (103) is electrically connected to the drive motor (105) and controls the drive motor (105); The output end of the drive motor (105) is connected to the winch (102). A drive cable is arranged inside the winch (102), and the drive cable is connected to the lumbar support module (2), the hip joint module (3) and the knee joint module (4) through the guide block (104).

3. The novel modular lower limb walking assistance system according to claim 1, wherein, The lumbar support module (2) includes a lumbar support lining (201), a lumbar chain group (202) and a hip guide block (203); The lumbar chain group (202) is formed by connecting multiple sections of the same type in series through pins and slots. The lumbar support lining (201) is arranged inside the lumbar chain group (202); The hip guide block (203) is arranged outside the lumbar chain group (202), and the lumbar chain group (202) is also connected to the hip joint module (3); The hip guide block (203) is a variable-angle guide block with an internal pulley. The drive cable passes through the hip guide block (203) and is connected to the hip joint module (3) for guiding the drive cable.

4. The novel modular lower limb walking assistance system according to claim 3, wherein The hip joint module (3) includes a quick-release buckle (301), a quick-release seat (302), a limit block (303), a limit swivel seat (304), an adjustment insert (305), a thigh protector (306), a first spring (307), a pressure block (308), a rotary pin seat (309), a pressure buckle (310), a pressure plate (311), a torsion spring (312), a plug pin (313), a second spring (314) and a snap button (315); The quick-release buckle (301), the quick-release seat (302) and the pressure block (308) are connected to each other to form a quick-release structure and are connected to the lumbar chain group (202) to achieve connection and quick release with the lumbar support module (2); The first spring (307) is arranged inside the quick-release seat (302), and multiple limit blocks (303) are arranged on the first spring (307); The other end of the first spring (307) is connected to the limit swivel base (304). The other end of the limit swivel base (304) passes through the adjusting insert (305) and is pin-connected to the rotating pin base (309) to form a rotating pair. A torsion spring (312) is arranged between the limit swivel base (304) and the adjusting insert (305) to provide a restoring force; The other end of the adjusting insert (305) is connected to the thigh guard (306); Corresponding snap fasteners (310) and pressing plates (311) are arranged on the thigh guard (306), and the pressing plate (311) is pressed and adjusted by pressing the snap fastener (310) tightly; The thigh guard (306) is also provided with a cooperating plug pin (313), spring (314) and snap button (315) to achieve limit adjustment; A plurality of anchor holes are arranged on the thigh guard (306) for connecting and fixing the driving wire rope.

5. The novel modular lower limb walking assistance system according to claim 1, characterized in that, The knee joint module (4) includes a thigh connecting unit (401), a calf connecting unit (402), a first link unit (403), a second link unit (404), a guide wheel unit (405), a sleeve (406), and a guide wheel (407); The thigh connecting unit (401) and the calf connecting unit (402) are respectively connected to the thigh and the calf through interfaces. The thigh connecting unit (401) is respectively hinged to the first link unit (403) and the second link unit (404) through pin shafts, and the calf connecting unit (402) is respectively hinged to the first link unit (403) and the second link unit (404) through pin shafts; The thigh connecting unit (401), the calf connecting unit (402), the first link unit (403), and the second link unit (404) form a four-bar linkage mechanism; The second link unit (404) is fixedly connected to the guide wheel unit (405). The driving rope enters from the upper end of the guide wheel unit (405), is guided by it, and then reaches the calf connecting unit (402) and is fixed to it.

6. The novel modular lower limb walking assistance system according to claim 5, characterized in that, The guide wheel unit (405) is provided with a sleeve (406) and a guide wheel (407); The sleeve (406) is fixed in the corresponding hole provided on the guide wheel unit (405) and fastened by bolts. The guide wheel (407) is fixed between the link unit (404) and the guide wheel unit (405) through a pin shaft. The driving rope (408) is connected to the calf connecting unit (402) after passing through the guide wheel (407).

7. The novel modular lower limb walking assistance system according to claim 5, characterized in that, A reset spring ball mechanism is arranged inside the thigh connecting unit (401), including a reset spring (409) and a rolling ball (410); One end of the reset spring (409) is connected to the inside of the thigh connecting unit (401), and the other end is in contact with the rolling ball (410). The rolling ball (410) is in contact with the second link unit (404). The trend direction of the four-bar linkage mechanism is reset by using the pre-compression deformation of the reset spring (409).

8. The novel modular lower limb walking assistance system according to claim 1, characterized in that, The ankle-foot module (5) includes a calf brace (501), an adjustment and compression mechanism (502), an adjustment and limit mechanism (503), a flexion-extension rotating shaft seat (504), an abduction shaft seat (505), a shoe cover (506), a foot support (507), a two-way connection block (508), and an adjustment insert (509); One end of the calf brace (501) is connected to the knee joint module (4), and the other end is connected to one end of the adjustment insert (509); An adjustment and compression mechanism (502) and an adjustment and limit mechanism (503) are arranged at the connection between the calf brace (501) and the adjustment insert (509) to realize the adjustment and limitation of the adjustment insert (509); An abduction shaft seat (505) is arranged on the adjustment insert (509), a two-way connection block (508) is arranged at the lower end of the abduction shaft seat (505), and a flexion-extension rotating shaft seat (504) is arranged on the two-way connection block (508); A foot support (507) is arranged on the flexion-extension rotating shaft seat (504), and a shoe cover (506) is arranged on the foot support (507) for placing and supporting the foot.

Images