Knee joint structure of exoskeleton

Abstract

The invention provides a knee joint structure of an exoskeleton, and belongs to the technical field of exoskeletons.The knee joint structure of the exoskeleton specifically comprises a thigh connecting piece and a shank connecting piece, a mounting shell is fixedly connected to the thigh connecting piece, a rotating disc is fixedly connected to the shank connecting piece, the rotating disc is rotationally connected with the mounting shell, and a first arc section mounting groove is formed in the circumferential side wall of the mounting shell; a second arc section mounting groove is formed in the circumferential side wall of the rotating disc, the inner wall face of the first arc section mounting groove and the inner wall face of the second arc section mounting groove are concyclic, and a rotating block is rotationally arranged on the side wall of the mounting shell. The rotating block is at least partially located in the first arc section mounting groove and completely located outside the range of the first arc section mounting groove; when the rotating block is in the locking state, part of the rotating block is located in the first arc section mounting groove, and part of the rotating block is located in the second arc section mounting groove. According to the treatment scheme, the locking and unlocking speed and reliability of the exoskeleton knee joint are improved.

Description

Technical Field

[0001] This application relates to the field of exoskeletons, and particularly to a knee joint structure of an exoskeleton. Background Art

[0002] The exoskeleton knee joint needs to simultaneously meet the requirements of flexible movement and stable support. In the prior art, the knee joint locking mechanism often adopts methods such as pin type, gear meshing or electromagnetic braking, and there are the following problems: unreliable locking: pin type locking is prone to dislocation due to mechanical clearance, and gear meshing is prone to wear under high load; complex switching: electromagnetic braking requires additional energy and the response speed is limited. Summary of the Invention

[0003] In view of this, this application provides a knee joint structure of an exoskeleton, which solves the problems in the prior art and improves the speed and reliability of locking and unlocking of the exoskeleton knee joint.

[0004] A knee joint structure of an exoskeleton provided by this application adopts the following technical solution:

[0005] A knee joint structure of an exoskeleton includes a thigh connecting piece and a calf connecting piece. An installation shell is fixedly connected to the thigh connecting piece, a turntable is fixedly connected to the calf connecting piece, the turntable and the installation shell are rotationally connected. A first arc segment installation groove is provided on the circumferential side wall of the installation shell, a second arc segment installation groove is provided on the circumferential side wall of the turntable, the inner wall surfaces of the first arc segment installation groove and the second arc segment installation groove are co-circular and are denoted as a first circle, the plane where the first circle is located is parallel to the axis of rotation of the turntable. A rotating block is rotatably provided on the side wall of the installation shell, the circumferential contour of the rotating block is a major arc bow shape, the axis of rotation of the rotating block passes through the center of the first circle, and the diameter of the rotating block matches the diameter of the first circle. The chord length on the side of the first arc segment installation groove facing the second arc segment installation groove is a, the chord length of the rotating block is greater than a and less than the diameter of the first circle, and the axis of rotation of the rotating block is perpendicular to the plane where the first circle is located;

[0006] The position of the rotating block includes an unlocked state and a locked state;

[0007] When the rotating block is in the unlocked state, at least part of the rotating block is located in the first arc segment installation groove and all is located outside the range of the first arc segment installation groove;

[0008] When the rotating block is in the locked state, part of the rotating block is located in the first arc segment installation groove and part is located in the second arc segment installation groove, and the central angle of the area of the rotating block in the second arc installation groove is equal to the central angle of the circumferential inner wall of the second arc segment installation groove.

[0009] Optionally, the knee joint structure of the exoskeleton further includes a limiting component, which is installed on the installation housing and / or the rotating block, and is used to limit and release the rotation of the rotating block.

[0010] Optionally, the limiting component includes a spring detent provided at the bottom of the first arc segment mounting groove. The rotating block is provided with two limiting grooves or limiting holes that cooperate with the spring detent. The center points of the two limiting grooves or limiting holes are concentric circles, and the rotation trajectory of the limiting grooves or limiting holes is coaxial with the rotating shaft of the rotating block. The spring detent is located on the rotation trajectory of the limiting grooves or limiting holes;

[0011] When the rotating block is in the unlocked state, one of the limiting grooves or limiting holes corresponds to and engages with the spring detent;

[0012] When the rotating block is in the locked state, the other limiting groove or limiting hole corresponds to and engages with the spring detent.

[0013] Optionally, a control rod is provided on the rotating block.

[0014] Optionally, the control rod is connected to the circumferential side wall of the rotating block. The side wall of the first arc segment mounting groove away from the second arc segment groove is provided with a hollowed-out area, and the control rod is located within the hollowed-out area range.

[0015] Optionally, a first limiting block and a second limiting block are provided on the side wall of the installation housing. The first limiting block and the second limiting block are located on opposite sides of the hollowed-out area, and the first limiting block and the second limiting block are located on the rotation path of the control rod;

[0016] When the rotating block is in the unlocked state, the control rod abuts against the first limiting block; when the rotating block is in the locked state, the control rod abuts against the second limiting block.

[0017] Optionally, spaced first structural block and a second structural block are provided on the side wall of the installation housing. The opposite side walls of the first structural block and the second structural block are arc-shaped surfaces. The area of the installation housing between the first structural block and the second structural block, the first structural block, and the second structural block enclose a first arc segment mounting groove with a hollowed-out area. The side surface of the first structural block facing away from the second arc segment mounting groove serves as the limiting surface for the first limiting block to abut against the control rod, and the side surface of the second structural block facing away from the second arc segment mounting groove serves as the limiting surface for the second limiting block to abut against the control rod.

[0018] Optionally, a fixed shaft is provided inside the mounting shell. The turntable and the fixed shaft are rotatably connected through a bearing. A strip-shaped groove is provided around the fixed shaft inside the mounting shell. The strip-shaped groove extends along an arc. An elastic member is provided in the strip-shaped groove. A cover plate is provided on the mounting shell. The cover plate and the strip-shaped groove enclose a receiving cavity for the elastic member.

[0019] A fixed rod is provided on the turntable. The length direction of the fixed rod is parallel to the fixed shaft. An arc-shaped through groove for the circumferential sliding of the fixed rod is provided on the cover plate. One end of the fixed rod passes through the arc-shaped through groove and enters the strip-shaped groove to abut against one end of the elastic member. When the thigh connecting member and the calf connecting member approach each other and the parts on the back side of the user's leg approach each other, the rotation of the turntable drives the fixed rod to compress the elastic member along the arc-shaped through groove. The strip-shaped groove and the arc-shaped through groove are arc-shaped and are coaxially arranged with the rotating shaft of the turntable.

[0020] Optionally, the elastic member includes a first arc-shaped spring and a second arc-shaped spring. The first arc-shaped spring is sleeved on the outer periphery of the second arc-shaped spring, and the length of the first arc-shaped spring is greater than the length of the second arc-shaped spring. One end of the first arc-shaped spring abuts against one end inner wall of the strip-shaped groove, and the other end of the first arc-shaped spring abuts against the fixed rod.

[0021] In summary, the present application includes the following beneficial technical effects:

[0022] By adjusting the position of the rotating block in the present application, the locking and unlocking of the knee joint can be quickly realized. The turntable and the inner wall of the arc-shaped groove of the mounting shell are co-circular, ensuring that the rotating block is simultaneously embedded in the two grooves in the locked state to form a geometric constraint. For the limitation of the chord length of the rotating block: the chord length of the rotating block is greater than the chord length a of the first arc segment mounting groove but less than the diameter, ensuring that only a part of the rotating block is embedded in the second arc segment mounting groove in the locked state to avoid overconstraint. Moreover, the rotating block is a major arc bow-shaped rotating block: its circumferential contour covers more than a semicircle, increasing the contact area with the arc-shaped groove and improving the anti-shearing force ability.

[0023] The rotating block cooperates with the limiting component, the first limiting block and the second limiting block to enable the rotating block to quickly and accurately reach the position and limit and position the rotation of the rotating block after reaching the position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic diagram of the overall structure of the knee joint structure of the exoskeleton of the present application;

[0026] Figure 2 This is a schematic structural view of the rotating block of the present application in the unlocked state;

[0027] Figure 3 This is a schematic structural view of the first arc segment installation groove, the second arc segment installation groove and the rotating block of the present application;

[0028] Figure 4 This is a schematic structural view of the rotating block of the present application in the locked state;

[0029] Figure 5 This is an exploded structural view of the installation shell, the cover plate and the turntable of the present application.

[0030] Explanation of reference numerals: 1. Thigh connecting piece; 2. Calf connecting piece; 3. Installation shell; 31. First arc segment installation groove; 32. First structural block; 33. Second structural block; 34. Limiting surface; 35. Fixed shaft; 36. Strip-shaped groove; 4. Turntable; 41. Second arc segment installation groove; 42. Fixed rod; 43. Cover plate; 44. Arc-shaped through groove; 5. Rotating block; 6. Spring top bead; 61. Restricting hole; 7. Control rod. Detailed implementation manners

[0031] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0032] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts belong to the scope of protection of the present application.

[0033] It should be noted that the following description relates to various aspects of embodiments within the scope of the appended claims. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on this application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement a device and / or practice a method. In addition, this device and / or this method can be implemented using other structures and / or functions in addition to one or more of the aspects described herein.

[0034] It should also be noted that the diagrams provided in the following embodiments only illustrate the basic concept of this application schematically. The diagrams only show the components related to this application, rather than being drawn according to the number, shape and size of the components in actual implementation. The type, quantity and proportion of each component in its actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0035] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the aspects described can be practiced without these specific details.

[0036] An embodiment of this application provides a knee joint structure of an exoskeleton.

[0037] As Figure 1 shown, a knee joint structure of an exoskeleton includes a thigh connecting member 1 and a calf connecting member 2. An installation shell 3 is fixedly connected to the thigh connecting member, and a turntable 4 is fixedly connected to the calf connecting member 2. The turntable 4 is rotatably connected to the installation shell 3. Among them, the thigh connecting member 1 and the fixed shell are integrally provided, or can be fixed by bolts; the calf connecting member 2 and the chuck are integrally provided, or can be fixed by bolts.

[0038] As Figures 2 to 4As shown in the figure, a first arc-section installation groove 31 is provided on the side wall of the installation shell 3, and a second arc-section installation groove 41 is provided on the side wall of the turntable 4. The inner wall surfaces of the first arc-section installation groove 31 and the second arc-section installation groove 41 are co-circular and are denoted as the first circle. The plane where the first circle is located is parallel to the rotation axis of the turntable 4. Among them, the circumferential side walls of the installation shell 3 and the turntable 4 are circumferential structural surfaces surrounding the axis of the rotation axis of the turntable 4. The specific explanations for the first arc-section installation groove 31 and the second arc-section installation groove 41 are as follows: One side of the first arc-section installation groove 31 facing the turntable 4 penetrates through the end surface of the installation shell 3, and one side of the second arc-section installation groove 41 facing the installation shell penetrates through the end surface of the turntable 4. The first arc-section installation groove 31 and the second arc-section installation groove 41 are communicated, and the inner wall surfaces of the first arc-section installation groove 31 and the second arc-section installation groove 41 are arc surfaces.

[0039] Among them, the range of the first circle can completely fall within the thickness range of the outer circumferential side walls of the installation shell 3 and the turntable 4, then the first arc-section installation groove 31 and the second arc-section installation groove 41 enclose a continuous circular groove; it can also be that one side of the first circle completely falls within the thickness range of the outer circumferential side wall of the turntable 4, and the other side of the first circle protrudes outside the thickness range of the outer circumferential side wall of the installation shell 3; it can also be that one of the opposite sides of the first circle is outside the thickness range of the outer circumferential side wall of the turntable 4, and the other side protrudes outside the thickness range of the outer circumferential side wall of the installation shell 3. The specific distribution of the first circle can be set according to the actual situation. In the embodiment of the present application, one side of the first circle completely falls within the thickness range of the outer circumferential side wall of the turntable 4, and the other side of the first circle protrudes outside the thickness range of the outer circumferential side wall of the installation shell 3. That is, the inner wall structure of the first arc-section installation groove 31 is divided into two spaced arc-shaped curved surfaces, and the inner wall of the second arc-section installation groove 41 is a continuous whole arc-shaped curved surface.

[0040] A rotating block 5 is rotatably provided on the side wall of the installation shell 3. The circumferential contour of the rotating block 5 is a major arc bow shape. The axis of rotation of the rotating block 5 passes through the center of the first circle, and the diameter of the rotating block 5 matches the diameter of the first circle. The chord length of one side of the first arc-section installation groove 31 facing the second arc-section installation groove 41 is a. The chord length of the rotating block 5 is greater than a and less than the diameter of the first circle. The axis of rotation of the rotating block 5 is perpendicular to the plane where the first circle is located. Among them, the rotating block 5 is at least partially located in the groove space enclosed by the first arc-section installation groove 31 and the second arc-section installation groove 41. The outer peripheral side surface of the rotating block 5 cooperates with the inner peripheral wall surface of the groove enclosed by the first arc-section installation groove 31 and the second arc-section installation groove 41, and the rotating block 5 rotates within the range of the first circle.

[0041] The position of the rotating block 5 includes an unlocked state and a locked state;

[0042] When the rotating block 5 is in the unlocked state, at least part of the rotating block 5 is located within the first arc segment mounting groove 31 and entirely outside the range of the first arc segment mounting groove 31. At this time, the turntable 4 can rotate within a large range relative to the mounting shell 3, and the knee joint can bend, that is, the thigh connecting member 1 and the calf connecting member 2 can move closer to and away from each other quickly, driving the relative movement of the thigh part and the calf part, and realizing the bending and straightening actions of the exoskeleton leg structure.

[0043] When the rotating block 5 is in the locked state, part of the rotating block 5 is located within the first arc segment mounting groove 31 and part is located within the second arc segment mounting groove 41. The central angle of the area of the rotating block 5 in the second arc segment mounting groove 41 is equal to the central angle of the circumferential inner wall of the second arc segment mounting groove 41. At this time, the rotation of the turntable 4 is blocked by the rotating block 5, and the turntable 4 cannot rotate relative to the mounting shell 3, realizing the locking of the knee joint; among them, for: the central angle of the area of the rotating block 5 in the second arc segment mounting groove 41 is equal to the central angle of the circumferential inner wall of the second arc segment mounting groove 41, specifically explained as, the area within the second arc segment mounting groove 41 is exactly filled by a partial area of the rotating block.

[0044] In this application, by adjusting the position of the rotating block 5, the locking and unlocking of the knee joint can be quickly realized. The arc groove inner walls of the turntable 4 and the mounting shell 3 are co-circular, ensuring that the rotating block 5 is embedded in both grooves simultaneously in the locked state, forming a geometric constraint. Regarding the limitation of the chord length of the rotating block 5: the chord length of the rotating block 5 is greater than the chord length a of the first arc segment mounting groove 31 but less than the diameter, ensuring that only part of it is embedded in the second arc segment mounting groove 41 in the locked state, avoiding over-constraint. Moreover, the rotating block 5 is a major arc bow-shaped rotating block 5: its circumferential contour covers more than a semi-circle, increasing the contact area with the arc groove and improving the anti-shearing force ability.

[0045] In the embodiment of this application, a plurality of spaced first arc segment mounting grooves 31 can be provided on the circumferential side wall of the turntable 4 for locking the relative positions of the turntable 4 and the mounting shell 3 when the turntable 4 rotates to different angles.

[0046] The knee joint structure of the exoskeleton further includes a limiting component, and the limiting component is installed on the mounting shell 3 body and / or the rotating block 5. The limiting component is used to limit and release the rotation of the rotating block 5. The setting of the limiting component can prevent the random rotation of the rotating block 5.

[0047] The limiting component includes a spring bead 6 disposed at the bottom of the first arc segment mounting groove 31. The rotating block 5 is provided with two limiting grooves or limiting holes 61 for cooperating with the spring bead 6. The centers of the two limiting grooves or limiting holes 61 are concentric circles, and the rotation trajectory of the limiting grooves or limiting holes 61 is coaxial with the rotation axis of the rotating block 5. The spring bead 6 is located on the rotation trajectory of the limiting grooves or limiting holes 61. When the rotating block 5 is in the unlocked state, one of the limiting grooves or limiting holes 61 is correspondingly engaged with the spring bead 6. When the rotating block 5 is in the locked state, the other limiting groove or limiting hole 61 is correspondingly engaged with the spring bead 6. In the embodiment of the present application, the limiting hole 61 cooperating with the spring bead 6 is beneficial to reducing the weight of the entire knee joint structure. Among them, an installation hole can be provided at the bottom of the first arc segment mounting groove 31, and the outer shell of the spring bead 6 is in interference fit with the installation hole, or the outer shell of the spring bead 6 is fixed to the mounting shell 3 by bolts.

[0048] When the rotating block 5 rotates to the locked / unlocked position, the spring bead 6 is embedded in the corresponding limiting groove or limiting hole 61, and the mechanical resistance indicates that the operation is in place. The center of the limiting groove or limiting hole 61 is coaxial with the rotation axis of the rotating block 5, ensuring that the bead can be accurately engaged at any angle of the rotating block 5. Select a spring bead 6 with appropriate elasticity to ensure that the bead can be disengaged from the groove under the operating force, but will not accidentally come out during daily use.

[0049] The rotating block 5 is provided with a control rod 7. The rotating block 5 can be conveniently rotated through the control rod 7.

[0050] The control rod 7 is fixedly connected to the circumferential side wall of the rotating block 5. The side wall of the first arc segment mounting groove 31 away from the second arc segment groove is provided with a hollow. The control rod 7 is located within the hollow area. In the embodiment of the present application, since it is previously pointed out that the inner wall structure of the first arc segment mounting groove 31 is divided into two spaced arc-shaped curved surfaces, therefore, the space between the two arc-shaped curved surfaces at both ends and the corresponding hollow setting, the control rod 7 extends outward from the circumferential side wall of the rotating block 5 away from the axis of the rotating block 5. By applying a force to the end of the control rod 7 away from the rotating block 5, it is more labor-saving to overcome the frictional force of the rotating block 5 and the engaging force between the spring bead 6 and the limiting hole 61 to rotate the rotating block 5. Moreover, the operator can directly apply force through the exposed control rod 7 without disassembling the outer shell. Among them, the control rod 7 and the rotating block 5 are integrally provided.

[0051] On the side wall of the installation shell 3, there are a first limiting block and a second limiting block. The first limiting block and the second limiting block are located on opposite sides of the hollowed-out area, and the first limiting block and the second limiting block are located on the rotation path of the control rod 7. When the rotating block 5 is in the unlocked state, the control rod 7 abuts against the first limiting block. When the rotating block 5 is in the locked state, the control rod 7 abuts against the second limiting block. On the side wall of the installation shell 3, there are spaced first structural blocks 32 and second structural blocks 33. The opposite side walls of the first structural block 32 and the second structural block 33 are arc-shaped surfaces. The area of the installation shell 3 between the first structural block 32 and the second structural block 33, the first structural block 32, and the second structural block 33 enclose a first arc-section installation groove 31 with a hollowed-out area. The side surface of the first structural block 32 facing away from the second arc-section installation groove 41 serves as a limiting surface 34 for the first limiting block to abut against the control rod 7, and the side surface of the second structural block 33 facing away from the second arc-section installation groove 41 serves as a limiting surface 34 for the second limiting block to abut against the control rod 7. The inner wall circular arc-shaped surfaces of the first structural block 32 and the second structural block 33 correspond to the inner wall structures of two circular arc-shaped surfaces spaced apart in the first arc-section installation groove 31.

[0052] As Figure 1 and Figure 5 As shown, a fixed shaft 35 is provided inside the installation shell 3. The turntable 4 and the fixed shaft 35 are rotationally connected through a bearing. A strip-shaped groove 36 is provided outside the fixed shaft 35 inside the installation shell 3. The strip-shaped groove 36 extends along an arc. An elastic member is provided in the strip-shaped groove 36. A cover plate 43 is provided on the installation shell 3. The cover plate 43 and the strip-shaped groove 36 enclose a receiving cavity for the elastic member. Among them, the elastic member is not shown in the figure.

[0053] A fixed rod 42 is provided on the turntable 4. The length direction of the fixed rod 42 is parallel to the fixed shaft 35. An arc-shaped through groove 44 for the fixed rod 42 to slide circumferentially is provided on the cover plate 43. One end of the fixed rod 42 passes through the arc-shaped through groove 44 and enters the strip-shaped groove 36 to abut against one end of the elastic member. When the thigh connecting member 1 and the calf connecting member 2 approach, the parts on the rear side of the user's leg approach each other, and the rotation of the turntable 4 drives the fixed rod 42 to compress the elastic member along the arc-shaped through groove 44. That is, when the fixed rod 42 approaches the rear side of the user's thigh of the thigh connecting member 1, the elastic member is compressed. Moreover, the strip-shaped groove 36 and the arc-shaped through groove 44 are arc-shaped and are coaxially arranged with the rotation axis of the turntable 4. Among them, the fixed rod 42 and the turntable 4 are fixedly installed on the turntable 4 through threaded cooperation.

[0054] The elastic member includes a first arc spring and a second arc spring. The first arc spring is sleeved on the outer periphery of the second arc spring, and the length of the first arc spring is greater than that of the second arc spring. One end of the first arc spring abuts against one end inner wall of the strip-shaped groove 36, and the other end of the first arc spring abuts against the fixed rod 42.

[0055] The two nested arc springs provide non-linear buffering when the leg bends, adapting to different gait phases. Moreover, when the leg changes from bending to straightening, it provides assistance.

[0056] Dual-arc spring design: The long spring, the first arc spring, has a low initial stiffness and provides compliant buffering; the short spring, the second arc spring, intervenes at high compression amounts, and the stiffness suddenly increases to resist impact.

[0057] The curvature of the arc-shaped strip-shaped groove 36 is coaxial with the turntable 4, ensuring that the movement trajectory of the fixed rod 42 is consistent with the spring compression direction and reducing lateral friction.

[0058] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A knee joint structure of an exoskeleton, characterized in that: The invention comprises a thigh connecting member (1) and a calf connecting member (2), wherein a mounting shell (3) is fixedly connected to the thigh connecting member, and a rotating disk (4) is fixedly connected to the calf connecting member (2), wherein the rotating disk (4) and the mounting shell (3) are rotatably connected, a first circular arc segment mounting groove (31) is provided on the circumferential side wall of the mounting shell (3), and a second circular arc segment mounting groove (41) is provided on the circumferential side wall of the rotating disk (4), wherein the inner wall surfaces of the first circular arc segment mounting groove (31) and the second circular arc segment mounting groove (41) are cocircular and are recorded as a first circle, and the first circle is located at a position where the first circular ... The plane is parallel to the rotation axis of the rotating disk (4); a rotating block (5) is rotatably provided on the side wall of the mounting shell (3); the circumferential profile of the rotating block (5) is a major arc; the axis of the rotating shaft of the rotating block (5) passes through the center of the first circle; the diameter of the rotating block (5) matches the diameter of the first circle; the chord length of one side of the first arc segment mounting groove (31) facing the second arc segment mounting groove (41) is a; the chord length of the rotating block (5) is greater than a and less than the diameter of the first circle; and the rotation axis of the rotating block (5) is perpendicular to the plane where the first circle is located; The position of the rotating block (5) includes an unlocked state and a locked state; When the rotating block (5) is in an unlocked state, the rotating block (5) is at least partially located in the first circular arc segment installation groove (31) and is entirely located outside the range of the first circular arc segment installation groove (31); When the rotating block (5) is in a locked state, part of the rotating block (5) is located in the first arc segment mounting groove (31) and part of the rotating block (5) is located in the second arc segment mounting groove (41), and the central angle of the area of ​​the rotating block (5) in the second arc segment mounting groove is equal to the central angle of the circumferential inner wall of the second arc segment mounting groove (41).

2. The knee joint structure of the exoskeleton according to claim 1, characterized in that: The knee joint structure of the exoskeleton also comprises a limiting component, which is mounted on the mounting shell (3) and / or the rotating block (5), and is used to limit and release the rotation of the rotating block (5).

3. The knee joint structure of the exoskeleton according to claim 2, characterized in that: The limiting component comprises a spring top ball (6) arranged on the bottom of the first arc segment mounting groove (31); the rotating block (5) is provided with two limiting grooves or limiting holes (61) matching the spring top ball (6); the center points of the two limiting grooves or limiting holes (61) are cocircular, and the rotation track of the limiting groove or limiting hole (61) is coaxial with the rotation axis of the rotating block (5); the spring top ball (6) is located on the rotation track of the limiting groove or limiting hole (61); When the rotating block (5) is in an unlocked state, one of the limiting grooves or limiting holes (61) and the spring top ball (6) are correspondingly engaged; When the rotating block (5) is in a locked state, the other limiting groove or limiting hole (61) and the spring top ball (6) are correspondingly engaged.

4. The knee joint structure of the exoskeleton according to claim 1, characterized in that: A control rod (7) is provided on the rotating block (5).

5. The knee joint structure of the exoskeleton according to claim 4, characterized in that: The control rod (7) is connected to the circumferential side wall of the rotating block (5); the first arc segment mounting groove (31) is hollowed out from the side wall of the second arc segment groove; and the control rod (7) is located within the hollowed-out area.

6. The knee joint structure of the exoskeleton according to claim 5, characterized in that: A first limit block and a second limit block are provided on the side wall of the mounting shell (3), the first limit block and the second limit block are located on opposite sides of the hollow area, and the first limit block and the second limit block are located on the rotation path of the control rod (7); When the rotating block (5) is in an unlocked state, the control rod (7) abuts against the first limit block; when the rotating block (5) is in a locked state, the control rod (7) abuts against the second limit block.

7. The knee joint structure of the exoskeleton according to claim 6, characterized in that: A first structural block (32) and a second structural block (33) are provided on the side wall of the installation shell (3); the side walls of the first structural block (32) and the second structural block (33) opposite to each other are arc-shaped surfaces; the area of ​​the installation shell (3) between the first structural block (32) and the second structural block (33), the first structural block (32), and the second structural block (33) form a first arc-shaped installation groove (31) with a hollow area; the side surface of the first structural block (32) facing away from the second arc-shaped installation groove (41) serves as a limiting surface (34) for abutting the first limiting block and the control rod (7); and the side surface of the second structural block (33) facing away from the second arc-shaped installation groove (41) serves as a limiting surface (34) for abutting the second limiting block and the control rod (7).

8. The knee joint structure of the exoskeleton according to claim 1, characterized in that: A fixed shaft (35) is provided in the mounting shell (3), the rotating disk (4) and the fixed shaft (35) are rotatably connected via a bearing, a strip groove (36) is provided in the mounting shell (3) on the periphery of the fixed shaft (35), the strip groove (36) extends in an arc shape, an elastic member is provided in the strip groove (36), a cover plate (43) is provided on the mounting shell (3), and the cover plate (43) and the strip groove (36) form a receiving cavity for receiving the elastic member; The rotating disk (4) is provided with a fixing rod (42), the length direction of which is parallel to the fixing shaft (35), and the cover plate (43) is provided with an arc-shaped through groove (44) for the fixing rod (42) to slide in the circumferential direction, one end of the fixing rod (42) passes through the arc-shaped through groove (44) and enters the strip groove (36) and abuts against one end of the elastic member, and when the thigh connecting member (1) and the calf connecting member (2) are close to each other and the rear part of the user's legs are close to each other, the rotating disk (4) rotates to drive the fixing rod (42) to compress the elastic member along the arc-shaped through groove (44), and the strip groove (36) and the arc-shaped through groove (44) are in an arc shape and are coaxially arranged with the rotating shaft of the rotating disk (4).

9. The knee joint structure of the exoskeleton according to claim 8, characterized in that: The elastic member comprises a first arc spring and a second arc spring, the first arc spring is sleeved on the outer circumference of the second arc spring, and the length of the first arc spring is greater than the length of the second arc spring, one end of the first arc spring abuts against the inner wall of one end of the strip groove (36), and the other end of the first arc spring abuts against the fixing rod (42).

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