A modular knee joint-assisted exoskeleton device based on Bowden cable transmission

Abstract

The present invention relates to the technical field of special service robots, and discloses a modular knee joint power-assisting exoskeleton device based on Bowden cable transmission, comprising a waist binding module, two leg binding modules, two execution end modules, two motor end modules, two Bowden cables and a main control module; each leg binding module comprises a thigh binding module, a knee binding module and a calf binding module connected in sequence from top to bottom; the execution end module is arranged on the knee binding module, and the motor end module is arranged on the waist binding module; the Bowden cables are respectively connected between the motor end module and the execution end module on the corresponding side; the main control module is arranged on the waist binding module, and is used to control the working state of the motor end module. The motor end module controls the execution end module through the Bowden cable, thereby achieving power assistance for the leg binding module. The present invention can output torque for forward extension power assistance when the knee joint is switched from a flexed state to an extended state, thereby enhancing the forward extension power assistance capability of the knee joint.

Description

Technical Field

[0001] The present invention belongs to the technical field of special service robots, and in particular relates to a modular knee joint power-assisted exoskeleton device based on Bowden cable transmission. Background Art

[0002] An exoskeleton device is a human-machine integrated system that integrates robotic technologies such as sensing, control, information acquisition, and mobile computing. It can perform functions and tasks such as assisted walking under the unconscious control of the operator. Exoskeleton devices generally have two different application scenarios: one is to compensate for the loss of human motor ability, and the main target users are patients who have lost their motor function due to spinal cord injury, stroke, or other reasons. Exoskeleton devices replace or rehabilitate the patient's motor ability in the form of assistive devices and rehabilitation equipment. The second is to enhance human motor ability. The main application areas are in industry and the military. Its applications include: increasing the strength of human limbs to lift heavier objects, strengthening the body's load-bearing capacity to prevent joint damage, or reducing physical exertion during long-distance marches.

[0003] Among the many exoskeleton devices, knee-assisted exoskeleton devices have been widely researched. The main reasons for this are as follows: First, the knee joint requires relatively few degrees of freedom for an exoskeleton robot; a single degree of freedom of rotation aligned with the knee joint is sufficient to meet the basic requirements. Second, the knee joint is subject to significant torque, exceeding 50 N m during normal walking gait. Knee-assisted exoskeletons can significantly reduce the maximum muscle force required for daily activities such as walking and squatting, thereby reducing fatigue. Furthermore, the clinical incidence of patellar osteoarthritis is very high, accounting for 73% of all osteoarthritis cases. Knee-assisted exoskeletons can significantly reduce the impact on the patella.

[0004] Most existing knee-assisted exoskeletons distribute the weight of the motor and some structural components in the legs, far from the human center of gravity. This increases the extra resistance torque of the knee exoskeleton, impacting comfort and limiting its endurance during extended use. Furthermore, the human-machine compatibility of most knee-assisted exoskeletons urgently needs to be optimized. This is manifested in misalignment of the left and right knee joints, meaning the exoskeleton's knee joint is misaligned with the human knee. Only a single rotational degree of freedom is used to match complex knee motion, ignoring the fact that knee flexion and extension are essentially a combination of rolling and sliding motions of the femur on the tibia. This results in a misalignment of the exoskeleton's rotational center, creating residual interaction stresses that reduce assist efficiency and lead to poor human-machine coordination and comfort. Furthermore, the exoskeleton has too many binding points, making it difficult to don and doff, and sometimes even requiring the feet to be lifted off the ground for donning and doffing, making it difficult to use. Furthermore, the exoskeleton's adjustment range is limited or even nonexistent based on individual height and leg length, making it poorly compatible with different heights and leg lengths.

[0005] In the related technology, the Chinese patent application number 202011622167.3 proposes a rigid-flexible hybrid lower limb power assist device and power assist method for an extravehicular suit, which uses a Bowden cable, a knee joint motor, a knee joint turntable and a knee joint motor turntable to implement knee joint power assist.

[0006] In this patent, the two motors are placed on the back, which is offset from the center of gravity of the human waist. This will generate additional resistance torque on the upper limbs and increase the load pressure on the shoulders, which is not conducive to reducing metabolic losses of the human body.

[0007] The knee joint assisted Bowden cable transmission system in this patent lacks a tensioning mechanism and cannot adjust the tension of the steel wire bundle in the Bowden cable tube, which can easily cause force transmission lag, affect the assisted effect, and easily cause the Bowden cable to fall off the turntable during reversing transmission.

[0008] In this patent, the knee joint is only provided with one rotational degree of freedom coaxial with the center of the turntable. Since the movement of the knee joint is actually a combination of rotation and translation, this structure cannot ensure that the knee joint is continuously aligned with the center. There is residual interaction stress, which reduces the coordination and comfort of human-machine movement, affects the wearing experience, and even seriously interferes with gait.

[0009] The Bowden cable assist system in this patent has not been angle-designed, causing the cumulative bending angle of the Bowden cable to exceed 90 degrees. The friction between the steel wire bundle and the inner tube in the Bowden cable tube is large, which has an adverse effect on the transmission efficiency.

[0010] This patent does not have a leg rod length adjustment mechanism, and the exoskeleton can adapt to a limited range of heights and leg lengths. In addition, the binding structure and human-machine interface design are relatively simple, without targeted optimization of the human leg contour and lacking a size design for a human-machine compatible structure, which is not conducive to practical application. Summary of the Invention

[0011] The purpose of the present invention is to provide a modular knee joint power-assisting exoskeleton device based on Bowden cable transmission, which can output a forward extension-assisting torque when the knee joint is switched from a flexed state to an extended state, thereby enhancing the forward extension-assisting ability of the knee joint; through a length adjustment mechanism, it can be used by people of different heights and has a wide range of adaptability; the outlet angle of the Bowden cable body at the power output end is adjustable, thereby reducing the friction between the Bowden cable sheath and the Bowden cable body and improving the transmission efficiency; the lower leg rod is led out along the tangential direction of the execution end groove wheel, thereby ensuring that the hip joint axis of the device is continuously aligned with the human hip joint, reducing residual exchange stress and improving gait stability; by arranging the motor end module and the main control module on the waist belt, their weight is close to the center of gravity of the human body, thereby reducing the additional resistance torque of the knee joint exoskeleton on the human body.

[0012] The above-mentioned purpose of the invention is achieved through the following technical solutions:

[0013] A modular knee joint assisted exoskeleton device based on Bowden cable transmission, comprising a waist binding module, a leg binding module, an actuator end module, a motor end module, a Bowden cable and a main control module;

[0014] The waist binding module includes a waist belt;

[0015] The leg binding modules include two, and the two leg binding modules are respectively arranged on the left and right sides below the waist belt; each leg binding module includes a thigh binding module, a knee binding module and a calf binding module connected in sequence from top to bottom; the thigh binding module includes a thigh frame, a thigh binding ring and a length adjustment mechanism, the thigh frame is rotatably connected to the waist belt through the length adjustment mechanism, and the thigh binding ring is arranged on the inner side of the thigh frame; the knee binding module includes a knee joint guard and a restraint belt, and the restraint belt is arranged on the rear side of the knee joint guard; the calf binding module includes a calf guard and a calf binding ring, and the calf binding ring is arranged on the rear side of the calf guard;

[0016] The two execution end modules include two, and the two execution end modules are respectively arranged on the outer sides of the corresponding side knee binding modules; each execution end module includes a thigh rod, a calf rod, a calf guard plate connecting piece, an execution end groove wheel and an execution end guide piece, the upper end of the thigh rod is hinged to the lower end of the thigh frame, the thigh rod can rotate left and right relative to the thigh frame, the lower end of the thigh rod is fixedly connected to the outer side of the knee joint guard, the lower end of the thigh rod is provided with a knee joint axis extending outward, the execution end groove wheel is fixedly connected to the upper end of the calf rod, the length direction of the calf rod is arranged along the tangent direction of the execution end groove wheel, the execution end groove wheel is coaxially rotatably connected to the knee joint axis, the calf guard plate connecting piece is fixedly connected to the upper end of the calf guard, the lower end of the calf rod is hinged to the calf guard connecting piece, the calf guard connecting piece can rotate left and right relative to the calf rod, and the execution end guide piece is fixedly connected to the thigh rod;

[0017] The motor end modules include two, and the two motor end modules are respectively arranged on the belt; each motor end module includes a motor, a motor end sheave, a motor fixing member and a motor end guide member, the motor is connected to the belt through the motor fixing member, the motor end sheave is fixedly connected to the output shaft of the motor, and the motor end guide member is fixedly connected to the motor housing;

[0018] The two Bowden cables are respectively connected between the motor end module and the actuator end module on the corresponding side; each Bowden cable includes a Bowden cable body and a Bowden cable sheath, and the Bowden cable sheath is anchored between the motor end guide and the actuator end guide on the corresponding side. The Bowden cable body passes through the inner cavity of the Bowden cable sheath, one end of which passes through the motor end guide and is wound around the motor end groove wheel, and the other end passes through the actuator end guide and is wound around the actuator end groove wheel;

[0019] The main control module includes a power supply and a controller, which are arranged on the belt. The power supply is electrically connected to the controller and the motor respectively, and the controller is electrically connected to the motor.

[0020] In the above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, the controller is electrically connected to the detection module, and the detection module includes an inertial sensor and a torque sensor. The inertial sensor is arranged on the thigh rod, and the torque sensor is arranged on the execution end groove wheel.

[0021] The above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, wherein the length adjustment mechanism includes a buckle, an insertion rod, an adjustment rod and an elastic locking pin, the buckle is fixedly connected to the waist belt, the upper end of the insertion rod is engaged with the buckle, the lower end of the insertion rod is hinged to the adjustment rod through the hip joint axis, the adjustment rod can rotate forward and backward relative to the insertion rod about the hip joint axis, slots are provided on both sides of the thigh frame, the slots extend along the length direction of the thigh frame, the adjustment rod is slidably connected in the slots, an elastic locking pin is provided on the thigh frame, and the adjustment rod is provided with multiple card holes along the length direction, and the elastic locking pins are adapted to the corresponding card holes.

[0022] The above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, wherein the thigh binding ring includes two, the two thigh binding rings are arranged up and down along the thigh frame, each thigh binding ring includes a first clamping ring and a second clamping ring, one end of the first clamping ring and the second clamping ring are respectively vertically hinged to the corresponding side of the thigh frame, and the other ends of the first clamping ring and the second clamping ring are snap-connected.

[0023] In the above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, flexible pads are respectively provided on the inner sides of the first clamping ring and the second clamping ring.

[0024] The above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, wherein a planar scroll spring is also provided in the motor, one end of the planar scroll spring is clamped with the motor end groove wheel, and the other end of the planar scroll spring is clamped with the motor housing, and the winding direction of the planar scroll spring is opposite to the direction in which the motor end groove wheel winds up the Bowden cable body.

[0025] The above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, wherein the Bowden cable is also provided with a tension adjustment mechanism, and the tension adjustment mechanism includes a motor end tensioning screw sleeve and an actuator end tensioning screw sleeve, the motor end tensioning screw sleeve is sleeved on the outside of the Bowden cable, one end of which is threadedly connected to the motor end guide, and the other end of which is clamped to the Bowden cable sheath near the motor end; the actuator end tensioning screw sleeve is sleeved on the outside of the Bowden cable, one end of which is threadedly connected to the actuator end guide, and the other end of which is clamped to the Bowden cable sheath away from the motor end.

[0026] The above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, wherein the motor fixing part is provided with a turntable and a limit part, the motor housing can be rotated on the turntable to adjust the guiding direction of the motor end guide, and the limit part is used for positioning between the motor housing and the motor fixing part.

[0027] The above-mentioned modular knee joint assisted exoskeleton device based on Bowden cable transmission, wherein the middle part of the knee joint guard is provided with a through hole for accommodating the human patella, the inner edge of the through hole is provided with a fixed silicone ring, and the inner side of the knee joint guard is provided with multiple elastic buffer strips around the through hole.

[0028] In the above-mentioned modular knee joint power-assisted exoskeleton device based on Bowden cable transmission, the restraint belts are made of Velcro tapes that are adhered to each other.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The present invention adopts a flexible Bowden cable transmission design. A motor-end module for power output is provided on the waist belt and cooperates with the Bowden cable through an actuator module to provide knee joint assistance. This is suitable for scenarios requiring long-term walking, half-squatting, squatting, sitting up, and other tasks. The weight of the motor-end module and the main control module is distributed around the waist of the human body. The structure is compact and concentrated near the center of gravity of the human body, reducing the additional resistance torque of the knee joint exoskeleton on the human body. In addition, the main control module's power supply life is greatly extended, the overall structure is compact, and the device is reliable and lightweight.

[0031] (2) The present invention is provided with a simple and easy-to-adjust tension adjustment mechanism to ensure the stability of the Bowden cable transmission. At the same time, a turntable and a limit part are provided on the motor fixing part, and the angle of the motor end guide can be adjusted as needed, thereby realizing the adjustment of the outlet angle of the Bowden cable, so that the cumulative bending angle of the Bowden cable is less than 90 degrees, and the actual upright static state is about 50 degrees, thereby reducing the friction between the Bowden cable sheath and the Bowden cable body, and ensuring higher transmission efficiency.

[0032] (3) The binding system of the present invention is designed with a human-machine interface and a force application surface. The first clamping ring and the second clamping ring of the thigh binding ring form an openable and closed structure with the thigh frame through a hinge. The binding tightness is adjustable through a buckle structure, which enables the system to be put on and taken off without leaving the ground, thereby improving ease of use.

[0033] (4) The present invention is provided with a length adjustment mechanism, which is connected to the waist belt through a buckle, and the rod is clamped in the buckle. The rod and the adjustment rod are hinged through the hip joint axis. The hip joint axis with passive freedom is adopted at the hip joint position, which not only strengthens the fixing effect on the exoskeleton device, but also maintains it in a relatively fixed position of the leg hip joint, ensuring that the flexion / extension rotation center of the hip joint does not shift during human movement; the adjustment rod is slidably connected to the thigh frame, which increases the adjustable range of the exoskeleton device for different leg lengths.

[0034] (5) The present invention compensates for the displacement of the knee joint's translational freedom by designing the calf rod to be led out along the tangent direction of the actuator end groove wheel. Since the rotation of the knee joint is achieved by the sliding of the femur relative to the tibia, it is actually a combination of rotation and translation. This structure imitates the relative sliding of the human femur and tibia, ensuring that the knee joint is continuously aligned to a certain extent, that is, the hip joint axis of the exoskeleton device is aligned with the human hip joint, reducing residual interaction stress and improving human-machine movement coordination and comfort.

[0035] (6) The double hinge structure of the thigh frame and thigh rod, and the calf rod and calf guard plate connector of the present invention ensures that the human-machine interface of the calf outer contour fits tightly, so that it can adapt to the leg contours of different users, reduce residual interaction force, and improve comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the present invention;

[0037] Figure 2 It is a structural schematic diagram of another perspective of the present invention;

[0038] Figure 3 This is a schematic diagram of the motor end module structure of the present invention;

[0039] Figure 4 This is a left-side structural schematic diagram of a thigh binding module and a knee binding module embodying the present invention.

[0040] Figure 5 It is a left view of the present invention.

[0041] Figure 1: 1. Waist binding module; 11. Waist belt; 2. Leg binding module; 21. Thigh binding module; 211. Thigh frame; 212. Thigh binding ring; 2121. First clamping ring; 2122. Second clamping ring; 213. Length adjustment mechanism; 2131. Buckle; 2132. Insertion rod; 2133. Adjustment rod; 2134. Elastic locking pin; 22. Knee binding module; 221. Knee joint guard; 2211. Through hole; 222. Restraint belt; 23. Calf binding module; 231. Calf guard; 232. Calf binding ring; 3. Execution end module Block; 31. Thigh rod; 32. Calf rod; 33. Calf guard plate connector; 34. Execution end sheave; 35. Execution end guide; 4. Motor end module; 41. Motor; 42. Motor end sheave; 43. Motor fixing part; 431. Limiting part; 44. Motor end guide; 5. Bowden wire; 51. Bowden wire sheath; 6. Main control module; 61. Power supply; 62. Controller; 7. Detection module; 71. Inertial sensor; 72. Torque sensor; 8. Planar scroll spring; 9. Tension adjustment mechanism; 91. Motor end tensioning screw sleeve; 92. Execution end tensioning screw sleeve. DETAILED DESCRIPTION

[0042] The following is combined with Figure 1-5 The present invention is described in further detail.

[0043] like Figure 1 、 2 As shown, a modular knee joint assisted exoskeleton device based on Bowden cable transmission includes a waist binding module 1, a leg binding module 2, an execution end module 3, a motor end module 4, a Bowden cable 5 and a main control module 6.

[0044] The waist binding module 1 includes a waist belt 11, which is provided with a waist belt buckle. When in use, the waist belt 11 can be wrapped around the waist of the human body, the size of the waist belt 11 can be adjusted by the waist belt buckle, and the waist belt 11 can be connected and fixed to the waist of the human body.

[0045] There are two leg binding modules 2, which are respectively arranged on the left and right sides below the waist belt 11; each leg binding module 2 includes a thigh binding module 21, a knee binding module 22 and a calf binding module 23 connected in sequence from top to bottom.

[0046] The thigh binding module 21 includes a thigh frame 211, a thigh binding circle 212 and a length adjustment mechanism 213. The thigh frame 211 is rotatably connected to the waist belt 11 through the length adjustment mechanism 213. The thigh binding circle 212 is arranged on the inner side of the thigh frame 211. The thigh frame 211 and the thigh binding circle 212 are used to bind and fix the exoskeleton device to the human body's thigh; the knee binding module 22 includes a knee joint guard 221 and a restraint belt 222. The restraint belt 222 is arranged on the rear side of the knee joint guard 221. The restraint belt 222 is arranged on the rear side of the knee joint guard 221. The knee joint guard 221 and the restraint belt 222 are used to bind and fix the exoskeleton device to the human body's knee joint; the calf binding module 23 includes a calf guard 231 and a calf binding circle 232. The calf binding circle 232 is arranged on the rear side of the calf guard 231. The calf guard 231 and the calf binding circle 232 bind and fix the exoskeleton device to the human body's calf.

[0047] There are two execution end modules 3, and the two execution end modules 3 are respectively arranged on the outer side of the corresponding side knee binding module 22; each execution end module 3 includes a thigh rod 31, a calf rod 32, a calf guard plate connecting piece 33, an execution end groove wheel 34 and an execution end guide 35.

[0048] The upper end of the thigh rod 31 is hinged to the lower end of the thigh frame 211. The thigh rod 31 can rotate left and right relative to the thigh frame 211. The lower end of the thigh rod 31 is fixedly connected to the outer side of the knee joint guard 221. The lower end of the thigh rod 31 is provided with a knee joint axis extending outward. The actuator end sheave 34 is fixedly connected to the upper end of the shank rod 32. The length direction of the shank rod 32 is arranged along the tangent direction of the actuator end sheave 34. This structure can compensate for the displacement of the knee joint's translational freedom, mimicking the relative sliding of the human femur and tibia, and ensuring that the exoskeleton's knee joint axis and the human knee joint are continuously aligned to a certain extent. The actuator end sheave 34 is coaxially connected to the knee joint axis. The shank guard connector 33 is fixedly connected to the upper end of the shank guard 231. The lower end of the shank rod 32 is hinged to the shank guard connector 33 and can rotate left and right relative to the shank rod 32. The actuator end guide 35 is fixedly connected to the thigh rod 31.

[0049] The upper and lower ends of the outer side of the knee joint guard 221 are connected to the thigh rod 31 and the calf rod 32 through a double hinge structure, ensuring that the human-machine interface of the exoskeleton device's thigh and calf outer contours are closely fitted, so that it can adapt to the leg contours of different users, reduce residual interaction force, improve human-machine movement coordination and comfort, and enable the exoskeleton device to adapt to the different calf lengths and different leg contours caused by differences in users.

[0050] like Figure 1 、 3As shown, the motor end modules 4 include two, and the two motor end modules 4 are respectively arranged on the rear side of the belt 11. Each motor end module 4 includes a motor 41, a motor end sheave 42, a motor fixing part 43 and a motor end guide part 44. The motor 41 is connected to the belt 11 through the motor fixing part 43. The motor end sheave 42 is fixedly connected to the output shaft of the motor 41, and the motor end guide part 44 is fixedly connected to the housing of the motor 41.

[0051] Two Bowden cables 5 are connected between the motor-end module 4 and the actuator-end module 3 on the corresponding side. Each Bowden cable 5 includes a Bowden cable sheath 51 and a Bowden cable body. The Bowden cable sheath 51 is anchored between the motor-end guide 44 and the actuator-end guide 35 on the corresponding side. The Bowden cable body passes through the inner cavity of the Bowden cable sheath 51. One end of the Bowden cable body passes through the motor-end guide 44 and is wrapped around the motor-end sheave 42. The other end of the Bowden cable body passes through the actuator guide 35 and is wrapped around the actuator sheave 34. Using the Bowden cable 5 transmission, power can be transmitted from the waist to the extremities. The Bowden cable 5 has negligible weight and good flexibility, and does not add additional inertia to the extremities.

[0052] The main control module 6 includes a power supply 61 and a controller 62, which are mounted on the waist belt 11. The power supply 61 is electrically connected to the controller 62 and the motor 41, providing power to both. The controller 62 is electrically connected to the motor 41 to control its operation. The power supply 61 can be a rechargeable battery. The controller 62 stores an executable program that enables independent intelligent assistance for the left and right leg binding modules 2.

[0053] The present invention arranges the motor end module 4 and the main control module 6 on the waist belt 11, so that the weight of the motor end module 4 and the main control module 6 is distributed on the waist of the human body, and the weight is concentrated near the center of gravity of the human body, thereby reducing the additional resistance torque of the device on the human body. The overall structure is compact and lightweight, and the reliability of the device is enhanced.

[0054] like Figure 1 、 2 As shown, in one embodiment, to enhance the intelligence of the exoskeleton device, controller 62 is electrically connected to detection module 7. Detection module 7 includes an inertial sensor 71 and a torque sensor 72. Inertial sensor 71 is mounted on thigh bar 31, while torque sensor 72 is mounted on actuator sheave 34. Inertial sensor 71 and torque sensor 72 transmit relevant data detected by them to controller 62. Controller 62 analyzes and determines the operating status of control motor 41 based on this data. The Bowden cable wrapped around motor sheave 42 drives actuator sheave 34 to rotate, thereby rotating shank bar 32 about the knee joint axis, ultimately assisting calf extension.

[0055] Based on the intelligent algorithm, the controller 62 transmits the signal through the detection module 7, which can realize independent intelligent assistance for the left and right legs of the human body. It can realize intelligent assistance according to the gait when walking, squatting and standing up, maintaining a half squat, sitting and standing up, and climbing stairs, which greatly improves the adaptability of the exoskeleton to the normal gait and movement of the human body.

[0056] like Figure 2 As shown, in order to make the exoskeleton device adaptable to people of different heights, a length adjustment mechanism 213 is provided between the waist belt 11 and the thigh frame 211 . The length adjustment mechanism 213 includes a buckle 2131, an insertion rod 2132, an adjusting rod 2133 and an elastic locking pin 2134; the buckle 2131 is fixedly connected to the waist belt 11, the upper end of the insertion rod 2132 is engaged with the buckle 2131, the lower end of the insertion rod 2132 is provided with a hip joint axis, the upper end of the adjusting rod 2133 is coaxially rotatably connected with the hip joint axis, the insertion rod 2132 is hinged to the adjusting rod 2133 through the hip joint axis, that is, the adjusting rod 2133 can rotate back and forth relative to the insertion rod 2132 about the hip joint axis; slots are provided on both sides of the thigh frame 211, the slots extend along the length direction of the thigh frame 211, the adjusting rod 2133 is slidably connected in the slots, an elastic locking pin 2134 is provided on the thigh frame 211, and the adjusting rod 2133 is provided with a plurality of card holes along the length direction, and the elastic locking pin 2134 is adapted to the corresponding card holes.

[0057] During use, the exoskeleton device of the present invention allows the length adjustment mechanism 213 to be adjusted according to the individual's height. Specifically, the elastic locking pin 2134 is lifted and separated from the locking hole. The position of the adjustment rod 2133 within the slot is adjusted according to the individual's thigh length. Finally, the elastic locking pin 2134 is released and engaged with the locking hole to lock the adjustment rod 2133 in place, meeting the requirements of people of different heights. The present invention provides a passive degree of freedom, the hip joint axis, at the location of the human hip joint. The thigh can actively apply force, with the hip joint axis as the axis, to achieve forward and backward rotation of the thigh.

[0058] like Figure 2 As shown, in one embodiment, the thigh binding ring 212 includes two thigh binding rings 212, which are arranged up and down along the thigh frame 211. Each thigh binding ring 212 includes a first clamping ring 2121 and a second clamping ring 2122. One end of the first clamping ring 2121 and the second clamping ring 2122 are respectively vertically hinged to the corresponding sides of the thigh frame 211, and the other ends of the first clamping ring 2121 and the second clamping ring 2122 are snap-connected.

[0059] The thigh binding ring 212 is hinged to the thigh frame 211 to form an openable and closable structure. The tightness of the binding can be adjusted using a rack strap and buckle, or other snap-on connections can be used. Flexible pads, such as EVA sponge, are provided on the inner sides of the first and second clamping rings 2121 and 2122, respectively, to enhance user comfort. While the sagittal and coronal planes constrain the lower limb force application surfaces, the exoskeleton device can be donned and doffed without removing the device, enhancing its ease of use.

[0060] like Figure 1 、 3 As shown, in one embodiment, a planar vortex spring 8 is further provided in the motor 41, one end of the planar vortex spring 8 is clamped with the motor end groove wheel 42, and the other end of the planar vortex spring 8 is clamped with the motor 41 housing, and the winding direction of the planar vortex spring 8 is opposite to the direction in which the motor end groove wheel 42 winds up the Bowden cable body.

[0061] One end of the planar volute spring 8 is connected to the housing of the motor 41, and the other end is engaged with the motor end groove wheel 42. When the motor 41 is not powered, the function of the planar volute spring 8 is to provide an initial preload force for the Bowden cable body. When the knee joint is switched from the flexed state (bending backward) to the extended state (straightening forward), the motor end groove wheel 42 is engaged to realize passive reverse recovery of the Bowden cable body, thereby preventing the Bowden cable body from being squeezed out of the motor end groove wheel 42 and preventing the Bowden cable body from being separated from the motor end groove wheel. When the motor 41 is powered, the controller 62 controls the motor 41 to realize the output torque of the actuator end module 3. In addition to providing the initial preload force for the Bowden cable body and realizing passive reverse recovery of the Bowden cable body, the planar volute spring 8 also provides additional torque output for the forward extension assist output torque of the motor 41 when the knee joint is switched from the flexed state (bending backward) to the extended state (straightening forward), thereby enhancing the forward extension assist capability of the knee joint. For example, the planar spiral spring 8 can provide additional torque output during the support phase of walking and stair climbing (when the foot needs to push off the ground to support the body forward after landing), and during the period when the knee joint needs to be extended during half-squatting, squatting, and sitting up movements.

[0062] like Figure 4 、 5As shown, when performing long-term walking, half-squatting, squatting, sitting up and other operations, the thigh and calf are at a certain angle. The controller 62 controls the motor 41 to rotate, driving the motor-end groove wheel 42 to wrap around the Bowden cable body, and synchronously drives the distal execution end groove wheel 34 to rotate, so that the length of the Bowden cable body is shortened, and the execution end groove wheel 34 rotates counterclockwise, driving the calf rod 32 and the calf binding module 23 connected thereto to rotate counterclockwise to assist, thereby realizing the assisting process from squatting to standing upright; after completing the assisting of the calf binding module 23, the motor 41 stops rotating, and under the action of the planar scroll spring 8, the motor-end groove wheel 42 rotates in the opposite direction, the length of the Bowden cable body is extended, and the human calf can perform an autonomous clockwise bending action through the knee joint.

[0063] like Figure 3 As shown, in order to adjust the length of the Bowden wire sheath 51 between the actuator module 3 and the motor end module 4 and realize the amount of assistance to the knee joint, the motor Bowden wire 5 is also provided with a tension adjustment mechanism 9, the tension adjustment mechanism 9 includes a motor end tensioning screw sleeve 91 and an actuator end tensioning screw sleeve 92, the motor end tensioning screw sleeve 91 is sleeved on the outside of the Bowden wire body, one end of the motor end tensioning screw sleeve 91 is threadedly connected to the motor end guide 44, and the other end of the motor end tensioning screw sleeve 91 is clamped with the Bowden wire sheath 51 near one end of the motor 41; the actuator end tensioning screw sleeve 92 is sleeved on the outside of the Bowden wire body, one end of the actuator end tensioning screw sleeve 92 is threadedly connected to the actuator end guide 35, and the other end of the actuator end tensioning screw sleeve 92 is clamped with the end of the Bowden wire sheath 51 away from the motor 41. By tightening or loosening the motor end tensioning screw 91 and / or the actuator end tensioning screw 92, the length of the Bowden cable sheath 51 between the motor end guide 44 and the actuator end guide 35 on the corresponding side can be extended or shortened, thereby adjusting the amount of assistance provided by the Bowden cable 5 to the knee joint.

[0064] like Figure 3 As shown, in one embodiment, a turntable and a limiting portion 431 are provided on the motor fixing member 43. The motor 41 housing can be rotated on the turntable to adjust the guiding direction of the motor end guide 44. The limiting portion 431 is used to limit and fix the motor 41 housing and the motor fixing member 43.

[0065] The motor fixing part 43 is used to connect the motor end module 4 to the belt 11. By rotating the motor 41 housing on the turntable, the lead-out angle of the Bowden cable body on the motor end guide 44 is adjusted so that the cumulative bending angle of the Bowden cable body is less than 90 degrees, thereby reducing the friction between the Bowden cable body and the Bowden cable sheath 51; the motor end groove wheel 42 cooperates with the motor end guide 44 to convert the rotational motion of the motor 41 into the linear motion of the Bowden cable body, thereby realizing flexible transmission.

[0066] like Figure 1As shown, in one embodiment, a through hole 2211 for accommodating the human patella is provided in the middle of the knee joint guard 221, a fixed silicone ring is provided on the inner edge of the through hole 2211, and a plurality of elastic buffer strips are provided on the inner side of the knee joint guard 221 and around the through hole 2211. The silicone ring and the elastic buffer strips can be used to buffer the impact between the knee joint guard 221 and the human knee joint, thereby effectively protecting the knee joint.

[0067] like Figure 2 As shown, in one embodiment, the restraint belt 222 uses mutually adhered Velcro strips, which are convenient and quick to connect. The Velcro strips are flexible against the thigh and calf and have a certain elasticity, which can not only bind and fix the knee joint, but also improve the comfort of the knee joint during movement.

[0068] The embodiments of this specific implementation method are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A modular knee joint power-assisting exoskeleton device based on Bowden cable transmission, characterized in that: It includes waist binding module, leg binding module, execution end module, motor end module, Bowden cable and main control module; The waist binding module includes a waist belt; The leg binding modules include two, and the two leg binding modules are respectively arranged on the left and right sides below the waist belt; each leg binding module includes a thigh binding module, a knee binding module and a calf binding module connected in sequence from top to bottom; the thigh binding module includes a thigh frame, a thigh binding ring and a length adjustment mechanism, the thigh frame is rotatably connected to the waist belt through the length adjustment mechanism, and the thigh binding ring is arranged on the inner side of the thigh frame; the knee binding module includes a knee joint guard and a restraint belt, and the restraint belt is arranged on the rear side of the knee joint guard; the calf binding module includes a calf guard and a calf binding ring, and the calf binding ring is arranged on the rear side of the calf guard; The two execution end modules are respectively arranged at the outer sides of the corresponding side knee binding modules; each execution end module comprises a thigh rod, a calf rod, a calf guard plate connecting piece, an execution end groove wheel and an execution end guide piece, the upper end of the thigh rod is hinged to the lower end of the thigh frame, the thigh rod can rotate left and right relative to the thigh frame, the lower end of the thigh rod is fixedly connected to the outer side of the knee joint guard, the lower end of the thigh rod is provided with a knee joint axis extending outward, the execution end groove wheel is fixedly connected to the upper end of the calf rod, the length direction of the calf rod is arranged along the tangent direction of the execution end groove wheel, the execution end groove wheel is coaxially connected to the knee joint axis, the calf guard plate connecting piece is fixedly connected to the upper end of the calf guard, the lower end of the calf rod is hinged to the calf guard connecting piece, the calf guard connecting piece can rotate left and right relative to the calf rod, and the execution end guide piece is fixedly connected to the thigh rod; The motor end modules include two, and the two motor end modules are respectively arranged on the belt; each motor end module includes a motor, a motor end sheave, a motor fixing member and a motor end guide member, the motor is connected to the belt through the motor fixing member, the motor end sheave is fixedly connected to the output shaft of the motor, and the motor end guide member is fixedly connected to the motor housing; The two Bowden cables are respectively connected between the motor end module and the actuator end module on the corresponding side; each Bowden cable includes a Bowden cable body and a Bowden cable sheath, and the Bowden cable sheath is anchored between the motor end guide and the actuator end guide on the corresponding side. The Bowden cable body passes through the inner cavity of the Bowden cable sheath, one end of which passes through the motor end guide and is wound around the motor end groove wheel, and the other end passes through the actuator end guide and is wound around the actuator end groove wheel; The main control module includes a power supply and a controller, which are arranged on the belt. The power supply is electrically connected to the controller and the motor respectively, and the controller is electrically connected to the motor.

2. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: The controller is electrically connected to a detection module, which includes an inertial sensor and a torque sensor. The inertial sensor is arranged on the thigh rod, and the torque sensor is arranged on the execution end groove wheel.

3. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: The length adjustment mechanism includes a buckle, an insertion rod, an adjustment rod and an elastic locking pin. The buckle is fixedly connected to the waist belt, the upper end of the insertion rod is engaged with the buckle, the lower end of the insertion rod is hinged to the adjustment rod through a hip joint axis, and the adjustment rod can rotate forward and backward relative to the insertion rod about the hip joint axis. Slots are provided on both sides of the thigh frame, and the slots extend along the length direction of the thigh frame. The adjustment rod is slidably connected in the slots. An elastic locking pin is provided on the thigh frame, and the adjustment rod is provided with a plurality of card holes along the length direction, and the elastic locking pins are adapted to the corresponding card holes.

4. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: The thigh binding rings include two, and the two thigh binding rings are arranged up and down along the thigh frame. Each thigh binding ring includes a first clamping ring and a second clamping ring. One end of the first clamping ring and the second clamping ring is vertically hinged to the corresponding side of the thigh frame respectively, and the other end of the first clamping ring and the second clamping ring is buckled and connected.

5. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 4, characterized in that: Flexible pads are respectively provided on the inner sides of the first clamping ring and the second clamping ring.

6. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: A planar vortex spring is also provided in the motor, one end of the planar vortex spring is clamped with the motor end groove wheel, and the other end of the planar vortex spring is clamped with the motor housing. The winding direction of the planar vortex spring is opposite to the direction in which the motor end groove wheel winds up the Bowden cable body.

7. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: The Bowden cable is also provided with a tension adjustment mechanism, which includes a motor-end tensioning screw sleeve and an actuator-end tensioning screw sleeve. The motor-end tensioning screw sleeve is sleeved on the outside of the Bowden cable, one end of which is threadedly connected to the motor-end guide, and the other end of which is clamped to the end of the Bowden cable sheath close to the motor; the actuator-end tensioning screw sleeve is sleeved on the outside of the Bowden cable, one end of which is threadedly connected to the actuator-end guide, and the other end of which is clamped to the end of the Bowden cable sheath away from the motor.

8. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: The motor fixing member is provided with a turntable and a limiting portion. The motor housing can be rotated on the turntable to adjust the guiding direction of the motor end guide member. The limiting portion is used for positioning the motor housing and the motor fixing member.

9. The modular knee joint assist exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: A through hole for accommodating the human patella is provided in the middle of the knee joint guard, a fixed silicone ring is provided on the inner edge of the through hole, and a plurality of elastic buffer strips are provided on the inner side of the knee joint guard located around the through hole.

10. The modular knee joint power-assisting exoskeleton device based on Bowden cable transmission according to claim 1, characterized in that: The restraint belts are made of magic tapes that are adhered to each other.

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