A new modular lower limb walking aid system

Abstract

The present invention discloses a novel modular lower limb walking aid system, wherein the driving module is used to drive the walking aid system and is connected to the waist belt module, the waist belt 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; a driving traction rope is sequentially arranged between the driving module and the waist belt module, the hip joint module and the knee joint module, and a stabilizing spring and a rope driving anchor point are arranged on the rotating shaft connecting the waist belt module, the hip joint module, the knee joint module and the ankle-foot module to achieve gait balance. This solution can achieve leg lifting assistance during walking, reduce exercise consumption, reduce the movement force of the hip joint, knee joint and ankle joint during walking, reduce joint movement fatigue, and at the same time increase the proportion of the support period during walking, reduce the swing cycle and enhance the ground load transmission, while ensuring the safe and stable movement of the joints and taking into account natural flexibility, reducing the risk of injury.

Description

Technical Field

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

[0002] In the field of lower limb walking aids, the prior art, such as the passive lower limb exoskeleton power-assisting device and method involved in CN114102564A, includes the following components: a lumbar 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 on the upper end of the hip joint end cover, the hip joint cam contacts the lumbar plate through an end 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, and the knee joint assembly is connected to the lower end of the exoskeleton thigh, and the knee joint energy storage mechanism is used to store and release 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, such as Figure 1 It uses a straight spring to store and release energy, but the effect of the straight spring is more obvious under large deformation conditions, which generally requires a large angle of the human joint. It has little effect on normal walking. This makes it difficult for users to obtain effective power support in daily walking scenarios. In addition, this structure may restrict the natural movement of the human body to a certain extent, affecting the user experience and actual effect. Summary of the Invention

[0003] In view of the above problems, the purpose of the present invention is to provide a new modular lower limb walking aid system.

[0004] The specific technical solutions for achieving the purpose of the present invention are as follows:

[0005] A new modular lower limb walking aid system, including a drive module, a waist belt module, a hip joint module, a knee joint module and an ankle-foot module;

[0006] The driving module is used to drive the walking aid 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;

[0007] A driving traction rope is sequentially arranged between the driving module and the waist belt module, the hip joint module and the knee joint module; a stabilizing spring and a rope driving anchor point are arranged on the rotating shaft connecting the waist belt module, the hip joint module, the knee joint module and the ankle-foot module to achieve gait balance.

[0008] Furthermore, the driving module includes a driving housing, a winch, a driving plate, a guide block and a driving motor;

[0009] The winch, drive plate, guide block and drive motor are all arranged in the drive housing;

[0010] The driving board is electrically connected to the driving motor and controls the driving motor;

[0011] The output end of the driving motor is connected to the winch, a driving rope is arranged in the winch, and the driving rope is connected to the waist seal module, the hip joint module and the knee joint module through a guide block.

[0012] Furthermore, the waist seal module includes a waist seal lining, a waist chain set and a hip guide block;

[0013] The waist chain set is composed of multiple sections of the same shape connected in series through pins and slots, and a waist seal lining is provided on the inner side of the waist chain set;

[0014] The hip guide block is arranged outside the waist chain assembly, and the waist chain assembly is also connected to the hip joint module;

[0015] The hip guide block is a variable-angle guide block with a built-in pulley, and the drive rope passes through the hip guide block and is connected to the hip joint module to achieve guidance of the drive rope.

[0016] Furthermore, the hip joint module includes a quick-release buckle, a quick-release seat, a limit block, a limit swivel seat, an adjustment strip, a thigh protector, a first spring, a pressure block, a rotating pin seat, a pressure buckle, a pressure sheet, a torsion spring, a latch, a second spring and a snap button;

[0017] The quick-release buckle, quick-release seat and pressure block are connected to each other to form a quick-release structure and connected to the waist chain assembly to achieve connection and quick release with the waist seal module;

[0018] A first spring is provided in the quick release seat, and a plurality of limit blocks are provided on the first spring;

[0019] The other end of the first spring is connected to the limit rotating seat, and the other end of the limit rotating seat passes through the adjustment insert and is connected to the pin of the rotating pin seat to form a rotating pair. A torsion spring is provided between the limit rotating seat and the adjustment insert to provide a restoring force;

[0020] The other end of the adjustment strip is connected to the thigh protector;

[0021] The thigh protector is provided with corresponding buckles and pressure plates, and the pressure plates are tightened and adjusted by pressing the buckles;

[0022] The thigh protector is also provided with a latch, a spring and a snap button that cooperate with each other to achieve limit adjustment;

[0023] The thigh protector is provided with a plurality of anchor holes for connecting and fixing the driving ropes.

[0024] Furthermore, the knee joint module includes a thigh connection unit, a calf connection unit, a first connecting rod unit, a second connecting rod unit, a guide wheel unit, a sleeve, and a guide wheel;

[0025] 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 connecting rod unit and the second connecting rod unit through a pin shaft, and the calf connection unit is respectively hinged to the first connecting rod unit and the second connecting rod unit through a pin shaft;

[0026] The thigh connection unit, the calf connection unit, the first link unit, and the second link unit form a four-bar linkage mechanism;

[0027] The second connecting rod unit is fixedly connected to the guide wheel unit, and the driving rope enters from the upper end of the guide wheel unit, is guided through the guide wheel unit, and then reaches the calf connecting unit and is fixed thereto.

[0028] Furthermore, a sleeve and a guide wheel are provided on the guide wheel unit;

[0029] The sleeve is fixed to a corresponding hole provided on the guide wheel unit and fastened by bolts. The guide wheel is fixed between the connecting rod unit and the guide wheel unit by a pin shaft. The driving rope is connected to the calf connection unit after passing through the guide wheel.

[0030] Furthermore, a return spring ball mechanism is provided in the thigh connection unit, comprising a return spring and a rolling ball;

[0031] One end of the return 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 connecting rod unit. The pre-compression deformation of the return spring is used to achieve the trend direction reset of the four-bar linkage mechanism.

[0032] Furthermore, the ankle-foot module includes a calf protector, an adjustment and clamping mechanism, an adjustment and limiting mechanism, a flexion-extension shaft seat, an abduction shaft seat, a shoe cover, a foot support, a two-way connecting block and an adjustment strip;

[0033] One end of the calf protector is connected to the knee joint module, and the other end is connected to one end of the adjustment strip;

[0034] The connection between the calf protector and the adjustment insert is provided with an adjustment pressing mechanism and an adjustment limiting mechanism for achieving adjustment and limiting of the adjustment insert;

[0035] An abduction shaft seat is provided on the adjusting insert, a two-way connecting block is provided at the lower end of the abduction shaft seat, and a flexion-extension shaft seat is provided on the two-way connecting block;

[0036] A foot support is arranged on the flexion-extension shaft seat, and a shoe cover is arranged on the foot support for placing and supporting the foot.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] (1) The solution of the present invention adopts a rope-driven method to achieve hip flexion assistance. The leg-lifting assistance driving rope comes out of the driving box and is led to the hip guide block through a catheter. After the guide wheel inside the hip guide block changes direction, it is fixed to the anchor hole designed on the front upper part of the thigh protector. During walking, the driving rope is pulled to help lift the thigh, helping the user to lift the leg better and increase the height of the leg lift;

[0039] At the same time, this solution adopts a rope-driven method to achieve knee joint extension assistance. The knee joint support assistance driving rope comes out of the driving box and is led to the guide wheel module through a catheter and fixed to it. Then the rope changes direction through its internal guide wheel and is connected to the calf connection module. The driving rope passes through the corresponding hole on the calf connection module and is designed with a square escape ball at its end. During walking, the driving rope is pulled to help the knee joint to lock the support, helping the user to better enter the gait support period. At the same time, combined with the external rigid support structure to form an external stable support, the walking support and stability maintenance function is realized.

[0040] (2) The solution of the present invention adopts the trend balance stabilization spring and rope drive anchor point and mechanism of the waist belt, hip joint and knee joint units to provide support for human gait from multiple angles, adapt to different terrains and walking speed changes, enhance walking stability, reduce the risk of falling, and improve user confidence;

[0041] (3) The solution of the present invention has a three-dimensional freedom release and motion limit design for the knee joint and foot functional modules, which not only prevents excessive joint movement but also allows free movement within a normal range. It conforms to ergonomic principles, ensures safe and stable joint movement, and takes into account natural flexibility to reduce the risk of injury.

[0042] The present invention will be further described below with reference to specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the structure of the power-assisting device of the passive lower limb exoskeleton in the background technology of the present invention.

[0044] Figure 2 This is a schematic structural diagram of the novel modular lower limb walking aid system of the present invention.

[0045] Figure 3 It is a schematic structural diagram of the driving module of the present invention.

[0046] Figure 4 It is a schematic structural diagram of the waist seal module of the present invention.

[0047] Figure 5 This is a schematic structural diagram of the hip joint module of the present invention.

[0048] Figure 6 This is a schematic structural diagram of the knee joint module of the present invention.

[0049] Figure 7 This is a schematic structural diagram of the ankle-foot module of the present invention. DETAILED DESCRIPTION

[0050] Example

[0051] In order to clearly describe the technical solution and the effects achieved by the present invention, the technical solution of the present invention is clearly explained below in combination with the drawings and specific embodiments of the present invention, so that technical personnel in this field can implement the invention without performing creative work. The structure shown in the drawings is not the entire actual structure but only a part of the actual structure. It should be noted that all other embodiments made by ordinary technical personnel in this field on the basis of the embodiments of the present invention without performing creative work should fall within the scope of protection of the present invention.

[0052] The following examples are merely intended to better illustrate the present invention, but the present invention is not limited to the examples set forth herein. Therefore, those skilled in the art may make non-essential modifications to the embodiments based on the above disclosure and apply them to other examples, which remain within the scope of the present invention. Furthermore, any experimental procedures in the following examples that do not specify specific conditions should be performed according to conventional or manufacturer-recommended conditions. Unless otherwise specified, expressions in the text are used solely for differentiation and have no other meaning.

[0053] Combine Figure 2 A novel modular lower limb walking aid system is characterized by comprising a driving module 1, a waist seal module 2, a hip joint module 3, a knee joint module 4 and an ankle-foot module 5;

[0054] The driving module 1 is used to drive the walking aid system and is connected to the waist seal module 2. The waist seal module 2 is connected to the hip joint module 3. The waist seal module 2 is connected to the human body. In this embodiment, the driving module 1 is provided on the waist seal module 2. In other embodiments, the driving module 1 can be connected to the waist seal module 2 in other ways.

[0055] The hip joint module 3 fits the hip joint of the human body and can be connected or not. In this embodiment, two hip joint modules 3, knee joint modules 4 and ankle-foot modules 5 are symmetrically provided, respectively on the left and right sides of the human body.

[0056] 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;

[0057] A driving traction rope is sequentially arranged between the driving module 1 and the waist belt module 2, the hip joint module 3, and the knee joint module 4. A stabilizing spring and a rope driving anchor point are arranged on the rotating shaft 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;

[0058] In this embodiment, the driving rope extending from the driving 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. The driving module pulls, tightens and relaxes the driving rope to achieve walking assistance for the lower limbs.

[0059] The drive rope can be made of different materials or structures, such as high-strength fiber rope or rope with elastic buffer layer, to optimize power transmission performance and service life.

[0060] Among them, the lower end of the hip joint module 3 and the upper end of the knee joint module 4 are connected by bolts interlocking in the slot, the hip joint module 3 has a length adjustment mechanism, and the lower end of the hip joint module 3 is fixed to the human calf by specially designed binding straps, Velcro, buckles, etc.; the hip joint module 3 is fixed to the waist seal module 2 by the quick release mechanism at its upper end; the lower end of the knee joint module 4 and the upper end of the ankle-foot module 5 are connected by bolts interlocking in the slot, and the knee joint module 4 is designed with three-dimensional freedom release and motion limitation corresponding to the human knee joint; the upper end of the ankle-foot module 5 is fixed to the human calf by specially designed binding straps, Velcro, buckles, etc., the ankle-foot module 5 has a length adjustment mechanism, and the lower end of the ankle-foot module 5 is fixed to the human foot shoe by a specially designed binding structure, and the ankle-foot module 5 is designed with three-dimensional freedom release and motion limitation corresponding to the human ankle joint; the waist seal module 2, the hip joint module 3 and the knee joint module 4 are designed with trend balance stabilization springs and rope drive anchor points and mechanisms on specific rotation axes to help the human body achieve gait support.

[0061] In the connection of each module, in addition to the bolt-in-slot connection, explore the use of magnetic connection or embedded snap-on connection to further improve the convenience and stability of the connection.

[0062] Specifically, combined Figure 3 , the driving module 1 includes a driving housing 101, a winch 102, a driving plate 103, a guide block 104 and a driving motor 105;

[0063] The winch 102, the driving plate 103, the guide block 104 and the driving motor 105 are all arranged in the driving housing 101;

[0064] The driving board 103 is electrically connected to the driving motor 105 and controls the driving motor 105;

[0065] The output end of the driving motor 105 is connected to the winch 102. A driving rope is provided in the winch 102. The driving rope is connected to the waist belt module 2, the hip joint module 3 and the knee joint module 4 through the guide block 104. The guide block can guide the traction rope.

[0066] In addition, in some embodiments, other forms of power sources may be used to replace the drive motor group, such as a pneumatic or hydraulic drive system, to transmit power to the rope drive mechanism through a corresponding conversion device to achieve a similar power-assisting effect.

[0067] Combine Figure 4 The waist seal module 2 includes a waist seal lining 201, a waist chain set 202 and a hip guide block 203;

[0068] The waist chain set 202 is composed of multiple sections of the same shape connected in series through pins and slots. A waist seal lining 201 is set on the inner side of the waist chain set 202 and can be fixed to the waist seal lining 201 by bolts or other means.

[0069] The hip guide block 203 is arranged outside the waist chain assembly 202, and the waist chain assembly 202 is also connected to the hip joint module 3 with a quick release. The waist seal lining 201 is made of flexible material and can fit the human waist well.

[0070] The hip guide block 203 is a variable angle guide block with a built-in pulley. Its angle can be 90 degrees, 60 degrees, and other forms of guidance. This solution adopts a 90-degree guidance to change the direction of the pulling rope;

[0071] The driving rope passes through the hip guide block 203 and is connected to the hip joint module 3 to guide the driving rope.

[0072] Combine Figure 5 The hip joint module 3 includes a quick-release buckle 301, a quick-release seat 302, a limiting block 303, a limiting rotating seat 304, an adjustment strip 305, a thigh protector 306, a first spring 307, a pressure block 308, a rotating pin seat 309, a pressure buckle 310, a pressure sheet 311, a torsion spring 312, a latch 313, a second spring 314 and a snap 315;

[0073] 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 connected to the waist chain assembly 202 to achieve connection and quick release with the waist seal module 2;

[0074] The quick release seat 302 is provided with a first spring 307. The quick release seat 302 may be provided with helical teeth, which are connected to one end of the first spring 307. In addition, the quick release seat 302 may be firmly fixed to the first spring 307 by various means such as bolt tightening, gluing, or ultrasonic welding.

[0075] A plurality of limit blocks 303 are provided on the first spring 307;

[0076] 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 bar 305 and is connected to the pin of the rotating pin seat 309. The shaft on the rotating pin seat 309 passes through the rotation hole at the upper end of the adjustment bar 305 to form a rotating pair. A torsion spring 312 is provided between the limit rotating seat 304 and the adjustment bar 305 to provide a restoring force.

[0077] The other end of the adjustment strip 305 is connected to the thigh protector 306. The thigh protector 306 is generally set on the front and outer sides of the thigh. The setting position of the thigh protector 306 can be adjusted by adjusting the strip 305.

[0078] The thigh protector 306 is provided with corresponding buckles 310 and pressing plates 311, and the pressing plates 311 are tightened and adjusted by pressing the buckles 310;

[0079] The thigh protector 306 is also provided with a latch 313, a spring 314 and a snap 315 that cooperate with each other to achieve position adjustment;

[0080] The thigh brace 306 is provided with a plurality of anchor holes for connecting and fixing the driving rope. More specifically, the pulling rope passes through the hip guide block 203 and is fixed to the outside of the thigh brace 306. Tightening the pulling rope can cause the thigh brace 306 to flex and extend forward (actually, this causes the first spring 307, the rotating pin seat 309, and the adjusting strip 305 to bend and deform together).

[0081] Combine Figure 6 The knee joint module 4 includes a thigh connection unit 401, a calf connection unit 402, a first connecting rod unit 403, a second connecting rod unit 404, a guide wheel unit 405, a sleeve 406, and a guide wheel 407;

[0082] The thigh connection unit 401 and the calf connection unit 402 are connected to the thigh and the calf respectively through interfaces; the thigh connection unit 401 is hinged to the first connecting rod unit 403 and the second connecting rod unit 404 respectively through pins, and the calf connection unit 402 is hinged to the first connecting rod unit 403 and the second connecting rod unit 404 respectively through pins;

[0083] 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;

[0084] The second connecting rod 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 through it, and then is fixed to the calf connection unit 402. The mechanism pulls the drive rope to extend the knee joint to provide walking support and step climbing assistance.

[0085] The guide wheel unit 405 is provided with a sleeve 406 and a guide wheel 407;

[0086] The sleeve 406 is fixed to the corresponding hole set on the guide wheel unit 405 and fastened by bolts. The guide wheel 407 is fixed between the second connecting rod unit 404 and the guide wheel unit 405 through a pin shaft. The driving rope 408 is connected to the calf connection unit 402 after passing through the guide wheel 407. In addition, the driving rope 408 passes through the corresponding hole on the calf connection unit 402 and is designed with a square ball at its end.

[0087] The thigh connection unit 401 is provided with a return spring ball mechanism, including a return spring 409 and a rolling ball 410;

[0088] 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 connecting rod unit 404. The pre-compression deformation of the return spring 409 pushes the rolling ball 410, and the rolling ball 410 pushes the second connecting rod unit 404, thereby realizing the trend direction reset of the four-bar linkage mechanism. Accordingly, a cam surface can be designed at the upper end of the second connecting rod unit 404 to adjust the return force.

[0089] The ankle-foot module 5 includes a calf protector 501, an adjustment and pressing mechanism 502, an adjustment and limiting mechanism 503, a flexion-extension shaft seat 504, an abduction shaft seat 505, a shoe cover 506, a foot support 507, a two-way connecting block 508, and an adjustment strip 509.

[0090] One end of the calf protector 501 is connected to the knee joint module 4, and the other end is connected to one end of the adjustment strip 509;

[0091] The connection between the calf protector 501 and the adjustment insert 509 is provided with an adjustment pressing mechanism 502 and an adjustment limiting mechanism 503 for achieving adjustment and limiting of the adjustment insert 509;

[0092] The adjusting insert 509 is provided with an abduction shaft seat 505, a two-way connecting block 508 is provided at the lower end of the abduction shaft seat 505, and a flexion-extension shaft seat 504 is provided on the two-way connecting block 508;

[0093] A foot support 507 is provided on the flexion-extension shaft seat 504 , and a shoe cover 506 is provided on the foot support 507 for placing and supporting the foot.

[0094] From the perspective of specific implementation, a square slot is provided at one end of the abduction shaft seat 505, and a round hole is provided on the side. One end of the two-way connecting block 508 is inserted into the square slot and the round hole on the abduction shaft seat 505 is made concentric with the corresponding round hole on the two-way connecting block 508 and a pin is inserted, thereby realizing the sagittal axis rotation movement; similarly, there are corresponding slots on the foot support 507 and corresponding cylinders on the flexion and extension shaft seat 504. We insert one end of the two-way connecting block 508 into the corresponding slot on the foot support 507 as shown in the figure, and insert the corresponding cylinder of the flexion and extension shaft seat 504 into the corresponding round hole on the two-way connecting block 508 and firmly fix it to the foot support 507, then we get a degree of freedom that can rotate about the coronal axis.

[0095] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A modular lower limb walking aid system, characterized in that: It includes a driving module (1), a waist seal module (2), a hip joint module (3), a knee joint module (4) and an ankle-foot module (5); The driving module (1) is used to drive the walking aid system and is connected to the waist seal module (2), the waist seal 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); A driving rope is sequentially arranged between the driving module (1) and the waist seal module (2), the hip joint module (3) and the knee joint module (4); a stabilizing spring and a rope driving anchor point are arranged on the rotating shaft connecting the waist seal module (2), the hip joint module (3), the knee joint module (4) and the ankle-foot module (5) to achieve gait balance; The knee joint module (4) comprises a thigh connection unit (401), a calf connection unit (402), a first connecting rod unit (403), a second connecting rod 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 connected to the thigh and the calf respectively through interfaces; the thigh connection unit (401) is hinged to the first connecting rod unit (403) and the second connecting rod unit (404) respectively through pins, and the calf connection unit (402) is hinged to the first connecting rod unit (403) and the second connecting rod unit (404) respectively through pins; The thigh connection unit (401), the calf connection unit (402), the first link unit (403), and the second link unit (404) form a four-link motion mechanism; The second connecting rod unit (404) and the guide wheel unit (405) are fixedly connected, and the driving rope enters from the upper end of the guide wheel unit (405), is guided through the guide wheel unit (405), and then reaches the calf connection unit (402) and is fixed thereto; A return spring ball mechanism is provided in the thigh connection unit (401), comprising 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 connecting rod unit (404). The pre-compression deformation of the return spring (409) is used to realize the trend direction reset of the four-bar linkage mechanism.

2. The modular lower limb walking aid system according to claim 1, characterized in that: The driving module (1) comprises a driving housing (101), a winch (102), a driving plate (103), a guide block (104) and a driving 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 driving plate (103) is electrically connected to the driving motor (105) and controls the driving motor (105); The output end of the driving motor (105) is connected to the winch (102), a driving rope is provided in the winch (102), and the driving rope is connected to the waist seal module (2), the hip joint module (3) and the knee joint module (4) through a guide block (104).

3. The modular lower limb walking aid system according to claim 1, characterized in that: The waist seal module (2) comprises a waist seal lining (201), a waist chain set (202) and a hip guide block (203); The waist chain set (202) is formed by connecting multiple sections of the same shape in series through pins and slots, and a waist seal lining (201) is provided on the inner side of the waist chain set (202); The hip guide block (203) is arranged outside the waist chain group (202), and the waist chain group (202) is also connected to the hip joint module (3); The hip guide block (203) is a variable-angle guide block with a built-in pulley, and the drive rope passes through the hip guide block (203) and is connected to the hip joint module (3) to achieve guidance of the drive rope.

4. The modular lower limb walking aid system according to claim 3, characterized in that: The hip joint module (3) comprises a quick-release buckle (301), a quick-release seat (302), a limiting block (303), a limiting rotating seat (304), an adjusting insert (305), a thigh protector (306), a first spring (307), a pressing block (308), a rotating pin seat (309), a pressing buckle (310), a pressing sheet (311), a torsion spring (312), a latch (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 connected to the waist chain assembly (202), thereby achieving connection and quick release with the waist seal module (2); A first spring (307) is provided in the quick-release seat (302), and a plurality of limit blocks (303) are provided on the first spring (307); The other end of the first spring (307) is connected to the limiting rotating seat (304), and the other end of the limiting rotating seat (304) passes through the adjusting insert (305) and is connected to the pin of the rotating pin seat (309) to form a rotating pair. A torsion spring (312) is provided between the limiting rotating seat (304) and the adjusting insert (305) to provide a restoring force. The other end of the adjustment strip (305) is connected to the thigh protector (306); The thigh protector (306) is provided with corresponding pressing buckles (310) and pressing plates (311), and the pressing plate (311) is adjusted by pressing the pressing buckles (310); The thigh protector (306) is further provided with a latch (313), a spring (314) and a snap button (315) that cooperate with each other to achieve position adjustment; The thigh protector (306) is provided with a plurality of anchor holes for connecting and fixing the driving ropes.

5. The modular lower limb walking aid system according to claim 4, characterized in that: The guide wheel unit (405) is provided with a sleeve (406) and a guide wheel (407); The sleeve (406) is fixed to a corresponding hole provided on the guide wheel unit (405) and fastened by a bolt. The guide wheel (407) is fixed between the connecting rod unit (404) and the guide wheel unit (405) by a pin. The drive rope (408) passes through the guide wheel (407) and is connected to the calf connection unit (402).

6. The modular lower limb walking aid system according to claim 1, characterized in that: The ankle-foot module (5) comprises a calf protector (501), an adjustment and pressing mechanism (502), an adjustment and limiting mechanism (503), a flexion and extension shaft seat (504), an abduction shaft seat (505), a shoe cover (506), a foot support (507), a two-way connecting block (508) and an adjustment strip (509); One end of the calf protector (501) is connected to the knee joint module (4), and the other end is connected to one end of the adjustment strip (509); An adjustment pressing mechanism (502) and an adjustment limiting mechanism (503) are provided at the connection between the calf protector (501) and the adjustment insert (509) for achieving adjustment and limiting of the adjustment insert (509); An abduction shaft seat (505) is provided on the adjusting insert (509), a two-way connecting block (508) is provided at the lower end of the abduction shaft seat (505), and a flexion-extension shaft seat (504) is provided on the two-way connecting block (508); A foot support (507) is provided on the flexion-extension shaft seat (504), and a shoe cover (506) is provided on the foot support (507) for placing and supporting the foot.

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