A passive knee exoskeleton

Abstract

The present invention discloses a passive knee joint exoskeleton, and relates to the technical field of human motion auxiliary equipment. While ensuring that the initial energy of the energy storage mechanism is adjustable, the applicability of the passive knee joint exoskeleton is improved. The passive knee joint exoskeleton comprises a calf connecting plate, a thigh connecting plate, an energy storage mechanism and an adjustment mechanism. The energy storage mechanism rotatably connects the calf connecting plate and the thigh connecting plate together. The energy storage mechanism has initial energy. When the calf connecting plate and the thigh connecting plate rotate relative to each other, energy is gathered to the energy storage mechanism. The adjustment mechanism is connected to the portion of the energy storage mechanism located between the calf connecting plate and the thigh connecting plate. The adjustment mechanism is used to adjust the initial energy.

Description

Technical Field

[0001] The present invention relates to the technical field of human motion auxiliary equipment, and in particular to a passive knee joint exoskeleton. Background Art

[0002] Exoskeleton is a new type of wearable human-machine integrated device, which is mainly used in military operations and rehabilitation medicine. When exoskeletons are used in military operations, they can improve the combat capability of individual soldiers while improving their strength, speed and endurance.

[0003] Exoskeletons can be divided into active exoskeletons and passive exoskeletons. Among them, passive exoskeletons are purely mechanical structures without external energy supply devices. Passive exoskeletons use the body's own energy to assist the body. In other words, when the limbs move to do negative work, the energy is collected and stored, and when the limbs move to do positive work, the energy is released, which helps the body while reducing the metabolism during the movement of the human body.

[0004] The related technology provides a passive knee exoskeleton. In practical applications, the passive knee exoskeleton can be connected to the wearer's knee joint. When the wearer bends his legs, the passive knee exoskeleton is used to store energy. When the wearer stretches his legs, the passive knee exoskeleton is used to release energy. Based on this, when the wearer is running or walking, the passive knee exoskeleton is used to assist the wearer.

[0005] However, the passive knee exoskeleton provided by the related art has the problem of poor applicability due to the inconvenience of adjusting the energy storage. Summary of the invention

[0006] The object of the present invention is to provide a passive knee joint exoskeleton, which improves the applicability of the passive knee joint exoskeleton while ensuring that the initial energy of the energy storage mechanism is adjustable.

[0007] In a first aspect, the present invention provides a passive knee joint exoskeleton, comprising a calf connecting plate, a thigh connecting plate, an energy storage mechanism and an adjustment mechanism. The energy storage mechanism rotatably connects the calf connecting plate and the thigh connecting plate together. The energy storage mechanism has initial energy. When the calf connecting plate and the thigh connecting plate rotate relative to each other, energy is gathered toward the energy storage mechanism. The adjustment mechanism is connected to the portion of the energy storage mechanism located between the calf connecting plate and the thigh connecting plate. The adjustment mechanism is used to adjust the initial energy.

[0008] When the above technical solution is adopted, the passive knee exoskeleton provided by the present invention has the calf connecting plate, thigh connecting plate and adjustment mechanism integrated on the energy storage mechanism. Therefore, while improving the structural compactness of the passive knee exoskeleton, the volume of the passive knee exoskeleton can be reduced as a whole to facilitate carrying and wearing.

[0009] In addition, the energy storage mechanism has initial energy, and under the action of the adjustment mechanism, the initial energy can be adjusted. At this time, the initial energy can be pre-adjusted according to the bending and extension degree of the knee joint when the wearer exercises (the exercise here includes running or walking), and the different leg structures of different wearers. For example, the energy released by the energy storage mechanism when the wearer runs is greater than the energy released by the energy storage mechanism when the wearer walks. At this time, the initial energy of the energy storage mechanism of the passive knee joint exoskeleton used for running can be increased, and the initial energy of the energy storage mechanism of the passive knee joint exoskeleton used for walking can be reduced. When the initial energy of the energy storage mechanism is determined, the calf connecting plate can be connected to the calf of the wearer, and the thigh connecting plate can be connected to the thigh of the wearer. When the wearer bends his legs, the calf connecting plate and the thigh connecting plate are driven to rotate relative to each other. At this time, the relatively rotating calf connecting plate and the thigh connecting plate further gather energy to the energy storage mechanism, and together with the initial energy of the energy storage mechanism, they help the wearer. When the wearer stretches his legs, the initial energy of the energy storage mechanism and the energy accumulated in the energy storage mechanism work together to assist the wearer.

[0010] From the above application process, it can be seen that the initial energy of the energy storage mechanism can be adjusted according to the actual needs according to the different leg structures of the wearer or the different forms of movement of the wearer, so as to adapt to different wearers or the wearer's movement states, improve applicability and optimize the power-assisting effect.

[0011] As a possible implementation, the energy storage mechanism includes a rotating shaft, a spiral spring, a bearing seat, a first cover body and a second cover body. The rotating shaft is tightly connected to the calf connecting plate, and the rotating shaft is driven to rotate by the calf connecting plate. The inner ring end of the spiral spring is tightly connected to the rotating shaft. The bearing seat is used to bear the spiral spring, and the outer ring end of the spiral spring is tightly connected to the bearing seat. The bearing seat has an outer edge, and a through hole is formed through the outer edge. The first cover body has a accommodating space, and the bearing seat is fixed in the accommodating space. A first annular through groove is formed through the first cover body near the edge, and a plurality of first limiting holes are formed along the inner wall of the first annular through groove in a direction away from the center of the first cover body. The second cover body is opposite to the first cover body and is buckled on one end of the rotating shaft. A second annular through groove is formed through the second cover body near the edge, and a plurality of second limiting holes are formed along the inner wall of the second annular through groove in a direction away from the center of the second cover body. The second annular through groove is opposite to the first annular through groove, and the second limiting holes are opposite to the first limiting holes one by one. The thigh connecting plate is located between the first cover body and the second cover body, and is tightly connected with the first cover body and the second cover body. The first cover body, the bearing seat and the second cover body can all rotate around the rotating shaft driven by the thigh connecting plate.

[0012] As a possible implementation, the adjustment mechanism includes a button and an adjustment pin, wherein the button is arranged between the second cover body and the bearing seat along a first direction, and the first direction is a direction perpendicular to the axial direction of the rotating shaft. The button rotates along the rotating shaft, and the button performs reciprocating linear motion along the first direction. The adjustment pin simultaneously passes through the first cover body, the bearing seat, the button, and a position near the edge of the second cover body. When the button is pressed, the adjustment pin can rotate in the first annular groove and the second annular groove to drive the button and the bearing seat to rotate along the rotating shaft. When the button is stretched, the adjustment pin can be simultaneously stuck in the first limiting hole and the second limiting hole to fix the button and the bearing seat.

[0013] As a possible implementation, the button includes a first pressing plate and a second pressing plate opposite to each other, the first pressing plate and the second pressing plate are connected together by an elastic member, and the rotating shaft passes through the first pressing plate and the second pressing plate.

[0014] As a possible implementation manner, the button further includes an elastic member mounting seat arranged on the first pressing plate and the second pressing plate, and the elastic member mounting seat is used for mounting the elastic member.

[0015] As a possible implementation, the energy storage mechanism further includes a protective cover, which is covered on the first cover body.

[0016] As a possible implementation, the energy storage mechanism further includes a sealing sleeve, which is arranged at a connection between the first cover body and the rotating shaft, and at a connection between the second cover body and the rotating shaft.

[0017] As a possible implementation, the energy storage structure further includes a gasket, which is disposed between the spiral spring and the calf connecting plate.

[0018] As a possible implementation, the calf connecting plate includes a calf connecting plate body and two spacers mounted on the ends of the calf connecting plate body. There is a receiving space between the two spacers, and the portion of the button close to the center is arranged in the receiving space. A slot is provided at the connection between each spacer and the rotating shaft, which is engaged with a protrusion arranged on the rotating shaft to achieve a fixed connection between the calf connecting plate and the rotating shaft.

[0019] As a possible implementation manner, weight-reducing holes are provided on the calf connecting plate and / or the thigh connecting plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 A schematic diagram of the overall structure of a passive knee exoskeleton provided by an embodiment of the present invention;

[0022] Figure 2 An exploded view of a passive knee exoskeleton provided in an embodiment of the present invention.

[0023] in:

[0024] 10-calf connecting plate, 20-thigh connecting plate, 30-energy storage mechanism,

[0025] 40-adjustment mechanism, a-mounting hole, b-weight reduction hole,

[0026] 300-rotating shaft, 301-volute spring, 302-bearing seat,

[0027] 303-first cover, 304-second cover, 100-calf connecting plate body,

[0028] 101-spacer, 305-first annular groove, 306-first limiting hole,

[0029] 307-second annular groove, 308-second limiting hole, 309-protective cover,

[0030] 310-connector, c-seal sleeve, 311-gasket,

[0031] 400-button, 401-adjusting pin, 402-first pressing plate,

[0032] 403-Second pressing plate. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The meaning of "several" is one or more, unless otherwise clearly and specifically defined.

[0036] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Figure 1 The overall structure diagram of the passive knee joint exoskeleton provided by the embodiment of the present invention is shown. Figure 2 FIG. 2 shows an exploded view of a passive knee joint exoskeleton provided by an embodiment of the present invention. Figure 1 and Figure 2 As shown, the passive knee joint exoskeleton includes a calf connecting plate 10, a thigh connecting plate 20, an energy storage mechanism 30 and an adjustment mechanism 40. The energy storage mechanism 30 rotatably connects the calf connecting plate 10 and the thigh connecting plate 20. The energy storage mechanism 30 has initial energy. When the calf connecting plate 10 and the thigh connecting plate 20 rotate relative to each other, energy is accumulated in the energy storage mechanism 30. The adjustment mechanism 40 is connected to the portion of the energy storage mechanism 30 located between the calf connecting plate 10 and the thigh connecting plate 20. The adjustment mechanism 40 is used to adjust the initial energy.

[0039] See also Figure 1 and Figure 2 Structurally, the calf connecting plate 10 and the thigh connecting plate 20 may be plate-shaped structures adapted to the leg structure. For example, the calf connecting plate 10 and the thigh connecting plate 20 may both be plate-shaped structures. For another example, the calf connecting plate 10 and the thigh connecting plate 20 may be nearly Z-shaped connecting plates.

[0040] See also Figure 1 and Figure 2In actual application, in order to facilitate the connection of the above-mentioned calf connecting plate 10 and thigh connecting plate 20 with the calf and thigh respectively through a circular connecting member 310 (not shown in the figure), mounting holes a are opened on the calf connecting plate 10 and the thigh connecting plate 20, and the calf connecting plate 10, the thigh connecting plate 20 and the circular connecting member 310 are connected by fasteners (the fasteners can be bolts, etc.) passing through the mounting holes a and the circular connecting member 310 to achieve connection.

[0041] See also Figure 1 and Figure 2 In order to reduce the weight of the passive knee exoskeleton as a whole, at least one weight-reducing hole b may be provided on the calf connecting plate 10 and the thigh connecting plate 20 .

[0042] See also Figure 1 and Figure 2 In terms of material, the calf connecting plate 10 and the thigh connecting plate 20 can be made of lightweight metals such as aluminum alloy, magnesium alloy, aluminum-magnesium alloy, etc., or non-metallic materials such as plastic, carbon fiber, etc.

[0043] See also Figure 1 and Figure 2 , the end of the calf connecting plate 10 is connected to the energy storage mechanism 30, and the end of the thigh connecting plate 20 is also connected to the energy storage mechanism 30. The calf connecting plate 10 and the thigh connecting plate 20 can rotate relative to each other (approaching each other) and toward each other (moving away from each other). The energy storage mechanism 30 has initial energy, and the initial energy can be determined according to the wearer's motion state or the wearer's leg structure. For example, when the wearer is running, since relatively more energy is needed to assist the wearer, the initial energy of the energy storage mechanism 30 can be increased in advance. For another example, when the wearer is walking, since relatively less energy is needed to assist the wearer, the initial energy of the energy storage mechanism 30 can be reduced in advance.

[0044] See also Figure 1 and Figure 2 When the wearer bends his legs, the wearer's calves drive the calf connecting plate 10 and the thighs drive the thigh connecting plate 20 to rotate relative to each other. At this time, the relatively rotating calf connecting plate 10 and the thigh connecting plate 20 gather energy toward the energy storage mechanism 30. Based on this, the energy of the energy storage mechanism 30 includes the preset initial energy and the energy gathered thereto. When the wearer stretches his legs, the wearer's calves drive the calf connecting plate 10 and the thighs drive the thigh connecting plate 20 to rotate relative to each other. At this time, the initial energy and the gathered energy of the energy storage mechanism 30 are released outward to achieve effective assistance to the wearer.

[0045] See also Figure 1 and Figure 2Driven by the calf connecting plate 10 and the thigh connecting plate 20, in order to realize the energy storage and energy release of the energy storage mechanism 30, the above-mentioned energy storage mechanism 30 can include a rotating shaft 300, a spiral spring 301, a bearing seat 302, a first cover body 303 and a second cover body 304 in terms of structure.

[0046] See also Figure 1 and Figure 2 , wherein the rotating shaft 300 is tightly connected to the calf connecting plate 10, and the rotating shaft 300 is driven to rotate by the calf connecting plate 10. The above-mentioned rotating shaft 300 can be a stepped shaft, and the stepped shaft includes a large diameter section and a small diameter section. Among them, a protrusion can be set on the end surface of the large diameter section close to the small diameter section, and a groove and a mounting hole a are opened along the axial direction of the stepped shaft from the end surface of the small diameter section away from the large diameter section. When the calf connecting plate 10 includes the calf connecting plate 10 body and two spacers 101 clamped on the end of the calf connecting plate 10, the two spacers 101 are sleeved on the small diameter section, and a groove can be opened on the spacer 101, and the groove of the spacer 101 is further clamped on the above-mentioned protrusion to achieve the tight connection between the spacer 101 and the rotating shaft 300.

[0047] See also Figure 2 The inner ring end of the above-mentioned spiral spring 301 can be clamped in the groove provided at the end of the rotating shaft 300 to achieve a fast connection between the spiral spring 301 and the rotating shaft 300.

[0048] See also Figure 2 The bearing seat 302 may be a bearing seat 302 with a groove, the inner side wall of the groove is provided with a slot, the spiral spring 301 is accommodated in the groove, and the outer ring end of the spiral spring 301 is clamped in the slot to achieve a fastening connection between the spiral spring 301 and the bearing seat 302. The side wall of the bearing seat 302 is provided with a through hole.

[0049] See also Figure 2 The first cover 303 has a receiving space, and the bearing seat 302 is fixed in the receiving space. A first annular groove 305 is provided through the first cover 303 near the edge, and a plurality of first limiting holes 306 are provided at intervals along the inner wall of the first annular groove 305 in a direction away from the center of the first cover 303.

[0050] See also Figure 2The second cover 304 is opposite to the first cover 303 and is buckled in the long diameter section of the rotating shaft 300. A second annular groove 307 is formed through the second cover 304 near the edge, and a plurality of second limiting holes 308 are formed at intervals along the inner wall of the second annular groove 307 in a direction away from the center of the second cover 304. The second annular groove 307 is opposite to the first annular groove 305, and the second limiting holes 308 are opposite to the first limiting holes 306 one by one. The above relative refers to relative in space.

[0051] See also Figure 2 The thigh connecting plate 20 is located between the first cover 303 and the second cover 304, and is fastened to the first cover 303 and the second cover 304. There are various ways to fasten the thigh connecting plate 20 to the first cover 303 and the second cover 304, which are not specifically limited here. For example, a mounting hole a can be provided at one end of the thigh connecting plate 20, and a mounting hole a is also provided at the position where the first cover 303 and the second cover 304 are connected to the thigh connecting plate 20, and a connecting member 310 such as a bolt that passes through the mounting hole a is used to fasten the thigh connecting plate 20 to the first cover 303 and the second cover 304.

[0052] See also Figure 2 The first cover body 303 , the bearing seat 302 and the second cover body 304 can all be sleeved on the small diameter section of the rotating shaft 300 , and can rotate around the rotating shaft 300 driven by the thigh connecting plate 20 .

[0053] See also Figure 2 In order to effectively protect the energy storage mechanism 30, the energy storage mechanism 30 may further include a protective cover 309, which covers the first cover body 303. Specifically, the protective cover 309 may be sleeved on the end of the small diameter section of the rotating shaft 300, and the protective cover 309 and the rotating shaft 300 may be fastened together by a connecting member 310 such as a bolt inserted into a through hole opened at the end of the small diameter section.

[0054] See also Figure 2 In order to achieve tightness and sealing of the connection between the first cover 303 and the small diameter section of the rotating shaft 300, and the second cover 304 and the large diameter section of the rotating shaft 300, the energy storage mechanism 30 may further include a sealing sleeve c, which is arranged at the connection between the first cover 303 and the rotating shaft 300, and at the connection between the second cover 304 and the rotating shaft 300. The sealing sleeve c may be a metal sealing sleeve c or a non-metal sealing sleeve c.

[0055] See also Figure 2The energy storage mechanism 30 further includes a gasket 311 , which is sleeved on the small diameter section of the rotating shaft 300 located between the volute spring 301 and the spacer 101 .

[0056] See also Figure 2 The adjustment mechanism 40 includes a button 400 and an adjustment pin 401. The button 400 is arranged in the space between the two spacers 101 along a first direction, and the first direction is a direction perpendicular to the axial direction of the rotating shaft 300. The button 400 can rotate around the small diameter section of the rotating shaft 300, and the button 400 can also reciprocate linearly along the first direction.

[0057] See also Figure 2 , the adjusting pin 401 simultaneously penetrates the first cover body 303, the bearing seat 302 and the second cover body 304 near the edge. When the button 400 is pressed, the adjusting pin 401 can rotate in the first annular groove 305 and the second annular groove 307 to drive the button 400 and the bearing seat 302 to rotate along the rotating shaft 300. At this time, since the volute spring 301 is tightly connected to the bearing seat 302, the compression or release of the volute spring 301 is achieved by the rotating button 400 and the bearing seat 302. Based on this, the compression or release of the volute spring 301 can be used to adjust the initial energy. When the button 400 is stretched, the adjusting pin 401 can be stuck in the first limiting hole 306 and the second limiting hole 308 at the same time to fix the button 400 and the bearing seat 302. At this time, the initial energy can be fixed to a preset value.

[0058] See also Figure 2, the button 400 includes a first pressing plate 402 and a second pressing plate 403 relative to each other. Structurally, the first pressing plate 402 and the second pressing plate 403 can be step-shaped pressing plates, which include an ascending stage and a descending stage. Among them, the adjusting pin 401 can pass through the ascending stage. An elastic member mounting seat is provided on the descending stage of the first pressing plate 402 and the second pressing plate 403, and an elastic member is installed on the elastic member mounting seat. In actual use, the first pressing plate 402 and the second pressing plate 403 can be pressed at the same time, and at this time, the elastic member is compressed. Further, the adjusting pin 401 can move from the first limiting hole 306 to the first annular groove 305, and at the same time, can move from the second limiting hole 308 to the second annular groove 307. Based on this, the first pressing plate 402, the second pressing plate 403 and the adjusting pin 401 are rotated, and the adjusting pin 401 is used to drive the bearing seat 302 and the spiral spring 301 to rotate, so as to adjust the initial energy of the spiral spring 301. After the initial energy reaches the preset value, the pressed first pressing plate 402 and the second pressing plate 403 are released, and under the action of the elastic force of the elastic member, the adjusting pin 401 is simultaneously clamped in the first limiting hole 306 and the second limiting hole 308 to fix the button 400 and the bearing seat 302.

[0059] See also Figure 1 and Figure 2 The passive knee exoskeleton provided by the present invention has a calf connecting plate 10, a thigh connecting plate 20 and an adjustment mechanism 40 which are all integrated on the energy storage mechanism 30. Therefore, while improving the structural compactness of the passive knee exoskeleton, the volume of the passive knee exoskeleton can be reduced as a whole for easy carrying and wearing.

[0060] In addition, the energy storage mechanism 30 has initial energy, and the initial energy can be adjusted under the action of the adjustment mechanism 40. At this time, the initial energy can be pre-adjusted according to the bending and extension degree of the knee joint when the wearer exercises (the exercise here includes running or walking), and the different leg structures of different wearers. For example, the energy required to be released by the energy storage mechanism 30 when the wearer is running is greater than the energy required to be released by the energy storage mechanism 30 when the wearer is walking. At this time, the initial energy of the energy storage mechanism 30 used in the passive knee joint exoskeleton when running can be increased, and the initial energy of the energy storage mechanism 30 used in the passive knee joint exoskeleton when walking can be reduced. When the initial energy of the energy storage mechanism 30 is determined, the calf connecting plate 10 can be connected to the wearer's calf, and the thigh connecting plate 20 can be connected to the wearer's thigh. When the wearer bends his legs, the calf connecting plate 10 and the thigh connecting plate 20 are driven to rotate relative to each other. At this time, the relatively rotating calf connecting plate 10 and the thigh connecting plate 20 further gather energy to the energy storage mechanism 30, and together with the initial energy of the energy storage mechanism 30, they assist the wearer. When the wearer stretches his legs, the initial energy of the energy storage mechanism 30 and the energy gathered to the energy storage mechanism 30 jointly assist the wearer.

[0061] From the above application process, it can be known that the initial energy of the energy storage mechanism 30 can be adjusted according to the actual needs according to the different leg structures of the wearer or the different forms of movement of the wearer, so as to adapt to different wearers or the wearer's movement states, improve applicability and optimize the power-assisting effect.

[0062] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A passive knee exoskeleton, It is characterized in that include: Calf and thigh connection plates, An energy storage mechanism, wherein the energy storage mechanism rotatably connects the calf connecting plate and the thigh connecting plate; the energy storage mechanism has initial energy; when the calf connecting plate and the thigh connecting plate rotate relative to each other, energy is accumulated in the energy storage mechanism; An adjusting mechanism, the adjusting mechanism being connected to a portion of the energy storage mechanism located between the calf connecting plate and the thigh connecting plate; the adjusting mechanism being used to adjust the initial energy; in, The energy storage mechanism comprises: A rotating shaft, the rotating shaft is tightly connected to the calf connecting plate, and the rotating shaft is driven to rotate by the calf connecting plate; A spiral spring, wherein the inner ring end of the spiral spring is tightly connected to the rotating shaft; A bearing seat, the bearing seat is used to bear the volute spring, and the outer ring end of the volute spring is fastened to the bearing seat; the bearing seat has an edge, and a through hole is formed through the edge; A first cover body, wherein the first cover body has a receiving space, and the bearing seat is fixed in the receiving space; a first annular through groove is formed through the first cover body at a position close to the edge, and a plurality of first limiting holes are formed at intervals along the inner wall of the first annular through groove in a direction away from the center of the first cover body; A second cover body, the second cover body is opposite to the first cover body and is buckled on one end of the rotating shaft; a second annular groove is formed through the second cover body at a position close to the edge, and a plurality of second limiting holes are formed along the inner wall of the second annular groove in a direction away from the center of the second cover body; the second annular groove is opposite to the first annular groove, and the second limiting holes are opposite to the first limiting holes one by one; The thigh connecting plate is located between the first cover body and the second cover body, and is fastened to the first cover body and the second cover body; The first cover body, the bearing seat and the second cover body can all rotate around the rotating shaft driven by the thigh connecting plate; The energy storage mechanism further comprises a protective cover, wherein the protective cover is covered on the first cover body; The energy storage mechanism further includes a sealing sleeve, which is arranged at the connection between the first cover body and the rotating shaft, and at the connection between the second cover body and the rotating shaft; The energy storage mechanism further includes a gasket, which is arranged between the spiral spring and the calf connecting plate.

2. The passive knee exoskeleton according to claim 1, It is characterized in that The regulating mechanism comprises: A button, wherein the button is arranged between the second cover and the bearing seat along a first direction, wherein the first direction is a direction perpendicular to the axial direction of the rotating shaft; the button rotates around the rotating shaft, and the button performs reciprocating linear motion along the first direction; An adjusting pin, the adjusting pin simultaneously passes through the first cover body, the bearing seat, the button, and a position close to the edge of the second cover body; When the button is pressed, the adjusting pin can rotate in the first annular groove and the second annular groove to drive the button and the bearing seat to rotate along the rotating shaft; When the button is stretched, the adjusting pin can be stuck in the first limiting hole and the second limiting hole at the same time to fix the button and the bearing seat.

3. The passive knee exoskeleton according to claim 2, It is characterized in that The button comprises: a first pressing plate and a second pressing plate opposite to each other, wherein the first pressing plate and the second pressing plate are connected together via an elastic member; and the rotating shaft passes through the first pressing plate and the second pressing plate.

4. The passive knee exoskeleton according to claim 3, It is characterized in that The button further includes an elastic member mounting seat disposed on the first pressing plate and the second pressing plate, and the elastic member mounting seat is used for mounting the elastic member.

5. The passive knee exoskeleton according to claim 2, It is characterized in that The calf connecting plate includes a calf connecting plate body and two spacers mounted on the ends of the calf connecting plate body; a receiving space is provided between the two spacers, and a portion of the button close to the center is arranged in the receiving space; a slot is provided at the connection between each spacer and the rotating shaft, which engages with a protrusion arranged on the rotating shaft to achieve a fixed connection between the calf connecting plate and the rotating shaft.

6. The passive knee exoskeleton according to claim 1, It is characterized in that The calf connecting plate and / or the thigh connecting plate are both provided with weight-reducing holes.

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