A modular mechanical free-clutch exoskeleton joint

Abstract

The present invention discloses a modular mechanical free-clutch exoskeleton joint. The modular mechanical free-clutch exoskeleton joint includes a first connecting ring, a second connecting ring, a bionic joint, and a driving member. The bionic joint includes a mounting seat, a rotating ring, and an eccentric block. The mounting seat is connected to the second connecting ring, the rotating ring is connected to the first connecting ring, and the rotating ring has a mounting groove. The eccentric block is rotatably connected in the mounting groove. The mounting groove has a contact driving surface that can abut against the eccentric block. The driving member is installed on the mounting seat. The driving shaft of the driving member is in transmission cooperation with the eccentric block to drive the eccentric block to rotate. During the rotation of the eccentric block, the rotating ring can be driven to rotate to drive the first connecting ring to rotate relative to the second connecting ring. This modular mechanical free-clutch exoskeleton joint can achieve energy-free switching between assisted movement and free movement of any large joint of the human limbs, improving the safety, comfort, coupling degree, flexibility, and endurance of the exoskeleton joint.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a modular mechanical free-clutch exoskeleton joint. Background Art

[0002] With the rapid development of social science and technology, the demand for human-machine collaborative assistance or auxiliary devices is gradually increasing. Among them, as a device that can be worn on the human body and realizes reducing labor load and assisting limb movement function rehabilitation by assisting or assisting limb joint movement, the exoskeleton joint is more and more widely used in various scenarios and fields such as industrial applications and medical rehabilitation. The basic working principle of the exoskeleton joint is to provide assistance and assistance to the human body movement by applying torque to the joint. The main joints of our human limbs that generate force and bear weight usually have not only a single degree of freedom. For example, joints such as the shoulder, elbow, and ankle have two to three degrees of freedom. Therefore, first of all, it is necessary to consider how to provide appropriate assistance for the main movement of the joint while minimizing the constraint on the degree of freedom of the joint itself, so as to take into account the good coupling with the limb joint, the safety of assistance and assistance, and the practicality of low energy consumption. In addition, as a wearable device, the exoskeleton joint is required to fit the human body as much as possible and be convenient to wear. Therefore, it is also necessary to achieve a good user experience with high wearing comfort, good convenience, and weak binding feeling through compact configuration, integration, and lightweight design.

[0003] Most of the existing exoskeleton joints are slightly complex and bulky in design, and often difficult to achieve free clutch without driving force, resulting in disadvantages such as low coupling degree with limb joint movement, large volume, heavy mass, and low applicability to different limbs and joints. In addition, many current exoskeleton joints usually focus on achieving the assistance and assistance effect, while ignoring the needs of the wearer for flexible and natural movement of the joint during actual use. In fact, if all movements of the joint must be assisted by external drive to proceed, not only will the degree of freedom of the joint itself be overly restricted, making the joint movement extremely inconvenient; and when the joint needs temporary free movement, the drive assistance of the exoskeleton will not only become a resistance to be overcome, but may even cause safety hazards such as tearing and straining to the human body in severe cases. Therefore, the design of the exoskeleton must reserve the possibility of free movement of the joint, so that the wearer can move freely without removing the exoskeleton when needed. Summary of the Invention

[0004] The purpose of the present invention is to propose a modular mechanical free-clutch exoskeleton joint, which can realize the energy-free free switching between assisted movement and free movement of any large joint of the human limbs, improving the safety, comfort, coupling degree, flexibility, and battery life of the exoskeleton joint.

[0005] To achieve the above technical effects, the technical solution of the present invention is as follows:

[0006] The present invention discloses a modular mechanical free-clutch exoskeleton joint, including: a first connecting ring for connecting with a limb at one end of a limb joint; a second connecting ring for connecting with a limb at the other end of the limb joint; a bionic joint including a mounting seat, a rotating ring and an eccentric block, the mounting seat is connected to the second connecting ring, the rotating ring is connected to the first connecting ring, and the rotating ring has a mounting groove, the eccentric block is rotatably connected in the mounting groove, and the mounting groove has an abutting driving surface capable of abutting against the eccentric block; a driving member mounted on the mounting seat, the driving shaft of the driving member is in transmission cooperation with the eccentric block to drive the eccentric block to rotate. During the rotation of the eccentric block, when the eccentric block contacts the abutting driving surface of the rotating ring, it can drive the rotating ring to rotate to drive the first connecting ring to rotate relative to the second connecting ring; when the eccentric block does not contact the abutting driving surface of the rotating ring, the second connecting ring can freely rotate relative to the first connecting ring under the action of the limb joint.

[0007] In some embodiments, the bionic joint further includes a speed reducer, the power input and output end of the speed reducer is matched with the driving shaft of the driving member, and the power output end of the speed reducer is matched with the eccentric block.

[0008] In some specific embodiments, the speed reducer includes a wave generator, an internal gear and an external gear ring, the wave generator is matched with the driving shaft of the driving member, the internal gear is sleeved on the wave generator, the external gear ring is installed on the mounting seat and sleeved on the internal gear and meshes with the internal gear, and the internal gear is in transmission cooperation with the eccentric block.

[0009] In some more specific embodiments, the bionic joint further includes an inner sleeve coaxially arranged with the external gear ring, and the inner peripheral wall of the inner sleeve is spaced from the outer wall of the external gear ring, the rotating ring is installed on the inner sleeve, and a bearing is provided between the inner sleeve and the mounting seat.

[0010] In some alternative embodiments, the end face of the inner sleeve is provided with a first fixing hole, the rotating ring is provided with a second fixing hole, and the first connecting ring is provided with a third fixing hole. A first connecting member passes through the third fixing hole, the second fixing hole and the first fixing hole to connect the inner sleeve, the rotating ring and the first connecting ring.

[0011] In some more specific embodiments, a fourth fixing hole is provided on the end face of the internal gear, a fifth fixing hole is provided on the eccentric block, and a second connecting member passes through the fifth fixing hole and the fourth fixing hole to connect the internal gear and the eccentric block.

[0012] In some more specific embodiments, a sixth fixing hole is provided on the external gear ring, a seventh fixing hole is provided on the mounting seat, and a third connecting member passes through the sixth fixing hole and the seventh fixing hole to connect the external gear ring and the mounting seat.

[0013] In some embodiments, the rotating ring has an annular protruding portion, the mounting groove is provided on the annular protruding portion, and the first connecting ring has an annular groove that cooperates with the annular protruding portion.

[0014] In some embodiments, a mating hole is provided on the first connecting ring, a first fixing element is mated with the mating hole and is connected to a limb at one end of the limb joint; and / or, a clamping groove is provided on the second connecting ring, and a second fixing element is fitted in the clamping groove and is connected to a limb at the other end of the limb joint.

[0015] In some embodiments, an angle sensor is provided on the eccentric block.

[0016] Advantages of the modular mechanical free-clutch exoskeleton joint of the present invention: During the actual working process, the user first connects the first connecting ring and the second connecting ring to both ends of the limb joint. After wearing, the bionic joint fits the user's joint. When the driving member drives the eccentric block to rotate counterclockwise until the eccentric block abuts against the abutting driving surface, the eccentric block can drive the rotating ring to rotate counterclockwise as well, so that the included angle between the first connecting ring and the second connecting ring becomes smaller, to assist the user's limb joint in performing a flexion movement. When the driving member drives the eccentric block to rotate clockwise until the eccentric block abuts against the abutting driving surface, the eccentric block can drive the rotating ring to rotate clockwise as well, so that the included angle between the first connecting ring and the second connecting ring becomes larger, to assist the user's limb joint in performing an extension movement. During the rotation of the eccentric block, when it has not yet contacted the abutting driving surface of the rotating ring, the entire modular mechanical free-clutch exoskeleton joint is in an idle stroke state, and the user's joint can freely perform flexion or extension movements. Thus, the modular mechanical free-clutch exoskeleton joint of this embodiment can not only provide active two-way assistance for the joint, but also automatically release the two-way movement freedom when no assistance is needed, so as to achieve both providing assistance for the joint when the user is bearing weight and not restricting the free movement of the joint when not bearing weight. In addition, the modular mechanical free-clutch exoskeleton joint of this embodiment has a simple structure and an extremely small overall space volume, and has the advantages of light weight and miniaturization; it can be applied to assist the large joints of the limbs, such as the shoulder, elbow, hip, and knee joints, and has high personalized adaptability.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural view of a modular mechanical free clutch exoskeleton joint according to an embodiment of the present invention;

[0019] Figure 2 is a schematic structural view of the modular mechanical free clutch exoskeleton joint in another direction according to an embodiment of the present invention;

[0020] Figure 3 is an exploded schematic structural view of the modular mechanical free clutch exoskeleton joint according to an embodiment of the present invention;

[0021] Figure 4 is an exploded schematic structural view of a bionic joint according to an embodiment of the present invention.

[0022] Reference Signs:

[0023] 1, first connecting ring; 11, annular groove; 12, third fixing hole; 13, mating hole;

[0024] 2, bionic joint; 21, mounting seat; 211, eighth fixing hole; 212, seventh fixing hole; 22, wave generator; 23, external gear ring; 231, sixth fixing hole; 24, internal gear; 241, fourth fixing hole; 25, inner sleeve; 251, first fixing hole; 26, bearing; 27, rotating ring; 271, second fixing hole; 272, annular protrusion; 273, mounting groove; 28, eccentric block; 281, fifth fixing hole;

[0025] 3, second connecting ring; 31, clamping groove; 32, ninth fixing hole;

[0026] 4, driving member. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] To make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific embodiments.

[0028] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0029] In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features, which are used to distinguish and describe the features, without order or importance. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0030] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] The following refers to Figures 1 - 4 Describe the specific structure of the modular mechanical free-clutch exoskeleton joint according to the embodiments of the present invention.

[0032] The present invention discloses a modular mechanical free-clutch exoskeleton joint, such as Figure 1 and Figure 4As shown in the figure, the modular mechanical free - clutch exoskeleton joint of this embodiment includes a first connecting ring 1, a second connecting ring 3, a bionic joint 2, and a driving member 4. The first connecting ring 1 is used to connect with a limb at one end of the limb joint, and the second connecting ring 3 is used to connect with a limb at the other end of the limb joint. The bionic joint 2 includes a mounting base 21, a rotating ring 27, and an eccentric block 28. The mounting base 21 is connected to the second connecting ring 3, the rotating ring 27 is connected to the first connecting ring 1, and the rotating ring 27 has a mounting groove 273. The eccentric block 28 is rotatably connected in the mounting groove 273. The mounting groove 273 has a contact driving surface that can abut against the eccentric block 28. The driving member 4 is installed on the mounting base 21, and the output end of the driving member 4 (i.e., the internal gear 24) is in transmission cooperation with the eccentric block 28 to drive the eccentric block 28 to rotate. When the eccentric block 28 contacts the contact driving surface of the rotating ring 27, the eccentric block 28 can drive the rotating ring 27 to rotate during the rotation process, so as to drive the first connecting ring 1 to rotate relative to the second connecting ring 3. When the eccentric block 28 does not contact the contact driving surface of the rotating ring 27, the second connecting ring 3 can freely rotate relative to the first connecting ring 1 under the action of the limb joint.

[0033] It can be understood that during the actual working process, the user first connects the first connecting ring 1 and the second connecting ring 3 to both ends of the limb joint. After wearing is completed Figure 2 the bionic joint 2 fits on the user's joint. When the output end of the driving member 4 (i.e., the internal gear 24) drives the eccentric block 28 to rotate counter - clockwise until it abuts against the contact driving surface at the mounting groove 273, the eccentric block 28 can drive the rotating ring 27 to rotate counter - clockwise at the same time, so that the included angle between the first connecting ring 1 and the second connecting ring 3 becomes smaller, to assist the user's limb joint to perform flexion movement. When the output end of the driving member 4 (i.e., the internal gear 24) drives the eccentric block 28 to rotate clockwise until it abuts against the contact driving surface at the mounting groove 273, the eccentric block 28 can drive the rotating ring 27 to rotate clockwise at the same time, so that the included angle between the first connecting ring 1 and the second connecting ring 3 becomes larger, to assist the user's limb joint to perform extension movement. During the rotation of the eccentric block 28, when it has not contacted the contact driving surface of the rotating ring 27 yet, the entire modular mechanical free - clutch exoskeleton joint is in an idle - stroke state, and the first connecting ring 1 can rotate freely relative to the second connecting ring 3 without affecting each other, thus ensuring that the user's joint can freely perform flexion or extension movement. Therefore, the modular mechanical free - clutch exoskeleton joint of this embodiment can not only provide active two - way assistance for the joint, but also automatically release the two - way movement freedom when no assistance is needed, so as to achieve both providing assistance for the joint when the user is bearing weight and not restricting the free movement of the joint when not bearing weight.

[0034] Optionally, the eccentric block 28 has an arc surface that fits the inner peripheral wall of the mounting groove 273. Thus, when the output end of the driving member 4 (i.e., the internal gear 24) drives the eccentric block 28 to rotate, it is ensured that the eccentric block 28 can rotate stably within the mounting groove 273, and when the eccentric block 28 rotates to the abutting driving surface that abuts against the mounting groove 273 of the rotating ring 27, it can stably drive the rotating ring 27 to rotate.

[0035] In some embodiments, the bionic joint 2 further includes a speed reducer. The power input / output end of the speed reducer is matched with the drive shaft of the driving member 4, and the power output end of the speed reducer is matched with the eccentric block 28. It can be understood that the added speed reducer can increase the output torque of the driving member 4, ensuring that the modular mechanical free-clutch exoskeleton joint has sufficient output torque when providing assistance under the load state of the limb joint, so as to ensure that the modular mechanical free-clutch exoskeleton joint can stably assist the flexion or extension of the limb joint.

[0036] In some specific embodiments, as Figure 4 shown, the speed reducer includes a wave generator 22, an internal gear 24, and an external gear ring 23. The wave generator 22 is matched with the drive shaft of the driving member 4. The internal gear 24 is sleeved on the wave generator 22. The external gear ring 23 is installed on the mounting seat 21 and sleeved on the internal gear 24 and meshes with the internal gear 24. The internal gear 24 is in transmission cooperation with the eccentric block 28. It can be understood that the speed reducer includes a wave generator 22, an internal gear 24, and an external gear ring 23. While increasing the output torque, it is beneficial to improve the structural compactness of the entire bionic joint 2, which is beneficial to the lightweight, integration, and miniaturization design of the modular mechanical free-clutch exoskeleton joint.

[0037] In some more specific embodiments, as Figure 4 shown, the bionic joint 2 further includes an inner sleeve 25. The inner sleeve 25 is coaxially arranged with the external gear ring 23, and the inner peripheral wall of the inner sleeve 25 is spaced from the outer wall of the external gear ring 23. The rotating ring 27 is installed on the inner sleeve 25, and a bearing 26 is provided between the inner sleeve 25 and the mounting seat 21. It can be understood that through the bearing 26, the inner sleeve 25 can be stably supported, thereby reducing the resistance received by the rotating ring 27 connected to the inner sleeve 25 during rotation, ensuring that the modular mechanical free-clutch exoskeleton joint can stably assist the flexion or extension of the limb joint.

[0038] In some optional embodiments, as Figures 3 - 4As shown, a first fixing hole 251 is provided on the end face of the inner sleeve 25, a second fixing hole 271 is provided on the rotating ring 27, and a third fixing hole 12 is provided on the first connecting ring 1. A first connecting member passes through the third fixing hole 12, the second fixing hole 271, and the first fixing hole 251 to connect the inner sleeve 25, the rotating ring 27, and the first connecting ring 1. It can be understood that during the assembly process, only by passing the first connecting member through the third fixing hole 12, the second fixing hole 271, and the first fixing hole 251 in sequence can the inner sleeve 25, the rotating ring 27, and the first connecting ring 1 be connected. The assembly is very convenient and the connection stability is relatively high. In this embodiment, the first connecting member can be selected as a screw, a pin, or other connecting members according to actual needs. Of course, in other embodiments of the present invention, the rotating ring 27, the inner sleeve 25, and the first connecting ring 1 can also be selected with other connection structures according to actual needs.

[0039] In some more specific embodiments, such as Figure 4 As shown, a fourth fixing hole 241 is provided on the end face of the internal gear 24, a fifth fixing hole 281 is provided on the eccentric block 28, and a second connecting member passes through the fifth fixing hole 281 and the fourth fixing hole 241 to connect the internal gear 24 and the eccentric block 28. It can be understood that during the actual assembly process, only by passing the second connecting member through the fifth fixing hole 281 and the fourth fixing hole 241 in sequence can the internal gear 24 and the eccentric block 28 be connected. The assembly is very convenient and the connection stability is relatively high. In this embodiment, the second connecting member can be selected as a screw, a pin, or other connecting members according to actual needs. Of course, in other embodiments of the present invention, the internal gear 24 and the eccentric block 28 can also be selected with other connection structures according to actual needs.

[0040] In some more specific embodiments, such as Figure 4 As shown, a sixth fixing hole 231 is provided on the external gear ring 23, a seventh fixing hole 212 is provided on the mounting seat 21, and a third connecting member passes through the sixth fixing hole 231 and the seventh fixing hole 212 to connect the external gear ring 23 and the mounting seat 21. It can be understood that during the actual assembly process, only by passing the third connecting member through the sixth fixing hole 231 and the seventh fixing hole 212 in sequence can the external gear ring 23 and the mounting seat 21 be connected. The assembly is very convenient and the connection stability is relatively high. In this embodiment, the third connecting member can be selected as a screw, a pin, or other connecting members according to actual needs. Of course, in other embodiments of the present invention, the external gear ring 23 and the mounting seat 21 can also be selected with other connection structures according to actual needs.

[0041] In some more specific embodiments, such as Figure 3 and Figure 4As shown, a ninth fixing hole 32 is provided on the inner peripheral wall of the second connecting ring 3, and an eighth fixing hole 211 is provided on the outer peripheral wall of the mounting seat 21. The fourth connecting member passes through the ninth fixing hole 32 and the eighth fixing hole 211 to connect the second connecting ring 3 and the mounting seat 21. It can be understood that during actual assembly, only by passing the fourth connecting member through the ninth fixing hole 32 and the eighth fixing hole 211 in sequence can the second connecting ring 3 and the mounting seat 21 be connected, and the assembly is very convenient and the connection stability is relatively high. In this embodiment, the fourth connecting member can be a screw, a pin or other connecting members according to actual needs. Of course, in other embodiments of the present invention, other connection structures can also be selected for the second connecting ring 3 and the mounting seat 21 according to actual needs.

[0042] In some embodiments, as Figure 4 shown, the rotating ring 27 has an annular protrusion 272, and a mounting groove 273 is provided on the inner peripheral wall of the annular protrusion 272. The first connecting ring 1 has an annular groove 11 that cooperates with the outer peripheral wall of the annular protrusion 272. Thus, the cooperation between the annular groove 11 and the annular protrusion 272 facilitates the assembly of the rotating ring 27 and the first connecting ring 1, ensuring that the rotating ring 27 and the first connecting ring 1 can be coaxially installed, so as to ensure that the rotating ring 27 can stably drive the first connecting ring 1 to rotate.

[0043] In some embodiments, as Figure 3 shown, a mating hole 13 is provided on the first connecting ring 1. The first fixing element cooperates with the mating hole 13 and is connected to a limb at one end of the limb joint. It can be understood that during actual use, the first fixing element can be a strap or a restraint ring. The first connecting ring 1 is tied or fixed to the limb that needs assistance by using the first fixing element, and the tying position and tightness can also be appropriately adjusted according to actual needs. While ensuring that the rotation center of the first connecting ring 1 matches the rotation center of the limb joint in height, a more comfortable wearing experience is provided for the user. Thus, it is convenient to wear the modular mechanical free-clutch exoskeleton joint on the limb, and the rotation center height matches that of the joint, and a relatively comfortable wearing experience can improve the user's satisfaction. Of course, in other embodiments of the present invention, the first fixing element can also be other connecting components according to actual needs, and is not limited to straps and restraint rings.

[0044] In some embodiments, as Figure 3As shown in the figure, a clamping groove 31 is provided on the second connecting ring 3. The second fixing element is fitted in the clamping groove 31 and is connected to the limb at the other end of the limb joint. It can be understood that in actual use, the second fixing element can be a binding strap or a restraint ring. The second connecting ring 3 is bound or fixed to the limb that needs assistance by using the second fixing element. The binding position and tightness can also be appropriately adjusted according to actual needs. While ensuring that the rotation center of the second connecting ring 3 matches the rotation center of the limb joint in height, a more comfortable wearing experience is provided for the user. Thus, it is convenient to wear the modular mechanical free-clutch exoskeleton joint on the limb, and the rotation center of the joint matches in height. Moreover, the relatively comfortable wearing experience can improve the user's satisfaction. Of course, in other embodiments of the present invention, the second fixing element can also select other connecting components according to actual needs, and is not limited to binding straps and restraint rings.

[0045] In some embodiments, the angle information can be obtained by providing an angle sensor on the eccentric block 28 or by setting a gyroscope on the first connecting ring 1. It can be understood that the angle sensor or the gyroscope can detect the rotation angle of the eccentric block 28 or the first connecting ring 1, and the detected angle is fed back to the control system of the modular mechanical free-clutch exoskeleton joint in real time, so that the control system can monitor the working state of the modular mechanical free-clutch exoskeleton joint and the movement state of the user in real time. And the angle sensor or the gyroscope can accurately detect the angle rotated by the eccentric block 28 or the first connecting ring 1, so as to realize the precise control of the included angle between the first connecting ring 1 and the second connecting ring 3, and improve the user experience.

[0046] Embodiment:

[0047] Next, refer to Figures 1 - 4 to describe the specific structure of the modular mechanical free-clutch exoskeleton joint of a specific embodiment of the present invention.

[0048] As Figures 1 - 4 shown, the modular mechanical free-clutch exoskeleton joint of this embodiment includes a first connecting ring 1, a second connecting ring 3, a bionic joint 2, and a driving member 4. An annular groove 11 is provided on the first connecting ring 1. Third fixing holes 12 are arranged at intervals along the circumferential direction on the outer side of the annular groove 11. A fitting hole 13 is also provided on the first connecting ring 1. The fitting hole 13 can cooperate with the first fixing element, and the first fixing element is used to connect to the limb at one end of the limb joint. The second connecting ring 3 has a clamping groove 31 and a plurality of ninth fixing holes 32 distributed at intervals along its circumferential direction.

[0049] The bionic joint 2 includes a mounting base 21, a wave generator 22, an external gear ring 23, an internal gear 24, an inner sleeve 25, a bearing 26, a rotating ring 27, and an eccentric block 28. A plurality of eighth fixing holes 211 are provided on the outer peripheral wall of the mounting base 21 at intervals along its circumferential direction, and a plurality of seventh fixing holes 212 are provided on the end surface of the mounting base 21 at intervals along its circumferential direction. The inner peripheral wall of the wave generator 22 is fitted with the drive shaft of the driving member 4, and the outer peripheral wall of the wave generator 22 is fitted with the inner peripheral wall of the internal gear 24. The external gear ring 23 is sleeved on the internal gear 24 and is engaged with the internal gear 24. A plurality of sixth fixing holes 231 are provided on the external gear ring 23 at intervals along its circumferential direction, and a plurality of fourth fixing holes 241 are provided on the internal gear 24 at intervals along its circumferential direction. The rotating ring 27 has an annular protruding portion 272, and the outer peripheral wall of the annular protruding portion 272 is fitted in the annular groove 11, and an installation groove 273 is provided on the inner peripheral wall of the annular protruding portion 272. The installation groove 273 has an abutting driving surface that can abut against the eccentric block 28. A plurality of fifth fixing holes 281 are provided on the eccentric block 28, and it is installed on the internal gear 24 and is rotatably fitted in the installation groove 273. The first connecting member passes through the third fixing hole 12, the second fixing hole 271, and the first fixing hole 251 to connect the inner sleeve 25, the rotating ring 27, and the first connecting ring 1. The second connecting member passes through the fifth fixing hole 281 and the fourth fixing hole 241 to connect the internal gear 24 and the eccentric block 28. The third connecting member passes through the sixth fixing hole 231 and the seventh fixing hole 212 to connect the external gear ring 23 and the mounting base 21. The fourth connecting member passes through the ninth fixing hole 32 and the eighth fixing hole 211 to connect the second connecting ring 3 and the mounting base 21. In this embodiment, the assisted travel for the movement of the limb joint is within a central angle range of 140°, and the free travel of the limb joint is within a central angle range of 220°. However, it should be noted that the travel range here is only an example and can be adjusted according to the actual required movement range of different limb joints. For example, the maximum flexion range of the hip joint is less than or equal to 120°.

[0050] The usage method of the modular mechanical free clutch exoskeleton joint in this embodiment is as follows:

[0051] Use straps and binding rings to pass through the mating holes 13 to fix the first connecting ring 1 on the limb at one end of the limb joint that needs to be assisted, and use straps and binding rings to pass through the clamping grooves 31 to fix the second connecting ring 3 on the limb at the other end of the limb joint that needs to be assisted, and ensure that the rotation center of the bionic joint 2 is aligned with the center of the limb joint;

[0052] Start the driving member 4 to rotate forward, so that the internal gear 24 drives the eccentric block 28 to rotate counterclockwise until it abuts against the abutting driving surface at the installation groove 273. When the eccentric block 28 continues to rotate, it can drive the rotating ring 27 to also rotate counterclockwise, so that the included angle between the first connecting ring 1 and the second connecting ring 3 becomes smaller, to assist the user's limb joint to perform flexion movement;

[0053] Start the driving member 4 to reverse, so that the internal gear 24 drives the eccentric block 28 to rotate clockwise until it abuts against the abutting driving surface at the installation groove 273. When the eccentric block 28 continues to rotate, it can drive the rotating ring 27 to rotate clockwise, increasing the angle between the first connecting ring 1 and the second connecting ring 3, so as to assist the user's limb joints to perform stretching exercises;

[0054] When the user needs to move freely, first, the driving member 4 needs to be driven to drive the eccentric block 28 away from the abutting driving surface of the rotating ring 27, so that the eccentric block 28 returns to the idle stroke area, and then the driving member 4 is stopped. When the user performs stretching or flexion exercises, the eccentric block 28 will not contact the abutting driving surface of the rotating ring 27. Within the range of this free stroke, the first connecting ring 1 can rotate freely relative to the second connecting ring 3 without affecting each other, thus ensuring that the user can stretch or flex freely.

[0055] When the driving member 4 rotates and the user moves freely, the angle sensor or gyroscope can detect the rotation angle of the eccentric block 28 or the first connecting ring 1, and feedback the detected angle to the control system of the modular mechanical free clutch exoskeleton joint in real time, so that the control system can monitor the working state of the modular mechanical free clutch exoskeleton joint and the user's movement state in real time.

[0056] Beneficial effects of the modular mechanical free clutch exoskeleton joint of this embodiment:

[0057] First: By adopting the cooperation of the eccentric block 28 and the rotating ring 27, the auxiliary assistance for limb joint movement and the switching of free movement are realized. The mechanism design is simple, efficient and compact. It not only has a high coupling degree with limb joints, but also does not require power drive during free movement, greatly reducing energy consumption.

[0058] Second: Adopting a compact configuration, the design is concise and lightweight. Through bionic analysis, the driving member 4 and the reducer are highly integrated, and the overall space volume is extremely small, with the advantages of lightweight and miniaturization; it can be applied to assist the large joints of the four limbs, such as the shoulder, elbow, hip and knee joints, and has high personalized adaptability.

[0059] Third: By reserving binding end interfaces (mating holes 13 and clamping grooves 31) on the first connecting ring 1 and the second connecting ring 3, appropriate binding or fastening elements can be selected according to the needs of specific joints, making the modular mechanical free clutch exoskeleton joint more lightweight, integrated and universal. It can not only improve the comfort and portability of wearing, but also flexibly adjust the binding and fixing methods according to the parts and sizes of the limb joints required by different users.

[0060] In the description of this specification, the descriptions referring to the terms "some embodiments", "other embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0061] The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A modular mechanical free - clutch exoskeleton joint, characterized in that, Comprising: A first connecting ring (1) for connecting with a limb at one end of a limb joint; A second connecting ring (3) for connecting with a limb at the other end of the limb joint; A bionic joint (2) including a mounting seat (21), a rotating ring (27) and an eccentric block (28). The mounting seat (21) is connected to the second connecting ring (3), the rotating ring (27) is connected to the first connecting ring (1), and the rotating ring (27) has a mounting groove (273). The eccentric block (28) is rotatably connected in the mounting groove (273), and the mounting groove (273) has an abutting driving surface capable of abutting against the eccentric block (28); A driving member (4) installed on the mounting seat (21), and a driving shaft of the driving member (4) is in transmission cooperation with the eccentric block (28) to drive the eccentric block (28) to rotate, wherein: When the eccentric block (28) contacts the abutting driving surface of the rotating ring (27), the eccentric block (28) can drive the rotating ring (27) to rotate during the rotation process to drive the first connecting ring (1) to rotate relative to the second connecting ring (3); When the eccentric block (28) does not contact the abutting driving surface of the rotating ring (27), the second connecting ring (3) can freely rotate relative to the first connecting ring (1) under the action of the limb joint.

2. The modular mechanical free - clutch exoskeleton joint according to claim 1, characterized in that, The bionic joint (2) further includes a speed reducer, a power input / output end of the speed reducer is matched with the driving shaft of the driving member (4), and a power output end of the speed reducer is matched with the eccentric block (28).

3. The modular mechanical free - clutch exoskeleton joint according to claim 2, characterized in that, The speed reducer includes a wave generator (22), an internal gear (24) and an external gear ring (23). The wave generator (22) is matched with the driving shaft of the driving member (4), the internal gear (24) is sleeved on the wave generator (22), the external gear ring (23) is installed on the mounting seat (21) and is sleeved on the internal gear (24) and meshes with the internal gear (24), and the internal gear (24) is in transmission cooperation with the eccentric block (28).

4. The modular mechanical free - clutch exoskeleton joint according to claim 3, characterized in that, The bionic joint (2) further includes an inner sleeve (25). The inner sleeve (25) is coaxially arranged with the external gear ring (23), and a peripheral wall of the inner sleeve (25) is spaced from an outer wall of the external gear ring (23). The rotating ring (27) is installed on the inner sleeve (25), and a bearing (26) is arranged between the inner sleeve (25) and the mounting seat (21).

5. The modular mechanical free - clutch exoskeleton joint according to claim 4, characterized in that, A first fixing hole (251) is provided on an end surface of the inner sleeve (25), a second fixing hole (271) is provided on the rotating ring (27), and a third fixing hole (12) is provided on the first connecting ring (1). A first connecting member passes through the third fixing hole (12), the second fixing hole (271) and the first fixing hole (251) to connect the inner sleeve (25), the rotating ring (27) and the first connecting ring (1).

6. The modular mechanical free - clutch exoskeleton joint according to claim 3, characterized in that, A fourth fixing hole (241) is provided on the end face of the internal gear (24), and a fifth fixing hole (281) is provided on the eccentric block (28). A second connecting member passes through the fifth fixing hole (281) and the fourth fixing hole (241) to connect the internal gear (24) and the eccentric block (28).

7. The modular mechanical free - clutch exoskeleton joint according to claim 3, characterized in that, A sixth fixing hole (231) is provided on the external gear ring (23), and a seventh fixing hole (212) is provided on the mounting seat (21). A third connecting member passes through the sixth fixing hole (231) and the seventh fixing hole (212) to connect the external gear ring (23) and the mounting seat (21).

8. The modular mechanical free - clutch exoskeleton joint according to any one of claims 1 - 7, characterized in that, The rotating ring (27) has an annular protruding portion (272), the mounting groove (273) is provided on the annular protruding portion (272), and the first connecting ring (1) has an annular groove (11) that cooperates with the annular protruding portion (272).

9. The modular mechanical free - clutch exoskeleton joint according to any one of claims 1 - 7, characterized in that, A mating hole (13) is provided on the first connecting ring (1), a first fixing element mates with the mating hole (13) and is connected to a limb at one end of the limb joint; and / or, a clamping groove (31) is provided on the second connecting ring (3), and a second fixing element is fitted in the clamping groove (31) and is connected to a limb at the other end of the limb joint.

10. The modular mechanical free - clutch exoskeleton joint according to any one of claims 1 - 7, characterized in that, An angle sensor is provided on the eccentric block (28).

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