Knee joint assisting walker

Abstract

The utility model relates to exoskeleton technology, concretely is knee joint power-assisted walking device, including thigh part and shank, both are connected through knee joint, wherein the knee joint includes the hinge part I of setting in the lower extreme of thigh part, and the hinge part II of hinge connection with hinge part I, the drive module for driving knee joint is set in the upper end of thigh part, and drive module is driven the hinge part II deflection through the rope drive structure, power-assisted walking device is used for knee joint power assistance, and the hip joint needs the user to exert force alone, and the drive module for driving knee joint movement is not set in the knee joint, but moves to the upper part of thigh part, that is, the position close to the hip joint, and realizes the purpose of driving knee joint through the rope drive structure, this scheme can improve the gravity center of whole leg assembly, compared with the scheme that the existing drive module is set in the knee joint, when walking, the user, overcomes the leg assembly gravity work less, can effectively reduce the fatigue degree of hip joint.

Description

Technical Field

[0001] This utility model relates to exoskeleton technology, specifically a knee-assisted walking device. Background Technology

[0002] Exoskeleton technology assists people with limb dysfunction in joint exercises in the field of medical rehabilitation. The exoskeleton actively drives limb movement. With further research on the application of exoskeletons, it has been found that there is a large market demand and development space in weight-bearing work and assisted walking. Unlike limb rehabilitation, assistive 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] Currently, in lower limb exoskeletons used for knee joint assistance, the drive module that provides power to the knee joint is located at the corresponding knee joint. For example, a direct-drive knee joint assist exoskeleton with patent number CN202322820637.2 and a knee joint assist exoskeleton and its knee and ankle joint assist exoskeleton with application number CN202410651891.0 have a heavy drive mechanism at the knee joint. Although this meets the knee joint assistance requirements, the position of the drive mechanism causes the center of gravity of the entire exoskeleton to be far away from the hip joint, which puts a greater burden on the movement of the hip joint. Therefore, although it achieves knee joint assistance, it increases the fatigue of the hip joint. Utility Model Content

[0004] The purpose of this invention is to provide a knee-assisted walking device that moves the drive module for driving the knee joint to the upper part of the thigh, and then uses a flexible drive structure to drive the knee joint movement. This method can effectively raise the center of gravity of the exoskeleton, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a knee-joint assisted walking device, comprising a thigh and a lower leg connected by a knee joint, wherein the knee joint includes a hinge portion I disposed at the lower end of the thigh and a hinge portion II hingedly connected to the hinge portion I, and the hinge axis extends along the left-right direction of the human body, and the lower leg is connected to the hinge portion II; a drive module for driving the knee joint is disposed at the upper end of the thigh, and the drive module drives the hinge portion II to deflect through a flexible drive structure.

[0006] In the above technical solution, the assistive walker is used to assist the knee joint, while the hip joint requires the user to exert force independently. The drive module used to drive the knee joint movement is not located at the knee joint, but is moved up to the upper part of the thigh, that is, close to the hip joint. The purpose of driving the knee joint is achieved through a flexible drive structure. This solution can raise the center of gravity of the entire leg component. Compared with the existing solution where the drive module is located at the knee joint, the user does less work to overcome the gravity of the leg component when walking, which can effectively reduce the fatigue of the hip joint.

[0007] As a preferred embodiment, the top of the thigh is provided with a mounting flange for mounting the drive module. The mounting flange has a drive cavity in the middle, and the thigh has a cable channel that connects upward to the drive cavity and extends downward to the knee joint. The flexible drive structure includes a drive wheel disposed in the drive cavity, which is driven by the drive module, and a flexible transmission component located in the cable channel. The upper part of the flexible transmission component is connected to the drive wheel, and the lower part is connected to the hinge part II. The cable channel specifically for the flexible transmission component is provided on the thigh to ensure that the flexible transmission component is in a stable working environment. Preferably, the hinge part I has two symmetrically arranged and downwardly extending mounting plates. The lower part of the mounting plates is provided with a rotating shaft extending along the left-right direction of the human body. The hinge part II is mounted on the rotating shaft through a shaft hole provided at the top. A drive connection position coaxial with the shaft hole is provided on the hinge part II, and the flexible transmission component is matched and connected to the drive connection position.

[0008] As a preferred embodiment, the drive module includes a rear end cover located on the side of the mounting flange that fits against 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. The drive wheel is mounted on the bearing. The drive module also includes an intermediate connector that mates with the mounting flange, and a motor assembly that drives the drive wheel. The rear end cover and the motor assembly are respectively connected to the centrally located intermediate connector to achieve fixed installation of the entire drive module.

[0009] As a preferred embodiment, the assistive walker also includes a leg strap assembly. This assembly has two arc-shaped guard plates: an inner guard plate located between the user's leg and the exoskeleton, and an outer guard plate facing the inner guard plate. The first adjacent ends of the inner and outer guard plates are connected by a quick-release buckle, and the second adjacent ends are connected by a self-locking tensioning mechanism. The self-locking tensioning mechanism includes a cable retractor, the main body of which is selectively mounted on one of the two guard plates, with the cable of the retractor movably connected to the other guard plate. The leg strap assembly is put on or taken off by opening the buckle. While worn, the user can adjust the distance between the two guard plates by rotating the cable retractor, thereby adjusting the tightness of the strap. Because adjustment can be made without untying the strap, the user can perceive the adjustment result in real time, achieving precise adjustment, and can adjust it at any time according to their own comfort.

[0010] As a preferred embodiment, a mounting base for securing the leg strap assembly is provided on the thigh. This mounting base includes a rear cover plate connecting to the leg strap assembly, a front cover plate positioned on the opposite side of the thigh relative to the rear cover plate, and a limiting frame positioned between the front cover plate and the thigh. Two press-type locking plates are symmetrically arranged between the limiting frame and the front cover plate along the front-to-back direction of the human body, and an elastic mechanism for pushing the locking plates outwards is provided within the limiting frame. The inner end of each locking plate has limiting teeth that conform to the thigh. Correspondingly, a series of positioning grooves that engage with the limiting teeth are provided along the length of the thigh. By simultaneously pressing the two locking plates inwards, the limiting teeth can disengage from the positioning grooves, thereby allowing the mounting height of the mounting base to be adjusted. Furthermore, after releasing the two locking plates, the limiting teeth automatically engage with the positioning grooves, effectively preventing the mounting base from automatically sliding down during use.

[0011] As a preferred embodiment, the assistive walker also includes a foot, comprising a shoe cover worn on the foot, with a connector on the side of the shoe cover for connecting to the lower leg; the shoe cover is secured to the foot with a fastening strap. When the foot contacts the ground, it provides support to the upper leg bones, preventing them from sagging; during walking, the foot also restrains the leg bones at their ends, preventing them from shifting upwards relative to the leg frame. Alternatively, the foot can be constructed as a pad and a connector, where the pad is similar to an insole, placed inside the user's shoe, and the connector extends upwards from the pad to connect to the lower leg. This foot structure is convenient to use and does not occupy space between the feet, effectively preventing collisions between the feet during walking.

[0012] As a preferred embodiment, the assistive walker includes an electronic control box with a wearable component for wearing around the waist and a drive module via a cable. A flexible sling is provided on the upper part of the thigh, with its upper end connected to the wearable component. The preferred wearable component includes a waist strap with a downwardly extending transition connector. The transition connector has an inverted triangular outer contour, its upper part connected to the waist strap at multiple points or continuously, and its lower part connected to the sling via a connecting buckle I. The thigh is connected to the wearable component via the sling, allowing the wearable component to lift the leg bones, preventing them from sagging and distributing some of their weight. The flexible sling, while providing support, does not interfere with upper body movement. Furthermore, the transition connector expands the stress distribution of the waist strap, preventing discomfort caused by concentrated stress on the waist. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0014] Figure 1 A schematic diagram of the planar structure of the knee joint assistive walking device provided in this utility model;

[0015] Figure 2 for Figure 1 Schematic diagram of the connection structure between the middle thigh and the electrical control box;

[0016] Figure 3 This is a schematic diagram of the thigh structure.

[0017] Figure 4 This is a schematic diagram of the planar structure of the hinge part I at the lower end of the thigh.

[0018] Figure 5 This is a schematic diagram of the structure of hinge part II;

[0019] Figure 6 A schematic diagram of the upper thigh structure;

[0020] Figure 7 This is a schematic diagram of the guide wheel in a rope-driven structure.

[0021] Figure 8 This is a schematic diagram of the disassembled structure of the drive module used in this embodiment;

[0022] Figure 9 A schematic diagram of the connection structure between the rope-driven structure and the knee joint;

[0023] Figure 10This is a schematic diagram of the connection structure between the lower leg and the wearable foot provided in this embodiment;

[0024] Figure 11 Another schematic diagram of the foot structure is provided for this embodiment;

[0025] Figure 12 This is a schematic diagram of the leg strap assembly used in this embodiment;

[0026] Figure 13 A schematic diagram of the self-locking tensioning mechanism in the leg strap assembly used;

[0027] Figure 14 This is a schematic diagram of the disassembled structure of the height-adjustable mounting base;

[0028] Figure 15 This is a schematic diagram of the structure of the mounting plate in the mounting base;

[0029] Figure 16 This utility model provides a schematic diagram of the usage status of the knee joint assistive walking device according to an embodiment.

[0030] In the diagram, the components are: 1. Thigh; 2. Drive module; 3. Knee joint; 4. Lower leg; 5. Foot; 6. Leg strap assembly; 7. Electrical control box; 8. Waist strap; 9. Lifting sling; 10. Cable; 11. Mounting base; 12. Fixing base; 13. Guide wheel; 31. Hinge I; 32. Hinge II; 41. Fixed leg; 42. Telescopic leg; 43. Locking mechanism; 51. Shoe cover; 52. Cable tie structure; 53. Connector; 54. Foot pad; 55. Connecting part; 61. Inner protective plate; 62. Outer protective plate; 63. Lining layer; 64. Buckle; 65. Cable retractor; 66. Wiring conduit; 67. Pull tube I; 68. Pull tube II; 69. Cable; 8. Transition connection. 1. Connecting buckle I91, mounting flange 101, drive cavity 102, pull cable cavity 103, drive rope 104, positioning tooth groove 105, rear cover plate 111, limit bracket 112, front cover plate 113, clamping plate 114, spring 115, clearance opening 116, limit tooth 117, limit 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, limit groove II 322, positioning hole II 323, connector 324. Detailed Implementation

[0031] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0032] Figure 1This utility model provides a knee-assisted walking device applicable to both legs. The device, from top to bottom, includes an electrical control box 7, a thigh section 1, a lower leg section 4, and a foot section 5. The thigh section 1 and lower leg section 4 are connected via a knee joint 3, and leg strap assemblies 6 are respectively provided on the thigh section 1 and lower leg section 4. The electrical control box 7 has a built-in power supply and control system, and is connected to the drive modules 2 of the left and right legs via two flexible cables 10. In this embodiment, the electrical control box 7 is worn on the user's lower back via a wearable assembly. The wearable assembly only includes a waist strap 8, but shoulder straps or other wearing structures can also be added to improve wearing comfort. Figure 2 It can be seen that inverted triangular transition connecting parts 81 are respectively provided on the left and right sides of the waist strap 8. The upper edge of the transition connecting part 81 is fixedly connected to the lower edge of the waist strap 8, and the lower part is connected to the soft lifting strap 9 through a detachable connecting buckle I91. Figure 3 As can be seen, the lower end of the lifting belt 9 is fixed to the fixing seat 12 set on the side of the thigh 1 that fits against 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.

[0033] Combination Figure 3-5 The knee joint 3 includes a hinge portion I31 located at the lower end of the thigh portion 1, and a hinge portion II32 hinged to the hinge portion I31. The hinge portion I31 has two symmetrically arranged and downwardly extending mounting plates 310. The upper part of the mounting plates 310 is fixedly connected by a connecting post 311, and the lower part is provided with a rotating shaft 312 extending along the left-right direction of the human body. The lower part of the hinge portion II32 is provided with a connector 324 connecting to the lower leg, and the upper part is movably inserted between the two mounting plates 310 and mounted on the rotating shaft 312 through a shaft hole 321. In addition, an annular limiting groove II322 coaxial with the shaft hole 321 is provided on the upper part of the hinge portion II32. One side edge of the limiting groove II322 is connected, and a positioning hole II323 is provided through the connection.

[0034] In this embodiment, the drive module 2 that drives the knee joint 3 is moved upward to the upper end of the thigh 1. Since the drive module 2 is far from the knee joint 3, a flexible drive structure is needed to drive the knee joint 3. Optional flexible drive structures include belt drive structures, chain drive structures, and rope drive structures. This embodiment uses a rope drive structure to transmit the driving force. Figure 6 As shown, a mounting flange 101 for mounting the drive module 2 is provided at the top of the thigh 1. The mounting flange 101 has a drive cavity 102 in the middle. The thigh 1 is a hollow structure with a cable cavity 103 inside that connects upward to the drive cavity 102 and extends downward to the knee joint 3. The cable drive structure includes a guide wheel 13 disposed in the drive cavity 102 and a drive rope 104 located in the cable cavity 103, and as shown... Figure 7As shown, the outer periphery of the guide wheel 13 is an annular limiting groove I131, the middle is a mounting hole, and a positioning hole I132 is provided on the side wall of the mounting hole, which penetrates and communicates with the limiting groove I131. Figure 8 As shown, the drive module 2 includes a rear end cover 204 located on the side of the mounting flange 101 that fits against 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. The guide wheel 13 is mounted on the bearing 206 through the mounting hole and is connected to the motor assembly 202 by bolts. The drive module 2 also includes an intermediate connector 203 that is installed in conjunction with the mounting flange 101. 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 abut against the mounting flange 101 to achieve the fixed installation of the rear end cover 204. The motor assembly 202 is also fixedly installed by bolting to the intermediate connector 203. Then, the front end cover 201 is installed on the outer side of the motor assembly 202.

[0035] In the assembled state, the guide wheel 13 is located in the drive cavity 102, and the upper part of the drive rope 104 passes around the guide wheel 13 via the limiting groove I131, with a portion of the drive rope 104 passing through the positioning hole I132 and being fixed by a retaining buckle, thereby ensuring that the drive rope 104 and the guide wheel 13 do not slip relative to each other; Figure 9 As shown, the lower part of the drive rope 104 passes through the cable cavity 103 and enters the hinge part I31, and then passes through the limiting groove II322 and around the hinge part II32. Similarly, part of the drive rope 104 passes through the positioning hole II323 and is fixed by the fixing buckle to ensure that the drive rope 104 and the hinge part II32 will not slide relative to each other. Therefore, the drive module 2 after moving up can accurately control the movement of the lower leg 4 through the rope drive structure.

[0036] Regarding the lower leg, 4, as... Figure 10 As shown, the lower leg 4 includes a fixed leg 41 directly connected to the hinge part II 32, and a telescopic leg 42 that is telescopically connected to the fixed leg 41. A locking mechanism 43 for positioning the telescopic leg 42 is provided on the fixed leg 41. Furthermore, during walking, there is friction and relative displacement between the leg bones and the leg. Under the action of the leg strap assembly 6, the displacement may not be recoverable, which may cause the leg bones to shift relative to the thigh, affecting the assist effect and wearing comfort. This embodiment achieves real-time correction by adding a foot 5. The foot 5 is connected to the user's foot or shoe. When the thigh 1 or lower leg 4 shifts relative to the user's leg, the user's leg will automatically return to its original position with the leg bones during the stepping process, thereby avoiding irreversible shifting. Figure 10A wearable foot structure is provided, including a shoe cover 51 worn on the back of a shoe, and the shoe cover 51 is secured by a strap structure 52. The shoe cover 51 is connected to a retractable leg 42 via a connector 53 on its outer side. Alternatively, a similar design can be used. Figure 11 The foot structure shown is constructed as a foot pad portion 54 and a connecting portion 55, wherein the foot pad portion is similar to an insole and is placed inside the user's shoe, and the connecting portion is on the foot pad portion, which extends upward and connects to the lower leg portion 2. This type of foot structure is easy to use and does not occupy the space between the two feet, which can effectively prevent the feet from colliding during walking.

[0037] 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 mounted via an adjustable height mounting base 11. Figure 12 As shown, the leg strap assembly 6 has two curved protective plates, specifically an inner protective plate 61 located between the user's leg and the exoskeleton, and an outer protective plate 62 facing the inner protective plate. These two protective plates are preferably made of a rigid material and have a fixed shape. To improve comfort, a soft inner lining layer 63 is provided inside the two protective 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 latch 64, and the second adjacent ends are connected by a self-locking tensioning mechanism, as shown. Figure 13 As shown, the self-locking tensioning mechanism includes a pull cord retractor 65 and a pull cord 69 whose tension is controlled by the pull cord retractor 65. The main body of the pull cord retractor 65 is fixedly installed on the outside of the inner guard plate 61, and the distal end of the pull cord 69 is movably connected to the outer guard plate 62. When the pull cord retractor 65 is used to wind the pull cord 69, the second end of the outer guard plate 62 moves toward the second end of the inner guard plate 61, thereby achieving a fastening effect. To ensure that the pull cable 69 evenly pulls the outer guard plate 62, two semi-circular pull tubes I67, one above the other, are installed on the outer side of the second end of the outer guard plate 62. The openings of both pull tubes I67 point towards the inner guard plate 61. Simultaneously, a semi-circular pull tube II68 is installed in the middle of the outer side of the second end of the inner guard plate 61, with both ends of the pull tube II68 pointing towards the outer guard plate 62. Furthermore, wiring tubes 66 are installed above and below the pull tube II68. The two wiring tubes 66 are roughly arranged in a figure-eight shape from the pull cable retractor 65 to the two pull tubes I67, so that the opening of the upper wiring tube 66 roughly corresponds to the upper opening of the upper pull tube I67, and the opening of the lower wiring tube 66 roughly corresponds to the lower opening of the lower pull tube I67. Figure 13As can be seen, the pull cable 69 starts from the pull cable retractor 65, passes sequentially through the upper wiring tube 66 and the pulling tube I 67, passes through the pulling tube II 68, and then passes through the lower pulling tube I 67 and the wiring tube 66, finally connecting to the pull cable retractor 65. Since the pull cable 69 can move relative to the wiring tube and each pulling tube, when the pull cable 69 is tightened by the pull cable retractor 65, the upper and lower parts of the second end of the outer guard plate 62 will be subjected to traction force, and the outer guard plate 62 can automatically adapt to the shape of the leg. For example, the lower part 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. Alternatively, the self-locking tensioning mechanism can be set on the front side of the human body. In this case, the user can adjust the tightness of the corresponding leg strap assembly 6 from the front. This adjustment method is more convenient. Compared with the existing ordinary hook and loop fastener leg straps, this strap assembly can adjust the tightness while wearing. The user only needs to rotate the pull cord retractor 65 to adjust the distance between the two guard plates a second time, thereby adjusting the tightness of the binding. Since it can be adjusted without untying, the user can perceive the adjustment result in real time and achieve precise adjustment.

[0038] In addition, in this embodiment, the leg strap assembly 6 on the thigh 1 is mounted via a height-adjustable mounting base 11, from... Figure 6 It can be seen that two rows of opposing positioning grooves 105 are provided along the length of the thigh 1 on the side away from the human body. The aforementioned mounting base 11 is movably mounted on the thigh 1, and its positioning is achieved by engaging with the positioning grooves 105. Specifically, as shown... Figure 14 As shown, the mounting base 11 includes a rear cover plate 111 connecting the inner side plate 61 of the leg strap assembly 6, and a front cover plate 113 opposite to the rear cover plate 111 and disposed on the other side of the thigh 1. It also includes a limiting frame 112 disposed between the front cover plate 113 and the thigh 1. The rear cover plate 111, the limiting frame 112, and the front cover plate 113 are connected by bolts, allowing the assembled structure to slide along the thigh 1. Additionally, two press-type locking plates 114 are symmetrically arranged between the limiting frame 112 and the front cover plate 113 along the front-back direction of the human body. A spring 115 is provided within the limiting frame 112 to push the locking plates 114 outwards. It can be seen that there is a clearance opening 116 between the limiting frame 112 and the front cover plate 113, allowing the outer end of the locking plate 114 to extend outwards from the corresponding clearance opening 116. Figure 15As can be seen, the inner end of the clamping plate 114 has a limiting tooth 117 that fits the thigh. Under the action of the spring 115, the limiting tooth 117 on the clamping plate 114 automatically engages with the positioning tooth groove 105 to fix the entire mounting base 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 base 11.

[0039] The knee-assisted walker shown above can assist both the left and right legs simultaneously. In actual use, if only one leg (such as the right leg) needs assistance, the connection between the (left leg) sling 9 and the waist strap 8 can be released, and the left leg bone can be removed. Therefore, the user only needs to wear the bone on one leg. That is, the scope of protection of this utility model is not limited to the double-leg assist exoskeleton, but also includes the case of single-leg assistance.

[0040] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0041] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0042] The foregoing description illustrates 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. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A knee-assisted walking device, characterized in that: It includes a thigh and a calf, which are connected by a knee joint. The knee joint includes a hinge part I located at the lower end of the thigh and a hinge part II hinged to the hinge part I, with the hinge axis extending along the left-right direction of the human body. The calf is connected to the hinge part II. A drive module for driving the knee joint is located at the upper end of the thigh, and the drive module drives the hinge part II to deflect through a flexible drive structure.

2. The knee joint assistive walking device as described in claim 1, characterized in that: The top of the thigh is provided with a mounting flange for mounting the drive module. The mounting flange has a drive cavity in the middle, and the thigh has a cable channel that communicates with the drive cavity upward and extends downward to the knee joint. The flexible drive structure includes a drive wheel disposed in the drive cavity, which is driven by the drive module, and a flexible transmission component located in the cable channel. The upper part of the flexible transmission component is connected to the drive wheel, and the lower part is connected to the hinge part II.

3. The knee joint assistive walking device as described in claim 2, characterized in that: The hinge part I has two symmetrically arranged mounting plates that extend downwards, and the lower part of the mounting plates is provided with a rotating shaft extending along the left and right direction of the human body; the hinge part II is mounted on the rotating shaft through a shaft hole provided at the upper part, and a drive connection position coaxial with the shaft hole is provided on the hinge part II, and the flexible transmission component is matched and connected to the drive connection position.

4. The knee joint assistive walking device as described in claim 2, characterized in that: The drive module includes a rear end cover located on the side of the mounting flange that fits against 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. The drive wheel is mounted on the bearing. The drive module also includes an intermediate connector that mates with the mounting flange, and a motor assembly that drives the drive wheel. The rear end cover and the motor assembly are respectively connected to the centrally located intermediate connector to achieve fixed installation of the entire drive module.

5. The knee joint assistive walking device as described in claim 1, characterized in that: The assistive walker also includes a leg strap assembly, which has two arc-shaped guard plates: an inner guard plate located between the user's leg and the exoskeleton, and an outer guard plate opposite to the inner guard plate. The first adjacent ends of the inner and outer guard plates are connected by a quick-release buckle, and the second adjacent ends are connected by a self-locking tensioning mechanism. The self-locking tensioning mechanism includes a pull-cord retractor, the body of which is selectively mounted on one of the two guard plates, and the pull cord of the pull-cord retractor is movably connected to the other guard plate.

6. The knee joint assistive walking device as described in claim 5, characterized in that: A mounting base for securing a leg strap assembly is provided on the thigh. The mounting base includes a rear cover plate connected to the leg strap assembly and a front cover plate disposed on the other side of the thigh relative to the rear cover plate. It also includes a limiting frame disposed between the front cover plate and the thigh. Two press-type locking plates are symmetrically arranged between the limiting frame and the front cover plate along the front-back direction of the human body, and an elastic mechanism for pushing the locking plates outward is provided within the limiting frame. The inner end of the locking plate has limiting teeth that conform to the thigh. Correspondingly, a series of positioning grooves that engage with the limiting teeth are provided on the thigh along the length direction. By pressing the two locking plates inward simultaneously, the limiting teeth can be disengaged from the positioning grooves.

7. The knee joint assistive walking device as described in claim 1, characterized in that: The assistive walking device also includes a foot unit, which includes a shoe cover worn on the foot, with a connector on the side of the shoe cover that connects to the lower leg; the shoe cover is secured to the foot by a fastening strap.

8. The knee joint assistive walking device as described in claim 1, characterized in that: The assistive walker also includes a foot, which includes a foot pad and a connecting part disposed at the rear of the foot pad, wherein the foot pad is placed inside the user's shoe and located under the foot, and the connecting part extends upward and connects to the lower leg.

9. The knee-assisted walking device as described in any one of claims 1 to 8, characterized in that: The assistive walker includes an electronic control box with wearable components for wearing around the waist and connected to a drive module via a cable; a flexible sling is provided on the upper part of the thigh, with the upper end of the sling connected to the wearable components.

10. The knee joint assistive walking device as described in claim 9, characterized in that: The wearable component includes a waist strap with a downwardly extending transition connection on the waist strap. The outer contour of the transition connection is an inverted triangle. Its upper part is connected to the waist strap at multiple points or continuously, and its lower part is connected to the lifting strap through a connecting buckle I.

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