Variable-wheelbase knee joint and rehabilitation walking aid exoskeleton

Abstract

The invention provides a variable-wheelbase knee joint and a rehabilitation walking-assisting exoskeleton, relates to the technical field of medical rehabilitation instruments, and solves the technical problem that a walking-assisting exoskeleton in the prior art cannot provide support for the knee joint of a patient, so that the wearing comfort is not ideal. The variable-wheelbase knee joint and rehabilitation walking-aid exoskeleton comprises a thigh assembly and a shank assembly which are rotationally connected, and a variable-wheelbase assembly is arranged between the thigh assembly and the shank assembly and used for adjusting the distance between the thigh assembly and the shank assembly in the vertical direction when the thigh assembly and the shank assembly rotate relatively. According to the variable-wheelbase knee joint and the rehabilitation walking-aid exoskeleton, the knee joint of the user is supported, and the wearing comfort of the user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation devices, and more particularly to a variable-axis knee joint and a rehabilitation walking assist exoskeleton. Background Art

[0002] At present, with the aggravation of the problem of population aging, the proportion of patients with knee osteoarthritis is increasing day by day. Rehabilitation walking assist exoskeleton robots play an increasingly important role in the preoperative walking assistance and postoperative rehabilitation of knee arthritis patients. The rehabilitation walking assist exoskeleton robot can provide help for the daily walking of knee arthritis patients, effectively improve the quality of life of patients, and at the same time can also assist in the postoperative rehabilitation of knee arthritis patients, accelerate the postoperative rehabilitation process, and enable patients to return to normal life as soon as possible.

[0003] The existing rehabilitation walking assist exoskeleton robots mainly include direct motor drive and Bowden cable drive. The advantage of direct motor drive is that the drive structure is simple, the transmission efficiency is higher, the assistance and support effect is better, and it can provide assistance in both the extension and flexion directions of the knee joint. However, the drivers are generally distributed on the lower limbs, resulting in a larger mass of the lower limbs and increasing the burden on the wearer during walking. The advantage of the motor Bowden cable drive is that the structure quality of the lower limbs is smaller, reducing the wearing burden. However, the Bowden cable drive has a lower transmission efficiency, and the wire drive structure is prone to problems such as wire coiling, wire jamming, and can only drive the knee joint to extend, unable to provide assistance for knee joint flexion.

[0004] There are still some problems in the application of the existing rehabilitation walking assist exoskeleton robots: Firstly, the self-weight of the hip-knee walking assist exoskeleton itself is relatively large, resulting in a poor wearing experience. Considering that the knee joint walking assist exoskeleton does not have hip joint assistance, it will cause the wearer to do work against the self-weight of the exoskeleton. Generally speaking, there is a contradiction between the relatively small mass and the improvement of the assistance effect in the existing rehabilitation walking assist exoskeleton robots. Secondly, the existing rehabilitation walking assist exoskeleton robots generally can only play an auxiliary walking role and cannot support the knee joint of knee arthritis patients, resulting in knee pain problems for knee arthritis patients when wearing the exoskeleton. Summary of the Invention

[0005] The purpose of the present invention is to provide a variable-axis knee joint and a rehabilitation walking assist exoskeleton to solve the technical problem in the prior art that the walking assist exoskeleton cannot provide support for the patient's knee joint, resulting in an unsatisfactory wearing comfort. The many technical effects that can be produced by the preferred technical solutions provided by the present invention are described in detail below.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: The variable-axis knee joint provided by the present invention includes a thigh component and a calf component that are rotatably connected. A variable-axis component is provided between the thigh component and the calf component. The variable-axis component is used to adjust the distance between the thigh component and the calf component in the vertical direction when the thigh component and the calf component rotate relative to each other.

[0007] Optionally, the variable-axis component includes a variable-axis cam structure and a roller structure. The roller structure is arranged on the thigh component, the variable-axis cam structure is connected to the calf component, a sliding groove is arranged on the variable-axis cam structure along the vertical direction, and a sliding block is slidably arranged in the sliding groove; A rotating disc is arranged on the sliding block, and the thigh component is rotatably connected to the rotating disc so that the thigh component is rotatably connected to the calf component; A roller groove is arranged on the variable-axis cam structure. The roller structure can roll along the roller groove, and the distance between the roller groove and the center of the variable-axis cam structure is different. Driving the roller structure to roll along the roller groove can drive the sliding block to slide along the sliding groove to adjust the distance between the thigh component and the calf component in the vertical direction.

[0008] Optionally, the variable-axis cam structure is an elliptical cam, the sliding groove is arranged along the long axis direction of the variable-axis cam structure; the roller groove is arranged along the outer circumference of the variable-axis cam structure.

[0009] Optionally, an elastic component is further arranged between the sliding block and the variable-axis cam structure. The elastic component is used to provide an elastic force that enables the sliding block to move downward along the sliding groove.

[0010] Optionally, a driving component is arranged on the thigh component. The driving component is in transmission connection with the rotating disc, and the driving component is used to drive the rotating disc to rotate.

[0011] A rehabilitation walking exoskeleton includes the variable-axis knee joint as described above.

[0012] Optionally, the thigh component includes a thigh rod and an inverted-cone bionic thigh binding. An upper binding and a lower binding are fixedly arranged on the thigh rod, and the inverted-cone bionic thigh binding is fixedly connected to the upper binding and the lower binding; And / or, the calf component includes a calf rod and a calf binding, and the calf binding is fixed on the calf rod; And / or, an attitude sensor and a digital-to-analog converter are arranged on the calf rod.

[0013] Optionally, it further includes a footrest assembly, which includes a footrest plate, an ankle joint connecting member, and a footrest rod. The footrest rod is connected to the calf assembly. The bottom of the ankle joint connecting member is rotatably connected to the footrest plate, and the top of the ankle joint connecting member is rotatably connected to the footrest rod. The rotation axes at the top and bottom of the ankle joint connecting member are perpendicular to each other.

[0014] Optionally, the calf assembly is provided with an adjustment groove and an adjustment member. A plurality of holes are provided in the length direction of the footrest rod. The footrest rod is adapted to the adjustment groove, and the footrest rod can slide along the adjustment groove so as to be locked to the calf assembly by the cooperation of the adjustment member and at least one of the holes.

[0015] Optionally, it further includes a lifting vest, and a plurality of fixed straps are provided on the lifting vest. The fixed straps are connected to the thigh assembly.

[0016] The beneficial effects of the present invention are as follows: The variable-axis knee joint and rehabilitation walking exoskeleton provided by the present invention include a thigh assembly and a calf assembly. The thigh assembly is used to be worn on the user's thigh, and the calf assembly is used to be worn on the user's calf. The thigh assembly and the calf assembly are rotatably connected to realize the joint rotation of the user's thigh and calf. A variable-axis assembly is provided between the thigh assembly and the calf assembly. The variable-axis assembly is used to adjust the distance between the thigh assembly and the calf assembly in the vertical direction when the thigh assembly and the calf assembly rotate relative to each other. Thus, when the thigh assembly and the calf assembly rotate to an upright state, the distance between the thigh assembly and the calf assembly can be changed through the variable-axis assembly, so as to achieve the purpose of providing support for the user's knee joint through the variable-axis knee joint provided by the present invention, thereby improving the wearing comfort of the user. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a schematic structural diagram of the rehabilitation walking exoskeleton of the present invention; Figure 2 is a schematic A structural diagram of the variable-axis knee joint of the present invention; Figure 3 is a partial structural split view of the thigh assembly of the present invention; Figure 4 is a split view of the calf assembly of the present invention; Figure 5It is a schematic structural diagram of the footrest assembly of the present invention; Figure 6 It is a partial structural exploded view of the drive assembly of the present invention; Figure 7 It is a schematic structural diagram of the bent state of the variable wheelbase knee joint of the present invention; Figure 8 It is an exploded view of the battery assembly of the present invention.

[0019] In the figure: 1. Battery assembly; 11. Battery housing; 12. Battery; 13. Battery cover; 14. Wire outlet hole; 15. Charging hole; 16. Switch mounting hole; 17. Fixed clip; 2. Thigh assembly; 21. Thigh rod; 22. Upper binding; 23. Lower binding; 24. Inverted cone bionic thigh binding; 25. Main control board; 26. Thigh housing; 27. Thigh wire outlet hole; 28. Side groove; 3. Calf assembly; 31. Calf rod; 32. Calf binding; 33. Attitude sensor; 34. Digital-to-analog converter; 35. Index pin flange; 36. Index pin; 37. Calf housing; 38. Calf wire outlet hole; 4. Footrest assembly; 41. Footrest plate; 42. Footrest; 43. Footrest connecting piece; 44. Ankle joint connecting piece; 45. Footrest rod connecting piece; 46. Footrest rod; 47. Footrest rod limit; 48. Plantar pressure sensor; 5. Drive assembly; 51. Motor; 52. Planetary gear reducer; 521. Internal gear ring; 522. Sun gear; 523. Planetary gear; 524. Planet carrier; 525. Reducer housing; 6. Lifting vest; 61. Fixed strap; 7. Variable wheelbase assembly; 71. Variable wheelbase cam structure; 72. Sliding groove; 73. Rotating disc; 74. Roller structure; 75. Roller groove; 76. Sliding block; 77. Elastic component. Detailed implementation manners

[0020] The following can refer to the attached drawings Figures 1 to 8Understand the content of the present invention and the differences between the present invention and the prior art in terms of text content. The following further describes the technical solutions (including preferred technical solutions) of the present invention in detail by way of drawings and by listing some optional embodiments of the present invention. It should be noted that: any technical feature or any technical solution in this embodiment is one or several of a variety of optional technical features or optional technical solutions. For the sake of concise description, all alternative technical features and alternative technical solutions of the present invention cannot be exhausted in this document, nor is it convenient to emphasize that each implementation manner of a technical feature is one of the optional multiple implementation manners. Therefore, those skilled in the art should be aware that: any technical means provided by the present invention can be replaced, or any two or more technical means or technical features provided by the present invention can be combined with each other to obtain a new technical solution. Any technical feature and any technical solution within this embodiment do not limit the protection scope of the present invention. The protection scope of the present invention should include any alternative technical solutions that those skilled in the art can think of without creative work and new technical solutions obtained by those skilled in the art by combining any two or more technical means or technical features provided by the present invention with each other.

[0021] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality" is two or more; the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention. In addition, terms such as "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0022] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The present invention provides a variable-axle knee joint and a rehabilitation and walking assistance exoskeleton that support the user's knee joint and improve the user's wearing comfort.

[0024] The following will be combined with Figures 1 to 8 to elaborate on the technical solutions provided by the present invention in more detail.

[0025] The present invention provides a variable wheelbase knee joint, which includes a thigh component 2 and a calf component 3 that are rotatably connected. A variable wheelbase component 7 is provided between the thigh component 2 and the calf component 3. The variable wheelbase component 7 is used to adjust the distance between the thigh component 2 and the calf component 3 in the vertical direction when the thigh component 2 and the calf component 3 rotate relative to each other.

[0026] The variable wheelbase knee joint provided by the present invention includes a thigh component 2 and a calf component 3. The thigh component 2 is for wearing on the user's thigh, and the calf component 3 is for wearing on the user's calf. The thigh component 2 and the calf component 3 are rotatably connected to realize the joint rotation of the user's thigh and calf. A variable wheelbase component 7 is provided between the thigh component 2 and the calf component 3. The variable wheelbase component 7 is used to adjust the distance between the thigh component 2 and the calf component 3 in the vertical direction when the thigh component 2 and the calf component 3 rotate relative to each other, so that when the thigh component 2 and the calf component 3 rotate to the upright state, the distance between the thigh component 2 and the calf component 3 in the vertical direction can be changed through the variable wheelbase component 7, so as to achieve the purpose of providing support for the user's knee joint through the variable wheelbase knee joint provided by the present invention, thereby improving the wearing comfort of the user.

[0027] It can be understood that the thigh component 2 and the calf component 3 are rotatably connected to realize the joint rotation of the user's thigh and calf. When the thigh component 2 and the calf component 3 rotate to the upright state, the foot lands on the ground, and the weight of the body needs to be supported by the thigh and the calf. At this time, the joint part between the thigh and the calf needs to bear a large pressure. When the variable wheelbase component 7 changes the distance between the thigh component 2 and the calf component 3 in the vertical direction, it can make the thigh worn by the thigh component 2 move away from the calf of the calf component 3, thereby reducing the pressure between the thigh and the calf, so as to play a role in providing support for the patient's knee joint, so that the user can be more comfortable after wearing and reduce the problem of knee joint pain of the user.

[0028] In some embodiments of the present invention, the variable wheelbase component 7 includes a variable wheelbase cam structure 71 and a roller structure 74. The roller structure 74 is provided on the thigh component 2. The variable wheelbase cam structure 71 is connected to the calf component 3. A sliding groove 72 is provided on the variable wheelbase cam structure 71 in the vertical direction, and a sliding block 76 is slidably provided in the sliding groove 72; A rotating disk 73 is provided on the sliding block 76, and the thigh component 2 is rotatably connected to the rotating disk 73 so that the thigh component 2 is rotatably connected to the calf component 3; The variable wheelbase cam structure 71 is provided with a roller groove 75. The roller structure 74 can roll along the roller groove 75, and the distances between the roller groove 75 and the center of the variable wheelbase cam structure 71 are different. Driving the roller structure 74 to roll along the roller groove 75 can drive the sliding block 76 to slide along the sliding groove 72, so as to adjust the distance between the thigh assembly 2 and the calf assembly 3 in the vertical direction.

[0029] In some of the above embodiments of the present invention, the variable wheelbase assembly 7 includes a variable wheelbase cam structure 71 and a roller structure 74. The variable wheelbase cam structure 71 is arranged on the calf assembly 3. The variable wheelbase cam structure 71 is provided with a sliding groove 72, and a sliding block 76 is slidably arranged in the sliding groove 72; the thigh assembly 2 is connected to the sliding block 76 through a rotating disc 73, so that the rotational connection between the thigh assembly 2 and the calf assembly 3 can be realized through the rotating disc 73.

[0030] By arranging the roller structure 74 on the thigh assembly 2, the roller structure 74 can roll along the roller groove 75, and the distances between the roller groove 75 and the center of the variable wheelbase cam structure 71 are different. Driving the roller structure 74 to roll along the roller groove 75 can adjust the distance between the roller structure 74 and the center of the variable wheelbase cam structure 71, so as to realize the adjustment of the distance between the thigh assembly 2 and the calf assembly 3 in the vertical direction. Thus, when the thigh assembly 2 and the calf assembly 3 move from a bent state to a straight state, the thigh worn by the thigh assembly 2 can move away from the calf of the calf assembly 3, thereby reducing the pressure between the thigh and the calf, so as to play a role in supporting the knee joint of the patient, and thus enabling the user to feel more comfortable after wearing and reducing the knee pain problem of the user.

[0031] It should be noted that by arranging the sliding groove 72 and the sliding block 76 on the variable wheelbase cam structure 71 and connecting the rotating disc 73 to the sliding block 76, the position of the rotation center between the thigh assembly 2 and the calf assembly 3 can be adjusted; and by arranging the roller structure 74 and the roller groove 75 between the thigh assembly 2 and the variable wheelbase cam structure 71, and the distances between the roller groove 75 and the variable wheelbase cam structure 71 are different, when the thigh assembly 2 rotates with the calf assembly 3, the thigh assembly 2 can also rotate along the direction of the roller groove 75 through the roller structure 74, so as to change the positional relationship between the thigh assembly 2 and the calf assembly 3, thereby realizing the position adjustment of the user's thigh and calf, playing a role in supporting the user's knee joint and improving the user's comfort.

[0032] It can be understood that when the user's thigh and calf rotate from a bent state to a straight state, the thigh component 2 can slide along the roller groove 75 through the roller structure 74, and the rotation central axis of the thigh component 2 and the calf component 3 slides along the sliding groove 72, so as to adjust the position between the thigh component 2 and the calf component 3, drive the user's thigh away from the calf through the thigh component 2, thus playing a role in supporting the knee joint and improving the user's comfort.

[0033] By adopting the cooperation of the roller structure 74 and the roller groove 75 and the cooperation of the sliding block 76 and the sliding groove 72, it is possible to realize the real-time adjustment of the positions of the user's thigh and calf during the rotation of the thigh component 2 and the calf component 3, so as to change the force on the knee joint and provide support for the knee joint.

[0034] In some embodiments of the present invention, the variable axle distance cam structure 71 is an elliptical cam, and the sliding groove 72 is arranged along the long axis direction of the variable axle distance cam structure 71; the roller groove 75 is arranged along the outer circumference of the variable axle distance cam structure 71.

[0035] In some of the above embodiments of the present invention, the variable axle distance cam structure 71 is an elliptical cam, the sliding groove 72 is arranged along the long axis direction of the variable axle distance cam structure 71, the sliding block 76 is slidably arranged in the sliding groove 72, so that the sliding block 76 can reciprocate along the long axis direction of the variable axle distance cam structure 71; the roller groove 75 is arranged along the outer circumference of the variable axle distance cam structure 71, and when the roller structure 74 rolls along the roller groove 75, the thigh component 2 can roll on the outer circumference between the short axis direction and the long axis direction of the variable axle distance cam structure 71, so as to realize the adjustment of the distance between the thigh component 2 and the calf component 3 from small to large.

[0036] When the thigh component 2 and the calf component 3 are in an upright state, the distance between the thigh component 2 and the calf component 3 is the largest, and at this time the support for the knee joint is the strongest; when the thigh component 2 and the calf component 3 are bent to the limit position, the distance between the thigh component 2 and the calf component 3 is the smallest, and at this time the support for the knee joint is the smallest.

[0037] In some embodiments of the present invention, an elastic component 77 is further arranged between the sliding block 76 and the variable axle distance cam structure 71, and the elastic component 77 is used to provide an elastic force for making the sliding block 76 move downward along the sliding groove 72.

[0038] In some of the above-mentioned embodiments of the present invention, an elastic component 77 is provided between the sliding block 76 and the variable wheelbase cam structure 71, and the elastic force of the elastic component 77 can make the distance between the roller structure 74 and the variable wheelbase cam structure 71 move in a direction of decreasing, and the elastic force of the elastic component 77 can limit the sliding block 76 to the bottom of the sliding groove 72, and when the thigh component 2 and the calf component 3 are gradually straightened, the sliding block 76 can move upward along the sliding groove 72, and at this time, the elastic component 77 can be stretched and stored energy when the thigh component 2 rotates; when the thigh component 2 and the calf component 3 reach an upright state, the elastic component 77 stretches and stores energy to a maximum value; and when the thigh component 2 and the calf component 3 move from upright to bent, the elastic component 77 gradually returns to its original position, releasing the stretch energy stored in the straightening process, so that the roller structure 74 and the roller groove 75 can always be in a close contact state, ensuring the rotational stability between the thigh component 2 and the calf component 3, and at the same time can play a passive role in bending the knee joint, thereby improving user comfort.

[0039] In some embodiments of the present invention, a driving component 5 is provided on the thigh component 2, and the driving component 5 is transmission-connected with the rotating disk 73, and the driving component 5 is used to drive the rotating disk 73 to rotate.

[0040] In some of the above embodiments of the present invention, the driving component 5 is connected to the rotating disk 73, and the driving component 5 is used to drive the rotating disk 73 to rotate. The rotating disk 73 is connected to the sliding block 76, so that the thigh component 2 and the calf component 3 can be rotatably connected.

[0041] Optionally, the driving assembly 5 includes a motor 51 and a planetary gear reducer 52 , the output shaft of the planetary gear reducer 52 is connected to the rotating disk 73 , and the motor 51 is connected to a planet carrier 524 of the planetary gear reducer 52 .

[0042] Specifically, the planetary gear reducer 52 includes a reducer housing 525, an inner gear ring 521, a sun gear 522, planetary gears 523, and a planet carrier 524. The planetary gears 523 are meshed with the sun gear 522 and the inner gear ring 521 at the same time. The planet carrier 524 is connected to the planetary gears 523, and an output shaft is provided on the sun gear 522.

[0043] Under the same inventive concept, the present invention also provides a rehabilitation walking-aiding exoskeleton, comprising the variable wheelbase knee joint as described above.

[0044] The present invention also provides a rehabilitation walking exoskeleton, including the variable wheelbase knee joint as described above. The variable wheelbase knee joint provided by the present invention can provide support for the user's knee joint, thereby improving the user's wearing comfort.

[0045] In some embodiments of the present invention, the thigh component 2 includes a thigh rod 21 and an inverted cone bionic thigh strap 24. An upper strap 22 and a lower strap 23 are fixedly arranged on the thigh rod 21, and the inverted cone bionic thigh strap 24 is fixedly connected to the upper strap 22 and the lower strap 23.

[0046] In some of the above embodiments of the present invention, the thigh component 2 includes a thigh rod 21 and an inverted cone bionic thigh strap 24. The thigh rod 21 is for wearing on the user's thigh. The cone bionic thigh strap adopts an inverted cone shape adapted to the thigh, which can better fit the curve of the human thigh, improve the binding effect and wearing comfort. The inverted cone bionic thigh strap 24 is fixedly connected to the upper strap 22 and the lower strap 23, which can better ensure the connection effect between the inverted cone bionic thigh strap 24 and the thigh rod 21.

[0047] It can be understood that the inverted cone bionic thigh strap 24 is internally provided with a rigid plastic plate to improve the force transmission effect of the binding.

[0048] Specifically, a main control board 25, a thigh outer shell 26, a thigh wire outlet hole 27 and a side groove 28 are fixedly arranged on the thigh rod 21. The thigh outer shell 26 is detachably connected to the thigh rod 21, and the wire outlet hole 14 and the side groove 28 are distributed on the thigh rod 21.

[0049] In some embodiments of the present invention, the calf component 3 includes a calf rod 31 and a calf strap 32. The calf strap 32 is fixed on the calf rod 31; a posture sensor 33 and a digital-to-analog converter 34 are arranged on the calf rod 31.

[0050] In some of the above embodiments of the present invention, the calf rod 31 is connected to the thigh component 2. The calf strap 32 is arranged on the calf rod 31 and is for wearing on the user's calf.

[0051] Specifically, a calf outer shell 37 is arranged on the calf rod 31. The posture sensor 33 and the digital-to-analog converter 34 are both arranged between the calf rod 31 and the calf outer shell 37; correspondingly, a calf wire outlet hole 38 is arranged on the calf rod 31.

[0052] In some embodiments of the present invention, a foot support component 4 is further included. The foot support component 4 includes a foot support plate 41, a footrest 42, an ankle joint connecting piece 44 and a foot support rod 46. The foot support rod 46 is connected to the calf component 3. The bottom of the ankle joint connecting piece 44 is rotatably connected to a foot support connecting piece 43 on the foot support plate 41. The top of the ankle joint connecting piece 44 is connected to the foot support rod 46 through a foot support rod connecting piece 45. The top of the ankle joint connecting piece 44 is rotatably connected to the foot support rod connecting piece 45, and the rotation axes at the top and bottom of the ankle joint connecting piece 44 are perpendicular to each other.

[0053] In some of the above embodiments of the present invention, the foot support assembly 4 is for wearing on the user's foot. The foot support plate 41 is for supporting the sole of the foot, the footrest 42 is for supporting the heel, the ankle joint connecting member 44 and the foot support connecting member 43 on the foot support plate 41 are rotatably connected to realize the movement of the ankle joint. The foot support rod 46 is for connecting the calf assembly 3. The top of the ankle joint connecting member 44 is rotatably connected to the foot support rod connecting member 45, and the rotation axes at the top and bottom of the ankle joint connecting member 44 are perpendicular to each other, so as to ensure that the ankle joint has degrees of freedom in the front-back, left-right directions, ensure that the ankle joint can rotate forward and backward and swing left and right, and meet the normal walking needs of the user.

[0054] It should be noted that the footrest 42 is arranged on the foot support plate 41, and elastic bandages for fixing the user's foot are arranged on the foot support plate 41, etc., which are all conventional technical means in the art and will not be elaborated here.

[0055] In some embodiments of the present invention, an adjustment groove and an adjustment member are provided on the calf rod 31. A plurality of holes are provided in the length direction of the foot support rod 46. The foot support rod 46 is adapted to the adjustment groove, and the foot support rod 46 can slide along the adjustment groove, and the foot support rod 46 can be locked on the calf rod 31 by the cooperation of the adjustment member and the holes.

[0056] In some of the above embodiments of the present invention, by providing an adjustment groove between the foot support rod 46 and the calf rod 31, the foot support rod 46 can be slidably arranged in the adjustment groove, and adjustment holes are provided on the foot support rod 46. The positions of the foot support rod 46 and the calf rod 31 can be fixed by the adjustment member, so as to realize the adjustment of the distance between the foot support assembly 4 and the calf assembly 3, and can meet the use requirements of users with different heights and different leg lengths.

[0057] Specifically, the adjustment member includes a indexing pin flange 35 and a indexing pin 36. The indexing pin 36 is threadedly connected to the indexing pin flange 35. The indexing pin 36 can be inserted into the adjustment hole to fix the foot support assembly 4 and the calf assembly 3.

[0058] More specifically, a foot support rod limit 47 is provided on the calf rod 31 to limit the extreme positions of the movement of the foot support rod 46. A plantar pressure sensor 48 is provided on the foot support plate 41.

[0059] In some embodiments of the present invention, a lifting vest 6 is further included. A plurality of fixing straps 61 are provided on the lifting vest 6. The fixing straps 61 are connected to the thigh assembly 2.

[0060] In some of the above embodiments of the present invention, by providing the lifting vest 6, the human shoulder bears part of the weight of the exoskeleton, thereby improving the user's comfort.

[0061] It should be noted that the fixed strap 61 can be replaced with elastic bands of different stiffnesses according to the needs of different users. At the same time, the connection points of the fixed strap 61 and the pre-tightening force applied by the fixed strap 61 to the user can also be adjusted as needed to meet the needs of different users.

[0062] In some embodiments of the present invention, it further includes a battery assembly 1. The battery assembly 1 includes a battery housing 11, a battery 12 fixedly connected to the battery housing 11, a battery cover 13 fixedly connected to the battery housing 11, wire outlet holes 14 and charging holes 15 distributed on the battery housing 11, switch mounting holes 16 distributed on the battery cover 13, and fixing clips 17 distributed on the battery housing 11.

[0063] In the description of this specification, the description with reference to terms such as "example", "embodiment" or "some embodiments" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0064] Certainly, the present invention is not limited to the above embodiments. Those skilled in the art can make equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A variable wheelbase knee joint, characterized in that: It comprises a thigh component and a calf component which are rotatably connected, wherein a variable wheelbase component is arranged between the thigh component and the calf component, and the variable wheelbase component is used for adjusting the distance between the thigh component and the calf component in the vertical direction when the thigh component and the calf component rotate relative to each other.

2. The variable wheelbase knee joint according to claim 1, characterized in that: The variable wheelbase component comprises a variable wheelbase cam structure and a roller structure, wherein the roller structure is arranged on the thigh component, the variable wheelbase cam structure is connected to the calf component, a sliding groove is arranged on the variable wheelbase cam structure along the vertical direction, and a sliding block is slidably arranged in the sliding groove; The sliding block is provided with a rotating disk, and the thigh component is rotatably connected to the rotating disk, so that the thigh component is rotatably connected to the calf component; The variable wheelbase cam structure is provided with a roller groove, and the roller structure can roll along the roller groove. The distances between the roller groove and the center of the variable wheelbase cam structure are different. Driving the roller structure to roll along the roller groove can drive the sliding block to slide along the sliding groove to adjust the vertical distance between the thigh component and the calf component.

3. The variable wheelbase knee joint according to claim 2, characterized in that: The variable wheelbase cam structure is an elliptical cam, the sliding groove is arranged along the long axis direction of the variable wheelbase cam structure; and the roller groove is arranged along the outer circumference of the variable wheelbase cam structure.

4. The variable wheelbase knee joint according to claim 3, characterized in that: An elastic component is also arranged between the sliding block and the variable wheelbase cam structure, and the elastic component is used to provide elastic force for the sliding block to move downward along the sliding groove.

5. The variable wheelbase knee joint according to claim 2, characterized in that: The thigh component is provided with a driving component, the driving component is drivingly connected with the rotating disk, and the driving component is used for driving the rotating disk to rotate.

6. A rehabilitation walking exoskeleton, characterized in that: It comprises a variable wheelbase knee joint as described in any one of claims 1-5.

7. The rehabilitation walking exoskeleton according to claim 6, characterized in that: The thigh assembly comprises a thigh rod and an inverted cone bionic thigh binding, an upper binding and a lower binding are fixedly arranged on the thigh rod, and the inverted cone bionic thigh binding is fixedly connected to the upper binding and the lower binding; and / or, the calf assembly comprises a calf rod and a calf binding, and the calf binding is fixed to the calf rod; And / or, a posture sensor and a digital-to-analog converter are provided on the calf rod.

8. The rehabilitation walking-assisting exoskeleton according to claim 6, characterized in that: It also includes a foot support assembly, which includes a foot support plate, an ankle joint connector and a foot support rod, the foot support rod is connected to the calf assembly, the bottom of the ankle joint connector is rotatably connected to the foot support plate, the top of the ankle joint connector is rotatably connected to the foot support rod, and the rotation axes of the top and bottom of the ankle joint connector are perpendicular to each other.

9. The rehabilitation walking-assisting exoskeleton according to claim 8, characterized in that: The calf assembly is provided with an adjustment slot and an adjustment member, and the foot support rod is provided with a plurality of holes in the length direction. The foot support rod is adapted to the adjustment slot, and the foot support rod can slide along the adjustment slot so as to lock the foot support rod on the calf assembly through the cooperation of the adjustment member with at least one of the holes.

10. The rehabilitation walking exoskeleton according to claim 6, characterized in that: It also includes a lifting vest, on which a plurality of fixing straps are arranged, and the fixing straps are connected to the thigh component.

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