Exoskeleton knee joint assembly and exoskeleton equipment

Abstract

The utility model relates to the technical field of exoskeleton equipment, and discloses an exoskeleton knee joint assembly and exoskeleton equipment, which comprises a first leg assembly and a second leg assembly for connecting the exoskeleton equipment, and further comprises a first connecting seat, a second connecting seat and a rotating shaft seat, the first connecting base is used for being assembled with the first leg assembly. The second connecting seat is used for being assembled with the second leg assembly; the rotating shaft seat comprises a shaft part, a circumferential limiting piece and a clamping part, the circumferential limiting piece and the clamping part are arranged at the two ends of the shaft part respectively, the circumferential limiting piece is used for connecting the shaft part and the first connecting seat together, the shaft part is sleeved with the second connecting seat, and a clamping space is reserved between the second connecting seat and the clamping part; the stress position of the rotating shaft seat is increased, so that the stress of the rotating shaft seat is balanced, the overall structural stability of the rotating shaft seat is improved, the rotating shaft seat is not prone to abrasion and bending deformation, the service life is prolonged, and the using effect is ensured.

Description

Technical Field

[0001] The utility model relates to an exoskeleton knee joint component and an exoskeleton device, belonging to the technical field of exoskeleton devices. Background Art

[0002] Exoskeletons are wearable robotic devices designed to enhance or restore human capabilities. They provide users with additional strength, stability, flexibility, and endurance, and are widely used in medical rehabilitation, industrial assistance, military, and everyday life. Exoskeletons can be categorized as active and passive. Passive exoskeletons are purely mechanical structures without an external energy supply. They utilize the body's own energy to assist the body. Specifically, they collect and store energy when limb movement produces negative work, and release it when limb movement produces positive work. This assists the body while reducing metabolism during movement.

[0003] Currently, when using passive exoskeletons, if the user bends their knees, the knee joint bears the weight of the upper body, which results in significant stress on the knee joint. In some scenarios, the frequent bending of the knee causes the knee joint to be subjected to significant stress for extended periods, which can easily cause significant damage to the knee joint. Therefore, existing exoskeletons with knee locking mechanisms have emerged. By locking the knee joint, these mechanisms prevent the exoskeleton's thigh and calf components from rotating, thereby reducing the stress on the knee joint.

[0004] In the prior art, the active part of such exoskeleton knee joint structure is usually composed of two connecting plates and a rotating shaft (such as Figure 1 As shown in FIG1 , two connecting plates are connected to the thigh and calf of the exoskeleton, respectively, and the rotating shaft rotates with the two connecting plates. For example, the invention patent with the Chinese patent authorization announcement number CN111920651B discloses an exoskeleton joint self-locking mechanism, a knee joint and a bionic rehabilitation robot, wherein the movable part thereof is composed of a rotating shaft, a first base and a second base, the first base and the second base are connected to the thigh and calf of the exoskeleton, respectively, and the rotating shaft rotates with the first base and the second base. Another example is the invention patent application with the Chinese patent application publication number CN116138986A, which discloses a knee joint posture changing device and a lower limb exoskeleton robot, wherein the movable part thereof is composed of a pin shaft, a thigh rod and a calf rod, the thigh rod and the calf rod are connected to the thigh and calf of the exoskeleton, respectively, and the pin shaft is connected to the thigh and calf.

[0005] In actual use, it was found that this type of exoskeleton knee joint structure would have the following problems during use: since the connecting components (i.e., connecting plates, bases, and rods) used to connect with the thigh and calf parts of the exoskeleton are arranged in sequence along the rotating components (i.e., rotating shafts and pins), this will cause the rotating components to receive unbalanced forces from the two connecting components when performing the corresponding rotation work, which can easily cause the rotating components to wear, bend, and other phenomena, thereby affecting the service life and use effect of the exoskeleton knee joint structure. Utility Model Content

[0006] In order to solve the above problems existing in the prior art, the utility model provides an exoskeleton knee joint component and an exoskeleton device.

[0007] The technical solution of the utility model is as follows:

[0008] In the first aspect, the utility model provides an exoskeleton knee joint assembly, comprising a first leg assembly and a second leg assembly for connecting an exoskeleton device, and also comprising a first connecting seat, a second connecting seat and a rotating shaft seat; the first connecting seat is used to be assembled with the first leg assembly; the second connecting seat is used to be assembled with the second leg assembly; the rotating shaft seat comprises a shaft portion, a circumferential limiter and a clamping portion, the circumferential limiter and the clamping portion are respectively arranged at both ends of the shaft portion, the circumferential limiter is used to connect the shaft portion with the first connecting seat, the second connecting seat is sleeved on the shaft portion, and a clamping space is left between the second connecting seat and the clamping portion.

[0009] In some optional embodiments, a movable seat and a clamping mechanism are further provided on the shaft portion, the movable seat is movably sleeved on the shaft portion, and the movable seat is arranged between the first connecting portion and the second connecting portion, the circumferential limiter is movably arranged to pass through the movable seat, and the clamping mechanism is driven and connected to the movable seat. The movable seat can be pressed toward the second connecting seat under the drive of the clamping mechanism to prevent the second connecting seat and the movable seat from rotating relative to each other.

[0010] In some optional embodiments, a first tooth portion is provided on the side wall of the movable seat close to the second connecting seat, and a second tooth portion adapted to the first tooth portion is provided on the side wall of the second connecting seat close to the movable seat. When the movable seat is pressed toward the second connecting seat by the clamping mechanism, the first tooth portion engages with the second tooth portion to prevent the second connecting seat and the movable seat from rotating relative to each other.

[0011] In some optional embodiments, the clamping mechanism includes a connecting member and a rotating handle, one end of the connecting member is inserted into the clamping portion and the shaft portion in sequence and then connected to the movable seat, and the other end is arranged outside the side wall of the clamping portion away from the shaft portion. The rotating handle is movably arranged on the end portion of the connecting member away from the movable seat, and a raised clamping portion is provided on the rotating handle. The rotating handle can drive the clamping portion to move closer to or away from the clamping portion by rotating relative to the connecting member.

[0012] In some optional embodiments, the rotating shaft seat is provided with a first through hole that passes through the clamping portion and the shaft portion in sequence, the movable seat is provided with a second through hole, the connecting member passes through the first through hole and the second through hole in sequence, and a limit block is also provided on the connecting member, the limit block is provided on the end portion of the connecting member passing through the movable seat, and the connecting member can drive the movable seat to be pressed toward the second connecting seat through the limit block.

[0013] In some optional embodiments, a guide boss is provided on the side wall of the movable seat close to the first connecting portion, and a first guide hole adapted to the guide boss is opened on the first connecting seat, and the guide boss and the first guide hole are slidably fitted.

[0014] In some optional embodiments, the circumferential limit member includes at least one locking member, and the movable seat is provided with second guide holes arranged in a one-to-one correspondence with the locking members, and each locking member is slidably engaged with the corresponding second guide hole.

[0015] In some optional embodiments, the first connecting seat is provided with mounting holes that are arranged in a one-to-one correspondence with the locking members, each locking member passes through the corresponding mounting hole, and each locking member is provided with a limiting portion. After the locking member passes through the mounting hole, the limiting portion can abut against the first connecting seat.

[0016] In some optional embodiments, a sink groove is further provided on the first connecting seat, and the limiting portion is accommodated in the sink groove.

[0017] In a second aspect, the present invention provides an exoskeleton device, comprising a first leg assembly, a second leg assembly, and an exoskeleton knee joint assembly as described above, wherein the first leg assembly is assembled with a first connecting seat, the shaft portion is passed through the first leg assembly, and the second leg assembly is assembled with the second connecting seat.

[0018] The utility model has the following beneficial effects:

[0019] 1. The exoskeleton knee joint assembly of the present invention increases the force-bearing position of the rotating shaft seat. When exercising, the force from the first leg assembly borne by the first connecting seat will be transmitted to the circumferential limit piece. Therefore, the first force-bearing positions where the rotating shaft seat bears the force from the first leg assembly are respectively located at the circumferential limit piece and the part of the shaft portion located in the clamping space. The force of the second leg assembly is transmitted to the part of the shaft portion located between the clamping space and the circumferential limit piece through the second connecting seat. It can be seen that the second force-bearing position where the rotating shaft seat bears the force from the second leg assembly is between the two first force-bearing positions, which is beneficial to balancing the force on the rotating shaft seat, improving the overall structural stability of the rotating shaft seat, and making the rotating shaft seat less prone to wear and bending deformation. Compared with the existing technology, it has the advantages of extending service life and ensuring the use effect.

[0020] 2. The present invention provides a clamping mechanism in conjunction with the clamping portion, which can lock the angle between the first leg assembly and the second leg assembly by locking the angles of the first connecting seat and the second connecting seat, so as to provide stable support for the user's knee joint, thereby preventing the user's knee joint from consuming a lot of physical strength due to frequent bending, and also avoiding cartilage damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A cross-sectional view of an exoskeleton knee joint structure in the prior art;

[0022] Figure 2 A side view of the exoskeleton knee joint assembly of the present invention;

[0023] Figure 3 This is a schematic structural diagram of the exoskeleton knee joint assembly, the first leg assembly, and the second leg assembly in the present invention;

[0024] Figure 4 This is a side view of the exoskeleton knee joint assembly of the present invention when the first connecting seat is hidden;

[0025] Figure 5 An exploded view of the exoskeleton knee joint assembly of the present invention;

[0026] Figure 6 This is a partial structural diagram of the exoskeleton knee joint assembly, the first leg assembly and the second leg assembly in the present invention.

[0027] The reference numerals in the figures are as follows:

[0028] 10. First connecting seat; 11. First guide hole; 12. Sink;

[0029] 20. Second connecting seat; 21. Shaft hole; 22. Clamping space; 23. Second tooth portion; 24. Bushing;

[0030] 30. Rotating shaft seat; 31. Shaft portion; 32. Circumferential limiting member; 321. Locking member; 322. Limiting portion; 33. Clamping portion; 34. First through hole;

[0031] 40. Movable seat; 41. Guide boss; 42. Second guide hole; 43. Second through hole; 44. First tooth portion;

[0032] 50. Clamping mechanism; 51. Connecting piece; 511. Limiting block; 52. Rotating handle; 521. Clamping part;

[0033] 60. First leg assembly;

[0034] 70. Second leg assembly. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of the present invention, unless otherwise specified, "multiple" means 2 or more, and "several" means 1 or more. In addition, unless otherwise specified, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0038] In the description of this utility model, reference to the terms "one embodiment," "some optional implementations," or "some optional embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0039] See also Figure 1 In the prior art, the knee joint structure of an exoskeleton device is usually connected by two connecting plates and a rotating shaft. The two connecting plates are respectively connected to the thigh and calf parts of the exoskeleton. The rotating shaft and the two connecting plates rotate together. Since the two connecting plates are arranged in sequence along the rotating shaft, the directions of the forces exerted on the rotating shaft by the two connecting plates are different. For example, Figure 1 The direction of the middle arrow is the force direction of the connecting plate. The two connecting plates will respectively bear upward and downward forces on the rotating shaft. Since the positions where the upward and downward forces are applied are distributed along the axial direction of the rotating shaft, the force on the rotating shaft is not balanced, which makes it easy for the rotating shaft to wear and bend when the exoskeleton device is used, resulting in a short service life of the knee joint structure and unstable connection between the leg components.

[0040] Therefore, this embodiment arranges the force application position of the first leg component 60 on the rotating shaft seat 30 on both sides of the force application position of the second leg component 70 on the rotating shaft seat 60, which is beneficial to improving the force stability of the rotating shaft seat 60, thereby reducing the loss of the rotating shaft seat 60 and improving the stability of the connection between the first leg component 60 and the second leg component 70.

[0041] See also Figure 2 and Figure 3 This embodiment provides an exoskeleton knee joint assembly, including a first leg assembly 60 and a second leg assembly 70 for connecting an exoskeleton device, and also includes: a first connecting seat 10, a second connecting seat 20, a rotating shaft seat 30, a movable seat and a clamping mechanism 50.

[0042] The first connecting seat 10 is used for assembling with the first leg assembly 60 .

[0043] The second connecting base 20 is used for assembling with the second leg assembly 70 , and an axis hole 21 is defined in the second connecting base 20 .

[0044] See also Figure 4 and Figure 5The rotating shaft seat 30 includes a shaft portion 31, a circumferential limiter 32, and a clamping portion 33. The circumferential limiter 32 and the clamping portion 33 are respectively provided at both ends of the shaft portion 31. The circumferential limiter 32 is used to connect the shaft portion 31 to the first connecting seat 10 so as to limit the relative rotation of the rotating shaft seat 31 and the first connecting seat 10. The shaft portion 31 can be assembled with the first leg assembly 60. In this embodiment, a support hole is provided on the first leg assembly 60, and the shaft portion 31 is passed through the support hole to achieve assembly with the first leg assembly 60. The second connecting seat 20 is sleeved on the shaft portion 31, that is, the shaft portion 31 is passed through the shaft hole 21 so that the rotating shaft seat 30 and the second connecting seat 20 can be rotatably matched. A clamping space 22 for clamping the first leg assembly 60 is reserved between the clamping portion 33 and the second connecting seat 20.

[0045] Through the above-mentioned arrangement, the force from the first leg assembly 60 borne by the first connecting seat 10 will be transmitted to the circumferential limiter 32. Therefore, the first force-bearing positions where the rotating shaft seat 30 bears the force from the first leg assembly 60 are respectively located at the circumferential limiter 32 and the portion of the shaft portion 31 located in the clamping space 22. The second connecting seat 20 is located between the clamping space 22 and the circumferential limiter 32. Therefore, the force of the second leg assembly 70 can be transmitted to the portion of the shaft portion 31 located between the clamping space 22 and the circumferential limiter 32 through the second connecting seat 20. It can be seen that the second force-bearing position where the rotating shaft seat 30 bears the force from the second leg assembly 70 is located between the two first force-bearing positions, which is conducive to balancing the force on the rotating shaft seat 30, improving the overall structural stability of the rotating shaft seat 30 and making it less prone to wear, bending and deformation. This makes it less likely for the first connecting seat 10 and the second connecting seat 20 to shake, thereby improving the rotation stability of the first leg assembly 60 and the second leg assembly 70.

[0046] The movable seat 40 is movably mounted on the shaft portion 31, and the movable seat 40 is slidably fitted with the circumferential limit member 32, so that the movable seat 40 can move between the first connecting seat 10 and the second connecting seat 20 along the circumferential limit member 32, and cannot rotate relative to the shaft portion 31 under the restriction of the circumferential limit member 32.

[0047] The clamping mechanism 50 is also provided on the shaft portion 31. The clamping mechanism 50 is drivably connected to the movable seat 40. Driven by the clamping mechanism 50, the movable seat 40 can be pressed toward the second connecting seat 20, so that the second connecting seat 20 and the movable seat 40 cannot rotate relative to each other, thereby limiting the rotation of the second connecting seat 20 relative to the shaft portion 31. Since the shaft portion 31, the movable seat 40 and the first connecting seat 10 cannot rotate relative to each other, it is actually equivalent to limiting the second connecting seat 20 from rotating relative to the first connecting seat 10, thereby limiting the mutual rotation between the first leg assembly 60 and the second leg assembly 70, thereby achieving angular locking of the first leg assembly 60 and the second leg assembly 70. In addition, when the movable seat 40 presses against the second connecting seat 20, it also drives the second connecting seat 20 to press against the first connecting seat 10, thereby driving the second connecting seat 20 and the clamping portion 33 to cooperate with the circumferential limit member 32 to clamp the first connecting seat 10, thereby fixing the position of the first leg assembly 60, thereby improving the structural stability of the first leg assembly 60 relative to the rotating shaft seat 30.

[0048] After the pressing mechanism 50 releases the pressing of the movable seat 40 relative to the second connecting seat 20 , the movable seat 40 can move away from the second connecting seat 20 , thereby releasing the locking of the angle between the first leg assembly 60 and the second leg assembly 70 .

[0049] See also Figure 5 and Figure 6 In some optional embodiments, a guide boss 41 is provided on the movable seat 40, and a first guide hole 11 is provided on the first connecting seat 10. The guide boss 41 slides with the first guide hole 11, thereby making the movement of the movable seat 40 more stable.

[0050] The specific structure of the circumferential limit member 32 can be designed according to actual needs. For example, in some optional embodiments, the circumferential limit member 32 includes at least one locking member 321, which is arranged at the end of the shaft portion 31 and deviates from the axis of the shaft portion 31. At least one second guide hole 42 is provided on the movable seat 40. The locking member 321 slides with the second guide hole 42 and is connected to the first connecting seat 10. Since the locking member 321 deviates from the axis of the shaft portion 31, the movable seat 40 and the first connecting seat 10 cannot rotate relative to the axis of the shaft portion 31.

[0051] In this embodiment, the locking member 321 is a threaded locking member that is threadably engaged with the shaft portion 31 .

[0052] See also Figure 5In some optional embodiments, the circumferential limit member 32 includes a plurality of locking members 321, and the plurality of locking members 321 are arranged around the axis of the shaft portion 31. The movable seat 40 is provided with a plurality of second guide holes 42 that slide with the locking members 321. The plurality of locking members 321 can more effectively and stably limit the movement between the movable seat 40 and the first connecting seat 10, and is conducive to improving the stability of the movement of the movable seat 40, and also makes the force between the first connecting seat 10 and the shaft portion 31 more balanced and stable.

[0053] When the first connecting seat 10 , the movable seat 40 and the shaft portion 31 are connected together, the locking member 321 passes through the first guide hole 11 and the second guide hole 42 in sequence and is connected to the side wall of the shaft portion 31 close to the movable seat 40 .

[0054] In some optional embodiments, a mounting hole is provided on the first connecting seat 10, and a limiting portion 322 is formed on the locking member 321. The locking member 321 passes through the mounting hole, and the limiting portion 322 abuts against the side of the first connecting seat 10 away from the shaft portion 31. After the first connecting seat 10 and the rotating shaft seat 30 are assembled on the first leg assembly 60, the clamping portion 33 abuts against the side of the first leg assembly 60 away from the first connecting seat 10, and the limiting portion 322 abuts against the side of the first connecting seat 10 away from the shaft portion 31, so that part of the first leg assembly 60 and the first connecting seat 10 are restricted between the clamping portion 33 and the limiting portion 322, which is conducive to cooperating to limit the position of the first connecting seat 10, thereby improving the structural stability between the first connecting seat 10, the rotating shaft seat 30 and the first leg assembly 60.

[0055] See also Figure 6 In some optional embodiments, a recessed groove 12 is provided on the side of the first connecting seat 10 away from the shaft portion 31, and the limiting portion 322 is accommodated in the recessed groove 12, which is beneficial for protecting the limiting portion 322 while improving the aesthetics.

[0056] See also Figure 5 In some optional embodiments, the pressing mechanism 50 includes a connecting member 51 and a rotating handle 52. One end of the connecting member 51 is inserted into the clamping portion 33 and the shaft portion 31 in sequence and then connected to the movable seat 40. The other end is arranged outside the side wall of the clamping portion 33 on the side away from the shaft portion 31. The rotating handle 52 is movably arranged on the end of the connecting member 51 on the side away from the movable seat 40. The rotating handle 52 is provided with a protruding pressing portion 521. The rotating handle 52 can be rotated relative to the connecting member 51 to drive the pressing portion 521 toward or away from the clamping portion 33. When the pressing mechanism 50 drives the movable seat to press toward the second connecting seat 20, the rotating handle 52 rotates relative to the connecting member 51 so that the pressing portion 521 presses on the clamping portion 33, causing the rotating handle 52 to move away from the clamping portion 33, thereby causing the connecting member 51 to drive the movable seat 40 to press toward the second connecting seat 20.

[0057] In some optional embodiments, the rotating shaft seat 30 is further provided with a first through hole 34 that sequentially passes through the clamping portion 33 and the shaft portion 31, the movable seat is provided with a second through hole 43, the connecting member 51 sequentially passes through the first through hole 34 and the second through hole 43, and the connecting member 51 is further provided with a limit block 511 located on the side of the movable seat 40 away from the second connecting seat 20. The limit block 511 is provided on the connecting member 51, and the connecting member 51 drives the movable seat to be pressed toward the second connecting seat 20 through the limit block 511. Of course, the connecting member 51 can also be directly threaded with the movable seat 40, or fixed to the movable seat 40 using other suitable structures, so that the connecting member 51 can drive the movable seat 40 to move.

[0058] See also Figure 5 In order to improve the stability of the movable seat 40 in restricting the rotation of the second connecting seat 20 when the movable seat 40 presses the second connecting seat 20, in some optional embodiments, the movable seat 40 is provided with a plurality of first teeth 44 arranged around the rotation axis of the second connecting seat 20 on the side facing the second connecting seat 20, and the second connecting seat 20 is provided with a plurality of second teeth 23 arranged around the rotation axis of the second connecting seat 20 on the side facing the movable seat; when the movable seat is pressed against the second connecting seat 20, the plurality of first teeth 44 and the plurality of second teeth 23 engage with each other to restrict the second connecting seat 20 When the movable seat 40, the first connecting seat 10 and the shaft 31 rotate relative to each other, the first connecting seat 10 and the second connecting seat 20 are locked to each other and cannot rotate relative to each other, thereby limiting the angle between the first leg assembly 60 and the second leg assembly 70. After the clamping mechanism 50 releases the clamping of the movable seat 40 relative to the second connecting seat 20, the movable seat 40 can move away from the second connecting seat 20, so that the first tooth portion 44 and the second tooth portion 23 disengage from each other, thereby releasing the lock on the angle between the first leg assembly 60 and the second leg assembly 70. Of course, the limiting method of the movable seat 40 and the second connecting seat 20 is not limited to this. Those skilled in the art can also choose other suitable structures based on the teachings of this embodiment. For example, the movable seat 40 can also limit the rotation of the second connecting seat 20 relative to the movable seat by friction with the second connecting seat 20. Friction pads and other structures that are conducive to friction can be added to the movable seat 40 and the second connecting seat 20.

[0059] The number of the first tooth portions 44 and the second tooth portions 23 can be selected according to actual needs. For example, 60 first tooth portions 44 and 60 second tooth portions 23 are provided, but this example is not limited.

[0060] In addition, in order to reduce the wear of the second connecting seat 20 , in this embodiment, bushings 24 are respectively provided on both sides of the second connecting seat 20 .

[0061] The aforementioned exoskeleton knee joint assembly can be applied to an exoskeleton device, which includes: a first leg assembly 60, a second leg assembly 70, and an exoskeleton knee joint assembly as described above, wherein the first leg assembly 60 is assembled with the first connecting seat 10, the shaft portion 31 is passed through the first leg assembly 60, and the second leg assembly 70 is assembled with the second connecting seat 20. The first leg assembly 60 is a component for connecting to a human thigh, and the second leg assembly 70 is a component for connecting to a human calf. Alternatively, the first leg assembly 60 is a component for connecting to a human calf, and the second leg assembly 70 is a component for connecting to a human thigh. In this embodiment, the first leg assembly 60 is a component for connecting to a human thigh, and the second leg assembly 70 is a component for connecting to a human calf.

[0062] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An exoskeleton knee joint assembly, comprising a first leg assembly (60) and a second leg assembly (70) for connecting an exoskeleton device, characterized in that: The invention also includes a first connecting seat (10), a second connecting seat (20) and a rotating shaft seat (30); the first connecting seat (10) is used to be assembled with the first leg assembly (60); the second connecting seat (20) is used to be assembled with the second leg assembly (70); the rotating shaft seat (30) includes a shaft portion (31), a circumferential limiter (32) and a clamping portion (33), the circumferential limiter (32) and the clamping portion (33) are respectively arranged at both ends of the shaft portion (31), the circumferential limiter (32) is used to connect the shaft portion (31) and the first connecting seat (10) together, the second connecting seat (20) is sleeved on the shaft portion (31), and a clamping space (22) is reserved between the second connecting seat (20) and the clamping portion (33).

2. An exoskeleton knee joint assembly according to claim 1, characterized in that: The shaft portion (31) is further provided with a movable seat (40) and a pressing mechanism (50). The movable seat (40) is movably sleeved on the shaft portion (31), and the movable seat (40) is arranged between the first connecting portion and the second connecting portion. The circumferential limiter (32) is movably arranged to penetrate the movable seat (40). The pressing mechanism (50) is drivingly connected to the movable seat (40). The movable seat (40) can be pressed toward the second connecting seat (20) under the drive of the pressing mechanism (50), so that the second connecting seat (20) and the movable seat (40) cannot rotate relative to each other.

3. The exoskeleton knee joint assembly according to claim 2, characterized in that: A first tooth portion (44) is provided on the side wall of the movable seat (40) close to the second connecting seat (20), and a second tooth portion (23) adapted to the first tooth portion (44) is provided on the side wall of the second connecting seat (20) close to the movable seat (40). When the movable seat (40) is pressed toward the second connecting seat (20) by the pressing mechanism (50), the first tooth portion (44) engages with the second tooth portion (23) to prevent the second connecting seat (20) and the movable seat (40) from rotating relative to each other.

4. The exoskeleton knee joint assembly according to claim 2, characterized in that: The clamping mechanism (50) includes a connecting member (51) and a rotating handle (52). One end of the connecting member (51) is inserted into the clamping portion (33) and the shaft portion (31) in sequence and then connected to the movable seat (40). The other end is arranged outside the side wall of the clamping portion (33) away from the shaft portion (31). The rotating handle (52) is movably arranged on the end of the connecting member (51) away from the movable seat (40). A raised clamping portion (521) is provided on the rotating handle (52). The rotating handle (52) can drive the clamping portion (521) to move closer to or away from the clamping portion (33) by rotating relative to the connecting member (51).

5. The exoskeleton knee joint assembly according to claim 4, characterized in that: The rotating shaft seat (30) is provided with a first through hole (34) which sequentially passes through the clamping portion (33) and the shaft portion (31), the movable seat (40) is provided with a second through hole (43), the connecting member (51) sequentially passes through the first through hole (34) and the second through hole (43), and the connecting member (51) is further provided with a limit block (511), which is provided on the end of the connecting member (51) passing through the movable seat (40), and the connecting member (51) can drive the movable seat (40) to press toward the second connecting seat (20) through the limit block (511).

6. The exoskeleton knee joint assembly according to any one of claims 2 to 5, characterized in that: A guide boss (41) is provided on the side wall of the movable seat (40) close to the first connecting portion, and a first guide hole (11) adapted to the guide boss (41) is provided on the first connecting seat (10), and the guide boss (41) and the first guide hole (11) are slidably engaged.

7. The exoskeleton knee joint assembly according to claim 6, characterized in that: The circumferential limiting member (32) includes at least one locking member (321). The movable seat (40) is provided with second guide holes (42) arranged in a one-to-one correspondence with the locking members (321). Each locking member (321) is slidably engaged with the corresponding second guide hole (42).

8. The exoskeleton knee joint assembly according to claim 7, characterized in that: The first connecting seat (10) is provided with mounting holes arranged in a one-to-one correspondence with the locking members (321), each locking member (321) passes through the corresponding mounting hole, and each locking member (321) is provided with a limiting portion (322), and after the locking member (321) passes through the mounting hole, the limiting portion (322) can abut against the first connecting seat (10).

9. The exoskeleton knee joint assembly according to claim 8, characterized in that: A sink groove (12) is also provided on the first connecting seat (10), and the limiting portion (322) is accommodated in the sink groove (12).

10. An exoskeleton device, characterized in that: The invention comprises a first leg assembly (60), a second leg assembly (70) and an exoskeleton knee joint assembly as claimed in any one of claims 1 to 9, wherein the first leg assembly (60) is assembled with a first connecting seat (10), the shaft portion (31) is passed through the first leg assembly (60), and the second leg assembly (70) is assembled with a second connecting seat (20).

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