Viscous damping knee joint exoskeleton device

Abstract

The invention relates to the technical field of knee joint exoskeleton devices, in particular to a viscous damping knee joint exoskeleton device. The knee joint assembly comprises a first rotating assembly and a second rotating assembly which are rotationally connected; the pair of leg connecting assemblies are connected with the first rotating assembly and the second rotating assembly correspondingly, and the pair of leg connecting assemblies are used for being connected with thighs and shanks on the same side of the user correspondingly; the viscous fluid damper comprises a first connecting piece and a second connecting piece which rotate relatively, and the first connecting piece is connected with the first rotating assembly; and the clutch device is arranged between the second connecting piece and the second rotating assembly, and the clutch device is used for switching the rotating coupling state of the second connecting piece and the second rotating assembly, so that the second connecting piece and the second rotating assembly are circumferentially coupled or decoupled. The buffering effect can be effectively improved, and joint impact is reduced.

Description

Technical Field

[0001] This invention relates to the field of knee exoskeleton device technology, specifically to a viscous damping knee exoskeleton device. Background Technology

[0002] Knee exoskeletons are playing an increasingly important role in rehabilitation, mobility assistance, and injury prevention. These devices provide external mechanical support to enhance or restore the natural function of the knee joint in patients with various conditions, including muscle weakness, joint instability, and neurological dysfunction, as well as those recovering from injury or surgery.

[0003] Existing semi-active exoskeletons have explored various damping mechanisms, including hydraulic systems, cylinders, and magnetorheological dampers. However, these systems typically suffer from limitations in response time, power efficiency, or mechanical complexity. Hydraulic systems are prone to fluid leakage and temperature sensitivity issues. Pneumatic systems may lack sufficient damping force during critical gait phases, generating excessive noise, and are too heavy to meet the required tasks. While magnetorheological dampers show promise, they require continuous power to maintain damping, are costly to manufacture, exhibit significant residual torque after power failure, and are also too heavy to meet the required tasks. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a viscous damping knee exoskeleton device that provides effective knee joint cushioning and protection while also offering the combined advantages of lightweight, rapid response and low cost.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: A viscous damped knee exoskeleton device, comprising: A knee joint assembly, comprising a first rotating assembly and a second rotating assembly rotatably connected; A pair of leg connection components, which are respectively connected to a first rotating component and a second rotating component, and the pair of leg connection components are respectively used to connect to the thigh and calf on the same side of the user; A viscous fluid damper includes a first connector and a second connector that rotate relative to each other, the first connector being connected to a first rotating assembly; A clutch device is disposed between the second connecting member and the second rotating assembly. The clutch device is used to switch the rotational coupling state of the second connecting member and the second rotating assembly so that the second connecting member and the second rotating assembly are circumferentially coupled or decoupled.

[0006] Based on the above structure, the rotation centers of the first and second rotating components correspond to the rotational positions of the knee joint. During normal walking, the clutch can be switched to a decoupled state, at which point the viscous fluid damper does not participate, allowing the user to freely flex and extend the knee joint for easy walking. When auxiliary support or deceleration is needed, the clutch switches to a coupled state to protect the knee joint. The viscous fluid damper (specifically, refer to the rotary damper disclosed in Chinese invention patent CN116528727A) works by having a housing filled with high-viscosity silicone oil. The relatively rotating first and second connecting parts contain multiple radial blades. These blades move in the viscous fluid, generating a damping force proportional to the rotational speed. Therefore, it effectively improves the cushioning effect and reduces joint impact.

[0007] Furthermore, in a viscous damping knee exoskeleton device of this application, the second rotating component includes a housing assembly with a receiving cavity inside. The viscous fluid damper is disposed within the receiving cavity. The housing assembly has a mounting hole on one axial side. The first rotating component includes a positioning part that axially extends into the receiving cavity from the mounting hole and a connecting part connected to the positioning part. The connecting part is connected to a first connecting member, and the positioning part rotatably engages with the mounting hole. As a preferred embodiment of this application, based on the above device, effective sealing of the viscous fluid damper is achieved.

[0008] Furthermore, in a viscous damping knee exoskeleton device of this application, a transmission connection hole is axially provided on the first connecting member. The connecting part includes a connecting rod and a limiting block. The connecting rod passes through the transmission connection hole and is circumferentially driven in conjunction with the transmission connection hole. One end of the connecting rod is connected to the positioning part. The limiting block is disposed at the end of the connecting rod away from the positioning part. The first connecting member is axially limited between the limiting block and the positioning part. As a preferred embodiment of this application, the above device has the advantage of compact structure. Furthermore, in a viscous damping knee exoskeleton device of this application, a first bearing is installed radially between the positioning part and the mounting hole. A first limiting step is provided on the inner wall of the mounting hole. The first limiting step axially abuts against the side of the first bearing away from the receiving cavity. A second limiting step is provided on the positioning part. The second limiting step axially abuts against the side of the first bearing away from the first limiting step. A limiting groove is provided on the inner wall of the housing assembly near the limiting block, the limiting block is disposed in the limiting groove, and a second bearing is installed radially between the limiting block and the limiting groove. As a preferred embodiment of this application, the stability of the rotational connection between the first rotating assembly and the second rotating assembly can be guaranteed.

[0009] Furthermore, in this application, a viscous damping knee exoskeleton device includes a housing assembly comprising a detachably connected first half-shell and a second half-shell. A mounting hole is disposed on the first half-shell, a limiting groove is disposed on the second half-shell, and a receiving cavity is disposed between the first and second half-shells. As a preferred embodiment of this application, it offers the advantage of convenient assembly and disassembly.

[0010] Furthermore, in this application, a viscous damping knee exoskeleton device is provided, wherein the clutch device includes a driver, a connecting block, and a limiting disc. The driver is mounted on the housing assembly, the connecting block is connected to the driver in a transmission manner, the limiting disc is mounted on a second connecting member, and the limiting disc is provided with a coupling structure that cooperates with the connecting block. The coupling structure is circumferentially and closely distributed in the rotation direction. When the driver drives the connecting block to move to the point of coupling with the coupling structure, the second connector and the second rotating assembly are circumferentially coupled. When the driver drives the connecting block to move to the point of separation from the coupling structure, the second connector and the second rotating assembly are circumferentially decoupled. As a preferred embodiment of this application, based on the above device, when the driver drives the connecting block to move to the point of coupling with the coupling structure, the second connector and the second rotating assembly are connected. At this time, when the first rotating assembly rotates, the first connector and the second connector rotate relative to each other, and the viscous fluid damper generates a damping torque.

[0011] Furthermore, in a viscous damping knee exoskeleton device of this application, the connecting block is disposed on the radial outer side of the limiting plate, the coupling structure is a ratchet disposed on the outer periphery of the limiting plate, the connecting block is provided with teeth that mesh with the ratchet, and the driver is used to drive the connecting block to move in the radial direction to realize the switching of the rotational coupling state between the second connecting member and the second rotating component.

[0012] Furthermore, in a viscous damping knee exoskeleton device of this application, the actuator is an electromagnet, and the connecting block is mounted on the moving iron core of the electromagnet.

[0013] Furthermore, in a viscous damping knee exoskeleton device of this application, a pair of leg connectors are a thigh connector assembly and a lower leg connector assembly, wherein the thigh connector assembly is connected to the housing assembly and the lower leg connector assembly is connected to the connector portion; The housing assembly is provided with an annular boss, and the mounting hole corresponds to the inner hole of the annular boss. The lower leg connecting assembly includes a lower leg connecting plate, one end of which is provided with a cover. The cover is axially connected to the connecting part, and the cover has a cover cavity opening towards the annular boss. The annular boss is disposed in the cover cavity, and a third bearing is installed between the side wall of the cover cavity and the radial direction of the annular boss. As a preferred embodiment of this application, based on the above structure, the rotational stability of the lower leg connecting assembly and the first rotating assembly relative to the housing assembly can be effectively improved, while the dustproof sealing of the storage cavity corresponding to the mounting hole position is improved, effectively improving the service life and reliability of the device.

[0014] Furthermore, in a viscous damping knee exoskeleton device of this application, a first connecting plate is provided on the side of the lower leg connecting plate near the cover, and a second connecting plate is provided on the side of the lower leg connecting plate away from the cover. A first connecting sleeve and a second connecting sleeve are respectively provided on the first connecting plate and the second connecting plate. The lower leg connecting plate is curved and extended such that the first connecting plate is located next to the user's knee joint and the second connecting plate is located on the back of the user's lower leg. The first connecting sleeve and the second connecting sleeve are arranged crosswise, such that: on the front side of the lower leg, the first connecting sleeve is below the second connecting sleeve, and on the rear side of the lower leg, the second connecting sleeve is below the first connecting sleeve. As a preferred embodiment of this application, the above structure can ensure the firmness of the connection between the lower leg connecting plate and the lower leg, so as to effectively transmit the resistance transmitted by the damper.

[0015] As can be seen from the above technical solution, the present invention has the following beneficial effects: This invention provides a viscous damping knee exoskeleton device. By controlling the intervention of the viscous fluid damper through a clutch device, it achieves free movement in a passive state and on-demand damping assistance. Its structure is simple and reliable, requires no continuous power supply, and avoids the leakage and temperature sensitivity problems of hydraulic systems, the insufficient output and excessive noise of pneumatic systems, and the high cost, high power consumption and high residual torque of magnetorheological dampers. While providing effective knee joint cushioning protection, it also has the comprehensive advantages of lightweight, fast response and low cost. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the exoskeleton device in the embodiment of this application (in use). Figure 2 This is a schematic diagram of the internal structure of the storage cavity of the exoskeleton device in the embodiments of this application; Figure 3 This is a schematic diagram illustrating the working principle of the clutch device in the embodiments of this application; Figure 4 This is an exploded view of the internal components of the storage cavity of the exoskeleton device in an embodiment of this application. Figure 5 This is a schematic diagram of the exoskeleton device in an embodiment of this application (in an unused state); Figure 6 This is a gait diagram corresponding to each gait cycle phase in the embodiments of this application.

[0017] In the diagram: 1-Housing assembly; 10-Reception cavity; 11-First half-shell; 110-Mounting hole; 111-First limiting step; 112-Annular boss; 12-Second half-shell; 121-Limiting groove; 21-Positioning part; 211-Second limiting step; 22-Connecting part; 221-Connecting rod; 222-Limiting block; 31-First connecting member; 310-Transmission connecting hole; 32-Second connecting member; 41-Driver; 42-Connecting block; 421-Tooth; 43-Limit plate; 431-Ratchet; 44-Support sleeve; 5- Thigh connecting assembly; 51- Thigh connecting plate; 52- Thigh connecting sleeve; 6-Lower leg connecting assembly; 61-Lower leg connecting plate; 610-Cavity cover; 611-Cover body; 612-First connecting sleeve; 6120-First connecting plate; 613-Second connecting sleeve; 6130-Second connecting plate; 7-Hall sensor; 91 - First bearing; 92 - Second bearing; 93 - Third bearing. Detailed Implementation

[0018] Example 1 Combination Figures 1 to 5 The knee exoskeleton damping device shown includes A knee joint assembly, comprising a pair of rotatable components rotatably connected; A pair of leg connection components, each connected to a pair of rotating components, the pair of leg connection components being used to connect to the thigh and calf on the same side of the user; Rotational damper, which is controllably coupled to the knee joint assembly; The clutch device is located between the rotary damper and the knee joint assembly. The clutch device is used to switch the coupling state between the knee joint assembly and the rotary damper so that the rotational movement of the knee joint assembly is in a damped state or a free state. The detection unit includes an inertial measurement unit and a knee joint angle detection unit. The inertial measurement unit is used to acquire the user's motion characteristic signals (such as multi-axis acceleration and angular velocity signals), and the knee joint angle detection unit is set on the knee joint assembly to acquire the relative rotation state signals of a pair of rotating components. The control unit is used to determine the gait cycle phase and movement mode based on the signals obtained by the detection unit, and to control the clutch device to switch the coupling state between the knee joint assembly and the rotational damper according to the preset control rules.

[0019] Based on the above device, when in use, the leg connection component is fixedly connected to the user's thigh and calf. After the system is started, the detection unit collects motion characteristic signals and knee joint angle change data in real time. The control unit identifies the current gait phase and movement mode accordingly, and dynamically adjusts the working state of the clutch device in combination with the preset damping strategy, thereby automatically controlling the timing of damping intervention of the knee exoskeleton in the gait cycle.

[0020] Compared to other embodiments where the rotational coupling is switched by manually controlling the clutch (e.g., using a remote control to actively trigger the clutch to circumferentially couple or decouple the second connector from the second rotating component), this embodiment achieves automatic switching of the clutch through the coordinated action of the detection unit and the control unit, without requiring active user intervention, thus improving the adaptability and wearing comfort of the exoskeleton.

[0021] Specifically, the inertial measurement unit can be set at different limb positions on the user's body (such as thigh, calf, and torso) to improve the robustness of gait cycle phase and motion pattern judgment.

[0022] Combination Figure 2 As shown, in this embodiment, a pair of rotating components are a first rotating component and a second rotating component; the rotational damper includes a first connecting member 31 and a second connecting member 32 that rotate relative to each other, the first connecting member 31 being connected to the first rotating component; a clutch device is disposed between the second connecting member 32 and the second rotating component, the clutch device being used to switch the rotational coupling state of the second connecting member 32 and the second rotating component, so that the second connecting member 32 and the second rotating component are circumferentially coupled or decoupled.

[0023] Based on the above structure, the rotation centers of the first and second rotating components correspond to the rotational positions of the knee joint. During normal walking, the clutch can be switched to a decoupled state, at which point the rotary damper does not participate, allowing the user to freely flex and extend the knee joint. The rotational movement of the knee joint assembly is free, enabling easy walking. When auxiliary support or deceleration is needed, the clutch switches to a coupled state, and the rotational movement of the knee joint assembly is damped to protect the knee joint.

[0024] In this embodiment, the rotary damper is a viscous fluid damper (specifically, refer to the rotary damper disclosed in Chinese invention patent CN116528727A). Its principle is that the housing contains high-viscosity silicone oil, and the relatively rotating first connecting member 31 and second connecting member 32 contain multiple radial blades. These blades move in the viscous fluid, generating a damping force proportional to the rotational speed. Therefore, it can effectively improve the buffering effect and reduce joint impact. In other embodiments, the rotary damper can be a magnetorheological damper, an adjustable friction brake, or a cylinder.

[0025] In this embodiment, the second rotating assembly includes a housing assembly 1, which has a receiving cavity 10. The rotational damper is disposed within the receiving cavity 10. The housing assembly 1 has a mounting hole 110 on one axial side. The first rotating assembly includes a positioning part 21 that axially penetrates the receiving cavity 10 through the mounting hole 110 and a connecting part 22 connected to the positioning part 21. The connecting part 22 is connected to a first connecting member 31, and the positioning part 21 rotatably engages with the mounting hole 110. Based on the above device, effective sealing of the rotational damper is achieved.

[0026] In this embodiment, a transmission connection hole 310 is axially provided on the first connecting member 31. The connecting part 22 includes a connecting rod 221 and a limiting block 222. The connecting rod 221 passes through the transmission connection hole 310 and is in circumferential transmission engagement with the transmission connection hole 310. One end of the connecting rod 221 is connected to the positioning part 21 by a threaded fastener. The limiting block 222 is disposed at the end of the connecting rod 221 away from the positioning part 21. The first connecting member 31 is axially limited between the limiting block 222 and the positioning part 21. Based on the above device, it has the advantage of compact structure. Specifically, in this embodiment, the transmission connection hole 310 has a square cross-section.

[0027] In this embodiment, a first bearing 91 is installed radially between the positioning part 21 and the mounting hole 110. A first limiting step 111 is provided on the inner wall of the mounting hole 110, axially abutting against the side of the first bearing 91 away from the receiving cavity 10. A second limiting step 211 is provided on the positioning part 21, axially abutting against the side of the first bearing 91 away from the first limiting step 111. A limiting groove 121 is provided on the inner wall of the housing assembly 1 near the limiting block 222, with the limiting block 222 disposed within the limiting groove 121. A second bearing 92 is installed radially between the limiting block 222 and the limiting groove 121. This ensures the stability of the rotational connection between the first rotating assembly and the second rotating assembly. The rotational damper is disc-shaped, and the second connecting member 32 is located radially outside the first connecting member 31.

[0028] In this embodiment, the knee joint angle detection unit is a Hall sensor 7, which is installed in the limiting groove 121. A magnetic block is provided at the end of the limiting block 222 away from the connecting rod 221. The Hall sensor 7 is used to detect the change in the magnetic field of the magnetic block during rotation to output the relative rotation state of a pair of rotating components.

[0029] The housing assembly 1 includes a first half-shell 11 and a second half-shell 12 that are detachably connected. A mounting hole 110 is provided on the first half-shell 11, a limiting groove 121 is provided on the second half-shell 12, and a storage cavity 10 is provided between the first half-shell 11 and the second half-shell 12.

[0030] It has the advantage of being easy to assemble and disassemble.

[0031] In this embodiment, the clutch device includes a driver 41, a connecting block 42, and a limiting disk 43. The driver 41 is mounted on the housing assembly 1, the connecting block 42 is connected to the driver 41 in a transmission manner, and the limiting disk 43 is mounted on the second connecting member 32. The limiting disk 43 is provided with a coupling structure that cooperates with the connecting block 42. The coupling structure is circumferentially and tightly distributed in the rotation direction. When the driver 41 drives the connecting block 42 to move to couple with the coupling structure, the second connector 32 and the second rotating assembly are circumferentially coupled. When the driver 41 drives the connecting block 42 to move to the point of separation from the coupling structure, the second connector 32 and the second rotating assembly are circumferentially decoupled.

[0032] Based on the above device, when the driver 41 drives the connecting block 42 to move to couple with the coupling structure, the second connecting member 32 and the second rotating assembly are connected. At this time, when the first rotating assembly rotates, the first connecting member 31 and the second connecting member 32 rotate relative to each other, and the rotary damper generates a damping torque.

[0033] Specifically, the limiting plate 43 is located radially outside the connecting part 22, and a support sleeve 44 is provided radially between the limiting plate 43 and the connecting part 22.

[0034] Combination Figure 3 As shown, in this embodiment, the connecting block 42 is disposed on the radial outer side of the limiting disk 43, and the coupling structure is a ratchet 431 disposed on the outer periphery of the limiting disk 43. The connecting block 42 is provided with a tooth 421 that meshes with the ratchet 431. The driver 41 is used to drive the connecting block 42 to move in the radial direction, so as to realize the switching of the rotational coupling state between the second connecting member 32 and the second rotating component.

[0035] In this embodiment, the driver 41 is an electromagnet, and the connecting block 42 is mounted on the moving iron core of the electromagnet.

[0036] In this embodiment, a pair of leg connectors are a thigh connector 5 and a calf connector 6. The thigh connector 5 is connected to the housing assembly 1, and the calf connector 6 is connected to the connecting part 22. The housing assembly 1 is provided with an annular boss 112, and the mounting hole 110 corresponds to the inner hole of the annular boss 112. The calf connector 6 includes a calf connector plate 61, and one end of the calf connector plate 61 is provided with a cover 611. The cover 611 is axially connected to the connecting part 22 by screws. The cover 611 is provided with a cover cavity 610 opening towards the annular boss 112. The annular boss 112 is disposed in the cover cavity 610. A third bearing 93 is installed between the side wall of the cover cavity 610 and the radial direction of the annular boss 112. Based on the above structure, the rotational stability of the calf connector 6 and the first rotating assembly relative to the housing assembly 1 can be effectively improved, and the dustproof sealing of the storage cavity 10 corresponding to the mounting hole 110 position can be improved, effectively improving the service life and reliability of the device. Specifically, the thigh connection assembly 5 includes a thigh connection plate 51 and a thigh connection sleeve 52. The two ends of the thigh connection plate 51 are connected to the housing assembly 1 and the thigh connection sleeve 52, respectively. The thigh connection sleeve 52 is used to fit over the user's thigh. The end of the thigh connection plate 51 near the housing assembly 1 is located next to the knee joint, and the end of the thigh connection plate 51 near the thigh connection sleeve 52 is located on the back of the thigh.

[0037] Combination Figure 2 and Figure 5 As shown, in this embodiment, a first connecting plate 6120 is provided on the side of the calf connecting plate 61 near the cover 611, and a second connecting plate 6130 is provided on the side of the calf connecting plate 61 away from the cover 611. A first connecting sleeve 612 and a second connecting sleeve 613 are respectively provided on the first connecting plate 6120 and the second connecting plate 6130. The calf connecting plate 61 extends in a curved manner, such that the first connecting plate 6120 is located beside the user's knee joint, and the second connecting plate 6130 is located on the posterior side of the user's calf. The first connecting sleeve 612 and the second connecting sleeve 613 are arranged crosswise, such that: on the front side of the calf, the first connecting sleeve 612 is below the second connecting sleeve 613, and on the posterior side of the calf, the second connecting sleeve 613 is below the first connecting sleeve 612. Based on the above structure, the firmness of the connection between the calf connecting plate 61 and the calf can be guaranteed, so as to effectively transmit the resistance transmitted by the damper. Specifically, to ensure the stability of the connection, the second connecting plate 6130 is fitted against the upper side of the calf muscle.

[0038] Example 2 A control method, based on a viscous damped knee exoskeleton device in Embodiment 1, wherein the gait cycle phase is as follows: Figure 6 The diagram shows the early support phase, the middle support phase, the late support phase, the early swing phase, the early swing phase, the middle swing phase, and the late swing phase. The control rules include: During the early and middle stages of support, the clutch switches to couple with the knee joint assembly and rotational damper, providing controlled knee flexion during the early stages of support and enhancing stability during weight-bearing, while maintaining knee stability during single-leg support in the middle stages of support and allowing controlled extension as the body's center of gravity shifts forward. During the final support phase and the early swing phase, the clutch selectively switches the coupling state according to the motion mode. In the early and middle stages of the swing, the clutch switches to decouple the knee joint assembly from the rotational damper so that the knee joint can flex quickly to obtain sufficient ground clearance in the early stage of the swing, and the lower leg is allowed to swing naturally in the middle stage of the swing. At the end of the oscillation, the clutch selectively switches the coupling state according to the motion mode.

[0039] Furthermore, in this embodiment, the control method includes a movement mode that includes walking speed and terrain features, with the terrain features including downhill terrain. When the walking speed exceeds the preset value or the terrain features are downhill, during the end of the support phase or the early stage of the swing phase, the clutch device maintains the coupling between the knee joint assembly and the rotational damper and then switches to decoupling. During the end of the swing phase, the clutch device switches to couple the knee joint assembly and the rotational damper.

[0040] Furthermore, in this embodiment, the control method establishes the rules for determining the gait cycle phase and motion pattern by training a machine learning model on the signal dataset obtained from the pre-collected detection unit.

[0041] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can conceive of other specific embodiments of the invention without creative effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A viscous damping knee exoskeleton device, characterized by, Comprise; A knee joint assembly comprising a first rotating assembly and a second rotating assembly connected in rotation; A pair of leg connecting assemblies respectively connected with the first rotating assembly and the second rotating assembly, and respectively used for connecting with the thigh and the calf of the same side of the user; A viscous fluid damper comprising a first connecting piece (31) and a second connecting piece (32) connected in relative rotation, the first connecting piece (31) being connected with the first rotating assembly; A clutching device arranged between the second connecting piece (32) and the second rotating assembly, and used for switching the state of rotational coupling of the second connecting piece (32) and the second rotating assembly, so as to make the second connecting piece (32) and the second rotating assembly coupled or decoupled in the circumferential direction.

2. A viscous damping knee exoskeleton device according to claim 1, characterized in that: The second rotating assembly comprises a housing assembly (1) provided with a receiving cavity (10) therein, the viscous fluid damper is arranged in the receiving cavity (10), and the housing assembly (1) is provided with a mounting hole (110) on one side in the axial direction.

3. A viscous damping knee exoskeleton device according to claim 2, characterized in that: The first rotating assembly comprises a positioning portion (21) axially penetrating into the receiving cavity (10) from the mounting hole (110) and a connecting portion (22) connected with the positioning portion (21), the connecting portion (22) is connected with the first connecting piece (31), and the positioning portion (21) is rotationally matched with the mounting hole (110).

4. A viscous damping knee exoskeleton device according to claim 3, wherein: The first connecting piece (31) is provided with a transmission connecting hole (310) axially penetrating therethrough, the connecting portion (22) comprises a connecting rod (221) and a limiting block (222), the connecting rod (221) penetrates through the transmission connecting hole (310) and is transmissionally matched with the transmission connecting hole (310) in the circumferential direction, one end of the connecting rod (221) is connected with the positioning portion (21), and the limiting block (222) is arranged on the end of the connecting rod (221) away from the positioning portion (21). The first connecting piece (31) is axially limited between the limiting block (222) and the positioning portion (21).

5. A viscous damping knee exoskeleton device according to claim 4, characterized in that: The positioning portion (21) and the mounting hole (110) are radially provided with a first bearing (91), an inner wall of the mounting hole (110) is provided with a first limiting step (111), the first limiting step (111) is axially abutted on the side of the first bearing (91) away from the receiving cavity (10), and the positioning portion (21) is provided with a second limiting step (211) axially abutted on the side of the first bearing (91) away from the first limiting step (111). An inner wall of the housing assembly (1) is provided with a limiting groove (121) on the side close to the limiting block (222), the limiting block (222) is arranged in the limiting groove (121), and a second bearing (92) is installed between the limiting block (222) and the limiting groove (121) in the radial direction. The housing assembly (1) comprises a first half housing (11) and a second half housing (12) connected in a detachable manner, the mounting hole (110) is arranged on the first half housing (11), the limiting groove (121) is arranged on the second half housing (12), and the receiving cavity (10) is arranged between the first half housing (11) and the second half housing (12).

6. A viscous damping knee exoskeleton device according to claim 5, wherein: The clutch device comprises a driver (41), a connecting block (42) and a limiting disc (43), the driver (41) is installed on the shell assembly (1), the connecting block (42) is in transmission connection with the driver (41), the limiting disc (43) is installed on the second connecting piece (32), the limiting disc (43) is provided with a coupling structure matched with the connecting block (42), and the coupling structure is closely distributed in the rotating direction; When the driver (41) drives the connecting block (42) to move to be coupled with the coupling structure, the second connecting piece (32) and the second rotating assembly are circumferentially coupled; When the driver (41) drives the connecting block (42) to move to be separated from the coupling structure, the second connecting piece (32) and the second rotating assembly are circumferentially decoupled.

7. A viscous damping knee exoskeleton device according to claim 6, wherein: The connecting block (42) is arranged at the radial outer side of the limiting disc (43), the coupling structure is a ratchet (431) arranged at the outer periphery of the limiting disc (43), the connecting block (42) is provided with a tooth portion (421) engaged with the ratchet (431), and the driver (41) is used for driving the connecting block (42) to move in the radial direction, so as to realize the switching of the rotating coupling state between the second connecting piece (32) and the second rotating assembly.

8. A viscous damping knee exoskeleton device according to claim 7, characterized in that: The driver (41) is an electromagnet, and the connecting block (42) is installed on the moving iron core of the electromagnet.

9. The viscous damping knee exoskeleton device of claim 1, wherein: A pair of the leg connecting pieces are respectively a thigh connecting assembly (5) and a calf connecting assembly (6), the thigh connecting assembly (5) is connected to the shell assembly (1), and the calf connecting assembly (6) is connected to the connecting part (22); The shell assembly (1) is provided with an annular boss (112), the mounting hole (110) is matched with the inner hole of the annular boss (112), the calf connecting assembly (6) comprises a calf connecting plate (61), one end of the calf connecting plate (61) is provided with a cover body (611), the cover body (611) is in axial connection with the connecting part (22), the cover body (611) is provided with a cover cavity (610) opening towards one side of the annular boss (112), the annular boss (112) is arranged in the cover cavity (610), and the third bearing (93) is arranged between the side wall of the cover cavity (610) and the radial direction of the annular boss (112).

10. A viscous damping knee exoskeleton device according to claim 9, characterized in that: The calf connecting plate (61) is provided with a first connecting plate (6120) on one side close to the cover body (611), and is provided with a second connecting plate (6130) on one side away from the cover body (611), and the first connecting plate (6120) and the second connecting plate (6130) are respectively provided with a first connecting sleeve (612) and a second connecting sleeve (613); The calf connecting plate (61) extends in a curved manner, so that the first connecting plate (6120) is located on the side of the knee joint of the user, and the second connecting plate (6130) is located on the back side of the calf of the user. The first connecting sleeve (612) and the second connecting sleeve (613) are arranged in a cross manner, so that the first connecting sleeve (612) is below the second connecting sleeve (613) on the front side of the calf, and the second connecting sleeve (613) is below the first connecting sleeve (612) on the back side of the calf.

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