The invention discloses a low-power-consumption
knee joint device oriented to multiple application scenes and a modular
lower limb exoskeleton. The
knee joint device comprises a
thigh supporting shell, a shank rod, a
knee joint actuator, a battery, a controller, an electrical interface, an
encoder and a linear rotating mechanism. A battery and a controller are integrated in the
thigh supporting shell, and the linear-to-rotary mechanism converts
linear motion of the
actuator into rotary motion. The knee joint
actuator comprises a
hydraulic cylinder, a low-power-consumption
reversing valve, a low-rigidity energy accumulator, a high-rigidity energy accumulator, a low-energy-consumption
rotary valve, a normal-pressure
oil tank and a one-way valve, the variable-rigidity and variable-damping functions are achieved through cooperation of the
reversing valve and the
rotary valve, and after the valves rotate to the target position, a motor is powered off and does not consume energy. Based on the device, a full-link
load bearing, lightweight
jumping and unilateral hemiplegia
rehabilitation configuration can be formed through combination of the quick release
assembly, and the scene requirements of industrial carrying,
outbreak jumping,
rehabilitation training and the like are met respectively. The
system has the advantages of low
power consumption, high adaptability, modularization and
reconfigurability.