Knee joint power-assisted walker

Abstract

The invention relates to an exoskeleton technology, in particular to a knee joint power-assisted walker which comprises a thigh part and a shank part which are connected through a knee joint, and the knee joint comprises a hinge part I arranged at the lower end of the thigh part and a hinge part II hinged to the hinge part I; a driving module used for driving the knee joint is arranged at the upper end of the thigh part, and the driving module drives the hinge part II to deflect through a rope driving structure. The power-assisted walker is used for assisting the knee joint, the hip joint needs a user to apply force independently, the driving module used for driving the knee joint to move is not arranged at the knee joint, but moves upwards to the upper portion of the thigh, namely the position close to the hip joint, and the purpose of driving the knee joint is achieved through the rope driving structure. According to the scheme, the gravity center of the whole leg assembly can be increased, and compared with an existing scheme that a driving module is arranged on a knee joint, when a user walks, acting for overcoming the gravity of the leg assembly is small, and the fatigue degree of the hip joint can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to exoskeleton technology, in particular to a knee joint power-assisted walker. Background Art

[0002] Exoskeleton technology is used in the field of medical rehabilitation to assist people with limb dysfunction in joint exercises. The exoskeleton actively drives limb movement. With further research on the application of exoskeletons, it is found that there is a large market demand and development space in weight-bearing work and assisted walking. Unlike limb rehabilitation, assisted-power exoskeletons are used to provide partial power to the joints of people with normal limb function and need to have good performance in accompanying human movement.

[0003] At present, in the lower limb exoskeleton used for knee joint assistance, the driving module that provides power to the knee joint is set at the corresponding knee joint. For example, a direct-drive knee joint assistance exoskeleton with patent number CN202322820637.2, a knee joint assistance exoskeleton with application number CN202410651891.0 and its knee and ankle joint assistance exoskeleton, have a large-mass driving mechanism set at the knee joint. Although the assistance demand of the knee joint is met, the position of the driving mechanism causes the center of gravity of the entire exoskeleton to be away from the hip joint, which puts a greater burden on the movement of the hip joint. Therefore, although the assistance of the knee joint is achieved, the fatigue level of the hip joint is increased. Summary of the Invention

[0004] The purpose of the present invention is to provide a knee-assisted walker, in which the driving module for driving the knee joint is moved upward to the upper end of the thigh, and then a flexible driving structure is used to drive the knee joint movement. This method can effectively increase the center of gravity of the exoskeleton, thereby solving the problems raised in the background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a knee joint assisted walker, comprising a thigh and a calf, which are connected via a knee joint, wherein the knee joint comprises an articulated portion I arranged at the lower end of the thigh, and an articulated portion II hingedly connected to the articulated portion I, and the articulated axis extends along the left-right direction of the human body, and the calf is connected to the articulated portion II; a drive module for driving the knee joint is arranged at the upper end of the thigh, and the drive module drives the deflection of the articulated portion II via a flexible drive structure.

[0006] In the above technical solution, the power-assisted walker is used to assist the knee joint, and the hip joint requires the user to apply force alone. The driving module used to drive the knee joint movement is not set at the knee joint, but is moved up to the upper part of the thigh, that is, close to the hip joint, and the purpose of driving the knee joint is achieved through a flexible driving structure. This solution can improve the center of gravity of the entire leg assembly. Compared with the existing solution in which the driving module is set at the knee joint, the user does less work to overcome the gravity of the leg assembly when walking, which can effectively reduce the fatigue of the hip joint.

[0007] As a preferred solution, a mounting flange for mounting a drive module is provided at the top of the thigh, a drive cavity is provided in the middle of the mounting flange, and the thigh has a pull-wire channel connected upward to the drive cavity and extending downward to the knee joint; the flexible drive structure includes a drive wheel provided in the drive cavity, which is driven by the drive module, and also includes a flexible transmission member located in the pull-wire channel, the upper part of the flexible transmission member is connected to the drive wheel, and the lower part is connected to the hinge part II. A pull-wire channel specifically for the flexible transmission member is provided on the thigh to ensure that the flexible transmission member is in a stable working environment. Preferably, the hinge part I has two symmetrically arranged and downwardly extending mounting plates, and the lower part of the mounting plate is provided with a rotating shaft extending along the left and right directions of the human body; the hinge part II is installed on the rotating shaft through an axial hole provided on the upper part, and a drive connection position coaxial with the axial hole is provided on the hinge part II, and the flexible transmission member is matched and connected to the drive connection position.

[0008] As a preferred solution, the drive module includes a rear end cover located on the side of the mounting flange that fits the human body, a columnar boss coaxial with the drive wheel is provided in the middle of the rear end cover, and a bearing is mounted on the columnar boss, and the drive wheel is mounted on the bearing; the drive module also includes an intermediate connecting piece installed in cooperation with the mounting flange, and a motor assembly that drives the drive wheel, and the rear end cover and the motor assembly are respectively connected to the centrally arranged intermediate connecting piece to achieve fixed installation of the entire drive module.

[0009] As a preferred embodiment, the power-assisted walker further includes a leg strap assembly having two arc-shaped guard plates, specifically an inner guard plate located between the user's legs and the exoskeleton, and an outer guard plate disposed opposite the inner guard plate. The inner and outer guard plates are connected at first adjacent ends by a quick-release buckle, and at second adjacent ends by a self-locking tensioning mechanism. The self-locking tensioning mechanism includes a pull-wire retractor, the main body of which is selectively mounted on one of the two guard plates, and the pull wire of the pull-wire retractor is movably connected to the other guard plate. The leg strap assembly is removed or donned by opening the buckle. When donned, the user adjusts the distance between the two guard plates by rotating the pull-wire retractor, thereby adjusting the tightness of the binding. Since the adjustment can be made without untying the straps, the user can better perceive the adjustment results in real time, achieving precise adjustment, and can adjust at any time according to their own feelings.

[0010] As a preferred solution, a mounting base for fixing the leg strap assembly is provided on the thigh, and the mounting base includes a rear cover plate connected to the leg strap assembly, and a front cover plate arranged on the other side of the thigh relative to the rear cover plate, and also includes a limit frame arranged between the front cover plate and the thigh; two press-type clamping plates are symmetrically arranged between the limit frame and the front cover plate along the front-to-back direction of the human body, and an elastic mechanism for pushing the clamping plates outward is provided in the limit frame; the inner end portion of the clamping plate has a limit tooth arranged to fit the thigh, and correspondingly, a series of positioning tooth grooves engaged with the limit teeth are provided along the length direction of the thigh, and the limit teeth can be disengaged from the positioning tooth grooves by pressing the two clamping plates inward at the same time, so that the installation height of the mounting base can be moved, and after loosening the two clamping plates, the limit teeth automatically engage with the positioning tooth grooves, which can effectively prevent the mounting base from automatically sliding down during use.

[0011] As a preferred solution, the power-assisted walker also includes a foot, which includes a shoe cover worn on the foot, and a connector for connecting to the calf is provided on the side of the shoe cover; the shoe cover is fixed to the foot by a fastening belt. The provided foot can support the upper leg bones after contacting the ground, preventing the leg bones from falling; during walking, the foot can also restrain the leg bones at the end, preventing the leg bones from moving upward relative to the leg system. As a preferred solution, the foot used can also be constructed into a structure consisting of a foot pad and a connecting part, wherein the foot pad is similar to an insole and is placed in the user's shoe, and the connecting part is in the foot pad, which extends upward and connects to the calf. The foot of this structure is easy to use and does not occupy the space between the two feet, which can effectively prevent the two feet from colliding when walking.

[0012] As a preferred embodiment, the power-assisted walker includes an electric control box having a wearable assembly for being worn at the waist and a cable-driven module; a flexible sling is provided on the upper portion of the thigh, the upper end of which is connected to the wearable assembly. Preferably, the wearable assembly includes a waist strap, on which a transition connection portion extending downward is provided. The outer contour of the transition connection portion is arranged in an inverted triangle, the upper portion of which is connected to the waist strap at multiple points or continuously, and the lower portion is connected to the sling via a connecting buckle 1. The thigh is connected to the wearable assembly via the sling, which allows the wearable assembly to lift the leg bones upward, preventing the leg bones from falling and sharing some of the weight of the leg bones. The flexible sling used not only satisfies the lifting function but also prevents the leg bones from affecting the movements of the upper body. In addition, the transition connection portion can expand the load range of the waist strap, preventing the waist strap from causing discomfort to the user's waist due to concentrated load. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of the planar structure of a knee joint power-assisted walker according to an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the connection structure between the middle thigh and the electric control box; Figure 3 This is a schematic diagram of the thigh structure; Figure 4 Schematic diagram of the planar structure of the hinge portion I at the lower end of the thigh; Figure 5 Schematic diagram of the structure of the hinge part II; Figure 6 This is a schematic diagram of the structure of the upper thigh; Figure 7 Schematic diagram of the structure of the guide wheel in the rope drive structure; Figure 8 This is a schematic diagram of the split structure of the drive module used in this embodiment; Figure 9 Schematic diagram of the connection structure between the rope drive structure and the knee joint; Figure 10 A schematic diagram of the connection structure between the calf and the wearable foot provided in this embodiment; Figure 11 A schematic diagram of another foot structure is provided for this embodiment; Figure 12 This is a schematic structural diagram of the leg strap assembly used in this embodiment; Figure 13Schematic diagram of the structure of the self-locking tensioning mechanism in the leg strap assembly used; Figure 14 A schematic diagram of the disassembled structure of the height-adjustable mounting base; Figure 15 It is a structural diagram of the clamping plate in the mounting base; Figure 16 A schematic diagram of the knee joint power-assisted walker in use according to an embodiment of the present invention.

[0014] In the figure, thigh 1, drive module 2, knee joint 3, calf 4, foot 5, leg strap assembly 6, electric control box 7, waist strap 8, lifting belt 9, cable 10, mounting seat 11, fixing seat 12, guide wheel 13, hinge part I31, hinge part II32, fixed leg 41, telescopic leg 42, locking mechanism 43, shoe cover 51, tie structure 52, connector 53, foot pad 54, connecting part 55, inner side guard plate 61, outer side guard plate 62, inner lining layer 63, lock buckle 64, pull wire retractor 65, wiring tube 66, traction tube I67, traction tube II68, pull wire 69, transition connection part 8 1. Connecting buckle I91, mounting flange 101, drive cavity 102, wire pulling cavity 103, drive rope 104, positioning tooth groove 105, rear cover 111, limiting frame 112, front cover 113, clamping plate 114, spring 115, avoidance opening 116, limiting tooth 117, limiting groove I131, positioning hole I132, front end cover 201, motor assembly 202, intermediate connector 203, rear end cover 204, boss 205, bearing 206, mounting plate 310, connecting column 311, rotating shaft 312, shaft hole 321, limiting groove II322, positioning hole II323, connector 324. DETAILED DESCRIPTION

[0015] The following will describe the implementation methods of the present application in detail with reference to the accompanying drawings and examples, so that the implementation process of how the present application applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0016] Figure 1 The present invention provides a knee-assisted walker suitable for double-leg assistance. The walker comprises, from top to bottom, an electric control box 7, a thigh 1, a calf 4 and a foot 5, wherein the thigh 1 and the calf 4 are connected via a knee joint 3, and leg strap assemblies 6 are provided on the thigh 1 and the calf 4, respectively. The electric control box 7 used has a built-in power supply and control system, and is connected to the drive modules 2 of the left leg and the right leg via two flexible cables 10; in this embodiment, the electric control box 7 is worn on the back of the user's waist through a wearable assembly, which only includes a waist strap 8, and a shoulder strap or other wearing structure may also be added to improve wearing comfort. Combined with Figure 2It can be seen that the left and right sides of the waist strap 8 are respectively provided with an inverted triangle-shaped transition connection part 81, the upper edge of the transition connection part 81 is fixedly connected to the lower edge of the waist strap 8, and the lower part is connected to the soft lifting belt 9 through a detachable connection buckle I91. Figure 3 It can be seen that the lower end of the lifting belt 9 is fixed to the fixing seat 12 provided on the side of the thigh 1 that fits the human body. Under the traction of the flexible lifting belt 9, the entire leg bone will not fall. At the same time, the use of this flexible connection can ensure that the leg bone will not affect the movement of the upper body.

[0017] Combine Figure 3-5 The knee joint 3 includes a hinge part I31 arranged at the lower end of the thigh 1, and a hinge part II32 hingedly connected to the hinge part I31, wherein the hinge part I31 has two symmetrically arranged and downwardly extending mounting plates 310, the upper part of the mounting plate 310 is fixedly connected by a connecting column 311, and the lower part is provided with a rotating shaft 312 extending along the left and right directions of the human body; the lower part of the hinge part II32 is provided with a connecting head 324 connecting the calf, the upper part of which is movably inserted between the two mounting plates 310, and is installed on the rotating shaft 312 through the shaft hole 321; in addition, an annular limiting groove II322 coaxial with the shaft hole 321 is provided at the upper part of the hinge part II32, and one side edge of the limiting groove II322 is connected, and a positioning hole II323 is set through the connection.

[0018] In this embodiment, the driving module 2 for driving the knee joint 3 is moved upward to the upper end of the thigh 1. Since the driving module 2 is far away from the knee joint 3, a flexible driving structure is required to drive the knee joint 3. Optional flexible driving structures include belt driving structure, chain driving structure, and rope driving structure. In this embodiment, a rope driving structure is used to transmit the driving force. Figure 6 As shown, a mounting flange 101 for mounting a drive module 2 is provided on the top of the thigh 1, and a drive cavity 102 is provided in the middle of the mounting flange 101. The thigh 1 is a hollow structure, and a wire drawing cavity 103 is provided inside thereof, which is upwardly connected to the drive cavity 102 and downwardly extends to the knee joint 3. The rope drive structure includes a guide wheel 13 provided in the drive cavity 102 and a drive rope 104 located in the wire drawing cavity 103, and as shown Figure 7 As shown, the outer periphery of the guide wheel 13 is an annular limiting groove I131, the middle portion is a mounting hole, and a positioning hole I132 is provided on the side wall of the mounting hole to pass through and communicate with the limiting groove I131. Figure 8As shown, the driving module 2 used includes a rear end cover 204 located on the side of the mounting flange 101 that fits the human body, a columnar boss is provided in the middle of the rear end cover 204, and a bearing 206 is mounted on the columnar boss, and the guide wheel 13 used is installed on the bearing 206 through the mounting hole and is connected to the motor assembly 202 by bolts; the driving module 2 also includes an intermediate connector 203 installed in cooperation with the mounting flange 101, and the intermediate connector 203 is located between the rear end cover 204 and the motor assembly 202. After the rear end cover 204 is connected to the intermediate connector 203 by bolts, the rear end cover 204 and the intermediate connector 203 respectively touch the mounting flange 101 to achieve fixed installation of the rear end cover 204, and the motor assembly 202 is also connected to the intermediate connector 203 by bolts to achieve fixed installation of the motor assembly 202, and then the front end cover 201 is installed on the outer side of the motor assembly 202.

[0019] In the assembled state, the guide wheel 13 is located in the driving cavity 102, the upper part of the driving rope 104 passes through the limiting groove I131 around the guide wheel 13, and part of the driving rope 104 passes through the positioning hole I132 and is fixed by the fixing buckle, thereby ensuring that the driving rope 104 and the guide wheel 13 do not slide relative to each other; Figure 9 As shown, the lower part of the driving rope 104 passes through the wire pulling cavity 103 and enters the hinge part I31, and bypasses the hinge part II32 through the limiting groove II322. Similarly, part of the driving rope 104 passes through the positioning hole II323 and is fixed by the fixing buckle to ensure that the driving rope 104 and the hinge part II32 will not slide relative to each other. Therefore, the driving module 2 after moving upward can accurately control the movement of the calf part 4 through the rope driving structure.

[0020] Regarding the calf 4, as Figure 10 As shown, the calf portion 4 includes a fixed leg 41 directly connected to the hinge portion II32, and also includes a telescopic leg 42 telescopically connected to the fixed leg 41, and a locking mechanism 43 for positioning the telescopic leg 42 is provided on the fixed leg 41. In addition, in the walking state, there is friction and relative displacement between the leg bones and the legs, and under the action of the leg strap assembly 6, the displacement may not be restored, which may cause a certain amount of movement of the leg bones relative to the thigh, affecting the power-assisting effect and wearing comfort. This embodiment achieves real-time correction by adding a foot 5. The foot 5 constrains the user's foot or shoe. When the thigh 1 or the calf 4 is displaced from the user's leg, the user's leg will automatically reset with the leg bones during the stepping process, thereby avoiding irreversible movement. Figure 10 Provided is a wearable foot structure, comprising a shoe cover 51 worn on the back of a shoe, and fixed with a tie structure 52, and the shoe cover 51 is connected to the telescopic leg 42 via a connector 53 provided on the outside. Figure 11The foot structure shown is constructed into a structure consisting of a foot pad portion 54 and a connecting portion 55, wherein the foot pad portion is similar to an insole and is placed in the user's shoe, and the connecting portion is in the foot pad portion, which extends upward and connects to the calf portion 2. This structure of the foot is easy to use and does not occupy the space between the two feet, which can effectively avoid collision of the two feet when walking.

[0021] Regarding the leg strap assembly 6 used in this embodiment, the thigh 1 and the calf 4 adopt the same structure, wherein the leg strap assembly 6 on the thigh 1 is installed through the height-adjustable mounting seat 11. Figure 12 As shown, the leg strap assembly 6 used has two arc-shaped guard plates, specifically an inner guard plate 61 located between the user's legs and the exoskeleton and an outer guard plate 62 arranged opposite to the inner guard plate. The two guard plates are preferably made of hard materials and have a fixed shape. In order to improve comfort, a soft lining layer 63 is provided inside the two guard plates. Figure 12 As shown, the first adjacent ends of the inner guard plate 61 and the outer guard plate 62 are connected by a quick release lock buckle 64, and the second adjacent ends are connected by a self-locking tensioning mechanism, as shown in FIG. Figure 13 As shown, the self-locking tensioning mechanism structure includes a wire retractor 65 and a wire 69 whose tightness is controlled by the wire retractor 65, wherein the main body of the wire retractor 65 is fixedly mounted on the outside of the inner guard plate 61, and the far end of the wire 69 is movably connected to the outer guard plate 62. When the wire retractor 65 is used to wind the wire 69, the second end of the outer guard plate 62 moves toward the second end of the inner guard plate 61, thereby achieving a tightening effect. In order to make the pulling wire 69 pull the outer guard plate 62 evenly, two semi-circular pulling tubes I67 are set up one above and one below on the outer side surface of the second end of the outer guard plate 62, and the openings of the two pulling tubes I67 are both directed to the inner guard plate 61; at the same time, a semi-circular pulling tube II68 is set in the middle of the outer side surface of the second end of the inner guard plate 61, and the openings at both ends of the pulling tube II68 are both directed to the outer guard plate 62. In addition, wiring tubes 66 are respectively set above and below the pulling tube II68. The two wiring tubes 66 are roughly distributed in an eight-shaped shape in the direction from the wire retractor 65 to the two pulling tubes I67, so that the pipe opening of the upper wiring tube 66 roughly corresponds to the upper pipe opening of the upper pulling tube I67, and the pipe opening of the lower wiring tube 66 roughly corresponds to the lower pipe opening of the lower pulling tube I67. Figure 13It can be seen that the pull wire 69 passes through the upper wiring tube 66 and the pulling tube I 67 from the pull wire retractor 65 in sequence, passes through the pulling tube II 68, and then passes through the lower pulling tube I 67 and the wiring tube 66, and finally connects to the pull wire retractor 65. Because the pull wire 69 can move relative to the wiring tube and the pulling tubes, when the pull wire 69 is tightened by the pull wire retractor 65, the upper and lower portions of the second end of the outer guard plate 62 are subjected to traction, and the outer guard plate 62 can automatically adapt to the shape of the leg. For example, the lower portion of the outer guard plate 62 is closer to the inner guard plate 61, so that the space enclosed by the inner guard plate 61 and the outer guard plate 62 conforms to the characteristic of the leg being thicker at the top and thinner at the bottom. As can be seen from Figure 15, in the leg strap assembly 6 provided in this embodiment, the buckle 64 is located on the front side of the human body, that is, the self-locking tensioning mechanism is set on the back side of the human body. At this time, the user needs to adjust the tightness of the corresponding leg strap assembly 6 from the back and open the leg strap assembly 6 from the front; the self-locking tensioning mechanism can also be set on the front side of the human body. At this time, the user adjusts the tightness of the corresponding leg strap assembly 6 from the front, and this adjustment method is more convenient. Compared with the existing ordinary Velcro leg straps, this strap assembly can adjust the tightness when worn. The user only needs to turn the pull-wire retractor 65 to adjust the distance between the two guard plates for a second time, thereby adjusting the binding tightness. Since it can be adjusted without untying, the user can better perceive the adjustment result in real time and achieve precise adjustment.

[0022] In addition, in this embodiment, the leg strap assembly 6 on the thigh 1 is installed through the height-adjustable mounting seat 11. Figure 6 It can be seen that two rows of positioning tooth grooves 105 with openings facing each other are provided along the length direction on the side of the thigh 1 away from the human body. The aforementioned mounting seat 11 is movably mounted on the thigh 1 and is positioned by engaging with the positioning tooth grooves 105. Specifically, Figure 14 As shown, the mounting seat 11 includes a rear cover plate 111 connected to the inner guard plate 61 of the leg strap assembly 6, and a front cover plate 113 opposite to the rear cover plate 111 and arranged on the other side of the thigh 1, and also includes a limit frame 112 arranged between the front cover plate 113 and the thigh 1, and the rear cover plate 111, the limit frame 112 and the front cover plate 113 are connected by bolts. At this time, the structure assembled by the three can slide along the thigh 1; in addition, two pressing card plates 114 are symmetrically arranged between the limit frame 112 and the front cover plate 113 along the front-to-back direction of the human body, and a spring 115 for pushing the card plate 114 outward is arranged in the limit frame 112, and it can be seen that there is an avoidance opening 116 between the limit frame 112 and the front cover plate 113, and the outer end of the card plate 114 can extend from the corresponding avoidance opening 116; Figure 15It can be seen that the inner end of the clamping plate 114 is provided with a limiting tooth 117 which is arranged to fit the thigh. Under the action of the spring 115, the limiting tooth 117 on the clamping plate 114 is automatically engaged with the positioning tooth groove 105 to fix the entire mounting seat 11. By pressing the two clamping plates 114 inward at the same time, the limiting tooth 117 can be disengaged from the positioning tooth groove 105, thereby adjusting the installation height of the mounting seat 11.

[0023] The knee joint assisted walker shown in the above content can provide assistance to the left and right legs at the same time. In actual use, if only one leg (such as the right leg) needs to be assisted, the connection between the (left leg) lifting belt 9 and the waist strap 8 can be released, and the left leg bone part can be removed, so the user only needs to wear the leg bone on one side. That is, the protection scope of the present invention is not limited to the double-leg assisted exoskeleton, but also includes the case of single-leg assisted.

[0024] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of the components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0025] It should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the product or system comprising the element.

[0026] The foregoing description shows and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. A knee joint power walker, characterized in that: The invention comprises a thigh and a calf, which are connected by a knee joint, wherein the knee joint comprises an articulated portion I arranged at the lower end of the thigh, and an articulated portion II hingedly connected to the articulated portion I, and the articulated axis extends along the left-right direction of the human body, and the calf is connected to the articulated portion II; a driving module for driving the knee joint is arranged at the upper end of the thigh, and the driving module drives the articulated portion II to deflect through a flexible driving structure.

2. The knee joint power-assisted walker according to claim 1, characterized in that: A mounting flange for mounting a driving module is provided at the top of the thigh, a driving cavity is provided in the middle of the mounting flange, and the thigh has a pull wire channel connected upward to the driving cavity and extending downward to the knee joint; the flexible driving structure includes a driving wheel provided in the driving cavity, which is driven by the driving module, and also includes a flexible transmission member located in the pull wire channel, the upper part of the flexible transmission member is connected to the driving wheel, and the lower part is connected to the hinge part II.

3. The knee joint power-assisted walker according to claim 2, characterized in that: The hinge part I has two symmetrically arranged and downwardly extending mounting plates, and a rotating shaft extending along the left and right directions of the human body is arranged at the lower part of the mounting plate; the hinge part II is installed on the rotating shaft through the shaft hole arranged at the upper part, and a drive connection position coaxial with the shaft hole is arranged on the hinge part II, and the flexible transmission member is matched and connected to the drive connection position.

4. The knee joint power-assisted walker according to claim 2, wherein: The driving module includes a rear end cover located on the side of the mounting flange that fits the human body, a columnar boss coaxial with the driving wheel is provided in the middle of the rear end cover, and a bearing is mounted on the columnar boss, and the driving wheel is mounted on the bearing; the driving module also includes an intermediate connecting piece installed in cooperation with the mounting flange, and a motor assembly that drives the driving wheel, the rear end cover and the motor assembly are respectively connected to the centrally arranged intermediate connecting piece to achieve fixed installation of the entire driving module.

5. The knee joint power-assisted walker according to claim 1, characterized in that: The power-assisted walker also includes a leg strap assembly, which has two arc-shaped guard plates, specifically an inner guard plate located between the user's legs and the exoskeleton and an outer guard plate arranged opposite the inner guard plate. The first adjacent ends of the inner guard plate and the outer guard plate are connected by a quick-release lock buckle, and the second adjacent ends are connected by a self-locking tensioning mechanism; the self-locking tensioning mechanism includes a pull-wire retractor, the main body of which is selectively installed on one of the two guard plates, and the pull wire of the pull-wire retractor is movably connected to the other guard plate.

6. The knee joint power-assisted walker according to claim 5, characterized in that: A mounting base for fixing the leg strap assembly is provided on the thigh, and the mounting base includes a rear cover plate connected to the leg strap assembly, and a front cover plate provided on the other side of the thigh relative to the rear cover plate, and also includes a limit frame provided between the front cover plate and the thigh; two press-type clamping plates are symmetrically provided between the limit frame and the front cover plate along the front-to-back direction of the human body, and an elastic mechanism for pushing the clamping plates outward is provided in the limit frame; the inner end portion of the clamping plate has a limit tooth provided to fit the thigh, and correspondingly, a series of positioning tooth grooves engaged with the limit teeth are provided along the length direction of the thigh, and the limit teeth can be disengaged from the positioning tooth grooves by pressing the two clamping plates inward at the same time.

7. The knee joint power-assisted walker according to claim 1, characterized in that: The power-assisted walker also includes a foot, which includes a shoe cover worn on the foot, and a connector for connecting to the calf is arranged on the side of the shoe cover; the shoe cover is fixed to the foot by a fastening belt.

8. The knee joint power-assisted walker according to claim 1, characterized in that: The power-assisted walker also includes a foot, which includes a foot pad and a connecting portion arranged at the rear of the foot pad. The foot pad is padded in the user's shoe and located under the foot, and the connecting portion extends upward and connects to the calf.

9. The knee joint power-assisted walker according to any one of claims 1 to 8, characterized in that: The power-assisted walker includes an electric control box having a wearable component for being worn around the waist and connected to a drive module via a cable; a flexible lifting belt is provided on the upper part of the thigh, and the upper end of the lifting belt is connected to the wearable component.

10. The knee joint power-assisted walker according to claim 9, characterized in that: The wearing component includes a waist strap, on which a transition connection portion extending downward is provided. The outer contour of the transition connection portion is installed in an inverted triangle shape, the upper part of which is connected to the waist strap at multiple points or continuously, and the lower part is connected to the lifting belt through a connecting buckle I.

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