Bionic knee joint exoskeleton structure and exoskeleton robot

Abstract

The present invention provides a bionic knee joint exoskeleton structure and an exoskeleton robot, wherein the bionic knee joint exoskeleton structure comprises a thigh component, a shank component, a pulley component, a flexible transmission rope and a driving unit, wherein the thigh component is connected to the shank component through the pulley component; the driving unit is connected to the thigh component, the driving unit has a connecting end, one end of the flexible transmission rope is connected to the connecting end, and the other end of the flexible transmission rope is connected to the pulley component, and the driving unit drives the flexible transmission rope to move through a friction torque to drive the shank component to rotate relative to the thigh component along a first direction. The present invention solves the problem that the bionic knee joint of the robot in the prior art can only realize the passive rotation function.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic exoskeleton robots, and in particular to a bionic knee joint exoskeleton structure and an exoskeleton robot. Background Art

[0002] In the prior art, an exoskeleton robot refers to a robot that is worn outside the human body, also known as a "wearable robot". The knee joints of some exoskeleton robots achieve the rotation of the bionic knee joint through a four-bar transmission method, and the knee joints of some exoskeleton robots achieve the rotation of the bionic knee joint through gear transmission combined with a four-bar mechanism. However, the above-mentioned bionic knee joint can only achieve passive rotation function, and the structural rigidity of the above-mentioned bionic knee joint is relatively strong, resulting in a limited scope of application of the above-mentioned bionic knee joint. Summary of the invention

[0003] The main purpose of the present invention is to provide a bionic knee joint exoskeleton structure and an exoskeleton robot to solve the problem that the bionic knee joint of the exoskeleton robot in the prior art can only realize passive rotation function.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a bionic knee exoskeleton structure is provided, comprising a thigh component, a calf component, a pulley assembly, a flexible transmission rope and a driving unit, wherein the thigh component is connected to the calf component through the pulley assembly; the driving unit is connected to the thigh component, the driving unit having a connecting end, one end of the flexible transmission rope is connected to the connecting end, and the other end of the flexible transmission rope is connected to the pulley assembly, and the driving unit drives the flexible transmission rope to move through the friction torque between the connecting end and the flexible transmission rope, so as to drive the calf component to rotate relative to the thigh component along a first direction.

[0005] Furthermore, the pulley assembly includes a first pulley assembly, a second pulley assembly and a connecting rod, the first pulley assembly is connected to the thigh assembly, and the end of the first pulley assembly away from the thigh assembly has a first arcuate surface; the second pulley assembly is arranged opposite to the first pulley assembly, the second pulley assembly is connected to the calf assembly, and the second pulley assembly has a second arcuate surface formed at a position opposite to the first arcuate surface; the first end of the connecting rod is pivotally connected to the first pulley assembly, and the second end of the connecting rod is pivotally connected to the second pulley assembly; wherein, the end of the flexible transmission rope away from the connecting end is connected to the second pulley assembly, and the driving unit drives the connecting end to rotate and wraps the flexible transmission rope around the connecting end to pull the second pulley assembly to rotate along the first arcuate surface by a preset angle.

[0006] Furthermore, the second pulley assembly includes a second mounting base and a second pulley group, wherein the second mounting base is connected to the calf assembly, and the second mounting base has a second arc-shaped surface; the second pulley group is connected to the second mounting base, and the end of the flexible transmission rope away from the connection end is connected to the second pulley group.

[0007] Further, the first pulley assembly includes a first mounting base and a first pulley group, wherein the first mounting base is connected to the thigh assembly, and the first mounting base has a first arcuate surface; the first pulley group is connected to the first mounting base, and the first pulley group includes a first fixed pulley, a second fixed pulley and a guide wheel, and the guide wheel is located between the first fixed pulley and the second fixed pulley.

[0008] Furthermore, the bionic knee exoskeleton structure also includes a tensioning mechanism, which is connected to the thigh component; the second pulley group includes a first movable pulley and a second movable pulley, the first movable pulley is arranged opposite to the first fixed pulley, and the second movable pulley is arranged opposite to the second fixed pulley; the first end of the flexible transmission rope is connected to the first fixed pulley, and after the second end of the flexible transmission rope passes around the first movable pulley, the flexible transmission rope passes through the first fixed pulley, the first limiting groove on the circumferential outer surface of the guide wheel, the connecting end, the second limiting groove on the circumferential outer surface of the guide wheel, the second fixed pulley and the second movable pulley in sequence and is connected to the tensioning mechanism.

[0009] Furthermore, the thigh assembly includes a first thigh frame and a second thigh frame, wherein the first thigh frame has a first accommodating cavity; the second thigh frame is covered at the cavity opening of the first accommodating cavity to seal the first accommodating cavity, and the tensioning mechanism is connected to the surface of the second thigh frame facing the first accommodating cavity so that the tensioning mechanism is located in the first accommodating cavity.

[0010] Furthermore, the driving part includes a driving shaft, one end of which is located in the first accommodating cavity, and the driving shaft and the tensioning mechanism are arranged at a distance, and the connecting end is sleeved on the outer peripheral side of the driving shaft.

[0011] Furthermore, the driving part also includes an assembly component, which includes a tension sleeve, which is arranged at the end of the driving shaft and located between the circumferential outer surface of the driving shaft and the hole wall surface of the connecting end.

[0012] Furthermore, the assembly component further includes a cushion block and a fastener, and the cushion block is pressed onto the end surface of the tension sleeve through the fastener.

[0013] Furthermore, the second thigh frame has a second accommodating cavity, and the end of the driving shaft away from the connecting end is located in the second accommodating cavity. The driving part also includes a rotor structure and a stator structure. The rotor structure is connected to the driving shaft, and the stator structure is sleeved on the outer peripheral side of the rotor structure. The stator structure is connected to the cavity wall of the second accommodating cavity.

[0014] Furthermore, a magnetic element is provided at one end of the driving shaft away from the tensioning sleeve, and the driving part also includes a motor end cover and a driving circuit board. The motor end cover has a mounting groove, and the driving circuit board is installed in the mounting groove. The motor end cover is arranged at the opening position of the second accommodating cavity, and a through-hole structure is provided at the position opposite to the magnetic element at the bottom of the mounting groove. The end of the driving shaft away from the tensioning sleeve passes through the through-hole structure and extends into the mounting groove, so that the magnetic element is arranged opposite to the driving circuit board.

[0015] Furthermore, the tensioning mechanism includes a guide cylinder and a sliding mechanism, wherein a coil spring is arranged in the guide cylinder and an avoidance hole is opened at the bottom of the guide cylinder; the sliding mechanism includes a stop assembly and a guide rod, the stop assembly is connected to the guide rod, and the sliding mechanism also has a connecting hole, which passes through the stop assembly and the guide rod, and the end face of the stop assembly facing the guide rod abuts against the coil spring, and the second end of the flexible transmission rope abuts against the end face of the stop assembly away from the guide rod, and the flexible transmission rope passes through the connecting hole, the inner ring of the coil spring and the avoidance hole in sequence and is connected to the first fixed pulley.

[0016] Further, the sliding mechanism is movably arranged along the axial direction of the guide cylinder.

[0017] Furthermore, the stop assembly includes a guide end head, which is connected to the guide rod, and a stop end face is formed at the connection position between the guide end head and the guide rod, and the stop end face abuts against the coil spring; the connecting hole includes a first through hole, and the first through hole passes through the guide end head and the guide rod.

[0018] Furthermore, the stop assembly also includes an adjustment structure, which includes an adjustment end and an adjustment rod connected to each other, wherein a portion of the adjustment rod is extended into the first through hole, an internal thread structure is formed on the hole wall surface of the first through hole, and an external thread structure for cooperating with the internal thread structure is formed on the outer surface of the adjustment rod; the connecting hole also includes a second through hole, and the cross-sectional area of ​​the end portion of the second end of the flexible transmission rope is larger than the cross-sectional area of ​​the second through hole, so that the end portion of the second end of the flexible transmission rope abuts against the end surface of the adjustment end away from the adjustment rod, and the flexible transmission rope passes through the second through hole, the first through hole, the inner circle of the coil spring and the avoidance hole in sequence and is connected to the first fixed pulley.

[0019] Furthermore, the bionic knee exoskeleton structure also includes a connecting structure, a first end of the connecting structure is connected to the pulley assembly, and a second end of the connecting structure is pivotally connected to the calf assembly so that the calf assembly rotates along a second direction.

[0020] According to another aspect of the present invention, an exoskeleton robot is provided. The exoskeleton robot includes a bionic knee joint exoskeleton structure. The bionic knee joint exoskeleton structure is the bionic knee joint exoskeleton structure mentioned above.

[0021] By applying the technical solution of the present invention, a bionic knee joint exoskeleton structure with a driving unit is provided. At the same time, a thigh assembly and a calf assembly are connected through a pulley assembly, the driving unit is connected to the thigh assembly, one end of a flexible transmission rope is connected to the connecting end, and the other end of the flexible transmission rope is connected to the pulley assembly, so that the driving unit can drive the pulley assembly to move through the flexible transmission rope, thereby driving the calf assembly to rotate relative to the thigh assembly along a first direction, thereby ensuring the driving reliability of the calf assembly by the driving unit. Since the thigh assembly is connected to the calf assembly through the pulley assembly, the rotation reliability of the calf assembly relative to the thigh assembly can also be ensured. In addition, the flexible transmission rope is used for transmission to ensure the rotation comfort and safety of the calf assembly, thereby ensuring the walking reliability of the exoskeleton robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of the present application are used to provide a further understanding 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:

[0023] Figure 1 A schematic structural diagram of a bionic knee joint exoskeleton structure of an exoskeleton robot according to an optional embodiment of the present invention is shown;

[0024] Figure 2 Shows Figure 1 Schematic diagram of the decomposed structure of the bionic knee exoskeleton structure;

[0025] Figure 3 Shows Figure 2 Schematic diagram of the exploded structure of the pulley assembly of the bionic knee exoskeleton structure;

[0026] Figure 4 Shows Figure 1 A schematic diagram of a portion of the structure of the thigh component and the pulley component of the bionic knee exoskeleton structure;

[0027] Figure 5 Shows Figure 1 A schematic cross-sectional view of a portion of the structure of the thigh component and the drive unit of the bionic knee exoskeleton structure;

[0028] Figure 6 Shows Figure 2 Schematic diagram of the cross-sectional structure of the tensioning mechanism of the bionic knee exoskeleton structure.

[0029] The above drawings include the following reference numerals:

[0030] 10. Thigh assembly; 11. First thigh frame; 111. First accommodating cavity; 12. Second thigh frame; 121. Second accommodating cavity; 122. Third accommodating cavity; 13. Thigh strap;

[0031] 20. calf assembly; 21. calf strap; 22. third pivot hole;

[0032] 30. Pulley assembly; 31. First pulley assembly; 311. First mounting base; 3111. First arc surface; 312. First pulley block; 3121. First fixed pulley; 3121a. First fixed support shaft; 3122. Second fixed pulley; 3122a. Second fixed support shaft; 3123. Guide wheel; 3123a. First limiting groove; 3123b. Second limiting groove; 3123c. Guide wheel support shaft; 313. First connecting shaft; 314. First bushing ; 315, first sleeve end cap; 316, first screw; 32, second pulley assembly; 321, second mounting base; 3211, second arc surface; 322, second pulley assembly; 3221, first movable pulley; 3221a, first movable support shaft; 3222, second movable pulley; 3222a, second movable support shaft; 323, second connecting shaft; 324, second sleeve; 325, second sleeve end cap; 326, second screw; 33, connecting rod; 34, spacer;

[0033] 40. driving part; 41. connecting end; 411. flexible transmission rope; 42. driving shaft; 43. assembly component; 431. tension sleeve; 432. spacer; 433. fastener; 44. rotor structure; 45. stator structure; 46. magnetic element; 47. motor end cover; 471. mounting slot; 4711. through-hole structure; 48. driving circuit board; 49. main circuit board; 410. battery; 420. first end cover; 430. second end cover;

[0034] 50. tensioning mechanism; 51. guide cylinder; 511. avoidance hole; 52. sliding mechanism; 521. stopper assembly; 5211. guide end; 5212. adjustment structure; 5212a. adjustment end; 5212b. adjustment rod; 522. guide rod; 523. first through hole; 524. second through hole; 53. coil spring;

[0035] 60. Connecting structure; 61. First pivot hole; 62. Second pivot hole; 63. Rotating pin; 64. Pin end cover. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In order to solve the problem that the bionic knee joint of the exoskeleton robot in the prior art can only realize passive rotation function, the present invention provides a bionic knee joint exoskeleton structure and an exoskeleton robot, wherein the exoskeleton robot includes a bionic knee joint exoskeleton structure, and the bionic knee joint exoskeleton structure is the bionic knee joint exoskeleton structure described above and below.

[0038] like Figures 1 to 6 As shown, the bionic knee exoskeleton structure includes a thigh component 10, a calf component 20, a pulley assembly 30, a flexible transmission rope 411 and a driving unit 40. The thigh component 10 is connected to the calf component 20 through the pulley assembly 30; the driving unit 40 is connected to the thigh component 10, and the driving unit 40 has a connecting end 41, one end of the flexible transmission rope 411 is connected to the connecting end 41, and the other end of the flexible transmission rope 411 is connected to the pulley assembly 30. The driving unit 40 drives the flexible transmission rope 411 to move through the friction torque between the connecting end 41 and the flexible transmission rope 411, so as to drive the calf component 20 to rotate relative to the thigh component 10 along a first direction.

[0039] The present application provides a bionic knee joint exoskeleton structure with a driving unit 40. At the same time, the thigh component 10 and the calf component 20 are connected through the pulley assembly 30. The driving unit 40 is connected to the thigh component 10, one end of the flexible transmission rope 411 is connected to the connecting end 41, and the other end of the flexible transmission rope 411 is connected to the pulley assembly 30, so that the driving unit 40 can drive the pulley assembly 30 to move through the flexible transmission rope 411, thereby driving the calf component 20 to rotate along a first direction relative to the thigh component 10, ensuring the driving reliability of the calf component 20 by the driving unit 40. Since the thigh component 10 is connected to the calf component 20 through the pulley assembly 30, the rotation reliability of the calf component 20 relative to the thigh component 10 can also be ensured. In addition, the flexible transmission rope 411 is used for transmission to ensure the rotation comfort and safety of the calf component 20, thereby ensuring the walking reliability of the exoskeleton robot.

[0040] like Figures 1 to 4As shown, the pulley assembly 30 includes a first pulley assembly 31, a second pulley assembly 32 and a connecting rod 33, the first pulley assembly 31 is connected to the thigh assembly 10, and the end of the first pulley assembly 31 away from the thigh assembly 10 has a first arcuate surface 3111; the second pulley assembly 32 is arranged opposite to the first pulley assembly 31, and the second pulley assembly 32 is connected to the calf assembly 20, and a second arcuate surface 3211 is formed at a position of the second pulley assembly 32 opposite to the first arcuate surface 3111; the first end of the connecting rod 33 is pivotally connected to the first pulley assembly 31, and the second end of the connecting rod 33 is pivotally connected to the second pulley assembly 32; wherein, the end of the flexible transmission rope 411 away from the connecting end 41 is connected to the second pulley assembly 32, and the driving unit 40 drives the connecting end 41 to rotate and winds the flexible transmission rope 411 around the connecting end 41 to pull the second pulley assembly 32 to rotate along the first arcuate surface 3111 by a preset angle. In this way, the driving unit 40 drives the connecting end 41 to rotate and wraps the flexible transmission rope 411 around the connecting end 41, thereby shortening the flexible transmission rope 411 between the connecting end 41 and the second pulley assembly 32, so that the second pulley assembly 32 rotates along the first curved surface 3111 by a preset angle under the pulling action of the flexible transmission rope 411, thereby ensuring the rotation reliability of the calf assembly 20.

[0041] like Figures 1 to 4 As shown, the second pulley assembly 32 includes a second mounting base 321 and a second pulley block 322, wherein the second mounting base 321 is connected to the calf assembly 20, and the second mounting base 321 has a second arc-shaped surface 3211; the second pulley block 322 is connected to the second mounting base 321, and one end of the flexible transmission rope 411 away from the connection end 41 is connected to the second pulley block 322. In this way, the flexible transmission rope 411 pulls the second pulley block 322 to drive the second mounting base 321 connected to the second pulley block 322 to rotate a preset angle, and the second mounting base 321 further drives the calf assembly 20 to rotate a preset angle.

[0042] It should be noted that, in the present application, taking into account that the rotation center of the human knee joint is variable, the present application arranges the pulley assembly 30 to be a structural form including a first pulley assembly 31 and a second pulley assembly 32. At the same time, the second pulley assembly 32 can rotate along the first curved surface 3111 by a preset angle under the pulling action of the flexible transmission rope 411. Since the second pulley assembly 32 can rotate relative to the first pulley assembly 31, the rotation center of the bionic knee joint exoskeleton structure can change, so as to match the changing rotation center of the human knee joint as accurately as possible, thereby ensuring that the bionic knee joint exoskeleton structure can better adapt to changes in leg shape, thereby ensuring that the exoskeleton robot can simulate normal walking of the human body. In addition, the walking safety of the exoskeleton robot can also be ensured.

[0043] It should be noted that, in the present application, the rotation center of the bionic knee exoskeleton structure refers to the contact position between the second curved surface 3211 of the second pulley assembly 32 and the first curved surface 3111 of the first pulley assembly 31. Since the contact position between the second curved surface 3211 and the first curved surface 3111 changes during the process of the second pulley assembly 32 rotating along the first curved surface 3111 by a preset angle, the rotation center of the bionic knee exoskeleton structure is ensured to change.

[0044] like Figures 1 to 4 As shown, the first pulley assembly 31 includes a first mounting base 311 and a first pulley block 312, wherein the first mounting base 311 is connected to the thigh assembly 10, and the first mounting base 311 has a first arcuate surface 3111; the first pulley block 312 is connected to the first mounting base 311, and the first pulley block 312 includes a first fixed pulley 3121, a second fixed pulley 3122 and a guide wheel 3123, and the guide wheel 3123 is located between the first fixed pulley 3121 and the second fixed pulley 3122. In this way, the first pulley assembly 31 is connected to the thigh assembly 10 through the first mounting base 311, ensuring the connection reliability between the first pulley assembly 31 and the thigh assembly 10, and the provision of the first pulley block 312 facilitates the transmission reliability of the subsequent flexible transmission rope 411.

[0045] Optionally, the structures of the first installation base 311 and the second installation base 321 may be the same, so that the first installation base 311 and the second installation base 321 can be mass-produced. Of course, the structures of the first installation base 311 and the second installation base 321 may also be different.

[0046] like Figures 2 to 4 As shown, the bionic knee joint exoskeleton structure further includes a tensioning mechanism 50, which is connected to the thigh component 10; the second pulley assembly 322 includes a first movable pulley 3221 and a second movable pulley 3222, the first movable pulley 3221 is arranged opposite to the first fixed pulley 3121, and the second movable pulley 3222 is arranged opposite to the second fixed pulley 3122; the first end of the flexible transmission rope 411 is connected to the first fixed pulley 3121, and after the second end of the flexible transmission rope 411 passes around the first movable pulley 3221, the flexible transmission rope 411 passes through the first fixed pulley 3121, the first limiting groove 3123a of the circumferential outer surface of the guide wheel 3123, the connecting end 41, the second limiting groove 3123b of the circumferential outer surface of the guide wheel 3123, the second fixed pulley 3122 and the second movable pulley 3222 in sequence and is connected to the tensioning mechanism 50. In this way, the rotation reliability of the second pulley assembly 32 along the first arc surface 3111 is ensured.

[0047] It should be noted that in this application, the specification is attached Figure 4 The arrow in denoted the winding direction of the flexible transmission rope 411.

[0048] like Figure 2 and Figure 5 As shown, the thigh component 10 includes a first thigh frame 11 and a second thigh frame 12, wherein the first thigh frame 11 has a first accommodating cavity 111; the second thigh frame 12 is covered at the cavity opening of the first accommodating cavity 111 to seal the first accommodating cavity 111, and the tensioning mechanism 50 is connected to the surface of the second thigh frame 12 facing the first accommodating cavity 111, so that the tensioning mechanism 50 is located in the first accommodating cavity 111. In this way, the first accommodating cavity 111 is fully utilized, which is conducive to the compact design of the bionic knee joint exoskeleton structure.

[0049] like Figure 2 and Figure 5 As shown, the driving part 40 includes a driving shaft 42, one end of which is located in the first accommodating cavity 111, and the driving shaft 42 is spaced apart from the tensioning mechanism 50, and the connecting end 41 is sleeved on the outer peripheral side of the driving shaft 42. In this way, the connecting end 41 and the tensioning mechanism 50 are both located in the first accommodating cavity 111, so that the flexible transmission rope 411 is connected to the connecting end 41 and the tensioning mechanism 50 respectively.

[0050] like Figure 5 As shown, the driving part 40 further includes an assembly component 43, and the assembly component 43 includes a tension sleeve 431, which is arranged at the end of the driving shaft 42 and located between the circumferential outer surface of the driving shaft 42 and the hole wall surface of the connecting end 41. In this way, the connection reliability between the connecting end 41 and the driving shaft 42 is ensured.

[0051] like Figure 5 As shown, the assembly component 43 further includes a cushion block 432 and a fastener 433, and the cushion block 432 is pressed on the end surface of the tension sleeve 431 through the fastener 433. In this way, the connection stability between the connecting end 41 and the driving shaft 42 is further ensured.

[0052] like Figure 2 and Figure 5 As shown, the second thigh skeleton 12 has a second accommodating cavity 121, and the end of the drive shaft 42 away from the connection end 41 is located in the second accommodating cavity 121. The drive unit 40 also includes a rotor structure 44 and a stator structure 45. The rotor structure 44 is connected to the drive shaft 42, and the stator structure 45 is sleeved on the outer peripheral side of the rotor structure 44. The stator structure 45 is connected to the cavity wall surface of the second accommodating cavity 121. In this way, the second accommodating cavity 121 is fully utilized, which is conducive to the compact design of the bionic knee joint exoskeleton structure.

[0053] like Figure 2As shown, the second thigh skeleton 12 also has a third accommodating cavity 122, and the third accommodating cavity 122 and the second accommodating cavity 121 are arranged at intervals. The bionic knee exoskeleton structure also includes a main circuit board 49, a battery 410 and a second end cover 430, wherein the main circuit board 49 and the battery 410 are electrically connected, and the main circuit board 49 and the battery 410 are both arranged in the third accommodating cavity 122, and the second end cover 430 is covered at the cavity opening position of the third accommodating cavity 122.

[0054] like Figure 5 As shown, the end of the drive shaft 42 away from the tension sleeve 431 is provided with a magnetic element 46, and the drive unit 40 further includes a motor end cover 47 and a drive circuit board 48. The motor end cover 47 has a mounting groove 471, and the drive circuit board 48 is installed in the mounting groove 471. The motor end cover 47 is set at the opening position of the second accommodating cavity 121. A through-hole structure 4711 is provided at the position opposite to the magnetic element 46 at the bottom of the mounting groove 471. The end of the drive shaft 42 away from the tension sleeve 431 passes through the through-hole structure 4711 and extends into the mounting groove 471, so that the magnetic element 46 is arranged opposite to the drive circuit board 48. In this way, it is ensured that the drive circuit board 48 can detect the position information of the drive unit 40 through the magnetic element 46.

[0055] like Figure 2 As shown, the bionic knee joint exoskeleton structure further includes a first end cover 420 , and the first end cover 420 is disposed at the position of the motor end cover 47 .

[0056] Optionally, a magnetic sensing element is integrated on the driving circuit board 48 , and the magnetic sensing element can detect the position information of the driving part 40 through the magnetic attraction element 46 , and of course, can also detect the rotation speed information of the driving shaft 42 .

[0057] like Figure 6As shown, the tensioning mechanism 50 includes a guide cylinder 51 and a sliding mechanism 52, wherein a coil spring 53 is arranged in the guide cylinder 51, and a evasion hole 511 is provided at the bottom of the guide cylinder 51; the sliding mechanism 52 includes a stopper assembly 521 and a guide rod 522, wherein the stopper assembly 521 is connected to the guide rod 522, and the sliding mechanism 52 also has a connecting hole, which passes through the stopper assembly 521 and the guide rod 522, and the end surface of the stopper assembly 521 facing the guide rod 522 abuts against the coil spring 53, and the second end of the flexible transmission rope 411 abuts against the end surface of the stopper assembly 521 away from the guide rod 522, and the flexible transmission rope 411 passes through the connecting hole, the inner ring of the coil spring 53 and the evasion hole 511 in sequence and is connected to the first fixed pulley 3121. The sliding mechanism 52 is movably arranged along the axial direction of the guide cylinder 51. In this way, since the second end of the flexible transmission rope 411 abuts against the end face of the stop assembly 521 away from the guide rod 522, and the end face of the stop assembly 521 toward the guide rod 522 abuts against the coil spring 53, the flexible transmission rope 411 is pulled so that the sliding mechanism 52 can move along the axial direction of the guide cylinder 51.

[0058] like Figure 6 As shown, the stopper assembly 521 includes a guide end 5211, which is connected to the guide rod 522, and a stopper end face is formed at the connection position between the guide end 5211 and the guide rod 522, and the stopper end face abuts against the coil spring 53; the connecting hole includes a first through hole 523, and the first through hole 523 passes through the guide end 5211 and the guide rod 522. In this way, when the flexible transmission rope 411 is pulled, it is ensured that the guide end 5211 can apply pressure to the coil spring 53, so that the coil spring 53 is deformed under pressure, and the coil spring 53 accumulates elastic potential energy and provides elastic force to the guide end 5211.

[0059] like Figure 6As shown, the stop assembly 521 also includes an adjustment structure 5212, and the adjustment structure 5212 includes an adjustment end 5212a and an adjustment rod 5212b connected to each other, and a part of the adjustment rod 5212b is extended into the first through hole 523, and an internal thread structure is formed on the hole wall surface of the first through hole 523, and an external thread structure for cooperating with the internal thread structure is formed on the outer surface of the adjustment rod 5212b; the connecting hole also includes a second through hole 524, and the cross-sectional area of ​​the end of the second end of the flexible transmission rope 411 is larger than the cross-sectional area of ​​the second through hole 524, so that the end of the second end of the flexible transmission rope 411 abuts against the end face of the adjustment end 5212a away from the adjustment rod 5212b, and the flexible transmission rope 411 passes through the second through hole 524, the first through hole 523, the inner circle of the coil spring 53 and the avoidance hole 511 in sequence and is connected to the first fixed pulley 3121. In this way, by twisting the adjustment structure 5212 clockwise or counterclockwise, the distance between the adjustment end 5212a and the guide end 5211 can be adjusted, thereby achieving the tensioning effect of the tensioning mechanism 50 on the flexible transmission rope 411.

[0060] like Figure 1 and Figure 2 The bionic knee joint exoskeleton structure shown also includes a connecting structure 60, a first end of which is connected to the pulley assembly 30, and a second end of which is pivotally connected to the calf assembly 20, so that the calf assembly 20 can rotate in the second direction. In this way, the calf assembly 20 can rotate in both the first direction and the second direction, thereby ensuring that the bionic knee joint exoskeleton structure can match the human knee joint as much as possible, achieving the purpose of bidirectional rotation.

[0061] Optionally, the connecting structure 60 includes a first lug and a second lug, wherein the first lug is provided with a first pivot hole 61, and the second lug is provided with a second pivot hole 62, the connecting structure 60 also includes a rotating pin 63 and a pin end cover 64, and the calf assembly 20 includes a third pivot hole 22, and the rotating pin 63 passes through the first pivot hole 61, the third pivot hole 22 and the second pivot hole 62 in sequence and is connected to the pin end cover 64.

[0062] Optionally, the axis of the rotating pin 63 is perpendicular to the axis of the driving shaft 42 .

[0063] Optionally, the plane where the first direction is located is perpendicular to the plane where the second direction is located, wherein Figure 2 As shown, the first direction specifically refers to the direction of rotation around an axis parallel to the axis of the drive shaft 42 , and the second direction refers to the direction of rotation around the rotating pin 63 .

[0064] Optionally, the second installation base 321 is arranged symmetrically with the first installation base 311 .

[0065] Optionally, the inner ring of the coil spring 53 is coaxially arranged with the avoidance hole 511 .

[0066] like Figure 1 and Figure 2 As shown, the thigh component 10 further includes a thigh strap 13 , through which the thigh component 10 is bound and connected to the exoskeleton; the calf component 20 further includes a calf strap 21 , through which the calf component 20 is bound and connected to the exoskeleton.

[0067] like Figure 3 As shown, the first fixed support shaft 3121a passes through the first fixed pulley 3121 to support the first fixed pulley 3121, the second fixed support shaft 3122a passes through the second fixed pulley 3122 to support the second fixed pulley 3122, the guide wheel 3123 has a first limiting groove 3123a and a second limiting groove 3123b, the first limiting groove 3123a and the second limiting groove 3123b are both used for winding the flexible transmission rope 411, the first limiting groove 3123a and the second limiting groove 3123b are respectively located at the axial ends of the guide wheel 3123, and the guide wheel support shaft 3123c passes through the guide wheel 3123 to support the guide wheel 3123.

[0068] like Figure 3 As shown, the first movable support shaft 3221 a passes through the first movable pulley 3221 to support the first movable pulley 3221 , and the second movable support shaft 3222 a passes through the second movable pulley 3222 to support the second movable pulley 3222 .

[0069] like Figure 3 As shown, there are two first mounting bases 311 arranged opposite to each other, and the projections of the two first mounting bases 311 overlap, and the two first mounting bases 311 are connected by a first connecting shaft 313, and first sleeves 314 are respectively sleeved on the axial ends of the first connecting shaft 313, and there are two connecting rods 33, and the first ends of the two connecting rods 33 are respectively connected to the axial ends of the first connecting shaft 313, wherein the first end of one of the two connecting rods 33 is connected to the first sleeve 314, and then the first sleeve end cover 315 and the first screw 316 are installed in sequence to connect the first end of the connecting rod 33 and the first connecting shaft 313, and the connecting rod 33 is rotatably arranged, and the connection method of the first end of the other one of the two connecting rods 33 is similar, which will not be repeated here.

[0070] like Figure 3As shown, there are two second mounting bases 321 arranged opposite to each other, and the projections of the two second mounting bases 321 coincide with each other. The two second mounting bases 321 are connected by a second connecting shaft 323. The second connecting shaft 323 is parallel to the first connecting shaft 313. The second connecting shaft 323 is respectively sleeved with second bushings 324 at both axial ends. The second ends of the two connecting rods 33 are respectively connected to the two axial ends of the second connecting shaft 323, wherein the second end of one of the two connecting rods 33 is connected to the second bushing 324, and then the second bushing end cover 325 and the second screw 326 are installed in turn, thereby connecting the second end of the connecting rod 33 to the second connecting shaft 323. The connecting rod 33 is rotatably arranged, and the connection method of the second end of the other one of the two connecting rods 33 is similar, which will not be repeated here.

[0071] like Figure 3 As shown, there are multiple spacers 34 , and each of the multiple spacers 34 is used to adjust the axial spacing between each pulley in the first pulley assembly 31 and / or the second pulley assembly 32 .

[0072] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0073] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0074] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0075] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0076] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bionic knee joint exoskeleton structure, characterized in that: include: Thigh assembly (10); Lower leg assembly (20); A pulley assembly (30), wherein the thigh assembly (10) is connected to the calf assembly (20) via the pulley assembly (30); Flexible transmission rope (411); A driving unit (40), the driving unit (40) is connected to the thigh component (10), the driving unit (40) has a connecting end (41), one end of the flexible transmission rope (411) is connected to the connecting end (41), and the other end of the flexible transmission rope (411) is connected to the pulley component (30), the driving unit (40) drives the flexible transmission rope (411) to move through the friction torque between the connecting end (41) and the flexible transmission rope (411), so as to drive the calf component (20) to rotate relative to the thigh component (10) along a first direction; The pulley assembly (30) comprises: A first pulley assembly (31), the first pulley assembly (31) being connected to the thigh assembly (10), and an end of the first pulley assembly (31) away from the thigh assembly (10) having a first arc-shaped surface (3111); a second pulley assembly (32), the second pulley assembly (32) being arranged opposite to the first pulley assembly (31), and the second pulley assembly (32) being connected to the calf assembly (20); wherein one end of the flexible transmission rope (411) away from the connecting end (41) is connected to the second pulley assembly (32); the driving unit (40) drives the connecting end (41) to rotate and winds the flexible transmission rope (411) around the connecting end (41) to pull the second pulley assembly (32) to rotate along the first arc-shaped surface (3111) by a preset angle; The bionic knee joint exoskeleton structure also includes: A connecting structure (60), wherein a first end of the connecting structure (60) is connected to the pulley assembly (30), and a second end of the connecting structure (60) is pivotally connected to the calf assembly (20) so that the calf assembly (20) rotates in a second direction.

2. The bionic knee joint exoskeleton structure according to claim 1, characterized in that: A second arc-shaped surface (3211) is formed at a position of the second pulley assembly (32) opposite to the first arc-shaped surface (3111); The pulley assembly (30) comprises: A connecting rod (33), wherein a first end of the connecting rod (33) is pivotally connected to the first pulley assembly (31), and a second end of the connecting rod (33) is pivotally connected to the second pulley assembly (32).

3. The bionic knee joint exoskeleton structure according to claim 2, characterized in that: The second pulley assembly (32) comprises: A second mounting base (321), the second mounting base (321) being connected to the calf assembly (20), the second mounting base (321) having the second arc-shaped surface (3211); A second pulley block (322), wherein the second pulley block (322) is connected to the second mounting base (321), and an end of the flexible transmission rope (411) away from the connection end (41) is connected to the second pulley block (322).

4. The bionic knee joint exoskeleton structure according to claim 3, characterized in that: The first pulley assembly (31) comprises: A first mounting base (311), the first mounting base (311) being connected to the thigh component (10), the first mounting base (311) having the first arcuate surface (3111); A first pulley block (312), wherein the first pulley block (312) is connected to the first mounting base (311), and the first pulley block (312) comprises a first fixed pulley (3121), a second fixed pulley (3122) and a guide wheel (3123), wherein the guide wheel (3123) is located between the first fixed pulley (3121) and the second fixed pulley (3122).

5. The bionic knee joint exoskeleton structure according to claim 4, characterized in that: The bionic knee joint exoskeleton structure further comprises a tensioning mechanism (50), wherein the tensioning mechanism (50) is connected to the thigh component (10); The second pulley group (322) comprises a first movable pulley (3221) and a second movable pulley (3222), wherein the first movable pulley (3221) is arranged opposite to the first fixed pulley (3121), and the second movable pulley (3222) is arranged opposite to the second fixed pulley (3122); The first end of the flexible transmission rope (411) is connected to the first fixed pulley (3121), and after the second end of the flexible transmission rope (411) passes around the first movable pulley (3221), the flexible transmission rope (411) passes through the first fixed pulley (3121), the first limiting groove (3123a) on the circumferential outer surface of the guide wheel (3123), the connecting end (41), the second limiting groove (3123b) on the circumferential outer surface of the guide wheel (3123), the second fixed pulley (3122) and the second movable pulley (3222) in sequence and is connected to the tensioning mechanism (50).

6. The bionic knee joint exoskeleton structure according to claim 5, characterized in that: The thigh component (10) comprises: A first thigh frame (11), wherein the first thigh frame (11) has a first accommodating cavity (111); A second thigh frame (12), the second thigh frame (12) is covered at the opening of the first accommodating cavity (111) to seal the first accommodating cavity (111), and the tensioning mechanism (50) is connected to the surface of the second thigh frame (12) facing the first accommodating cavity (111) so that the tensioning mechanism (50) is located in the first accommodating cavity (111).

7. The bionic knee joint exoskeleton structure according to claim 6, characterized in that: The driving unit (40) comprises: A drive shaft (42), one end of the drive shaft (42) is located in the first accommodating cavity (111), and the drive shaft (42) and the tensioning mechanism (50) are arranged at a distance, and the connecting end (41) is sleeved on the outer peripheral side of the drive shaft (42).

8. The bionic knee joint exoskeleton structure according to claim 7, characterized in that: The driving unit (40) further comprises an assembly component (43), wherein the assembly component (43) comprises: A tension sleeve (431), wherein the tension sleeve (431) is arranged at the end of the drive shaft (42) and is located between the circumferential outer surface of the drive shaft (42) and the hole wall surface of the connecting end (41).

9. The bionic knee joint exoskeleton structure according to claim 8, characterized in that: The assembly component (43) further comprises: Spacer (432); A fastener (433), wherein the cushion block (432) is pressed onto the end surface of the tension sleeve (431) through the fastener (433).

10. The bionic knee joint exoskeleton structure according to claim 8, characterized in that: The second thigh frame (12) has a second accommodating cavity (121), and the end of the drive shaft (42) away from the connecting end (41) is located in the second accommodating cavity (121). The driving part (40) also includes a rotor structure (44) and a stator structure (45). The rotor structure (44) is connected to the drive shaft (42), and the stator structure (45) is sleeved on the outer peripheral side of the rotor structure (44). The stator structure (45) is connected to the cavity wall of the second accommodating cavity (121).

11. The bionic knee joint exoskeleton structure according to claim 10, characterized in that: A magnetic element (46) is provided at one end of the drive shaft (42) away from the tension sleeve (431), and the drive unit (40) further comprises a motor end cover (47) and a drive circuit board (48), wherein the motor end cover (47) has a mounting groove (471), and the drive circuit board (48) is mounted in the mounting groove (471), and the motor end cover (47) is arranged at the opening position of the second accommodating cavity (121), and a through-hole structure (4711) is provided at a position opposite to the magnetic element (46) at the bottom of the mounting groove (471), and the end of the drive shaft (42) away from the tension sleeve (431) passes through the through-hole structure (4711) and extends into the mounting groove (471), so that the magnetic element (46) and the drive circuit board (48) are arranged opposite to each other.

12. The bionic knee joint exoskeleton structure according to claim 5, characterized in that: The tensioning mechanism (50) comprises: A guide cylinder (51), wherein a coil spring (53) is arranged inside the guide cylinder (51), and a relief hole (511) is opened at the bottom of the guide cylinder (51); A sliding mechanism (52), the sliding mechanism (52) comprising a stop assembly (521) and a guide rod (522), the stop assembly (521) being connected to the guide rod (522), the sliding mechanism (52) also having a connecting hole, the connecting hole passing through the stop assembly (521) and the guide rod (522), the end surface of the stop assembly (521) facing the guide rod (522) abutting against the coil spring (53), the second end of the flexible transmission rope (411) abutting against the end surface of the stop assembly (521) away from the guide rod (522), the flexible transmission rope (411) passing through the connecting hole, the inner ring of the coil spring (53) and the avoidance hole (511) in sequence and connected to the first fixed pulley (3121).

13. The bionic knee joint exoskeleton structure according to claim 12, characterized in that: The sliding mechanism (52) is movably arranged along the axial direction of the guide cylinder (51).

14. The bionic knee joint exoskeleton structure according to claim 13, characterized in that: The stopper assembly (521) comprises: A guide end head (5211), the guide end head (5211) being connected to the guide rod (522), and a stop end face is formed at the connection position between the guide end head (5211) and the guide rod (522), and the stop end face abuts against the coil spring (53); The communicating hole comprises a first through hole (523), and the first through hole (523) passes through the guide end head (5211) and the guide rod (522).

15. The bionic knee joint exoskeleton structure according to claim 14, characterized in that: The stopper assembly (521) further comprises: An adjustment structure (5212), the adjustment structure (5212) comprising an adjustment end (5212a) and an adjustment rod (5212b) connected to each other, a portion of the adjustment rod (5212b) extending into the first through hole (523), an internal thread structure being formed on the wall surface of the first through hole (523), and an external thread structure for cooperating with the internal thread structure being formed on the outer surface of the adjustment rod (5212b); The connecting hole also includes a second through hole (524), and the cross-sectional area of ​​the end of the second end of the flexible transmission rope (411) is larger than the cross-sectional area of ​​the second through hole (524), so that the end of the second end of the flexible transmission rope (411) abuts against the end surface of the adjustment end (5212a) away from the adjustment rod (5212b), and the flexible transmission rope (411) passes through the second through hole (524), the first through hole (523), the inner ring of the coil spring (53) and the avoidance hole (511) in sequence and is connected to the first fixed pulley (3121).

16. An exoskeleton robot, comprising a bionic knee joint exoskeleton structure, characterized in that: The bionic knee joint exoskeleton structure is the bionic knee joint exoskeleton structure according to any one of claims 1 to 15.

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