A variable wheelbase knee joint and rehabilitation and walking assistance exoskeleton

Abstract

The present invention provides a variable-axle-distance knee joint and a rehabilitation walking-assist exoskeleton, which relates to the technical field of medical rehabilitation devices and solves the technical problem in the prior art that the walking-assist exoskeleton cannot provide support for the patient's knee joint, resulting in unsatisfactory wearing comfort. The variable-axle-distance knee joint and the rehabilitation walking-assist exoskeleton include a thigh component and a calf component that are rotatably connected, and a variable-axle-distance component is provided between the thigh component and the calf component. The variable-axle-distance 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. The present invention is used to provide a variable-axle-distance knee joint and a rehabilitation walking-assist exoskeleton that support the user's knee joint and improve the user's wearing comfort.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation devices, and in particular to a variable-axle knee joint and a rehabilitation walking 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 exoskeleton robots play an increasingly important role in the preoperative walking assistance and postoperative rehabilitation of knee arthritis patients. The rehabilitation walking 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] Existing rehabilitation walking exoskeleton robots mainly include direct motor drive and Bowden wire drive. The advantages of direct motor drive are simple drive structure, higher transmission efficiency, better assistance and support effect, and 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 relatively large mass of the lower limbs and increasing the burden on the wearer during walking; the advantages of motor Bowden wire drive are that the structure quality of the lower limbs is smaller, reducing the wearing burden. However, the Bowden wire drive has a lower transmission efficiency, and the wire drive structure is prone to problems such as wire coiling, uncoiling, and wire jamming. At the same time, it can only drive the knee joint to extend and cannot provide assistance for the knee joint to flex.

[0004] There are also some problems in the application of existing rehabilitation walking exoskeleton robots: Firstly, the self-weight of the hip-knee walking exoskeleton is relatively large, resulting in a poor wearing experience. Considering that the knee joint walking exoskeleton does not have hip joint assistance, it will cause the wearer to do work to overcome 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 existing rehabilitation walking exoskeleton robots; Secondly, existing rehabilitation walking 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-axle knee joint and a rehabilitation walking exoskeleton to solve the technical problem in the prior art that the walking exoskeleton cannot provide support for the knee joint of patients, resulting in 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 object, the present invention provides the following technical solutions:

[0007] 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.

[0008] 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 in the vertical direction, and a sliding block is slidably arranged in the sliding groove;

[0009] 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;

[0010] 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.

[0011] 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.

[0012] 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 makes the sliding block move downward along the sliding groove.

[0013] 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.

[0014] A rehabilitation-assisted walking exoskeleton includes the variable-axis knee joint as described above.

[0015] Optionally, the thigh component includes a thigh rod and an inverted-cone bionic thigh strap. An upper strap and a lower strap are fixedly arranged on the thigh rod, and the inverted-cone bionic thigh strap is fixedly connected to the upper strap and the lower strap;

[0016] And / or, the calf component includes a calf rod and a calf strap. The calf strap is fixed on the calf rod;

[0017] And / or, an attitude sensor and a digital-to-analog converter are arranged on the calf rod.

[0018] 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, and the rotation axes at the top and bottom of the ankle joint connecting member are perpendicular to each other.

[0019] Optionally, the calf assembly is provided with an adjustment groove and an adjustment member. The footrest rod is provided with a plurality of holes in the length direction. The footrest rod is adapted to the adjustment groove, and the footrest rod can slide along the adjustment groove, and is locked to the calf assembly by cooperating with at least one of the holes through the adjustment member.

[0020] Optionally, it further includes a lifting vest, and a plurality of fixing straps are arranged on the lifting vest, and the fixing straps are connected to the thigh assembly.

[0021] 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 arranged 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, so that 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 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.

[0023] Figure 1 is a schematic structural diagram of the rehabilitation walking exoskeleton of the present invention;

[0024] Figure 2 is a schematic A structural diagram of the variable-axis knee joint of the present invention;

[0025] Figure 3 is a partial structural exploded view of the thigh assembly of the present invention;

[0026] Figure 4It is an exploded view of the calf component of the present invention;

[0027] Figure 5 It is a schematic structural diagram of the footrest component of the present invention;

[0028] Figure 6 It is a partial exploded view of the drive component of the present invention;

[0029] Figure 7 It is a schematic structural diagram of the bending state of the variable wheelbase knee joint of the present invention;

[0030] Figure 8 It is an exploded view of the battery component of the present invention.

[0031] In the figure:

[0032] 1. Battery component; 11. Battery housing; 12. Battery; 13. Battery cover; 14. Wire outlet hole; 15. Charging hole; 16. Switch mounting hole; 17. Fixed clamp;

[0033] 2. Thigh component; 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;

[0034] 3. Calf component; 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;

[0035] 4. Footrest component; 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;

[0036] 5. Drive component; 51. Motor; 52. Planetary gear reducer; 521. Internal gear ring; 522. Sun gear; 523. Planetary gear; 524. Planet carrier; 525. Reducer housing;

[0037] 6. Lifting vest; 61. Fixed strap;

[0038] 7. Variable wheelbase component; 71. Variable wheelbase cam structure; 72. Sliding groove; 73. Rotating disk; 74. Roller structure; 75. Roller groove; 76. Sliding block; 77. Elastic component. Detailed implementation mode

[0039] 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 the accompanying 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 a variety of optional 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 can be conceived by those skilled in the art without creative labor, and new technical solutions obtained by combining any two or more technical means or technical features provided by the present invention by those skilled in the art.

[0040] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality of" is two or more; the orientation or positional relationship indicated by the terms "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, and 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 understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it should also be noted that unless otherwise clearly defined 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.

[0042] The present invention provides a variable-axle knee joint and a rehabilitation walking exoskeleton that support the user's knee joint and improve the user's wearing comfort.

[0043] The following will be combined with Figures 1 to 8 to elaborate on the technical solutions provided by the present invention in more detail.

[0044] The present invention provides a variable axle distance knee joint, which includes a thigh component 2 and a calf component 3 that are rotatably connected. A variable axle distance component 7 is arranged between the thigh component 2 and the calf component 3. The variable axle distance 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.

[0045] The variable axle distance 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 axle distance component 7 is arranged between the thigh component 2 and the calf component 3. The variable axle distance 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. Thus, when the thigh component 2 and the calf component 3 rotate to an upright state, the distance between the thigh component 2 and the calf component 3 in the vertical direction can be changed by the variable axle distance component 7, so as to support the user's knee joint through the variable axle distance knee joint provided by the present invention, thereby improving the wearing comfort of the user.

[0046] 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 an upright state, the foot lands on the ground, and the weight of the body needs to be supported by the thigh and calf. At this time, the joint part between the thigh and the calf needs to bear a large pressure. When the variable axle distance component 7 changes the distance between the thigh component 2 and the calf component 3 in the vertical direction, it can make the thigh wearing 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 supporting the patient's knee joint, making the user more comfortable after wearing and reducing the problem of knee joint pain of the user.

[0047] In some embodiments of the present invention, the variable axle distance component 7 includes a variable axle distance cam structure 71 and a roller structure 74. The roller structure 74 is arranged on the thigh component 2. The variable axle distance cam structure 71 is connected to the calf component 3. A sliding groove 72 is arranged on the variable axle distance cam structure 71 in the vertical direction, and a sliding block 76 is slidably arranged in the sliding groove 72;

[0048] A rotating disc 73 is arranged on the sliding block 76, and the thigh component 2 is rotatably connected to the rotating disc 73, so that the thigh component 2 is rotatably connected to the calf component 3;

[0049] A roller groove 75 is provided on the variable wheelbase cam structure 71. 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.

[0050] In some embodiments of the present invention described above, the variable wheelbase assembly 7 includes a variable wheelbase cam structure 71 and a roller structure 74. The variable wheelbase cam structure 71 is provided on the calf assembly 3. A sliding groove 72 is provided on the variable wheelbase cam structure 71, 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 disk 73, so that the rotational connection between the thigh assembly 2 and the calf assembly 3 can be realized through the rotating disk 73.

[0051] By providing 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, during the process of the thigh assembly 2 and the calf assembly 3 changing from bending to straightening, the thigh worn by the thigh assembly 2 can move away from the calf of the calf assembly 3, so as to reduce the pressure between the thigh and the calf, so as to play a role in supporting the knee joint of the patient, and thus enable the user to feel more comfortable after wearing and reduce the knee pain problem of the user.

[0052] It should be noted that by providing the sliding groove 72 and the sliding block 76 on the variable wheelbase cam structure 71 and connecting the rotating disk 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 providing 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.

[0053] 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 center axis of the thigh component 2 and the calf component 3 slides along the sliding groove 72, thereby adjusting the position between the thigh component 2 and the calf component 3, driving the user's thigh away from the calf through the thigh component 2, so as to play a role in supporting the knee joint and improving the user's comfort.

[0054] 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.

[0055] In some embodiments of the present invention, the variable axle distance cam structure 71 is an oval 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.

[0056] In some of the above embodiments of the present invention, the variable axle distance cam structure 71 is an oval 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, when the roller structure 74 rolls along the roller groove 75, it can make the thigh component 2 roll on the outer circumference between the short axis direction and the long axis direction of the variable axle distance cam structure 71, thereby realizing the adjustment of the distance between the thigh component 2 and the calf component 3 from small to large.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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 .

[0063] 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.

[0064] Under the same inventive concept, the present invention also provides a rehabilitation walking-aiding exoskeleton, comprising the variable wheelbase knee joint as described above.

[0065] 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.

[0066] 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.

[0067] 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 inverted-cone bionic thigh strap adopts the shape of an inverted cone 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] In some embodiments of the present invention, a footrest component 4 is further included. The footrest component 4 includes a footrest plate 41, a footrest 42, an ankle joint connecting piece 44 and a footrest rod 46. The footrest rod 46 is connected to the calf component 3. The bottom of the ankle joint connecting piece 44 is rotatably connected to a footrest connecting piece 43 on the footrest plate 41. The top of the ankle joint connecting piece 44 is connected to the footrest rod 46 through a footrest rod connecting piece 45. The top of the ankle joint connecting piece 44 is rotatably connected to the footrest 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.

[0074] In some of the above embodiments of the present invention, the foot support assembly 4 is for wearing on the user's feet. 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 achieve 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 back and forth and swing left and right, and meet the normal walking needs of the user.

[0075] It should be noted that the footrest 42 is arranged on the foot support plate 41, and elastic bandages for fixing the user's feet are arranged on the foot support plate 41, etc., which are all conventional technical means in the art and will not be elaborated here.

[0076] 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 is locked on the calf rod 31 by the cooperation of the adjustment member and the holes.

[0077] 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.

[0078] 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, and the indexing pin 36 can be inserted into the adjustment hole to fix the foot support assembly 4 and the calf assembly 3.

[0079] 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.

[0080] 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, and the fixing straps 61 are connected to the thigh assembly 2.

[0081] In some of the above embodiments of the present invention, by providing the lifting vest 6, the human shoulder is utilized to bear part of the weight of the exoskeleton, thereby improving the comfort of the user.

[0082] It should be noted that the fixed strap 61 can be replaced with elastic bands of different stiffness 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 on the user can also be adjusted as needed to meet the needs of different users.

[0083] 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.

[0084] 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 representation of the above terms does 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.

[0085] Of course, 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 in the scope defined by the claims of this application.

Claims

1. A variable wheelbase knee joint, characterized in that, It includes a thigh component and a calf component that are rotatably connected, and a variable wheelbase component is provided between the thigh component and the calf component. The variable wheelbase 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; The variable wheelbase component includes a variable wheelbase cam structure and a roller structure. 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 in 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 wheelbase cam structure, the roller structure can roll along the roller groove, and 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 distance between the thigh component and the calf component in the vertical direction; The variable wheelbase cam structure is an oval cam, and the sliding groove is arranged along the long axis direction of the variable wheelbase cam structure; the roller groove is arranged along the outer circumference of the variable wheelbase cam structure; An elastic component is further arranged between the sliding block and the variable wheelbase cam structure, and the elastic component is used to provide an elastic force that makes the sliding block move downward along the sliding groove.

2. The variable axle distance knee joint according to claim 1, wherein, 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.

3. A rehabilitation walking exoskeleton, characterized in that, It includes the variable wheelbase knee joint according to any one of claims 1-2.

4. The rehabilitation and walking assistance exoskeleton according to claim 3, wherein 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.

5. The rehabilitation and walking assistance exoskeleton according to claim 3, wherein, It further includes a footrest component. The footrest component includes a footrest plate, an ankle joint connecting piece and a footrest rod. The footrest rod is connected to the calf component. The bottom of the ankle joint connecting piece is rotatably connected to the footrest plate, and the top of the ankle joint connecting piece is rotatably connected to the footrest rod, and the rotation axes at the top and bottom of the ankle joint connecting piece are perpendicular to each other.

6. The rehabilitation and walking assistance exoskeleton according to claim 5, wherein An adjustment groove and an adjustment piece are arranged on the calf component. A plurality of holes are arranged 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 to lock the footrest rod on the calf component by matching the adjustment piece with at least one of the holes.

7. The rehabilitation and walking assistance exoskeleton according to claim 3, wherein It further includes a lifting vest, and a plurality of fixed straps are arranged on the lifting vest, and the fixed straps are connected to the thigh component.

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