Active and passive combined knee exoskeleton robot

Abstract

The present application provides an active-passive combined knee exoskeleton robot, comprising a waist structure and a leg structure connected to both sides of the waist structure; the waist structure comprises an active power-assisting component; the leg structure comprises a knee joint rotating disk and a passive power-assisting component connected to the knee joint rotating disk; the active end of the active power-assisting component is connected to the knee joint rotating disk on the first side in a first state and drives the knee joint rotating disk on the first side to rotate; the active end of the active power-assisting component is connected to the knee joint rotating disk on the second side in a second state and drives the knee joint rotating disk on the second side to rotate. The present application improves the energy utilization efficiency and auxiliary effect of the knee joint exoskeleton robot in different scenarios by adopting an active-passive combined design; by using an under-driven active power-assisting component, the number of drive motors used is reduced, the utilization rate of the drive motors is improved, and the weight of the whole machine is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of exoskeletons, and in particular to an active-passive combined knee exoskeleton robot. Background Art

[0002] Knee exoskeleton robots can provide users with mobility assistance, helping them to go up and down stairs and walk. There are two main types of existing knee exoskeleton robots. The first type is an active knee exoskeleton robot that releases energy through a drive motor; the second type is a passive knee exoskeleton robot that stores and releases energy through elastic elements.

[0003] However, existing knee exoskeleton robots have the following problems: active knee exoskeleton robots have low energy utilization efficiency, heavy weight, low motor utilization, and low flexibility; passive knee exoskeleton robots have limited assistance effects. Summary of the invention

[0004] In view of the above problems, the present application is proposed to provide an active-passive combined knee joint exoskeleton robot that overcomes the above problems or at least partially solves the above problems, comprising:

[0005] An active-passive combined knee joint exoskeleton robot comprises: a waist structure and leg structures connected to both sides of the waist structure;

[0006] The waist structure includes an active power-assisting component; the leg structure includes a knee joint rotating disk and a passive power-assisting component connected to the knee joint rotating disk; the active end of the active power-assisting component is connected to the knee joint rotating disk on the first side in a first state and drives the knee joint rotating disk on the first side to rotate; the active end of the active power-assisting component is connected to the knee joint rotating disk on the second side in a second state and drives the knee joint rotating disk on the second side to rotate;

[0007] When a user wears the active-passive combined knee joint exoskeleton robot, the waist structure is fixed at the waist position of the user, and the leg structure is fixed at the leg position of the user, wherein the knee joint rotating disk corresponds to the knee joint position of the user;

[0008] When the leg of any side of the user wearing the active-passive combined knee joint exoskeleton robot is bent, the knee joint rotating disk on the corresponding side rotates along the first direction, driving the passive power-assisting component on the corresponding side to store elastic potential energy;

[0009] When either leg of the user wearing the active-passive combined knee exoskeleton robot is relaxed, the active end of the active power-assisting component is connected to the knee joint rotating disk on the corresponding side and drives the knee joint rotating disk on the corresponding side to rotate in the second direction, and the passive power-assisting component on the corresponding side releases the elastic potential energy, driving the knee joint rotating disk on the corresponding side to rotate in the second direction.

[0010] Preferably, the waist structure includes a back plate and the active power-assisting component mounted on the surface of the back plate;

[0011] The active power-assisting component includes an electrical module, an elastic driving module and a driving switching module; the electrical module is electrically connected to the elastic driving module and the driving switching module respectively; the elastic driving module is connected to the active end of the driving switching module and drives the active end of the driving switching module to rotate; the active end of the driving switching module reciprocates along a preset axial direction; when the active end of the driving switching module moves to a first position, it is connected to the knee joint rotating disk on the first side and drives the knee joint rotating disk on the first side to rotate; when the active end of the driving switching module moves to a second position, it is connected to the knee joint rotating disk on the second side and drives the knee joint rotating disk on the second side to rotate.

[0012] Preferably, the elastic drive module comprises a drive motor, a motor mounting plate, an elastic drive outer ring, a first elastic element and an elastic drive inner ring;

[0013] The driving motor is installed on the back plate surface through the motor mounting plate; the output shaft of the driving motor is connected to the outer ring of the elastic driver and drives the outer ring of the elastic driver to rotate; the outer ring of the elastic driver is connected to the inner ring of the elastic driver through the first elastic element and drives the inner ring of the elastic driver to rotate; the inner ring of the elastic driver is connected to the active end of the drive switching module and drives the active end of the drive switching module to rotate.

[0014] Preferably, the elastic drive module further comprises an encoder gear and an encoder;

[0015] The encoder is mounted on the surface of the motor mounting plate; the gear on the inner ring of the elastic driver is meshed with the encoder gear; the encoder gear is connected to the input shaft of the encoder and drives the input shaft of the encoder to rotate.

[0016] Preferably, the drive switching module comprises a first transmission rope, a first driving wheel, a mobile engagement block, a main shaft, a second driving wheel, a second transmission rope, a steering gear mounting bracket, a steering gear, a steering gear gear, a control block, a miniature linear slide rail and a slide rail mounting bracket;

[0017] One end of the first transmission rope is wound around the first driving wheel, and the other end is wound around the knee joint rotating disk on the first side; one end of the second transmission rope is wound around the second driving wheel, and the other end is wound around the knee joint rotating disk on the second side;

[0018] The inner ring of the elastic driver is connected to the main shaft and drives the main shaft to rotate; the main shaft is connected to the movable meshing block and drives the movable meshing block to rotate; the servo is installed on the surface of the back plate through the servo mounting bracket; the output shaft of the servo is connected to the servo gear and drives the servo gear to rotate; the miniature linear slide is installed on the surface of the back plate through the slide mounting bracket; the operating block is slidably arranged inside the miniature linear slide; the servo gear is meshed with the rack structure on the operating block; the operating block is connected to the movable meshing block and drives the movable meshing block to reciprocate along the axial direction of the main shaft; when the movable meshing block moves to the first position, it is connected to the first driving wheel and drives the first driving wheel to rotate; when the movable meshing block moves to the second position, it is connected to the second driving wheel and drives the second driving wheel to rotate.

[0019] Preferably, a first D-shaped groove is provided at the center position of the inner ring of the elastic driver; a first D-shaped shaft is provided at the end of the main shaft; the first D-shaped shaft is inserted into the inside of the first D-shaped groove; a second D-shaped groove is provided at the center position of the movable engaging block; a second D-shaped shaft is provided at the middle position of the main shaft; the second D-shaped shaft is inserted into the inside of the second D-shaped groove; and the movable engaging block is slidably connected to the second D-shaped shaft.

[0020] Preferably, both end surfaces of the mobile meshing block are provided with meshing tooth structures; the end surfaces of the first driving wheel and the second driving wheel facing the mobile meshing block are provided with meshing tooth matching structures; when the mobile meshing block moves to the first position, the meshing tooth structure on the first side of the mobile meshing block is engaged and connected with the meshing tooth matching structure of the first driving wheel; when the mobile meshing block moves to the second position, the meshing tooth structure on the second side of the mobile meshing block is engaged and connected with the meshing tooth matching structure of the second driving wheel.

[0021] Preferably, the leg structure includes a thigh module, a calf module, the knee joint rotating disk and the passive power-assisting component;

[0022] The passive power-assisting component is installed on the surface of the thigh module; the knee joint rotating disk is fixed to the end of the calf module; the knee joint rotating disk is rotatably connected to the thigh module;

[0023] When a user wears the active-passive combined knee exoskeleton robot, the thigh module is fixed at the user's thigh position, and the calf module is fixed at the user's calf position.

[0024] Preferably, the passive power-assisting assembly includes a third transmission rope, a threaded bearing, a bearing seat, a second elastic element, a slider, a guide sleeve and a preload adjustment assembly;

[0025] The guide sleeve is mounted on the surface of the thigh module; the slider is slidably arranged inside the guide sleeve; the preload adjustment assembly is mounted on the surface of the thigh module; one end of the second elastic element is connected to the slider, and the other end is connected to the preload adjustment assembly; the threaded bearing is mounted on the surface of the thigh module through the bearing seat; one end of the third transmission rope is connected to the slider, and the other end is connected to the knee joint rotating disk through the threaded bearing;

[0026] When either side of the leg of the user wearing the active-passive combined knee exoskeleton robot is bent, the knee joint rotating disk on the corresponding side rotates along the first direction, and the second elastic element on the corresponding side is driven to store elastic potential energy through the third transmission rope and the slider on the corresponding side; when either side of the leg of the user wearing the active-passive combined knee exoskeleton robot is relaxed, the second elastic element on the corresponding side releases the elastic potential energy, and the knee joint rotating disk on the corresponding side is driven to rotate along the second direction through the slider and the third transmission rope on the corresponding side.

[0027] Preferably, the preload force adjustment assembly includes an adjustment motor, a bevel gear, a mounting seat cover, a bevel gear screw, an adjustment motor mounting seat, a screw top block, a guide block, a screw support seat and a moving block;

[0028] The adjusting motor is installed on the surface of the thigh module through the mounting seat cover and the adjusting motor mounting seat; the output shaft of the adjusting motor is connected with the bevel gear and drives the bevel gear to rotate; the bevel gear screw is installed on the surface of the thigh module through the screw top block and the screw support seat; the bevel gear is meshed with the bevel gear screw; the guide block is installed on the surface of the thigh module; the moving block is slidably connected with the guide block; the bevel gear screw is connected with the moving block and drives the moving block to reciprocate along the axial direction of the moving block; the moving block is connected to the end of the second elastic element.

[0029] This application has the following advantages:

[0030] In the embodiments of the present application, relative to the problems in the prior art of low energy efficiency, heavy weight, low motor utilization of active knee exoskeleton robots and limited power-assisting effect of passive knee exoskeleton robots, the present application provides a solution of active-passive combined design and under-driven active power-assisting components, specifically: "An active-passive combined knee exoskeleton robot, comprising: a waist structure and a leg structure connected to both sides of the waist structure; the waist structure comprises an active power-assisting component; the leg structure comprises a knee joint rotating disk and a passive power-assisting component connected to the knee joint rotating disk; the active end of the active power-assisting component is connected to the knee joint rotating disk on the first side in a first state and drives the knee joint rotating disk on the first side to rotate; the active end of the active power-assisting component is connected to the knee joint rotating disk on the second side in a second state and drives the knee joint rotating disk on the second side The turntable rotates; when the user wears the active-passive combined knee exoskeleton robot, the waist structure is fixed at the waist position of the user, and the leg structure is fixed at the leg position of the user, wherein the knee joint rotating disk corresponds to the knee joint position of the user; when the legs of either side of the user wearing the active-passive combined knee exoskeleton robot are bent, the knee joint rotating disk on the corresponding side rotates along a first direction, driving the passive power-assisting component on the corresponding side to store elastic potential energy; when the legs of either side of the user wearing the active-passive combined knee exoskeleton robot are relaxed, the active end of the active power-assisting component is connected to the knee joint rotating disk on the corresponding side and drives the knee joint rotating disk on the corresponding side to rotate along a second direction, and the passive power-assisting component on the corresponding side releases the elastic potential energy, driving the knee joint rotating disk on the corresponding side to rotate along the second direction. By adopting the active-passive combined design, the energy utilization efficiency and auxiliary effect of the knee exoskeleton robot in different scenarios are improved; by using the under-driven active power-assisting component, the number of drive motors used is reduced, the utilization rate of the drive motor is improved, and the weight of the whole machine is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 It is a structural schematic diagram of an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0033] Figure 2It is a schematic structural diagram of the waist structure of an active-passive combined knee joint exoskeleton robot provided in one embodiment of the present application;

[0034] Figure 3 It is a structural schematic diagram of an elastic drive module in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0035] Figure 4 It is a structural schematic diagram of a drive switching module in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0036] Figure 5 This is a schematic diagram of the structure of an elastic drive module and a drive switching module in a first state in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0037] Figure 6 This is a schematic diagram of the structure of an elastic drive module and a drive switching module in a second state in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0038] Figure 7 It is a schematic diagram of the structure of a leg in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0039] Figure 8 It is a structural schematic diagram of a passive power assist component in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0040] Fig. 9 This is a schematic diagram of the assisting process of a passive assisting component in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application;

[0041] Fig.10 This is a schematic diagram of the preload force adjustment process of the second elastic element in an active-passive combined knee exoskeleton robot provided in one embodiment of the present application.

[0042] The reference numerals in the drawings of the specification are as follows:

[0043] 1 waist structure; 10 active power assist assembly; 11 electrical module; 12 elastic drive module; 121 drive motor; 122 motor mounting plate; 123 elastic drive outer ring; 124 first elastic element; 125 elastic drive inner ring; 126 encoder gear; 127 encoder; 13 drive switching module; 131 first transmission rope; 132 first drive wheel; 133 moving engagement block; 134 main shaft; 135 second drive wheel; 136 second transmission rope; 137 steering gear mounting bracket; 138 steering gear; 139 steering gear; 131 0 operating block; 1311 micro linear guide rail; 1312 guide rail mounting bracket; 14 back plate; 2 leg structure; 21 thigh module; 22 knee joint rotating disk; 23 calf module; 40 passive power assist assembly; 41 third transmission rope; 42 adjusting motor; 43 bevel gear; 44 mounting seat cover; 45 bevel gear lead screw; 46 threaded bearing; 47 bearing seat; 48 adjusting motor mounting seat; 49 lead screw top block; 410 guide block; 411 lead screw support seat; 412 moving block; 413 second elastic element; 414 slider; 415 guide sleeve. DETAILED DESCRIPTION

[0044] In order to make the objects, features and advantages of the present application more obvious and understandable, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0045] The inventors have found through analysis of the prior art that the existing active knee joint exoskeleton robots cannot collect and utilize the human body's gravitational potential energy in scenarios such as going down stairs where the human knee joint mainly does negative work. Instead, they need to consume electrical energy to do negative work to achieve a buffering effect, resulting in low energy utilization efficiency; each joint is equipped with a drive motor, resulting in a large weight of the multi-joint exoskeleton robot; in the gait cycle, the drive motor of each joint often only works for a part of the time, and is in a non-working state for the rest of the time, resulting in low motor utilization; the joints and the drive motors are connected by connecting rods, third transmission ropes and other parts, and the motion relationship between the joints and the drive motors cannot be changed, resulting in a lack of flexibility in the exoskeleton robot. In addition, the existing passive knee joint exoskeleton robots can only store and release the human body's own energy, and cannot provide additional assistance in scenarios such as going up stairs where the human knee joint mainly does positive work, resulting in limited assistance effects.

[0046] Reference Figure 1 , shows an active-passive combined knee joint exoskeleton robot provided by an embodiment of the present application, comprising: a waist structure 1 and leg structures 2 connected to both sides of the waist structure 1;

[0047] The waist structure 1 includes an active power-assisting component 10; the leg structure 2 includes a knee joint rotating disk 22 and a passive power-assisting component 40 connected to the knee joint rotating disk 22; the active end of the active power-assisting component 10 is connected to the knee joint rotating disk 22 on the first side in a first state and drives the knee joint rotating disk 22 on the first side to rotate; the active end of the active power-assisting component 10 is connected to the knee joint rotating disk 22 on the second side in a second state and drives the knee joint rotating disk 22 on the second side to rotate;

[0048] When a user wears the active-passive combined knee joint exoskeleton robot, the waist structure 1 is fixed at the waist position of the user, and the leg structure 2 is fixed at the leg position of the user, wherein the knee joint rotating disk 22 corresponds to the knee joint position of the user;

[0049] When the leg of the user wearing the active-passive combined knee joint exoskeleton robot bends on either side, the knee joint rotating disk 22 on the corresponding side rotates along the first direction, driving the passive power assist component 40 on the corresponding side to store elastic potential energy;

[0050] When either leg of the user wearing the active-passive combined knee exoskeleton robot is relaxed, the active end of the active power-assisting component 10 is connected to the knee joint rotating disk 22 on the corresponding side and drives the knee joint rotating disk 22 on the corresponding side to rotate in the second direction, and the passive power-assisting component 40 on the corresponding side releases the elastic potential energy, driving the knee joint rotating disk 22 on the corresponding side to rotate in the second direction.

[0051] In the embodiments of the present application, relative to the problems in the prior art of low energy efficiency, heavy weight, low motor utilization of active knee exoskeleton robots and limited power-assisting effect of passive knee exoskeleton robots, the present application provides a solution of active-passive combined design and under-driven active power-assisting component 10, specifically: "An active-passive combined knee exoskeleton robot, comprising: a waist structure 1 and a leg structure 2 connected to both sides of the waist structure 1; the waist structure 1 comprises an active power-assisting component 10; the leg structure 2 comprises a knee joint rotating disk 22 and a passive power-assisting component 40 connected to the knee joint rotating disk 22; the active end of the active power-assisting component 10 is connected to the knee joint rotating disk 22 on the first side in a first state and drives the knee joint rotating disk 22 on the first side to rotate; the active end of the active power-assisting component 10 is connected to the knee joint rotating disk 22 on the second side in a second state and drives the knee joint rotating disk 22 on the second side The knee joint rotating disk 22 rotates; when the user wears the active and passive combined knee joint exoskeleton robot, the waist structure 1 is fixed at the waist position of the user, and the leg structure 2 is fixed at the leg position of the user, wherein the knee joint rotating disk 22 corresponds to the knee joint position of the user; when either side of the leg of the user wearing the active and passive combined knee joint exoskeleton robot is bent, the knee joint rotating disk 22 on the corresponding side rotates along a first direction, driving the passive power-assisting component 40 on the corresponding side to store elastic potential energy; when either side of the leg of the user wearing the active and passive combined knee joint exoskeleton robot is relaxed, the active end of the active power-assisting component 10 is connected to the knee joint rotating disk 22 on the corresponding side and drives the knee joint rotating disk 22 on the corresponding side to rotate along a second direction, and the passive power-assisting component 40 on the corresponding side releases the elastic potential energy, driving the knee joint rotating disk 22 on the corresponding side to rotate along the second direction. By adopting a combined active and passive design, the energy utilization efficiency and auxiliary effect of the knee exoskeleton robot in different scenarios are improved (specifically, when the user's legs are bent, the passive power-assisting component 40 can provide a buffering effect to reduce the impact on the user's knee joints; when the user's legs are relaxed, the active power-assisting component 10 and the passive power-assisting component 40 can provide sufficient assisting effect, making the user's legs more labor-saving); by using the under-driven active power-assisting component 10, the number of drive motors 121 used is reduced, the utilization rate of the drive motor 121 is improved, and the weight of the whole machine is reduced.

[0052] Next, an active-passive combined knee exoskeleton robot in this exemplary embodiment will be further described.

[0053] Reference Figure 2In this embodiment, the waist structure 1 includes a back plate 14 and the active power-assisting component 10 installed on the surface of the back plate 14;

[0054] The active power-assisting component 10 includes an electrical module 11, an elastic driving module 12 and a driving switching module 13; the electrical module 11 is electrically connected to the elastic driving module 12 and the driving switching module 13 respectively; the elastic driving module 12 is connected to the active end of the driving switching module 13 and drives the active end of the driving switching module 13 to rotate; the active end of the driving switching module 13 reciprocates along a preset axial direction; when the active end of the driving switching module 13 moves to a first position, it is connected to the knee joint rotating disk 22 on the first side and drives the knee joint rotating disk 22 on the first side to rotate; when the active end of the driving switching module 13 moves to a second position, it is connected to the knee joint rotating disk 22 on the second side and drives the knee joint rotating disk 22 on the second side to rotate.

[0055] Reference Figure 3 In this embodiment, the elastic drive module 12 includes a drive motor 121, a motor mounting plate 122, an elastic drive outer ring 123, a first elastic element 124 and an elastic drive inner ring 125;

[0056] The driving motor 121 is installed on the surface of the back plate 14 through the motor mounting plate 122; the output shaft of the driving motor 121 is connected to the elastic driver outer ring 123 and drives the elastic driver outer ring 123 to rotate; the elastic driver outer ring 123 is connected to the elastic driver inner ring 125 through the first elastic element 124 and drives the elastic driver inner ring 125 to rotate; the elastic driver inner ring 125 is connected to the active end of the drive switching module 13 and drives the active end of the drive switching module 13 to rotate.

[0057] Specifically, the first elastic element 124 is an elastic rope, a torsion spring, a disc spring or other elastic elements. By arranging the first elastic element 124 between the elastic driver outer ring 123 and the elastic driver inner ring 125, the drive motor 121 can output torque elastically, thereby improving the flexibility of the active-passive combined knee exoskeleton robot and providing a more flexible assistance to the user.

[0058] In this embodiment, the elastic driving module 12 further includes an encoder gear 126 and an encoder 127;

[0059] The encoder 127 is mounted on the surface of the motor mounting plate 122; the gear on the inner ring 125 of the elastic driver is meshed with the encoder gear 126; the encoder gear 126 is connected to the input shaft of the encoder 127 and drives the input shaft of the encoder 127 to rotate. The encoder 127 is used to collect the output angle information of the inner ring 125 of the elastic driver.

[0060] Reference Figure 4-6 In this embodiment, the drive switching module 13 includes a first transmission rope 131, a first driving wheel 132, a moving engagement block 133, a main shaft 134, a second driving wheel 135, a second transmission rope 136, a steering gear mounting bracket 137, a steering gear 138, a steering gear gear 139, a control block 1310, a miniature linear slide rail 1311 and a slide rail mounting bracket 1312;

[0061] One end of the first transmission rope 131 is wound around the first driving wheel 132, and the other end is wound around the knee joint rotating disk 22 on the first side; one end of the second transmission rope 136 is wound around the second driving wheel 135, and the other end is wound around the knee joint rotating disk 22 on the second side;

[0062] The inner ring 125 of the elastic driver is connected to the main shaft 134 and drives the main shaft 134 to rotate; the main shaft 134 is connected to the mobile meshing block 133 and drives the mobile meshing block 133 to rotate; the servo 138 is installed on the surface of the back plate 14 through the servo mounting bracket 137; the output shaft of the servo 138 is connected to the servo gear 139 and drives the servo gear 139 to rotate; the miniature linear slide 1311 is installed on the surface of the back plate 14 through the slide mounting bracket 1312; the operating block 1310 is slidably arranged Inside the miniature linear slide 1311; the servo gear 139 is meshed with the rack structure on the operating block 1310; the operating block 1310 is connected to the mobile engagement block 133 and drives the mobile engagement block 133 to reciprocate along the axial direction of the main shaft 134; when the mobile engagement block 133 moves to the first position, it is connected to the first driving wheel 132 and drives the first driving wheel 132 to rotate; when the mobile engagement block 133 moves to the second position, it is connected to the second driving wheel 135 and drives the second driving wheel 135 to rotate.

[0063] By providing the steering gear 138 and the steering gear gear 139, the movement control of the control block 1310 can be realized. In other embodiments, the movement control of the control block 1310 can also be realized by using a motor lead screw structure.

[0064] In this embodiment, a first D-shaped groove is provided at the center position of the inner ring 125 of the elastic driver; a first D-shaped shaft is provided at the end of the main shaft 134; the first D-shaped shaft is inserted into the inside of the first D-shaped groove; a second D-shaped groove is provided at the center position of the movable engaging block 133; a second D-shaped shaft is provided at the middle position of the main shaft 134; the second D-shaped shaft is inserted into the inside of the second D-shaped groove; the movable engaging block 133 is slidably connected with the second D-shaped shaft.

[0065] The main shaft 134 is connected to the elastic driver inner ring 125 through the first D-shaped shaft and the first D-shaped groove, and the output torque of the elastic driving module 12 can be accurately obtained. The moving engagement block 133 is connected to the main shaft 134 through the second D-shaped shaft and the second D-shaped groove, and the output torque of the elastic driving module 12 can be accurately obtained through the main shaft 134.

[0066] In this embodiment, both end surfaces of the mobile meshing block 133 are provided with meshing tooth structures; the end surfaces of the first driving wheel 132 and the second driving wheel 135 facing the mobile meshing block 133 are provided with meshing tooth matching structures; when the mobile meshing block 133 moves to the first position, the meshing tooth structure on the first side of the mobile meshing block 133 is engaged with the meshing tooth matching structure of the first driving wheel 132; when the mobile meshing block 133 moves to the second position, the meshing tooth structure on the second side of the mobile meshing block 133 is engaged with the meshing tooth matching structure of the second driving wheel 135.

[0067] Reference Figure 7 In this embodiment, the leg structure 2 includes a thigh module 21, a calf module 23, the knee joint rotating disk 22 and the passive power assist component 40;

[0068] The passive power assist component 40 is mounted on the surface of the thigh module 21; the knee joint rotating disk 22 is fixed to the end of the calf module 23; the knee joint rotating disk 22 is rotatably connected to the thigh module 21;

[0069] When a user wears the active-passive combined knee exoskeleton robot, the thigh module 21 is fixed at the thigh position of the user, and the calf module 23 is fixed at the calf position of the user.

[0070] In this embodiment, the thigh module 21 includes a thigh connecting rod and a thigh strap connected to the thigh connecting rod; the knee joint rotating disk 22 is rotatably connected to the thigh connecting rod;

[0071] When a user wears the underactuated knee exoskeleton robot, the thigh strap is fixed at the user's thigh.

[0072] By providing the thigh strap, it can be ensured that the thigh module 21 is stably connected to the user's thigh.

[0073] In this embodiment, the calf module 23 includes a calf connecting rod and a calf strap connected to the calf connecting rod; the knee joint rotating disk 22 is fixed to the end of the calf connecting rod;

[0074] When a user wears the underactuated knee exoskeleton robot, the calf strap is fixed at the calf position of the user.

[0075] By providing the calf strap, it can be ensured that the calf module 23 is stably connected to the user's calf.

[0076] Reference Figure 8-9 In this embodiment, the passive power-assisting assembly 40 includes a third transmission rope 41, a threaded bearing 46, a bearing seat 47, a second elastic element 413, a slider 414, a guide sleeve 415 and a preload adjustment assembly;

[0077] The guide sleeve 415 is installed on the surface of the thigh module 21; the slider 414 is slidably arranged inside the guide sleeve 415; the preload adjustment assembly is installed on the surface of the thigh module 21; one end of the second elastic element 413 is connected to the slider 414, and the other end is connected to the preload adjustment assembly; the threaded bearing 46 is installed on the surface of the thigh module 21 through the bearing seat 47; one end of the third transmission rope 41 is connected to the slider 414, and the other end is connected to the knee joint rotating disk 22 through the threaded bearing 46;

[0078] When either side of the leg of the user wearing the active-passive combined knee exoskeleton robot is bent, the knee joint rotating disk 22 on the corresponding side rotates along the first direction, and drives the second elastic element 413 on the corresponding side to store elastic potential energy through the third transmission rope 41 and the slider 414 on the corresponding side; when either side of the leg of the user wearing the active-passive combined knee exoskeleton robot is relaxed, the second elastic element 413 on the corresponding side releases the elastic potential energy, and drives the knee joint rotating disk 22 on the corresponding side to rotate along the second direction through the slider 414 and the third transmission rope 41 on the corresponding side.

[0079] Specifically, the second elastic element 413 is a gas spring, a disc spring or other elastic elements.

[0080] Reference Figure 8 , 10In this embodiment, the preload force adjustment assembly includes an adjustment motor 42, a bevel gear 43, a mounting seat cover 44, a bevel gear screw 45, an adjustment motor mounting seat 48, a screw top block 49, a guide block 410, a screw support seat 411 and a moving block 412;

[0081] The adjusting motor 42 is mounted on the surface of the thigh module 21 through the mounting seat cover 44 and the adjusting motor mounting seat 48; the output shaft of the adjusting motor 42 is connected to the bevel gear 43 and drives the bevel gear 43 to rotate; the bevel gear screw 45 is mounted on the surface of the thigh module 21 through the screw top block 49 and the screw support seat 411; the bevel gear 43 is meshed with the bevel gear screw 45; the guide block 410 is mounted on the surface of the thigh module 21; the moving block 412 is slidably connected to the guide block 410; the bevel gear screw 45 is connected to the moving block 412 and drives the moving block 412 to reciprocate along the axial direction of the moving block 412; the moving block 412 is connected to the end of the second elastic element 413.

[0082] By setting the preload force adjustment component, the preload force of the second elastic element 413 can be adjusted, so that the active-passive combined knee exoskeleton robot can have flexible and variable buffering and assisting effects in different scenarios.

[0083] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0084] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0085] The above is a detailed introduction to an active and passive combined knee exoskeleton robot provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An active-passive combined knee exoskeleton robot, characterized in that: include: A waist structure and leg structures connected to both sides of the waist structure; The waist structure includes an active power-assisting component; the leg structure includes a knee joint rotating disk and a passive power-assisting component connected to the knee joint rotating disk; the active end of the active power-assisting component is connected to the knee joint rotating disk on the first side in a first state and drives the knee joint rotating disk on the first side to rotate; the active end of the active power-assisting component is connected to the knee joint rotating disk on the second side in a second state and drives the knee joint rotating disk on the second side to rotate; The waist structure includes a back plate and the active power-assisting component installed on the surface of the back plate; The active power-assisting component comprises an electrical module, an elastic driving module and a driving switching module; the electrical module is electrically connected to the elastic driving module and the driving switching module respectively; the elastic driving module is connected to the active end of the driving switching module and drives the active end of the driving switching module to rotate; the active end of the driving switching module reciprocates along a preset axial direction; when the active end of the driving switching module moves to a first position, it is connected to the knee joint rotating disk on the first side and drives the knee joint rotating disk on the first side to rotate; when the active end of the driving switching module moves to a second position, it is connected to the knee joint rotating disk on the second side and drives the knee joint rotating disk on the second side to rotate; The elastic drive module comprises a drive motor, a motor mounting plate, an elastic drive outer ring, a first elastic element and an elastic drive inner ring; The drive motor is installed on the back plate surface through the motor mounting plate; the output shaft of the drive motor is connected to the outer ring of the elastic driver and drives the outer ring of the elastic driver to rotate; the outer ring of the elastic driver is connected to the inner ring of the elastic driver through the first elastic element and drives the inner ring of the elastic driver to rotate; the inner ring of the elastic driver is connected to the active end of the drive switching module and drives the active end of the drive switching module to rotate; The drive switching module includes a first transmission rope, a first driving wheel, a mobile engagement block, a main shaft, a second driving wheel, a second transmission rope, a steering gear mounting bracket, a steering gear, a steering gear gear, a control block, a miniature linear slide rail and a slide rail mounting bracket; One end of the first transmission rope is wound around the first driving wheel, and the other end is wound around the knee joint rotating disk on the first side; one end of the second transmission rope is wound around the second driving wheel, and the other end is wound around the knee joint rotating disk on the second side; The inner ring of the elastic driver is connected to the main shaft and drives the main shaft to rotate; the main shaft is connected to the mobile meshing block and drives the mobile meshing block to rotate; the servo is installed on the surface of the back plate through the servo mounting bracket; the output shaft of the servo is connected to the servo gear and drives the servo gear to rotate; the miniature linear slide is installed on the surface of the back plate through the slide mounting bracket; the operating block is slidably arranged inside the miniature linear slide; the servo gear is meshed with the rack structure on the operating block; the operating block is connected to the mobile meshing block and drives the mobile meshing block to reciprocate along the axial direction of the main shaft; when the mobile meshing block moves to the first position, it is connected to the first driving wheel and drives the first driving wheel to rotate; when the mobile meshing block moves to the second position, it is connected to the second driving wheel and drives the second driving wheel to rotate; When a user wears the active-passive combined knee joint exoskeleton robot, the waist structure is fixed at the waist position of the user, and the leg structure is fixed at the leg position of the user, wherein the knee joint rotating disk corresponds to the knee joint position of the user; When the leg of any side of the user wearing the active-passive combined knee joint exoskeleton robot is bent, the knee joint rotating disk on the corresponding side rotates along the first direction, driving the passive power-assisting component on the corresponding side to store elastic potential energy; When either leg of the user wearing the active-passive combined knee exoskeleton robot is relaxed, the active end of the active power-assisting component is connected to the knee joint rotating disk on the corresponding side and drives the knee joint rotating disk on the corresponding side to rotate in the second direction, and the passive power-assisting component on the corresponding side releases the elastic potential energy, driving the knee joint rotating disk on the corresponding side to rotate in the second direction.

2. The active-passive combined knee exoskeleton robot according to claim 1, characterized in that: The elastic drive module also includes an encoder gear and an encoder; The encoder is mounted on the surface of the motor mounting plate; the gear on the inner ring of the elastic driver is meshed with the encoder gear; the encoder gear is connected to the input shaft of the encoder and drives the input shaft of the encoder to rotate.

3. The active-passive combined knee exoskeleton robot according to claim 1, characterized in that: A first D-shaped groove is provided at the center position of the inner ring of the elastic driver; a first D-shaped shaft is provided at the end of the main shaft; the first D-shaped shaft is inserted into the inside of the first D-shaped groove; a second D-shaped groove is provided at the center position of the movable engagement block; a second D-shaped shaft is provided at the middle position of the main shaft; the second D-shaped shaft is inserted into the inside of the second D-shaped groove; the movable engagement block is slidably connected to the second D-shaped shaft.

4. The active-passive combined knee exoskeleton robot according to claim 1, characterized in that: Both end surfaces of the mobile meshing block are provided with meshing tooth structures; the end surfaces of the first driving wheel and the second driving wheel facing the mobile meshing block are provided with meshing tooth matching structures; when the mobile meshing block moves to the first position, the meshing tooth structure on the first side of the mobile meshing block is engaged and connected with the meshing tooth matching structure of the first driving wheel; when the mobile meshing block moves to the second position, the meshing tooth structure on the second side of the mobile meshing block is engaged and connected with the meshing tooth matching structure of the second driving wheel.

5. The active-passive combined knee exoskeleton robot according to claim 1, characterized in that: The leg structure includes a thigh module, a calf module, the knee joint rotating disk and the passive power-assisting component; The passive power-assisting component is installed on the surface of the thigh module; the knee joint rotating disk is fixed to the end of the calf module; the knee joint rotating disk is rotatably connected to the thigh module; When a user wears the active-passive combined knee exoskeleton robot, the thigh module is fixed at the user's thigh position, and the calf module is fixed at the user's calf position.

6. The active-passive combined knee exoskeleton robot according to claim 5, characterized in that: The passive power-assisting assembly includes a third transmission rope, a threaded bearing, a bearing seat, a second elastic element, a slider, a guide sleeve and a preload adjustment assembly; The guide sleeve is mounted on the surface of the thigh module; the slider is slidably arranged inside the guide sleeve; the preload adjustment assembly is mounted on the surface of the thigh module; one end of the second elastic element is connected to the slider, and the other end is connected to the preload adjustment assembly; the threaded bearing is mounted on the surface of the thigh module through the bearing seat; one end of the third transmission rope is connected to the slider, and the other end is connected to the knee joint rotating disk through the threaded bearing; When either side of the leg of the user wearing the active-passive combined knee exoskeleton robot is bent, the knee joint rotating disk on the corresponding side rotates along the first direction, and the second elastic element on the corresponding side is driven to store elastic potential energy through the third transmission rope and the slider on the corresponding side; when either side of the leg of the user wearing the active-passive combined knee exoskeleton robot is relaxed, the second elastic element on the corresponding side releases the elastic potential energy, and the knee joint rotating disk on the corresponding side is driven to rotate along the second direction through the slider and the third transmission rope on the corresponding side.

7. The active-passive combined knee exoskeleton robot according to claim 6, characterized in that: The preload force adjustment assembly includes an adjustment motor, a bevel gear, a mounting seat cover, a bevel gear lead screw, an adjustment motor mounting seat, a lead screw top block, a guide block, a lead screw support seat and a moving block; The adjusting motor is installed on the surface of the thigh module through the mounting seat cover and the adjusting motor mounting seat; the output shaft of the adjusting motor is connected with the bevel gear and drives the bevel gear to rotate; the bevel gear screw is installed on the surface of the thigh module through the screw top block and the screw support seat; the bevel gear is meshed with the bevel gear screw; the guide block is installed on the surface of the thigh module; the moving block is slidably connected with the guide block; the bevel gear screw is connected with the moving block and drives the moving block to reciprocate along the axial direction of the moving block; the moving block is connected to the end of the second elastic element.

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