Unpowered lightweight knee joint auxiliary rehabilitation training exoskeleton

Abstract

The invention discloses an unpowered lightweight knee joint auxiliary rehabilitation training exoskeleton. The exoskeleton comprises a thigh side interaction structure, a knee joint rotating shaft structure and a shank supporting structure which are connected from top to bottom; the thigh side interaction structure is used for achieving interaction with the thigh side of the human body so as to be adaptively worn on the thigh muscle side of the human body, a steel wire is arranged on the thigh side interaction structure, the opening degree of the thigh side structure is adjusted by adjusting the tightness degree of the steel wire rope, and the requirement for being worn by people with the legs different in thickness is met; the knee joint rotating shaft structure is used for simulating the flexion and extension degree of freedom of a knee joint, rotates through two pairs of meshing gears, and realizes the adjustment of passive auxiliary force through a pair of force transmission cams; the shank supporting structure is used for supporting the shank when the knee joint rotating shaft structure bends and stretches the knee joint. The auxiliary device can be worn by people with legs of different thicknesses, the magnitude of generated auxiliary force can be adjusted, and the auxiliary device requirements of patients in all rehabilitation stages are met.

Description

Technical Field

[0001] The present invention relates to the technical field of knee joint auxiliary training exoskeleton, and in particular to a non-powered and lightweight knee joint auxiliary rehabilitation training exoskeleton. Background Art

[0002] Traditional knee rehabilitation training methods require guidance from professional therapists in specific locations, which are limited by time and number of people, are inefficient, and patients may not be able to train correctly after leaving the guidance. The equipment is bulky and complex in structure, making it inconvenient to carry and move, limiting patients' training at home and other places.

[0003] Electric or pneumatic equipment requires an external power source, which is costly, energy-consuming and noisy. It cannot be used without the corresponding energy source, and maintenance is cumbersome. In addition, the unified specifications of traditional equipment are difficult to meet the personalized needs of different patients, which may affect the training effect or cause secondary injuries.

[0004] Exoskeletons have certain advantages in using for knee joint rehabilitation, but there are also problems: existing exoskeletons are mostly made of metal materials and have complex structures, which are heavy, increase the burden on patients, affect the naturalness and comfort of movement, and are not conducive to rehabilitation.

[0005] Existing exoskeletons have fixed structural specifications and are difficult to meet the needs of patients with diverse body shapes. An exoskeleton robot with strong wearability and adaptability is needed.

[0006] In addition, the power system is complex, has many components, is costly, heavy, has a high probability of failure, is difficult to maintain and repair, and limits its usage time and flexibility.

[0007] The market lacks exoskeleton devices that are both lightweight and unpowered. Lightweight can reduce burden, improve comfort and effectiveness, and unpowered solutions can avoid power system problems, reduce costs and maintenance difficulties, and make the equipment simpler and more reliable.

[0008] Some existing passive exoskeleton structures directly use rigid springs or spring plus connecting rod structures to assist the knee joint, and cannot achieve adaptive adjustment of the knee joint torque. Some passive exoskeleton structures, such as the passive knee exoskeletons of patents CN202110210958.3 and CN202121419223.3, can only make the joint auxiliary torque change linearly with the angle during knee flexion. In fact, the torque borne by the human knee joint does not change linearly with the angle during knee flexion, and a specific structure is required to adjust the size of the auxiliary torque. Summary of the invention

[0009] In order to overcome the defects of the above-mentioned prior art, the present invention provides a non-powered and lightweight knee joint assisted rehabilitation training exoskeleton. The adjustable passive force transmission structure of the cam connected by a gas spring can meet the wearing needs of people with different leg thicknesses, and the size of the auxiliary force can be adjusted to meet the assistive device needs of patients in various rehabilitation stages. The overall weight is light, the structure is simple, the movement is flexible, the comfort is high, and it is easy to wear, which speeds up the rehabilitation process of knee joint patients and relieves the pain of patients.

[0010] In order to achieve the above object, the technical solution adopted by the present invention is:

[0011] A non-powered lightweight knee joint assisted rehabilitation training exoskeleton, comprising a thigh side interaction structure 1, a knee joint rotation structure 2, and a calf support structure 3 connected from top to bottom;

[0012] The thigh side interaction structure 1, the knee joint rotation structure 2, and the calf support structure 3 are symmetrically installed on both sides of the human body, corresponding to the left leg and the right leg of the human body respectively;

[0013] The thigh-side interaction structure 1 is used to achieve interaction with the thigh side of the human body, so that it can be adaptively worn on the thigh muscle side of the human body. A steel wire is provided on the thigh-side interaction structure 1. By adjusting the tightness of the steel wire rope, the opening degree of the thigh-side interaction structure 1 can be adjusted to meet the needs of people with different leg thicknesses.

[0014] The knee joint shaft structure 2 is used to simulate the flexion and extension freedom of the knee joint, and is rotated by two pairs of meshing gears, and the passive auxiliary force is adjusted by a pair of force transmission cams;

[0015] The calf supporting structure 3 is used for supporting the calf by the knee joint pivot structure 2 when the knee joint is flexed and extended.

[0016] Further, the thigh-side interaction structure 1 includes a separate U-shaped leggings shell 4, a thigh-side elastic outer cover 5, a thigh support shell 6, and a gas spring buffer structure;

[0017] The inner side of the separated U-shaped leggings shell is close to the outer sides of the left and right thighs, and a convex structure is arranged on the outer side of the separated U-shaped leggings shell 4, and the convex structure is inserted into the thigh support shell 6, and the thigh support shell 6 is a hollow structure of a rectangular parallelepiped structure;

[0018] The lower end of the separated thigh leggings shell 4 is also connected to the gas spring device through a threaded nut.

[0019] A wiring hole is provided on the separate U-shaped leggings shell 4, and a wire rope is passed through the elastic outer cover 5 on the thigh side for connection. The elastic outer cover 5 on the thigh and the two separate U-shaped leggings shells 4 are connected by the wire rope, and a wire rope tension adjustment knob is provided on the U-shaped leggings shell.

[0020] The protruding structure of the separated U-shaped legging shell 4 is provided with two holes 42, which are matched and connected with the two pairs of holes 48 of the left and right thigh support shells 6 through threaded nuts.

[0021] The outer surface of the arc-shaped plate of the separated U-shaped leggings shell 4 is provided with four circular holes arranged in a square at symmetrical positions on both sides thereof, for fixing the nylon straps and the flexible pad;

[0022] The U-shaped shell surface of the separated U-shaped legging shell 4 near the front side of the thigh includes four transverse inner holes, namely transverse inner hole 1 44, U-shaped inner hole 1 45, U-shaped inner hole 2 46 and transverse inner hole 2 47;

[0023] The two upper and lower transverse inner holes 1 44 and the transverse inner hole 2 47 are transversely penetrating, and the two middle U-shaped inner holes 1 45 and the U-shaped inner hole 2 46 are U-shaped, both of which are used for winding wire ropes; the elastic outer cover 5 is connected with the upper and lower two holes by using wire ropes; a circular groove is provided on the outer side of the detachable U-shaped legging shell 4 for placing the wire rope tension adjustment knob.

[0024] The thigh side elastic outer cover 5 is a symmetrical structure as a whole, with four holes arranged on the left and right sides respectively in a direction parallel to the structure surface, and U-shaped protrusions are arranged outside the four holes, and the openings of the U-shaped protrusions are arranged outwards, and the two are arranged in a U-shape, which is used for the routing of the wire rope;

[0025] The thigh elastic outer cover 5 is connected to the separate U-shaped legging shell 4 by means of a steel wire rope through four symmetrical hole structures on both sides. When worn, it is located between the left and right separate U-shaped legging shells 4 and covers the upper side of the thigh.

[0026] Furthermore, the specific routing method of the wire rope is that the wire rope starts from the middle adjusting knob installed at the position of the circular groove 43 on the separate U-shaped leggings shell 4, the starting point of the wire rope is fixed on the purchased middle adjusting knob, and then the wire rope is wrapped around the outside of the middle adjusting knob, and then wound out from the circular groove 43, through the small horizontal inner hole 1 44 at the upper end of the separate U-shaped leggings shell 4, and reaches one end of the U-shaped hole on the upper side of the elastic outer cover 5 on the thigh side, and after passing through the U-shaped hole, returns to the middle U-shaped U-shaped inner hole 1 45 of the separate U-shaped leggings shell 4 and passes into and out of the U-shaped inner hole 2 46, and then returns to another U-shaped hole of the elastic outer cover 5 on the thigh side and passes through, and finally returns to the small horizontal inner hole 2 47 at the lower end of the separate U-shaped leggings shell 4 and passes through, and returns to the elastic adjustment knob in the middle of the separate U-shaped leggings shell 4 to complete the routing of the wire rope on one side of the thigh.

[0027] The thigh support shell 6 is provided with two holes 48 on the upper and lower inner sides respectively. The two holes 48 on the upper side are used to correspond to the holes 42 on the raised structure of the inserted separate U-shaped leggings shell 4, and are used to fix the separate U-shaped leggings shell 4. The two holes 49 at the lower end are matched with gear 16 and gear 2 17 respectively, and are used to connect gear 16 and gear 2 17. Gear 1 16 and gear 2 17 are respectively arranged on both sides of the lower end of the separate U-shaped leggings shell 4.

[0028] The inner side of the thigh support shell 6 is fixedly connected to the thigh side fitting arc plate 7, and the thigh side fitting arc plate 7 fits the thigh. The left and right sides of the thigh side fitting arc plate 7 are respectively provided with 3 small holes for fixing nylon straps, and the flexible pads are pasted on the nylon straps. The shell is made of carbon fiber material as a whole, which ensures the lightweight structure;

[0029] The gas spring buffer structure includes a hydraulic head 8, and the two sides of the lower end of the hydraulic head 8 are respectively fixed with a hydraulic push rod 1 9 and a hydraulic push rod 2 10; the hydraulic push rod 1 9 is connected to a hydraulic terminal 1 13 through a hydraulic cylinder 1 11; the hydraulic push rod 2 10 is connected to a hydraulic terminal 2 14 through a hydraulic cylinder 2 12;

[0030] A threaded hole is opened on the top of the hydraulic head 8, and the threaded hole is connected to the threaded hole below the separate U-shaped legging shell 4 by stretching the threaded support. At the same time, the force supply winding is tied to the middle hole of the hydraulic head 8 as the force supply end. The winding bypasses the force transmission circular cam 20 and the curved cam 34 to reach the tension adjustment knob 37 on the calf side, transmitting the buffering resistance of the gas spring.

[0031] The gas spring buffer structure is installed inside the thigh support shell 6, through the hydraulic terminal 13 with holes and the hydraulic terminal 2 14, the outer side clamps the gear 16 and the gear 2 17 and corresponds to the two small holes on the upper side of the two gears, and then connects with the two holes 49 on the lower side of the thigh support shell 6;

[0032] Furthermore, the hydraulic push rod 9 and the hydraulic cylinder 11 are stuck at both ends, and the hydraulic cylinder 11 is sealed as a whole. When the hydraulic push rod 9 slides in the middle slide groove, the air is compressed, thereby generating buffer resistance. The lower end of the hydraulic cylinder 11 is connected to the hydraulic terminal 13 through an internal thread. The hydraulic terminal 13 is provided with a hole connected to a hole 49 at the lower end of the thigh support shell 6;

[0033] The hydraulic push rod 2 10 and the hydraulic cylinder 2 12 are stuck at both ends, and the hydraulic cylinder 2 12 is completely sealed. When the hydraulic push rod 2 10 slides in the middle slide groove, the air will be compressed, thereby generating buffer resistance. The lower end of the hydraulic cylinder 2 12 is connected to the hydraulic terminal 2 14 through an internal thread. The hydraulic terminal 2 14 is provided with a hole connected to another hole 49 at the lower end of the thigh support shell 6;

[0034] Furthermore, the knee joint shaft structure 2 includes two pairs of incompletely meshed gears, namely gear 1 16, gear 3 32 and gear 2 17, gear 4 33.

[0035] Gear 1 16 and gear 3 32 are meshed, and gear 2 17 and gear 4 33 are meshed;

[0036] Gear 1 16 and gear 2 17 are attached to one side of the circular cam 20 through flat washer 1 21 and attached to the other side through flat washer 2 22;

[0037] Gear three 32 and gear four 33 are attached to one side of the curved cam 34 through flat washer four 31, and attached to the other side through flat washer three 30;

[0038] Cover plate 1 25 and cover plate 2 26 are respectively arranged on both sides of the two pairs of meshing incomplete gears, and the outer sides of cover plate 1 25 and cover plate 2 26 are covered with packaging shell 15;

[0039] The gear 16, the gear 2 17, the flat washer 1 21, the circular cam 20, the flat washer 22, the cover plate 1 25, the cover plate 26 and the packaging shell 15 are provided with through holes at the same corresponding positions, and the hexagonal bolt 1 23 passes through the through holes and is fixed by the hexagonal nut 1 24 to connect the above components together;

[0040] Gear three 32, gear four 33, flat gasket four 31, curved cam 34, flat gasket three 30, cover plate one 25, cover plate two 26 and packaging shell 15 are provided with through holes at the same corresponding positions, and hexagonal bolt two 29 passes through the above-mentioned through holes and is fixed by hexagonal nut two 28 to connect the above-mentioned components together.

[0041] The gear 1 16 and the gear 2 17 are arranged side by side, the gear 3 32 and the gear 4 33 are arranged side by side, and the other end of the gear that is not engaged is a square plate-like structure, and a through hole is opened on the square plate-like structure; the through holes on the gear 1 16 and the gear 2 17 match the through holes on the lower side of the thigh support shell 6 for connection;

[0042] The through holes on the gear three 32 and the gear four 33 match the through holes on the calf support structure 3 for connection;

[0043] The modules and pitch circle radius of the gear 1 16 and the gear 2 17 are the same, which ensures the smoothness of transmission, and the number of teeth is designed to be 6 respectively;

[0044] The gear three 32 and the gear four 33 have the same module and pitch circle radius, which ensures the smoothness of transmission, and the number of teeth is designed to be 5 respectively;

[0045] A rotation range of about 120° is provided within the range of smooth gear meshing, and the remaining rotation gradually turns to the meshing limit position, and the resistance gradually increases, thereby achieving control of the rotation angle range and angle limitation.

[0046] The circular cam 20 and the curved cam 34 constitute a cam force transmission structure. The circular cam 20 is a circle with a fixed radius, and the calf side cam 34 is designed according to the needs to adapt to the force transmission needs in different scenarios. Since the calf side cam 34 is fixed in the calf support structure 3, during the movement of the mechanism, it will generate an angle with the circular cam 20, and this angle is linearly related to the wearing knee joint angle. By designing the tangent circle radius of the cam 34 and the cam 20 at different angles, the size of the auxiliary torque output at the end is controlled.

[0047] Four flat washers are used to support the middle of two pairs of meshing gears. A groove is designed in the middle of the cam for wire rope winding. One end of the wire rope is connected to the hydraulic head 8, bypassing the force transmission cam, and the other end is connected to the calf tension adjustment knob. When working, the torque can be effectively transmitted through the cam.

[0048] Further, the calf support structure 3 includes a calf support plate 35, a winding rope tension adjustment wheel 37 and a spring pin 38, and a calf adaptability adjustment plate;

[0049] The calf support plate 35 is used to provide support for the calf side during power assistance;

[0050] The winding rope tension adjustment wheel 37 and the spring pin 38 are used to adjust the tightness of the winding, and then adjust the size of the preload force of the power assist device. The winding rope tension adjustment wheel 37 winds the winding and adjusts the winding length by rotation. The spring pin 38 is used to clamp the winding rope tension adjustment wheel 37 to keep it in a winding state of a certain length.

[0051] The calf adaptability adjustment plate 40 is used to adjust the opening degree of the lower side of the calf, and is connected to the lower side of the calf support plate 35 through a hinge 39. The opening degree can be adjusted through a degree of freedom provided by the hinge, so as to adapt to the characteristic of the calf becoming thinner downwards;

[0052] The uppermost end of the calf support plate 35 is provided with two small holes, which are used to connect the through holes on the square plate structure of the gear three 32 and the gear four 33, and the parallel gears are connected by threaded nuts. The gear three 32 and the gear four 33 have an inward fold when transitioning downward to adapt to the characteristic that the thigh becomes thinner toward the calf, and a higher strength aluminum alloy material is used to ensure strength;

[0053] A calf side fitting arc plate 36 is installed on the inner side of the calf support plate 35, and the calf side fitting arc plate 36 fits with the calf, and the calf side fitting arc plate 36 is installed and fixed through the small hole on the calf support plate 35;

[0054] The calf support plate 35 is provided with an elongated rectangular groove transitioning to a circular groove, and the circular groove portion is used to install the preload adjustment wheel 37. The adjustment wheel 37 has a hole in the center. After being installed on the outer side of the calf support plate 35 through the circular groove, the inner calf side fitting arc plate 36 is also provided with a hole at a position opposite to the center hole of the preload adjustment wheel 37, so that the calf side fitting arc plate 36 and the preload adjustment wheel 37 are connected to both sides of the calf support plate 35 through threaded nuts;

[0055] A small boss is provided below the circular groove, and an internal threaded hole is provided at the center of the boss for placing a spring pin 38, and a hinge 39 is installed on the calf support plate 35 below the spring pin 38;

[0056] The winding rope tension adjustment device includes a preload adjustment wheel 37 and a spring pin 38. The preload adjustment wheel 37 is installed by arranging a thread on the outer side of the calf support plate 35. The preload adjustment wheel 37 is used to adjust the tightness of the winding rope. The preload adjustment wheel 37 is designed as a toothed structure, and a groove is designed at the lower end for installing the spring pin 38. In the working state, the spring pin 38 clamps the preload adjustment wheel 37. When the tension is required, just pull out the spring pin 38 and rotate the preload adjustment wheel 37. When the adjustment is completed, release the spring pin. Under the action of the spring, the pin pops out and clamps the toothed preload adjustment wheel 37. The radius of the spring pin 38 is the same as the width of the tooth groove, thereby ensuring the accuracy of the tension adjustment.

[0057] The calf adaptive adjustment plate includes a rotating hinge 39, a calf lower plate 40 and a calf interactive shell 41. The upper end of the rotating hinge 39 is connected to the calf support plate 35, and the lower end is connected to the calf lower plate 40 to achieve inward and outward rotation adjustment to adapt to people with different calf thicknesses. A calf interactive shell 41 is installed outside the calf lower plate 40. A knob mounting groove is designed on the calf interactive shell 41 for fixing the tightness adjustment knob. Small holes are opened on both sides for connecting nylon straps and flexible pads. The calf interactive shell 41 is designed with a protrusion to place four horizontal inner holes for wire rope routing. The other end is connected to an elastic outer cover for adjusting the tightness of the calf side.

[0058] Beneficial effects of the present invention:

[0059] 1. The present invention realizes force unloading and buffering protection for the patient's knee joint through the combination of a gas spring buffer structure, a winding rope, a cam force transmission structure, a gear transmission structure and a leg support structure.

[0060] 2. The interactive structure on the thigh and calf sides is designed with a wire rope routing structure and an elastic outer cover to adjust the degree of opening of the exoskeleton on the thigh and calf sides, so that the exoskeleton can meet the wearing requirements of users with different leg shapes.

[0061] 3. Compared with similar exoskeletons, this exoskeleton achieves force relief and buffering of knee flexion in a non-powered manner. At the same time, the relevant structures are made of carbon fiber materials, which are very light and have little burden. The use of this exoskeleton for rehabilitation training is safe and reliable, and the rehabilitation effect is obvious.

[0062] 4. Compared with similar exoskeletons, this exoskeleton uses a winding rope tension adjustment device to adjust the size of the rehabilitation auxiliary force, and can apply different amounts of buffering auxiliary force to patients at different rehabilitation stages, with strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is an axonometric view of the overall structure of the present invention.

[0064] Figure 2 It is a structural diagram of the separated thigh leggings shell of the present invention.

[0065] Figure 3 It is a structural diagram of the tightness-adjustable outer cover of the present invention.

[0066] Figure 4 It is a structural diagram of the thigh support structure of the present invention.

[0067] Figure 5 It is a structural diagram of the buffer gas spring of the present invention.

[0068] Figure 6 It is an exploded view of the joint shaft structure of the present invention.

[0069] Figure 7 It is a structural diagram of the incomplete meshing transmission gear of the present invention.

[0070] Figure 8 It is a structural diagram of the force transmission cam of the present invention.

[0071] Fig. 9 It is the knee joint torque curve on which the force transmission cam of the present invention is designed.

[0072] Fig.10 It is a force transmission principle diagram of the force transmission cam structure of the present invention.

[0073] Fig.11 It is an appearance diagram of the rotating shaft structure and the calf supporting structure of the present invention.

[0074] In the figure:

[0075] 1. Thigh-side interactive structure 4. Separate U-shaped leggings shell 5. Thigh-side elastic outer cover 6. Thigh support shell 7. Leg fitting U-shaped plate 1 8. Hydraulic head 9. Hydraulic push rod 1 10. Hydraulic push rod 2 11. Hydraulic cylinder 1 12. Hydraulic cylinder 2 13. Hydraulic terminal 1 14. Hydraulic terminal 2 42. Separate U-shaped leggings shell lower end connection hole 43. Adjustment knob installation slot 44. Horizontal inner hole 1 45. U-shaped inner hole 1 46. U-shaped inner hole 2 47. Horizontal inner hole 2;

[0076] 2. Knee joint shaft structure 15. Packing shell 16. Gear 1 17. Gear 2 18. Plug bolt 19. Bearing 20. Circular cam 21. Flat washer 1 22. Flat washer 2 23. Hexagonal bolt 1 24. Hexagonal nut 1 25. Cover plate 1 26. Cover plate 2 27. Stud 28. Hexagonal nut 2 29. Hexagonal bolt 2 30. Flat washer 3 31. Flat washer 4 32. Gear 3 33. Gear 4 34. Curved cam;

[0077] 3. Calf support structure 35. Calf support plate 36. Leg fitting U-shaped plate 2 37. Preload adjustment wheel 38. Spring pin 39. Hinge 40. Calf lower plate 41. Calf interactive shell. DETAILED DESCRIPTION

[0078] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0079] The overall axonometric view of the present invention is as follows Figure 1 As shown, this embodiment provides a non-powered knee joint passive rehabilitation training exoskeleton, which as a whole includes three main parts, a thigh interaction structure 1, a knee joint rotation structure 2, and a calf support structure 3.

[0080] The thigh interaction structure 1, the knee joint pivot structure 2 and the calf support structure 3 are connected in sequence from top to bottom;

[0081] The thigh interaction structure 1 is used to be adaptively worn on the thigh muscle side of the human body, and the U-shaped structure at the top is used to fit the thigh muscle to ensure the comfort of wearing; the thigh side interaction structure 1 includes a separate thigh leggings shell 4 and an elastic adjustment outer cover 5;

[0082] like Figure 2 , 3, the outer shells of both are provided with some inner holes perpendicular to the cross-sectional direction, and the steel wire rope passes through the inner holes to connect them. A groove is provided on the separate thigh leggings outer shell 4 to prevent the steel wire rope from loosening and adjusting the knob, and the steel wire rope can be freely adjusted to loosen and tighten, thereby controlling the degree of opening of the exoskeleton on the thigh side to adapt to people with different leg shapes;

[0083] The lower end of the separated thigh legging shell 4 is connected to the thigh support shell 6 through a threaded nut, and the thigh support shell 6 serves as a support shell on the thigh side. Figure 4As shown, a leg fitting U-shaped plate 7 is installed on the inner side thereof for fitting with the leg skin, and the material is made of carbon fiber lightweight material to reduce the weight of the overall structure, thereby reducing the burden on the lower limbs during use;

[0084] The outer surface of the arc-shaped plate of the separated U-shaped leggings shell 4 is provided with four circular holes arranged in a square at symmetrical positions on both sides thereof, for fixing the nylon straps and the flexible pad;

[0085] The U-shaped design and the use of soft nylon straps and flexible pads ensure comfort when worn; when worn normally, the U-shaped shell surface of the detachable U-shaped leggings shell 4 close to the front of the thigh includes four transverse inner holes, of which the upper and lower transverse inner holes 1 44 and the transverse inner hole 2 47 are transversely penetrating, and the middle two U-shaped inner holes 1 45 and the U-shaped inner hole 2 46 are U-shaped, both of which are used for winding wire ropes; the elastic outer cover 5 is connected with the upper and lower two holes by means of wire ropes, and the elastic outer cover 5 is provided with two U-shaped protrusions for routing the wire ropes; a circular groove is provided on the outer side of the detachable U-shaped leggings shell 4 for placing the wire rope tension adjustment knob.

[0086] The thigh side elastic outer cover 5 is a symmetrical structure as a whole, with four holes arranged on the left and right sides respectively in a direction parallel to the structure surface, and U-shaped protrusions are arranged outside the four holes, and the openings of the U-shaped protrusions are arranged outwards, and the two are arranged in a U-shape, which is used for the routing of the wire rope;

[0087] The thigh elastic outer cover 5 is connected to the separate U-shaped legging shell 4 by means of a steel wire rope through four symmetrical hole structures on both sides. When worn, it is located between the left and right separate U-shaped legging shells 4 and covers the upper side of the thigh.

[0088] The U-shaped inner hole 45 of the separate U-shaped leggings shell 4 is passed through and comes out from the U-shaped inner hole 46 of the upper side of the elastic outer cover 5 on the thigh side, and then returns to the other U-shaped hole of the elastic outer cover 5 on the thigh side and passes through it, and finally returns to the small horizontal inner hole 47 at the lower end of the separate U-shaped leggings shell 4 and passes through it, and returns to the elastic adjustment knob in the middle of the separate U-shaped leggings shell 4 to complete the routing of the wire rope on one side of the thigh;

[0089] When the opening degree of the thigh side exoskeleton needs to be adjusted, the steel wire rope can be retracted by turning the knob clockwise, and the length of the steel wire rope becomes shorter, driving the elastic outer cover 5 to tighten the two separate U-shaped legging shells 4 on the left and right, so that the exoskeleton fits the thigh better, thereby realizing the adjustment of the opening degree of the thigh side structure as a whole.

[0090] The thigh support shell 6 is provided with two holes 48 on the upper and lower inner sides respectively. The two holes 48 on the upper side are used to correspond to the holes 42 on the raised structure of the inserted separate U-shaped leggings shell 4, and are used to fix the separate U-shaped leggings shell 4. The two holes 49 at the lower end are matched with gear 16 and gear 2 17 respectively, and are used to connect gear 16 and gear 2 17. Gear 1 16 and gear 2 17 are respectively arranged on both sides of the lower end of the separate U-shaped leggings shell 4.

[0091] At the same time, the lower end of the separated thigh leggings shell 4 is also connected to the gas spring device through a threaded nut. Figure 5 As shown, it is placed inside the thigh support shell 6, including a hydraulic head 8, a hydraulic push rod 1 9, a hydraulic push rod 2 10, a hydraulic cylinder 1 11, a hydraulic cylinder 2 12, a hydraulic terminal 1 13, and a hydraulic terminal 2 14. There is a threaded hole running through the middle of the hydraulic head 8, which is used to install a bolt-connected separated thigh legging shell 4, on which a winding is hung, bypassing the cam below, for transmitting the force of the gas spring. There are two symmetrical threaded holes inside, which are respectively connected to the hydraulic push rod 1 9 and the hydraulic push rod 2 10. The push rods are respectively connected to the hydraulic cylinder 1 11 and the hydraulic cylinder 2 12. The hydraulic cylinder is provided with a slide groove matching the push rod. In the initial state, the push rod is pulled out. When the push rod is compressed inward, the air is compressed and the volume is reduced to produce a buffering effect. The lower end is connected to the hydraulic terminal 1 13 and the hydraulic terminal 2 14. There is a hole on the left and right terminals respectively, which can adapt to threaded nuts of a certain specification, and are used to connect the knee joint shaft structure 2;

[0092] The knee joint pivot structure 2 is established with reference to the size of the human knee joint, such as Figure 6 As shown, for simulating the rotation of the knee joint, gear 1 16 and gear 2 17 and gear 3 32 and gear 4 33 are two pairs of incompletely meshing gears. Figure 7 As shown, it mainly bears the function of shape constraint and transmission. By setting the meshing position and number of teeth of the two pairs of gears, the structure can provide a rotation range of about 120° within the smooth meshing range of the gears, and the remaining rotation gradually turns to the meshing limit position, and the resistance gradually increases;

[0093] Gear 1 16 and gear 2 17 are connected through threaded nuts and thigh support housing 6 as well as hydraulic terminal 1 13 and hydraulic terminal 2 14. The two are of the same shape, and 6 teeth are set within an angle range of about 135°. A smooth curve is set at the meshing position, and a sharper curve is set at the meshing position.

[0094] Gear three 32 and gear four 33 have the same shape and are provided with 5 teeth within an angle range of about 120°. The meshing position and the disengagement position at both ends are relatively sharp. When rotated to the meshing position and the disengagement position, the meshing position and the disengagement position of gear three 32 and gear four 33 are partially inserted into the first tooth and its meshing position and the sixth tooth and its disengagement position of gear one 16 and gear two 17. After reaching the limit position, the difficulty of rotation increases, thereby increasing the rotation resistance and completing the limiting function.

[0095] Carbon fiber is used as the material to ensure the strength of the joint while meeting the lightweight requirements, reducing the burden on the knee joint. At the same time, the tooth thickness is designed to be 3mm, providing a small amount of contact space when the rotation is slightly inside and outside, meeting the transmission requirements. A smooth curve with a large curvature is designed at the meshing point of gear 16 and gear 2 17, such as Figure 7 As shown, when the gear rotates to this point, the force-bearing part is a surface contact, which increases the force-bearing area and makes the structure have higher strength to withstand the resistance caused by the limit. The gear meshing point is designed with a sharper curve with a small curvature. When the gear rotates to this point, the force-bearing part is a line contact, which will cause a large reaction resistance and effectively avoid the gear meshing and causing the mechanism to get stuck. At the same time, when the rotation angle of the human knee joint exceeds the safe range, the joint pressure is transferred to the thigh to avoid secondary injury to the knee joint and remind the patient.

[0096] The two pairs of gears are placed in parallel, with a cam force transmission structure in the middle, including a circular cam 20 and a curved cam 34, such as Figure 8 As shown, the cam is designed based on the knee joint torque curve. Its torque characteristics under different loads are as follows Fig. 9 As shown in the figure, the power assist curve is fitted into the relevant curve of the joint angle. According to the law of human leg lifting when walking, the thigh side cam is designed as a circle with a fixed radius, and the calf side is designed according to the change characteristics of the knee joint torque to adapt to the force transmission requirements in different postures.

[0097] The force transmission mathematical model can be established as follows Fig.10 As shown, the upper side is the thigh side circular cam 20, and the lower side is the calf side curved cam 34. The force supply winding bypasses the force transmission cam. When the knee is bent, part of the winding adheres to the force transmission cam, and the winding length becomes shorter, which drives the gas spring to compress and generate resistance. This force is regarded as the force F transmitted from the thigh side. Under the action of the calf side curved cam 34 with a specific curve, the rate at which the force supply winding changes with the bending angle of the knee joint is changed, thereby adapting to the changing characteristics of the joint torque ( Fig. 9), the auxiliary torque to the knee joint can be expressed as (1), the radius of the thigh circular cam 20 is r1, and remains unchanged. According to the torque variation characteristics of fixed stiffness, the design r2 is linearly related to the sine of the joint angle β. In the figure, α is the angle between the shank axis and the centerline of the gear pair, and satisfies the relationship (2) with the knee joint angle. Then the shank cam radius r2 is linearly related to the sine of 2α. Considering the actual size limitation, the design size is as shown in formula (3);

[0098]

[0099] Flat washers 1 21, 22, 30 and 4 are used to clamp the cam and the gear, and the torque is transmitted by tightening friction, thereby reducing fatigue loss of the meshing gears. The outer side is connected with cover plate 1 25, cover plate 2 26 and packaging shell 15 by two pairs of bolts and nuts, namely hexagonal bolt 1 23, hexagonal bolt 29, hexagonal nut 1 24 and hexagonal nut 2 28 to fix the entire mechanism. In addition, a stud is designed in the middle of the two cover plates, which are connected and fixed with stud bolts to increase structural strength and make the appearance more beautiful.

[0100] The calf support structure 3 is tied to the side of the human calf, and the structure is as follows Figure 7 As shown, it includes a calf support plate 35, the upper end of which is clamped between gear three 32 and gear four 33, and is connected to the rotating shaft structure 2 through a threaded nut. A leg-fitting U-shaped plate 2 36 is fixed on the inner side below, and a preload adjustment wheel 37 is installed on the outer side. The preload adjustment wheel 37 is connected to the winding that starts from the hydraulic head 8 and bypasses the circular cam 20 and the curved cam 34. When the knob is rotated, the winding contracts or relaxes, thereby adjusting the preload brought to the mechanism by the gas spring. A spring pin 38 is installed at the lower end of the structure by setting a protrusion. In the working state, the spring pin pops out the pin under the action of the spring, thereby jamming the preload adjustment wheel 37, so that the gas spring can correctly transmit torque. When the preload needs to be adjusted, the spring pin is pulled out, so that the adjustment wheel 37 can be rotated, thereby adjusting the size of the preload to meet the rehabilitation needs of different patients or patients at different rehabilitation stages.

[0101] The lower end is connected to a calf lower plate 40 through a hinge 39, so that the structure can rotate freely inward and outward to adapt to changes in the thickness of the legs. A calf interactive shell 41 is installed at the lower end of the calf plate 40, which is also provided with a wiring hole for a steel wire rope. The steel wire rope is then connected to a tension adjustment outer cover. A groove is provided on the calf interactive shell 41 for installing a steel wire rope wiring adjustment knob to adjust the length of the steel wire rope, thereby adjusting the tightness when wearing. The overall structure includes a similar structure on the thigh side and the calf side, which improves the adaptability and wearing comfort of the exoskeleton.

[0102] In the above technical solution, the mechanism by which the knee joint assisted rehabilitation training exoskeleton reduces the pressure on the knee joint is as follows:

[0103] (1) In the initial upright state, straps are fixed and flexible pads are attached to the interactive shells on the thigh and calf sides respectively. When wearing the exoskeleton, four straps are used for fastening, two on the thigh and two on the calf, so that the movement of the exoskeleton can be linked to the flexion and extension of the knee joint.

[0104] (2) Adjust the wire rope tension adjustment device on the thigh and calf sides to make the structure fit the leg muscles better and ensure comfortable wearing.

[0105] (3) Bend your knees and feel the cushioning resistance provided by the exoskeleton and the pain in the knee joint. If the resistance feels too great, you can adjust the tension of the calf cord according to your own situation to find a state that suits you.

[0106] Working principle of the present invention:

[0107] (1) In the initial state, first install the straps and flexible pads on the thigh-side fitting arc plate 7 and the calf-side fitting arc plate 36, put on the wearer, and adjust the length of the wire rope winding so that the separated U-shaped leggings shell 4 and the thigh elastic adjustment outer cover 5 on the thigh side can better fit the thigh. Similarly, adjust the length of the wire rope on the calf side so that the calf interactive shell 41 can better fit the calf side to ensure wearing comfort.

[0108] (2) The force transmission cam winding starts from the hydraulic head 8, reaches the circular cam 20 and winds around once, continues downward to reach the curved cam 34 and winds around once, and continues downward to be tied to the preload adjustment wheel 37.

[0109] (3) After putting on the device, perform a small knee flexion exercise. As the angle of the rotating shaft module 2 increases, more windings will fit on the force transmission cam. However, the overall length of the windings remains unchanged during operation. Therefore, the hydraulic head 8 of the gas spring device can only be driven downward to ensure the consistency of the length. At this time, the hydraulic push rod 1 9 and the hydraulic push rod 2 10 will be driven to compress the air in the hydraulic cylinder 1 11 and the hydraulic cylinder 2 12. The hydraulic cylinder is a closed container. After the gas in the cylinder is compressed, the pressure increases and resistance is generated and energy is stored, thereby achieving buffering protection for the knee joint. When the knee joint is extended, the gas spring releases energy to achieve a power-assisting effect.

[0110] (4) When the buffering resistance of the knee joint is felt to be too great, the preload adjustment wheel 37 can be turned counterclockwise to increase the length of the winding, thereby reducing the buffering resistance; similarly, when the shaft module is felt to be loose and the buffering resistance is insufficient, the preload adjustment wheel 37 can be turned clockwise to reduce the length of the working winding and increase the distance the gas spring is compressed, thereby increasing the buffering resistance during knee flexion and the joint assistance during knee extension.

[0111] The present invention utilizes a gas spring as a buffer structure, a pair of cams as a force transmission structure, and a preload adjustment device to achieve buffering and force unloading protection for the knee joint. The entire exoskeleton structure adopts a non-powered strategy, with a gas spring buffer structure as an energy storage element. The structure is simple, safe and reliable, and the auxiliary force can be adjusted in a wide range. The auxiliary torque can be adjusted according to the needs of different patients or different rehabilitation stages of patients. The interactive structure on the calf and calf sides can adjust the degree of opening, so as to meet the needs of users with different leg shapes. The entire exoskeleton is light in weight, simple in structure, flexible in movement, highly comfortable, easy to wear, and has strong adaptability.

[0112] Compared with existing knee rehabilitation exoskeletons, the exoskeleton of the present invention adopts a non-powered and lightweight design, with a simpler design structure and strong adaptability. It is suitable for patients in different rehabilitation stages and for people of different body shapes. It is comfortable to wear and can effectively speed up the rehabilitation process of knee joint patients while alleviating their pain.

[0113] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the specific implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A non-powered, lightweight exoskeleton for knee joint assisted rehabilitation training, characterized in that: It includes a thigh side interaction structure (1), a knee joint rotation structure (2), and a calf support structure (3) connected from top to bottom; The thigh side interaction structure (1), the knee joint rotation structure (2), and the calf support structure (3) are symmetrically installed on both sides of the human body, corresponding to the left leg and the right leg of the human body respectively; The thigh-side interaction structure (1) is used to achieve interaction with the thigh side of the human body, so that it can be adaptively worn on the thigh muscle side of the human body. A steel wire is arranged on the thigh-side interaction structure (1). By adjusting the tightness of the steel wire rope, the opening degree of the thigh-side interaction structure (1) can be adjusted to meet the needs of people with different leg thicknesses to wear the device. The knee joint shaft structure (2) is used to simulate the flexion and extension freedom of the knee joint, rotates through two pairs of meshing gears, and adjusts the passive auxiliary force through a pair of force transmission cams; The calf support structure (3) is used for the knee joint pivot structure (2) to support the calf when the knee joint is flexed and extended.

2. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 1, characterized in that: The thigh-side interaction structure (1) comprises a separate U-shaped leggings shell (4), a thigh-side elastic outer cover (5), a thigh support shell (6), and a gas spring buffer structure; The inner side of the separated U-shaped leggings shell (4) is in close contact with the outer sides of the left and right thighs. A protruding structure is arranged on the outer side of the separated U-shaped leggings shell (4). The protruding structure is inserted into the thigh support shell (6). The thigh support shell (6) is a hollow structure of a rectangular parallelepiped structure. The separated U-shaped leggings shell (4) is provided with a wiring hole, through which a steel wire is passed to connect with the elastic outer cover (5) on the thigh side, the elastic outer cover (5) on the thigh side and the two separated U-shaped leggings shells (4) are connected by the steel wire, and a steel wire tension adjustment knob is provided on the U-shaped leggings shell (4); the lower end of the separated thigh leggings shell (4) is also connected to the gas spring device through a threaded nut.

3. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 2, characterized in that: The protruding structure of the separated U-shaped leggings shell (4) is provided with two holes (42), which are matched and connected with the two pairs of holes (48) of the left and right thigh support shells (6) through threaded nuts; The outer surface of the arc-shaped plate of the separate U-shaped leggings shell (4) is provided with four circular holes arranged in a square at symmetrical positions on both sides thereof, which are used to fix the nylon straps and the flexible pad. The U-shaped outer surface of the separate U-shaped leggings shell (4) near the front of the thigh comprises four transverse inner holes, namely, transverse inner hole 1 (44), U-shaped inner hole 1 (45), U-shaped inner hole 2 (46) and transverse inner hole 2 (47); The two upper and lower transverse inner holes 44, transverse inner hole 1 (44) and transverse inner hole 2 47, transverse inner hole 2 (47) are transversely penetrating, and the two middle U-shaped inner holes 45, U-shaped inner hole 1 (45) and U-shaped inner hole 2 46, U-shaped inner hole 2 (46) are U-shaped and are used for winding the wire rope; the elastic outer cover (5) is connected with the upper and lower holes by using the wire rope; a circular groove (43) is provided on the outer side of the separated U-shaped legging shell (4) for accommodating the wire rope tension adjustment knob; The thigh side elastic outer cover (5) is symmetrical in structure as a whole, with four holes arranged on the left and right sides respectively in a direction parallel to the surface of the structure, and U-shaped protrusions are arranged outside the four holes, with the openings of the U-shaped protrusions arranged outwards, in pairs, in a U-shape, for routing the wire rope; The thigh elastic outer cover (5) is connected to the separated U-shaped leggings outer shell (4) by means of a steel wire rope through four symmetrical hole structures on both sides. When worn, it is located between the left and right separated U-shaped leggings outer shells (4) and covers the upper side of the thigh.

4. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 3, characterized in that: The specific routing method of the wire rope is that the wire rope starts from the middle adjustment knob installed at the position of the circular groove (43) on the separated U-shaped legging shell (4), the starting point of the wire rope is fixed on the purchased middle adjustment knob, and then the wire rope is wound around the outside of the middle adjustment knob, and then it is wound out from the circular groove (43), passes through the small transverse inner hole 44 at the upper end of the separated U-shaped legging shell (4), reaches one end of the U-shaped hole on the upper side of the elastic outer cover (5) on the thigh side, and passes through the U-shaped After the hole, the wire rope returns to the middle U-shaped hole 45, U-shaped inner hole 1 (45) of the separate U-shaped legging shell (4) and passes through and out from the U-shaped inner hole 2 46, U-shaped inner hole 2 (46), then returns to another U-shaped hole of the elastic outer cover (5) on the thigh side and passes through, and finally returns to the small transverse inner hole 2 47 at the lower end of the separate U-shaped legging shell (4) and passes through, and returns to the elastic adjustment knob in the middle of the separate U-shaped legging shell (4), completing the routing of the wire rope on one side of the thigh.

5. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 2, characterized in that: The thigh support shell (6) is provided with two holes (48) on the upper and lower inner sides respectively. The two holes (48) on the upper side are used to correspond to the holes (42) on the protruding structure of the inserted detachable U-shaped legging shell (4) and are used to fix the detachable U-shaped legging shell (4). The two holes (49) at the lower end are matched with the gear 1 (16) and the gear 2 (17) respectively and are used to connect the gear 1 (16) and the gear 2 (17). The gear 1 (16) and the gear 2 (17) are respectively arranged on both sides of the lower end of the detachable U-shaped legging shell (4); The inner side of the thigh support shell (6) is fixedly connected to a thigh side fitting arc plate (7), the thigh side fitting arc plate (7) fits the thigh, and the thigh side fitting arc plate (7) is provided with three small holes on both sides for fixing nylon straps, and a flexible pad is pasted on the nylon straps; The gas spring buffer structure comprises a hydraulic head (8), and the lower end of the hydraulic head (8) is respectively fixedly connected to a hydraulic push rod 1 (9) and a hydraulic push rod 2 (10) on both sides; the hydraulic push rod 1 (9) is connected to a hydraulic terminal 1 (13) via a hydraulic cylinder 1 (11); the hydraulic push rod 2 (10) is connected to a hydraulic terminal 2 (14) via a hydraulic cylinder 2 (12); A threaded hole is formed on the top of the hydraulic head (8) and connected to the threaded hole below the separated U-shaped legging shell (4) by stretching the threaded support. At the same time, the force supply winding is tied to the middle hole of the hydraulic head (8) as the force supply end. The winding bypasses the force transmission circular cam (20) and the curved cam (34) to reach the tension adjustment knob (37) on the calf side, thereby transmitting the buffering resistance of the gas spring.

6. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 5, characterized in that: The gas spring buffer structure is installed inside the thigh support shell (6), through the hydraulic terminal 1 (13) and the hydraulic terminal 2 (14) with holes, the outer side clamps the gear 1 (16) and the gear 2 (17) and corresponds to the two small holes on the upper side of the two gears, and then connects with the two holes 49 on the lower side of the thigh support shell 6; The hydraulic push rod 1 (9) and the hydraulic cylinder 1 (11) are clamped at both ends, the hydraulic cylinder 1 (11) is sealed as a whole, the lower end of the hydraulic cylinder 1 (11) is connected to the hydraulic terminal 1 (13) through an internal thread, and the hydraulic terminal 1 (13) is provided with a hole connected to a hole (49) at the lower end of the thigh support shell (6); The two ends of the hydraulic push rod 2 (10) and the hydraulic cylinder 2 (12) are stuck, and the hydraulic cylinder 2 (12) is completely sealed. When the hydraulic push rod 2 (10) slides in the middle slide groove, the air is compressed, thereby generating a buffer resistance. The lower end of the hydraulic cylinder 2 (12) is connected to the hydraulic terminal 2 (14) through an internal thread. The hydraulic terminal 2 (14) is provided with a hole connected to another hole (49) at the lower end of the thigh support shell (6).

7. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 6, characterized in that: The knee joint shaft structure (2) comprises two pairs of incompletely meshing gears, namely gear one (16), gear three (32) and gear two (17), gear four (33). Gear 1 (16) and gear 3 (32) are meshed, and gear 2 (17) and gear 4 (33) are meshed; Gear 1 (16) and gear 2 (17) are attached to one side of the circular cam (20) via flat washer 1 (21), and attached to the other side via flat washer 2 (22); Gear three (32) and gear four (33) are attached to one side of the curved cam (34) through flat washer four (31), and attached to the other side thereof through flat washer three (30); A cover plate 1 (25) and a cover plate 2 (26) are respectively arranged on both sides of the two pairs of meshing incomplete gears, and the cover plate 1 (25) and the cover plate 2 (26) are covered with a packaging shell (15) on the outside; The gear 1 (16), the gear 2 (17), the flat washer 1 (21), the circular cam (20), the flat washer 2 (22), the cover plate 1 (25), the cover plate 2 (26) and the packaging shell (15) are provided with through holes at the same corresponding positions, and the hexagonal bolt 1 (23) passes through the through holes and is fixed by the hexagonal nut 1 (24) to connect the above components together; Gear three (32), gear four (33), flat gasket four (31), curved cam (34), flat gasket three (30), cover plate one (25), cover plate two (26) and packaging shell (15) are provided with through holes at the same corresponding positions, and hexagonal bolt two (29) passes through the through holes and is fixed by hexagonal nut two (28) to connect the above components together.

8. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 7, characterized in that: The gear 1 (16) and the gear 2 (17) are arranged side by side, and the gear 3 (32) and the gear 4 (33) are arranged side by side. The other end of the gear that is not meshed is a square plate-like structure, and a through hole is opened on the square plate-like structure; the through holes on the gear 1 (16) and the gear 2 (17) match the through holes on the lower side of the thigh support shell (6) for connection; The through holes on the gear three (32) and the gear four (33) match the through holes on the calf support structure (3) for connection; The modules and pitch circle radii of the gear 1 (16) and the gear 2 (17) are the same, and the number of teeth is designed to be 6 respectively; The modules and pitch circle radii of the gear three (32) and gear four (33) are the same, and the number of teeth is designed to be 5 respectively; Provides a rotation range of about 120° within the smooth meshing range of the gears, achieving control of the rotation angle range and angle limit; The circular cam (20) and the curved cam (34) constitute a cam force transmission structure. The circular cam (20) is a circle with a fixed radius, and the calf side cam (34) is designed according to demand to meet the force transmission requirements in different scenarios. Since the calf side cam (34) is fixed in the calf support structure (3), an angle is generated between it and the circular cam (20) during the movement of the mechanism, and the angle is linearly related to the knee joint angle when worn. Four flat washers are used to support the middle of two pairs of meshing gears. A groove is designed in the middle of the cam for winding the wire rope. One end of the wire rope is connected to the hydraulic head (8) and bypasses the force transmission cam. The other end is connected to the calf tension adjustment knob. When working, the torque can be effectively transmitted through the cam.

9. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 6, characterized in that: The calf support structure (3) comprises a calf support plate (35), a winding rope tension adjustment wheel (37) and a spring pin (38), and a calf adaptability adjustment plate; The calf support plate (35) is used to provide support for the calf side during power assistance; The winding rope tension adjustment wheel (37) and the spring pin (38) are used to adjust the tension of the winding rope, thereby adjusting the size of the preload force of the power assist device. The winding rope tension adjustment wheel (37) winds the winding rope and adjusts the winding length by rotation. The spring pin (38) is used to clamp the winding rope tension adjustment wheel (37) to keep the winding rope in a certain length. The calf adaptability adjustment plate is used to adjust the opening degree of the lower side of the calf. It is connected to the lower side of the calf support plate (35) through a hinge (39). The opening degree can be adjusted through a degree of freedom provided by the hinge, thereby adapting to the characteristic of the calf becoming thinner downwards. The uppermost end of the calf support plate (35) is provided with two small holes, which are used to connect the through holes on the square plate structure of gear three (32) and gear four (33), and connect the parallel gears through threaded nuts. The gear three (32) and gear four (33) have an inward fold when transitioning downward to adapt to the characteristic that the thigh becomes thinner toward the calf; A calf side fitting arc plate (36) is installed on the inner side of the calf support plate (35), and the calf side fitting arc plate (36) fits with the calf, and the calf side fitting arc plate (36) is installed and fixed through the small hole on the calf support plate (35); The calf support plate (35) is provided with an elongated rectangular groove transitioning to a circular groove, the circular groove portion is used to install the preload adjustment wheel (37), the center of the adjustment wheel (37) has a hole, after being installed on the outside of the calf support plate (35) through the circular groove, the inner calf side fitting arc plate (36) is also provided with a hole at a position opposite to the center hole of the preload adjustment wheel (37), so that the calf side fitting arc plate (36) and the preload adjustment wheel (37) are connected to both sides of the calf support plate (35) through a threaded nut; A small boss is provided below the circular groove, and an internal threaded hole is provided at the center of the boss for placing a spring pin (38), and a hinge (39) is installed on the calf support plate (35) below the spring pin (38); The preload adjusting wheel (37) and the spring pin (38) constitute a winding rope tension adjusting device; the preload adjusting wheel (37) is installed by arranging a thread on the outer side of the calf support plate (35); the preload adjusting wheel (37) is used to adjust the tension of the winding rope; the preload adjusting wheel (37) is designed as a toothed structure, and a groove is further designed at the lower end for installing the spring pin (38).

10. The non-powered lightweight knee joint assisted rehabilitation training exoskeleton according to claim 9, characterized in that: The calf adaptive adjustment plate comprises a rotating hinge (39), a calf lower plate (40) and a calf interactive shell (41). The upper end of the rotating hinge (39) is connected to the calf support plate (35), and the lower end is connected to the calf lower plate (40) to achieve internal and external rotation adjustment to adapt to people with different calf thicknesses. A calf interactive shell (41) is installed outside the calf lower plate (40). A knob installation groove is designed on the calf interactive shell (41) for fixing the tightness adjustment knob. Small holes are opened on both sides for connecting nylon straps and flexible pads. The calf interactive shell (41) is designed with a protrusion to place four horizontal inner holes for wire rope routing. The other end is connected to an elastic outer cover for adjusting the tightness of the calf side.

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