A knee-locking exoskeleton robot

Abstract

The present invention provides a knee-locking exoskeleton robot, which relates to the technical field of medical robots. The robot comprises a waist binding mechanism, a knee-locking actuator, and a support drive mechanism. The knee-locking actuator comprises two symmetrically arranged leg binding members, each leg binding member comprising a thigh rod, a knee-locking assembly, and a calf rod. The present invention has the following beneficial effects: the waist binding mechanism is bound to the patient's waist, and the two leg binding members of the knee-locking actuator are bound to the patient's legs, so that the knee-locking assemblies of the two leg binding members contact the patient's knees. When training walking, the knee of one leg is locked by the knee-locking assembly to achieve standing, and the knee-locking assembly at the knee of the other leg is unlocked to achieve walking training. In this way, active walking rehabilitation training can be achieved, thereby improving the initiative of spinal cord patients in self-rehabilitation and maximizing the rehabilitation training effect of patients. In addition, the present invention effectively solves the fatigue problem caused by rehabilitation doctors assisting patients in artificial rehabilitation training.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a knee-locking exoskeleton robot. Background Art

[0002] Spinal cord injury disrupts the connection between the central nervous system and the spinal cord, resulting in paraplegia. Effective rehabilitation training for such patients can promote functional remodeling of neural tissue and, to a certain extent, help restore lower limb mobility. However, traditional rehabilitation training is not only labor-intensive and resource-intensive, but also inefficient. Exoskeleton rehabilitation training robots, a recently emerging wearable robotic device, can be applied directly to the human body, guiding the lower limbs through various prescribed, repetitive rehabilitation exercises, helping patients regain motor function and significantly improving the efficiency of rehabilitation physicians and the effectiveness of rehabilitation treatment. Currently, because spinal cord injury patients lack lower limb strength and require external force to straighten their knees for support and standing, most exoskeleton rehabilitation training robots on the market use a passive training mode, where the robot guides the patient through the exercises. While this mode can help patients achieve normal lower limb movement and muscle contraction, it does not involve the patient, hindering their ability to regain independent walking. In addition, these robotic devices usually directly adopt a rigid transmission drive method, which has a large transmission ratio, rotational inertia and mass, increasing the leg burden and safety risks of patients during training. Summary of the Invention

[0003] In view of this, in order to solve the problem that the exoskeleton robot adopts a passive rehabilitation training mode, the patient's autonomous participation is low, which is not conducive to patient rehabilitation, an embodiment of the present invention provides a knee-locking exoskeleton robot.

[0004] An embodiment of the present invention provides a knee-locking exoskeleton robot, comprising:

[0005] A waist binding mechanism comprising two waist binding members and an adjustable connecting member connecting the two waist binding members;

[0006] A knee-locking actuator, comprising two symmetrically arranged leg bindings, each of the leg bindings comprising a thigh rod, a knee-locking assembly and a calf rod, wherein the upper end of the thigh rod is connected to the waist binding and the lower end is rotatably connected to the calf rod, and the front and rear sides of the thigh rod and the calf rod are each provided with a rotatably connected binding plate, and the knee-locking assembly comprises an actuator wheel, a driving gear, a driving rack and a knee-locking plate, wherein the actuator wheel is rotatably arranged at the connection between the thigh rod and the calf rod, the driving gear is mounted on the outer side of the actuator wheel, the driving rack is slidable forward and backward and meshes with the driving gear, and the knee-locking plate is mounted on the driving rack and is located on the front side of the leg binding;

[0007] And a supporting drive mechanism, which includes a movable frame and a motor arranged on the movable frame. The motor is connected to the execution wheels of the two knee locking assemblies through Bowden ropes to drive the driving gear and the driving rack to move the knee locking plate back and forth, thereby locking and releasing the knee locking plate.

[0008] Furthermore, a moving block is provided at the front end of the driving rack, a fastener is provided on the moving block, the knee locking plate can be slid left and right to connect to the moving block, and the fastener can lock the knee locking plate.

[0009] Furthermore, the knee locking assembly also includes a movable guide rail, which is fixed on the thigh rod, and the driving rack can be slidably installed on the movable guide rail. The knee locking plate is arranged perpendicular to the driving rack, and the rear side of the knee locking plate is provided with an arc-shaped contact groove.

[0010] Furthermore, a rope groove is provided on the side wall of the execution wheel, the Bowden rope passes around the rope groove, and a baffle is provided on the edge of the rope groove.

[0011] Furthermore, the upper end of the thigh rod is connected to the waist binding part through a telescopic locking part, and the telescopic locking part includes an outer shell, an extrusion block and an elastic part. The extrusion block can be slidably inserted into one side of the outer shell and connected to the other side of the outer shell through the elastic part. The outer shell is provided with a fixed groove arranged vertically through, and the extrusion block is provided with a movable groove arranged vertically through, and one side of the movable groove is provided with a plurality of movable clips arranged at intervals along the vertical direction, and the waist binding part is provided with a plurality of fixed clips arranged at intervals along the vertical direction. The outer shell is fixed to the side of the thigh rod, and the lower end of the waist binding part is inserted into the fixed groove and the movable groove, and the elastic part squeezes the extrusion block to clamp the movable clip and the fixed clip.

[0012] Furthermore, the waist binding device includes an L-shaped waist binding plate, a fixing rod and an adjusting rod, wherein the upper end of the fixing rod is fixedly connected to the side of the waist binding plate, and the lower end is rotatably connected to the upper end of the adjusting rod, the fixing clip is arranged on the side of the lower end of the adjusting rod, and the lower end of the adjusting rod passes through the fixing slot and the movable slot.

[0013] Furthermore, the two waist bindings are respectively a left waist binding and a right waist binding, and the adjustable connecting piece includes a gear rack mechanism, one end of the right waist binding is inserted into one end of the left waist binding, and is connected to the left waist binding through the gear rack mechanism.

[0014] Furthermore, the gear rack mechanism includes a driving gear, a driven gear, an upper rack and a lower rack. A slot is provided at one end of the left waist binding, and the driving gear and the driven gear are rotatably installed in the slot. The driving gear and the driven gear are meshed with each other. One end of the right waist binding is inserted into the slot, and the upper rack and the lower rack are installed on the right waist binding, and the driving gear and the driven gear are meshed with the upper rack and the lower rack respectively.

[0015] Furthermore, the calf rod comprises an upper connecting rod and a lower connecting rod, the upper end of the upper connecting rod is rotatably connected to the lower end of the thigh rod, and the lower end is rotatably connected to the upper end of the lower connecting rod.

[0016] Furthermore, two driving wire wheels are provided on the movable frame, the number of the motors and the Bowden ropes are set to two, each of the motors is connected to a driving wire wheel, each of the Bowden ropes is connected to a driving wire wheel and an execution wheel, and each of the motors is also provided with a control handle.

[0017] The beneficial effects brought about by the technical solution provided by the embodiments of the present invention are:

[0018] 1. A knee-locking exoskeleton robot of the present invention is fastened to the patient's waist through a waist-locking mechanism, and the two leg-locking parts of the knee-locking actuator are fastened to the patient's legs, so that the knee-locking components of the two leg-locking parts contact the patient's knees. When training walking, the knee of one leg is locked by the knee-locking component to achieve standing, and the knee-locking component at the knee of the other leg is unlocked to achieve walking training. In this way, active walking rehabilitation training can be achieved, which improves the initiative of spinal cord patients in self-rehabilitation and maximizes the rehabilitation training effect of patients. It also effectively solves the problem of easy fatigue of doctors caused by the need for rehabilitation doctors to assist patients in manual rehabilitation training during knee-locking rehabilitation training.

[0019] 2. The present invention adopts a lasso drive form of a motor combined with a Bowden cable. The patient can operate the motor by himself to control the operation of the robot, and the patient can actively carry out rehabilitation training; and the drive mechanism is integrated into the movable frame, thereby reducing the mass and rotational inertia of the exoskeleton leg rods, meeting the requirements of lightweight design. At the same time, the Bowden cable drive can also improve the flexibility of the transmission process, further improving the comfort of the patient's wearing, while also ensuring the safety of the training process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of a locked knee exoskeleton robot of the present invention;

[0021] Figure 2 It is a schematic diagram of the waist binding mechanism and the knee locking actuator;

[0022] Figure 3 It is a schematic diagram of the waist binding mechanism;

[0023] Figure 4 This is an exploded view of the waist binding mechanism;

[0024] Figure 5 is a schematic diagram of the knee locking actuator;

[0025] Figure 6 This is an exploded view of the knee lock assembly;

[0026] Figure 7 It is an exploded view of the telescopic locking member;

[0027] Figure 8 It is a schematic diagram of the support drive mechanism.

[0028] In the figure: 1. Waist binding mechanism; 2. Knee locking actuator; 3. Support drive mechanism; 4. Leg binding piece; 5. Left waist binding piece; 6. Right waist binding piece; 7. Fixing rod; 8. Adjusting rod; 9. Cover plate; 10. Hand wheel; 11. Binding hole; 12. Fixing clip; 13. Driving gear; 14. Driven gear; 15. Slot; 16. Upper rack; 17. Lower rack; 18. Notch; 19. Thigh rod; 20. Calf rod; 21. Waist binding plate; 22. Moving guide rail; 23. Driving rack; 24. Driving gear; 25. Moving block; 26. Knee lock plate; 27. Loose-leaf hinge; 28. Through slot; 29. ​​Insert rod; 30. Contact slot; 31. Housing; 32. Extrusion block; 33. Elastic member; 34. Fixed slot; 35. Movable slot; 36. Movable clip; 37. Button; 38. Moving frame; 39. Roller; 40. Support frame; 41. Handrail; 42. Main control board; 43. Motor; 44. Driving guide wheel; 45. Bowden rope; 46. Control handle; 47. Execution wheel. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present invention more apparent, embodiments of the present invention will be further described below with reference to the accompanying drawings. The following describes a preferred embodiment of the present invention among multiple possible embodiments, which is intended to provide a basic understanding of the present invention but is not intended to identify the key or decisive elements of the present invention or to limit the scope of protection.

[0030] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0031] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0032] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual scale.

[0033] In the description of the present invention, it should be noted that the circuits, electronic components and modules involved in the present invention are all existing technologies and can be fully implemented by those skilled in the art without further elaboration.

[0034] It should be further noted that, unless otherwise expressly specified or limited, the terms "mounted" and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0035] Please refer to Figure 1 and 2 An embodiment of the present invention provides a knee-locking exoskeleton robot, comprising a waist binding mechanism 1, a knee-locking actuator 2, and a support drive mechanism 3.

[0036] The waist binding mechanism 1 mainly comprises two waist binding parts and an adjustable connector connecting the two waist binding parts. The two waist binding parts are used to bind the two sides of the patient's waist respectively, and the adjustable connector is used to adjust the distance between the two waist binding parts so that the two waist binding parts can better fit and tighten around the patient's waist.

[0037] like Figure 3 and4 As shown, in this embodiment, the two waist binding parts are respectively a left waist binding part 5 and a right waist binding part 6, and the adjustable connecting part includes a gear rack mechanism. One end of the right waist binding part 6 is inserted into one end of the left waist binding part 5 and connected to the left waist binding part 5 through the gear rack mechanism. By adjusting the gear rack mechanism, the distance between the left waist binding part 5 and the right waist binding part 6 can be adjusted.

[0038] More specifically, the gear rack mechanism includes a driving gear 13, a driven gear 14, an upper rack 16 and a lower rack 17. A slot 15 is provided at one end of the left waist binding part 5. The slot 15 is a rectangular slot with the notch of the slot 15 facing forward. A cover plate 9 is provided on the front side of the slot 15. The cover plate 9 is fixedly arranged on the front side of the left waist binding part 5. The driving gear 13 and the driven gear 14 are rotatably installed in the slot 15. The driving gear 13 is located above the driven gear 14, and the driving gear 13 and the driven gear 14 are meshed. One end of the right waist binding part 6 is inserted into the slot 15. The upper rack 16 and the lower rack 17 are both horizontally arranged and installed on the right waist binding part 6, and the driving gear 13 and the driven gear 14 are meshed with the upper rack 16 and the lower rack 17 respectively. Here, a rectangular notch 18 is provided at one end of the right waist binding part 6 close to the left waist binding part 5 , and the upper rack 16 and the lower rack 17 are respectively provided on the upper surface and the lower surface of the notch 18 .

[0039] The rotation of the driving gear 13 drives the rotation of the driven gear 14, and the driving gear 13 and the driven gear 14 also drive the upper rack 16 and the lower rack 17 respectively, to drive the left waist binding 5 and the right waist binding 6 to move closer or farther away from each other, thereby adjusting the distance between the two waist bindings to the desired distance. To facilitate operation and adjustment, the axle of the driving gear 13 passes through the cover plate 9 and is provided with a handwheel 10.

[0040] In order to maintain a stable state after the distance between the two waist bindings is adjusted to the desired distance, a spring connected to the left waist binding 5 is provided on the axle of the driving gear 13. The spring is sleeved on the axle of the driving gear 13. The front end of the axle of the driving gear 13 can slide through the cover plate 9. A positioning gear is also sleeved and fixed on the axle of the driving gear 13. The back of the cover plate 9 is provided with a gear groove. The positioning gear is embedded in the gear groove and cannot rotate, making the driving gear 13 unable to rotate. When the handwheel 10 is pressed inward, the spring is compressed, and the positioning gear leaves the gear groove. Rotating the handwheel 10 can drive the driving gear 13 to rotate and adjust the distance between the two waist bindings. After the distance between the two waist bindings is adjusted to the desired distance, the handwheel 10 is finally released. The spring pushes the positioning gear outward into the gear groove to lock it, so that the two waist bindings are in a stable and fixed state.

[0041] Please refer to Figure 5 and 6 The knee-locking actuator 2 primarily comprises two symmetrically arranged leg bindings 4, each positioned below a waist binding. Each leg binding 4 comprises a thigh rod 19, a knee-locking assembly, and a calf rod 20. The thigh rod 19 is connected to one of the waist bindings at its upper end and pivotally connected to the calf rod 20 at its lower end. Rotatably connected binding plates 21 are provided on the front and rear sides of each thigh rod 19 and calf rod 20.

[0042] Considering that the thigh rod 19 may be used to bind patients with different leg lengths, the upper end of the thigh rod 19 and the waist binding member can be configured to be telescopically adjustable. Figure 7 As shown, in this embodiment, the upper end of the thigh rod 19 is connected to the waist binding member through a telescopic locking member. The telescopic locking member includes a shell 31, an extrusion block 32 and an elastic member 33. The extrusion block 32 is slidably inserted into one side of the shell 31 and connected to the other side of the shell 31 through the elastic member 33. The shell 31 is provided with a fixed groove 34 vertically extending therethrough, the extrusion block 32 is provided with a movable groove 35 vertically extending therethrough, and one side of the movable groove 35 is provided with a plurality of movable clips 36 spaced apart along the vertical direction. The waist binding member is provided with a plurality of fixed clips 12 spaced apart along the vertical direction. The shell 31 is fixed to the side of the thigh rod 19, and the lower end of the waist binding member is inserted into the fixed groove 34 and the movable groove 35, and the elastic member 33 squeezes the extrusion block 32 so that the movable clip 36 is clamped to the fixed clip 12.

[0043] Pushing the extrusion block 32 compresses the elastic member 33, causing the movable clip 36 to move and separate from the fixed clip 12, thereby allowing the thigh bar 19 to move up and down. To facilitate pressing the extrusion block 32, the housing 31 is rectangular, and the extrusion block 32 is approximately rectangular. Here, the extrusion block 32 is embedded within the housing 31 and can slide horizontally. The end of the extrusion block 32 facing away from the elastic member 33 is provided with a button 37 extending from the housing 31. The elastic member 33 comprises multiple springs, each of which is arranged in the sliding direction of the extrusion block 32. One end of each spring is connected to the extrusion block 32 and the other end is connected to the inner wall of the housing 31. When the springs are compressed, they push the extrusion block 32, locking the movable clip 36 with the fixed clip 12.

[0044] It should be noted that the fixed clip 12 and the movable clip 36 form an openable buckle structure, and the specific structural shape can be flexibly set. As described in this embodiment, the fixed clip 12 and the movable clip 36 are both wedge-shaped horizontal strips, and the fixed clip 12 and the movable clip 36 have matching inclined engaging surfaces.

[0045] In some embodiments, the waist binding device includes an L-shaped waist binding plate 21, a fixed rod 7, and an adjustment rod 8, wherein the upper end of the fixed rod 7 is fixedly connected to the side of the waist binding plate 21, and the lower end is rotatably connected to the upper end of the adjustment rod 8, so that the adjustment rod 8 and the fixed rod 7 can rotate back and forth. The fixed clip 12 is provided on the side of the lower end of the adjustment rod 8, and the lower end of the adjustment rod 8 passes through the fixed slot 34 and the movable slot 35.

[0046] In some embodiments, the waist binding member has a binding hole 11 at its end to allow the strap to pass through and be tightened around the patient's waist. The binding plates 21 are curved plates, each rotatably connected to the thigh rod 19 or the calf rod 20 at one end via a hinge 27, and also having a binding hole at the other end. Two binding plates 21 are arranged front and back to form a set, and each set of binding plates 21 securely binds the front and back sides of the patient's legs at a certain height.

[0047] In order to make the waist binding better fit the waists of patients with different waist circumferences, the adjusting rod 8 can be set to multiple sections, and the adjacent sections can be rotatably connected by hinges, so that the sections of the adjusting rod 8 can be rotated left and right to fit the waists of patients with different waist circumferences.

[0048] The shapes of the fixed slot 34 and the movable slot 35 are adapted to the cross-sectional shape of the adjusting rod 8. The fixed rod 7 and the adjusting rod 8 are generally configured as plates, so the shapes of the fixed slot 34 and the movable slot 35 are generally configured as rectangles.

[0049] The knee locking assembly is used to fit around the patient's knee, as well as to lock and release the patient's knee. The knee locking assembly primarily comprises an actuator wheel 47, a drive gear 24, a drive rack 23, and a knee locking plate 26. The actuator wheel 47 is rotatably disposed at the junction of the thigh rod 19 and the calf rod 20. The drive gear 24 is mounted on the outside of the actuator wheel 47. The drive rack 23 is slidable forward and backward and meshes with the drive gear 24. The knee locking plate 26 is mounted on the drive rack 23 and is located in front of the leg binding 4.

[0050] Specifically, the upper end of the calf rod 20 is disposed outside the lower end of the thigh rod 19, and the upper end of the calf rod 20 is embedded in the lower end of the thigh rod 19. The two bearings are connected by a rotating shaft, and a fixed wheel is mounted on the outer end of the rotating shaft. The execution wheel 47 is mounted on the fixed wheel, and the driving gear 24 is mounted on the rotating shaft. The rotation of the execution wheel 47 drives the rotation shaft to rotate, thereby driving the rotation of the driving gear 24.

[0051] In order to make the knee locking plate 26 fit more accurately with the patient's knee, a moving block 25 is provided at the front end of the driving rack 23. A fastener is provided on the moving block 25. The knee locking plate 26 can be slidably connected to the moving block 25, and the fastener can lock the knee locking plate 26. Here, an insertion rod 29 is provided at the end of the knee locking plate 26. The moving block 25 has a through slot 28. The insertion rod 29 is inserted into the through slot 28 and can slide left and right. The fastener is a bolt, which is provided on one side of the through slot 28. The insertion rod 29 is inserted into the through slot 28 to adjust the knee locking plate 26 to the desired position, and the insertion rod 29 is locked by the fastener.

[0052] The knee locking assembly also includes a movable guide rail 22, through which the drive rack 23 is slidably connected to the thigh rod 19. Specifically, the movable guide rail 22 is fixed to the thigh rod 19 and arranged in the front-to-back direction. The drive rack 23 is slidably mounted on the movable guide rail 22. The knee locking plate 26 is arranged perpendicular to the drive rack 23. The rear side of the knee locking plate 26 is provided with an arcuate contact groove 30, which is curved to facilitate contact with the patient's knee.

[0053] In some embodiments, the calf link 20 includes an upper link and a lower link, wherein the upper end of the upper link is rotatably connected to the lower end of the thigh link 19, and the lower end is rotatably connected to the upper end of the lower link. Here, the lower end of the upper link is rotatably connected to the upper end of the lower link via a hinge, allowing the upper and lower links to rotate left and right.

[0054] Please refer to Figure 8 The support drive mechanism 3 includes a movable frame and a motor 43 arranged on the movable frame. The motor 43 is connected to the execution wheels 47 of the two knee locking assemblies through a Bowden rope 45 to drive the driving gear 24 and the driving rack 23 to transmit, so that the knee locking plate 26 moves back and forth, thereby locking and releasing the knee locking plate 26.

[0055] The movable frame is a mobile frame 38 with rollers 39 at its bottom. A support frame 40 is provided on top of the mobile frame 38. The support frame 40 is U-shaped and includes two armrests 41. A standing space for the patient is provided between the armrests 41. A main control panel 42 is provided on the front side of the support frame 40, and the motor 43 is mounted on the front side of the main control panel 42.

[0056] The movable frame is equipped with two drive wire pulleys 44. The motors 43 and Bowden ropes 45 are each provided in two numbers. Each motor 43 is connected to a drive wire pulley 44, and each Bowden rope 45 is connected to a drive wire pulley 44 and an actuator wheel 47. Each motor 43 is also provided with a control handle 46. The sidewalls of the actuator wheel 47 are provided with rope grooves, through which the Bowden ropes 45 pass. The edges of the rope grooves are provided with baffles. The baffles limit the position of the Bowden ropes 45, ensuring that they are stably mounted in the rope grooves, thereby stably driving the actuator wheel 47 to rotate.

[0057] When a patient uses the knee-locking exoskeleton robot for leg rehabilitation training, they first move their wheelchair to the rear of the mobile frame, then fit the two waist bindings around the patient's waist and tighten them with straps, and fit the two leg bindings 4 around the patient's legs and tighten them with straps. While wearing the leg bindings 4, the knee-locking plates 26 of the knee-locking assemblies of the two leg bindings 4 fit the front of the patient's knees by adjusting the telescopic locking members.

[0058] To assist the patient to stand up, the patient holds the two armrests 41 on the support frame 40 with both hands and approaches the two control handles 46. At this time, the distance between the left waist binding 5 and the right waist binding 6 can be adjusted by adjusting the gear rack mechanism to make the tightness appropriate.

[0059] Afterwards, the two control handles 46 are controlled to control the locking and releasing of the knees of the left and right legs by the knee locking assembly. When it is time to take a step, one control handle 46 is controlled to activate the motor 43, driving the Bowden cable 45 to pull the actuator wheel 47 of the left knee locking assembly to rotate, driving the drive gear 24 to rotate, thereby driving the knee locking plate 26 to fit and lock against the patient's left knee, allowing the left leg to stand. The knee locking plate 26 of the right knee locking assembly is then released from the right knee, releasing the knee, allowing the patient to control the right leg to take a step using their waist and abdominal strength. Then, when the left leg needs to be moved, the other control handle 46 is controlled to start the other motor 43, driving the knee locking plate 26 of the right knee locking assembly to fit and lock the knee of the patient's right leg, so that the right leg can stand, and the previous control handle 46 is controlled to turn off the previous motor 43, so that the knee locking plate 26 of the left knee locking assembly is separated from the left knee, so that the left knee is in a loose knee state, and the patient can control the left leg to take a step by using his or her waist and abdominal strength.

[0060] Every step taken pushes the support mechanism forward, and this reciprocating process can achieve active walking rehabilitation training, which improves the initiative of spinal cord patients in self-rehabilitation and maximizes the patients' rehabilitation training effects. It also effectively solves the problem of doctors' fatigue caused by the need for rehabilitation doctors to assist patients in manual rehabilitation training during locked knee rehabilitation training.

[0061] In this document, directional terms such as front, back, top, and bottom are defined based on the positions of components in the accompanying drawings and relative to each other, and are intended for clarity and convenience in describing the technical solution. It should be understood that these terms are relative and may vary depending on usage and placement. The use of these directional terms should not limit the scope of protection claimed in this application.

[0062] The above embodiments and features of the embodiments may be combined with each other unless they conflict. The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A knee-locking exoskeleton robot, characterized in that: include: A waist binding mechanism comprising two waist binding members and an adjustable connecting member connecting the two waist binding members; A knee-locking actuator, comprising two symmetrically arranged leg bindings, each of the leg bindings comprising a thigh rod, a knee-locking assembly and a calf rod, wherein the upper end of the thigh rod is connected to the waist binding and the lower end is rotatably connected to the calf rod, and the front and rear sides of the thigh rod and the calf rod are each provided with a rotatably connected binding plate, and the knee-locking assembly comprises an actuator wheel, a driving gear, a driving rack and a knee-locking plate, wherein the actuator wheel is rotatably arranged at the connection between the thigh rod and the calf rod, the driving gear is mounted on the outer side of the actuator wheel, the driving rack is slidable forward and backward and meshes with the driving gear, and the knee-locking plate is mounted on the driving rack and is located on the front side of the leg binding; And a supporting drive mechanism, which includes a movable frame and a motor arranged on the movable frame. The motor is connected to the execution wheels of the two knee locking assemblies through Bowden ropes to drive the driving gear and the driving rack to move the knee locking plate back and forth, thereby locking and releasing the knee locking plate.

2. The knee-locking exoskeleton robot according to claim 1, characterized in that: A moving block is provided at the front end of the driving rack, and a fastener is provided on the moving block. The knee locking plate can be connected to the moving block by sliding left and right, and the fastener can lock the knee locking plate.

3. The knee-locking exoskeleton robot according to claim 1, characterized in that: The knee locking assembly also includes a movable guide rail, which is fixed on the thigh rod. The driving rack can be slidably installed on the movable guide rail. The knee locking plate is arranged perpendicular to the driving rack, and the rear side of the knee locking plate is provided with an arc-shaped contact groove.

4. The knee-locking exoskeleton robot according to claim 1, wherein: A rope groove is provided on the side wall of the execution wheel, the Bowden rope passes around the rope groove, and a baffle is provided on the edge of the rope groove.

5. The knee-locking exoskeleton robot according to claim 1, characterized in that: The upper end of the thigh rod is connected to the waist binding piece through a telescopic locking piece, and the telescopic locking piece includes an outer shell, an extrusion block and an elastic piece. The extrusion block can be slidably inserted into one side of the outer shell and connected to the other side of the outer shell through the elastic piece. The outer shell is provided with a fixed groove arranged vertically through, and the extrusion block is provided with a movable groove arranged vertically through. One side of the movable groove is provided with a plurality of movable clips arranged at intervals along the vertical direction, and the waist binding piece is provided with a plurality of fixed clips arranged at intervals along the vertical direction. The outer shell is fixed to the side of the thigh rod, and the lower end of the waist binding piece is inserted into the fixed groove and the movable groove, and the elastic piece squeezes the extrusion block so that the movable clip is clamped with the fixed clip.

6. The knee-locking exoskeleton robot according to claim 5, characterized in that: The waist binding device includes an L-shaped waist binding plate, a fixing rod and an adjusting rod, wherein the upper end of the fixing rod is fixedly connected to the side of the waist binding plate, and the lower end is rotatably connected to the upper end of the adjusting rod, the fixing clip is arranged on the side of the lower end of the adjusting rod, and the lower end of the adjusting rod passes through the fixing slot and the movable slot.

7. The knee-locking exoskeleton robot according to claim 1, characterized in that: The two waist binding parts are respectively a left waist binding part and a right waist binding part, and the adjustable connecting part includes a gear rack mechanism. One end of the right waist binding part is inserted into one end of the left waist binding part, and is connected to the left waist binding part through the gear rack mechanism.

8. The knee-locking exoskeleton robot according to claim 7, characterized in that: The gear rack mechanism includes a driving gear, a driven gear, an upper rack and a lower rack. A slot is provided at one end of the left waist binding piece. The driving gear and the driven gear are rotatably installed in the slot. The driving gear and the driven gear are engaged with each other. One end of the right waist binding piece is inserted into the slot. The upper rack and the lower rack are installed on the right waist binding piece, and the driving gear and the driven gear are engaged with the upper rack and the lower rack respectively.

9. The knee-locking exoskeleton robot according to claim 1, characterized in that: The calf rod comprises an upper connecting rod and a lower connecting rod. The upper end of the upper connecting rod is rotatably connected to the lower end of the thigh rod, and the lower end is rotatably connected to the upper end of the lower connecting rod.

10. The knee-locking exoskeleton robot according to claim 1, characterized in that: Two driving wire wheels are provided on the movable frame, and the number of the motors and the Bowden ropes is set to two. Each motor is connected to a driving wire wheel, and each Bowden rope is connected to a driving wire wheel and an execution wheel. Each motor is also provided with a control handle.

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