Knee joint exoskeleton and robot

Abstract

The invention discloses a knee joint exoskeleton and a robot. The knee joint exoskeleton comprises an upper fixing assembly and a lower fixing assembly, the first swing part is rotationally connected with the upper fixing assembly; the driving part is arranged on the first swinging part; the rotating part is connected with an output shaft of the driving part; the second swinging part is rotationally connected with the rotating part; the lower fixing assembly is rotationally connected with the second swing part; the rotation directions of the first swing part and the second swing part are the same; and the rotating directions of the first swinging piece and the rotating piece are different. Through rotation of the first swing part and the second swing part, the upper fixing assembly can be tightly attached to the upper leg, and the lower fixing assembly can also be tightly attached to the lower leg. The exoskeleton can be tightly attached to the leg by configuring the rotating connection relation among all the components, bending and stretching of the leg can be assisted, and the matching performance with different users is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton robots, and particularly relates to a knee joint exoskeleton and a robot. BACKGROUND

[0002] Exoskeletons can be classified into full-body exoskeletons, upper limb exoskeletons, lower limb exoskeletons and joint exoskeletons for joint correction or recovery training according to different structural forms. Knee joint exoskeletons are usually arranged on the legs of human bodies to provide knee joint assistance for human body walking.

[0003] Due to large differences in body shapes of human bodies, especially different thicknesses and leg shapes, the matching adaptability of knee joint exoskeletons to different users still needs to be improved in the prior art.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] The present application aims to solve the problem that the matching adaptability of knee joint exoskeletons to different users still needs to be improved in the prior art.

[0006] The technical scheme adopted by the present application to solve the technical problem is as follows: A knee joint exoskeleton, comprising: an upper fixing assembly; a first swing member rotationally connected to the upper fixing assembly; a driving member arranged on the first swing member; a rotating member connected to an output shaft of the driving member; a second swing member rotationally connected to the rotating member; a lower fixing assembly rotationally connected to the second swing member; wherein the rotation directions of the first swing member and the second swing member are the same; the rotation directions of the first swing member and the rotating member are different.

[0007] The knee joint exoskeleton, wherein the upper fixing assembly comprises: a first connecting plate rotationally connected to the first swing member; a U-shaped plate arranged on the first connecting plate; a first binding belt connected to both ends of the U-shaped plate, respectively; wherein the length of the first binding belt is adjustable; the U-shaped plate is adapted to the shape of the upper leg.

[0008] The knee exoskeleton, wherein there are two U-shaped plates and two first straps, and the first straps are connected to the corresponding U-shaped plates; The two U-shaped plates are located at opposite ends of the first connecting plate.

[0009] The aforementioned knee exoskeleton, wherein the lower fixation component includes: front panel; The second connecting plate is disposed on the front plate and is rotatably connected to the second swing member; The second strap is connected to the front panel at both ends; The length of the second strap is adjustable; The front plate is adapted to the front surface of the lower leg.

[0010] The knee exoskeleton described herein includes two second straps, which are located at opposite ends of the second connecting plate.

[0011] The aforementioned knee exoskeleton, wherein the first swinging member comprises: Mounting plate, used to mount the drive component; A limiting ring is provided on the mounting plate and is used to limit the rotation of the rotating component.

[0012] The knee exoskeleton, wherein a notch is formed on the limiting ring, the notch being located on the side of the limiting ring opposite to the front plate; the rotating member includes: An annular plate is located inside the limiting ring and extends out from the notch; A connecting disc is rotatably disposed within the limiting ring and connected to the output shaft of the driving component; Wherein, a slot is formed on the annular plate, and a protrusion is formed on the connecting disk, the protrusion engaging with the slot; The annular plate surrounds the connecting disc.

[0013] The aforementioned knee exoskeleton, wherein the first swinging member and the upper fixation assembly are rotatably connected by a first limiting structure; the first limiting structure includes: First pin; The first bushing and the second bushing are both sleeved on the outside of the first pin. The first bushing is disposed on the first swing member; The second bushing is disposed on the upper fixing assembly; The second bushing is provided with a first limiting protrusion, which limits the first swing member; There are two first limiting protrusions, which are located on both sides of the first swing member.

[0014] The aforementioned knee exoskeleton, wherein the rotating component and the second swing component are rotatably connected by a second limiting structure; the second limiting structure includes: Second pin; The third and fourth bushings are both fitted over the second pin. The third bushing is disposed on the second swing member; The fourth bushing is disposed on the rotating component; The fourth bushing is provided with a second limiting protrusion, which limits the second swing member.

[0015] A robot comprising: a knee exoskeleton as described in any of the above.

[0016] Beneficial effects: The rotation of the first and second swing components allows the upper fixing component to fit snugly against the upper leg, and the lower fixing component to fit snugly against the lower leg. By configuring the rotational connections between the components, the exoskeleton can fit snugly against the leg and assist in leg flexion and extension, improving compatibility with different users. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first structure of the knee exoskeleton in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the second structure of the knee exoskeleton in an embodiment of the present invention.

[0019] Figure 3 This is a side view of the knee exoskeleton in an embodiment of the present invention.

[0020] Figure 4 yes Figure 3 Sectional view along line A.

[0021] Figure 5 yes Figure 4 Enlarged view of point C.

[0022] Figure 6 yes Figure 3 Sectional view along line B.

[0023] Figure 7 This is a schematic diagram of the structure of the first swinging member and the rotating member in an embodiment of the present invention.

[0024] Figure 8 This is a cross-sectional view of the first swinging member and the rotating member in an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the first structure of the first connecting plate, the first swinging member, the rotating member, the second swinging member, and the second connecting plate in an embodiment of the present invention.

[0026] Figure 10 This is a second structural schematic diagram of the first connecting plate, the first swinging member, the rotating member, the second swinging member, and the second connecting plate in an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the structure of the first swinging component in an embodiment of the present invention.

[0028] Figure 12 This is a schematic diagram of the structure of the annular plate in an embodiment of the present invention.

[0029] Figure 13 This is a schematic diagram of the connecting disk in an embodiment of the present invention.

[0030] Figure 14 This is a schematic diagram of the structure of the first connecting plate in an embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures: 10. Upper fixing component; 11. First connecting plate; 12. U-shaped plate; 13. First binding strap; 20. First swing component; 21. Mounting plate; 22. Limiting ring; 221. Notch; 30. Driving components; 40. Rotating component; 41. Annular plate; 411. Slot; 412. Opening; 42. Connecting disc; 421. Protrusion; 422. Groove structure; 43. Bearing; 50. Second swing component; 60. Lower fixing component; 61. Front panel; 62. Second connecting plate; 63. Second strap; 70. First limiting structure; 71. First pin; 72. First bushing; 73. Second bushing; 74. First limiting protrusion; 80. Second limiting structure; 81. Second pin; 82. Third bushing; 83. Fourth bushing; 84. Second limiting protrusion. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0033] Please also refer to Figures 1-14 This invention provides some embodiments of a knee exoskeleton.

[0034] like Figure 1 and Figure 4 As shown, the knee exoskeleton of the present invention includes: Upper fixing component 10; The first swing member 20 is rotatably connected to the upper fixed assembly 10; The driving component 30 is disposed on the first swing component 20; Rotating component 40 is connected to the output shaft of driving component 30; The second swinging member 50 is rotatably connected to the rotating member 40; The lower fixed component 60 is rotatably connected to the second swing member 50; The first swing member 20 and the second swing member 50 rotate in the same direction; the first swing member 20 and the rotating member 40 rotate in different directions.

[0035] Specifically, the upper fixing component 10 is located above the knee joint and fixed to the upper leg. The lower fixing component 60 is located below the knee joint and fixed to the lower leg. The first swinging member 20, the driving member 30, and the rotating member 40 are all located at corresponding positions on the knee joint. The upper fixing component 10, the first swinging member 20, the rotating member 40, the second swinging member 50, and the lower fixing component 60 are sequentially rotatably connected. The rotating member 40 rotates in the vertical plane, causing it to rotate relative to the first swinging member 20, thereby causing the lower leg to rotate relative to the upper leg. The upper fixing component 10, the first swinging member 20, the second swinging member 50, and the lower fixing component 60 rotate towards the inner or outer side of the upper or lower leg. Even if there are differences in thickness and leg shape between the upper and lower legs, the rotation of the first swinging member 20 and the second swinging member 50 ensures that the upper fixing component 10 fits snugly against the upper leg, and the lower fixing component 60 fits snugly against the lower leg. By configuring the rotational connections between the components, the exoskeleton can fit snugly against the legs and assist in bending and stretching the legs, thus improving its compatibility with different users.

[0036] In a preferred implementation of this invention, such as Figures 1-4 As shown, the upper fixing component 10 includes: The first connecting plate 11 is rotatably connected to the first swing member 20; U-shaped plate 12 is disposed on the first connecting plate 11; The first strap 13 is connected to both ends of the U-shaped plate 12 respectively; The length of the first strap 13 is adjustable; the U-shaped plate 12 is adapted to the shape of the upper leg.

[0037] Specifically, the first connecting plate 11 is set vertically and fits tightly against the outside of the upper leg. The U-shaped plate 12 adapts to the contour of the upper leg, and the U-shaped plate 12 and the first strap 13 together wrap around the upper leg. By adjusting the length of the first strap 13, the upper fixing component 10 is tightened.

[0038] In a preferred implementation of this invention, such as Figures 1-4As shown, there are two U-shaped plates 12 and two first straps 13, with the first straps 13 connected to the corresponding U-shaped plates 12; the two U-shaped plates 12 are respectively located at both ends of the first connecting plate 11.

[0039] Specifically, there can be multiple U-shaped plates 12, each equipped with a corresponding first strap 13. For example, two U-shaped plates 12 can be used, with the two U-shaped plates 12 located at both ends of the first connecting plate 11, which helps to improve the tightness of the upper fixing component 10 on the upper leg.

[0040] In a preferred implementation of this invention, such as Figures 1-4 As shown, the lower fixing component 60 includes: front plate 61; The second connecting plate 62 is disposed on the front plate 61 and is rotatably connected to the second swing member 50; The second strap 63 is connected to the front plate 61 at both ends; The length of the second strap 63 is adjustable; the front plate 61 is adapted to the front surface of the lower leg.

[0041] Specifically, the front plate 61 is located on the front side of the lower leg, and the second connecting plate 62 connects the front plate 61 and the second swing member 50. The second strap 63 and the front plate 61 together wrap around the lower leg, and the lower fixing component 60 is tightened by adjusting the length of the second strap 63.

[0042] In a preferred implementation of this invention, such as Figures 1-4 As shown, there are two second straps 63, which are located at both ends of the second connecting plate 62.

[0043] Specifically, multiple second straps 63 can be configured. For example, two second straps 63 can be used, with the two second straps 63 located at both ends of the second connecting plate 62, which helps to improve the tightness of the lower fixing component 60 on the lower leg.

[0044] In a preferred implementation of this invention, such as Figures 5-10 As shown, the first swing member 20 includes: Mounting plate 21 is used to mount the drive component 30; A limiting ring 22 is disposed on the mounting plate 21 and is used to limit the rotation of the rotating component 40.

[0045] Specifically, the mounting plate 21 mounts the drive component 30 and the limiting ring 22, which are located on opposite sides of the mounting plate 21. The limiting plate limits the rotation of the rotating component 40, preventing excessive rotation of the lower leg.

[0046] In a preferred implementation of this invention, such as Figure 7 and Figure 11 As shown, a notch 221 is formed on the limiting ring 22, and the notch 221 is located on the side of the limiting ring 22 away from the front plate 61; the rotating member 40 includes: An annular plate 41 is located inside the limiting ring 22 and extends out from the notch 221; The connecting plate 42 is rotatably disposed within the limiting ring 22 and is connected to the output shaft of the driving component 30; The annular plate 41 has a slot 411 formed on it, and the connecting disk 42 has a protrusion 421 formed on it. The protrusion 421 is engaged with the slot 411. The annular plate 41 surrounds the connecting disk 42.

[0047] Specifically, a bearing 43 is arranged between the connecting plate 42 and the limiting ring 22 to achieve the rotational connection of the connecting plate 42. A through hole is formed on the mounting plate 21, through which the connecting plate 42 passes to reach the limiting ring 22. A notch 221 is formed on the limiting ring 22, and the annular plate 41 is located inside the limiting ring 22, extending out of the notch 221. The rotation of the annular plate 41 is restricted to rotation within the notch 221, thereby limiting the rotation of the rotating part 40. The central angle subtended by the notch 221 relative to the limiting ring 22 is greater than or equal to 180°. During installation, the annular plate 41 can be inserted into the limiting ring 22 through the notch 221. The annular plate 41 and the connecting plate 42 are engaged, specifically by forming a groove 411 on the annular plate 41 and a protrusion 421 on the connecting plate 42 (a groove structure 422 can also be formed on the connecting plate 42, and the protrusion 421 can be placed in the groove structure 422, such as...). Figure 8 and Figure 13 As shown, the latching protrusion 421 engages with the latching groove 411. The latching groove 411 has an opening 412 on the side facing the driving member 30, and the latching protrusion 421 is inserted into the latching groove 411 through the opening 412. During installation, the annular plate 41 is first inserted into the limiting ring 22 through the notch 221, and then the connecting plate 42 is inserted into the annular hole of the annular plate 41 through the through hole, with the latching protrusion 421 inserted into the latching groove 411 through the opening 412. When the driving member 30 drives the connecting plate 42 to rotate, it will drive the annular plate 41 to rotate, which will also drive the second swing member 50 and the lower fixed assembly 60 to rotate.

[0048] In a preferred implementation of this invention, such as Figure 5 , Figures 7-10 As shown, the first swing member 20 and the upper fixed assembly 10 are rotatably connected by a first limiting structure 70; the first limiting structure 70 includes: First pin 71; The first bushing 72 and the second bushing 73 are both sleeved on the outside of the first pin 71; The first bushing 72 is disposed on the first swing member 20; the second bushing 73 is disposed on the upper fixing assembly 10; the second bushing 73 is provided with a first limiting protrusion 74, which limits the first swing member 20.

[0049] Specifically, to limit the rotation of the first swing member 20 and the upper fixed assembly 10, a first limiting structure 70 is used to restrict their relative rotation. A first bushing 72 is disposed on the first swing member 20, specifically on the mounting plate 21. A second bushing 73 is disposed on the upper fixed assembly 10, specifically on the first connecting plate 11. A first pin 71 passes through the first bushing 72 and the second bushing 73. Both the first bushing 72 and the second bushing 73 can rotate relative to the first pin 71, thereby achieving relative rotation between the first swing member 20 and the upper fixed assembly 10, and thus relative rotation between the mounting plate 21 and the first connecting plate 11. A first limiting protrusion 74 is formed on the second bushing 73, which limits the rotation of the first swing member 20, and also limits the rotation of the mounting plate 21.

[0050] In a preferred implementation of this invention, such as Figure 5 and Figure 14 As shown, there are two first limiting protrusions 74, which are located on both sides of the first swing member 20.

[0051] Specifically, there are two first limiting protrusions 74, located on both sides of the first swing member 20, that is, on both sides of the mounting plate 21. The two first limiting protrusions 74 restrict the rotation of the first swing member 20 from two directions respectively.

[0052] In a preferred implementation of this invention, such as Figure 5 , Figures 7-10 and Figure 12 As shown, the rotating component 40 and the second swing component 50 are rotatably connected by a second limiting structure 80; the second limiting structure 80 includes: Second pin 81; The third bushing 82 and the fourth bushing 83 are both sleeved on the outside of the second pin 81; The third bushing 82 is disposed on the second swing member 50; the fourth bushing 83 is disposed on the rotating member 40; the fourth bushing 83 is provided with a second limiting protrusion 84, which limits the second swing member 50.

[0053] Specifically, to limit the rotation of the second swing member 50 and the rotating member 40, a second limiting structure 80 is used to restrict their relative rotation. A third bushing 82 is disposed on the second swing member 50, and a fourth bushing 83 is disposed on the rotating member 40. A second pin 81 passes through the third bushing 82 and the fourth bushing 83, and both the third bushing 82 and the fourth bushing 83 can rotate relative to the second pin 81, thereby realizing the relative rotation of the second swing member 50 and the rotating member 40. A second limiting protrusion 84 is formed on the fourth bushing 83, which limits the rotation of the second swing member 50. The second limiting protrusion 84 is located on the side of the second swing member 50 facing the driving member 30.

[0054] In a preferred embodiment of the present invention, the knee exoskeleton further includes: A motion sensor is mounted on the upper fixed component 10; The controller is electrically connected to the motion sensor and the drive unit 30.

[0055] Specifically, the motion sensor is mounted on the upper fixing component 10, which may be mounted on the first connecting plate 11. The motion sensor includes at least one of a force sensor, an electromyography sensor, and an inertial measurement unit. The motion sensor can collect motion information of the knee exoskeleton and determine the movement intention of the knee exoskeleton, thereby facilitating the control of the drive component 30 and assisting leg movement.

[0056] Based on the knee exoskeleton described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0057] The robot of the present invention includes: a knee exoskeleton as described in any of the above embodiments.

[0058] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A knee joint exoskeleton, characterized in that, include: Upper fixed component; The first swing component is rotatably connected to the upper fixed assembly; A driving component is disposed on the first swing component; A rotating component is connected to the output shaft of the driving component; The second swinging component is rotatably connected to the rotating component; The lower fixed component is rotatably connected to the second swing component; Wherein, the first swing member and the second swing member rotate in the same direction; The first oscillating member and the rotating member rotate in different directions.

2. The knee exoskeleton according to claim 1, characterized in that, The upper fixing component includes: The first connecting plate is rotatably connected to the first swing member; A U-shaped plate is disposed on the first connecting plate; The first strap is connected to both ends of the U-shaped plate; The length of the first strap is adjustable; The U-shaped plate is adapted to the shape of the upper leg.

3. The knee exoskeleton according to claim 2, characterized in that, There are two U-shaped plates and two first binding straps, with the first binding straps connected to the corresponding U-shaped plates; The two U-shaped plates are located at opposite ends of the first connecting plate.

4. The knee exoskeleton according to claim 1, characterized in that, The lower fixing component includes: front panel; The second connecting plate is disposed on the front plate and is rotatably connected to the second swing member; The second strap is connected to the front panel at both ends; The length of the second strap is adjustable; The front plate is adapted to the front surface of the lower leg.

5. The knee exoskeleton according to claim 4, characterized in that, There are two second straps, which are located at both ends of the second connecting plate.

6. The knee exoskeleton according to claim 4, characterized in that, The first swing member includes: Mounting plate, used to mount the drive component; A limiting ring is provided on the mounting plate and is used to limit the rotation of the rotating component.

7. The knee exoskeleton according to claim 6, characterized in that, A notch is formed on the limiting ring, and the notch is located on the side of the limiting ring opposite to the front plate; the rotating component includes: An annular plate is located inside the limiting ring and extends out from the notch; A connecting disc is rotatably disposed within the limiting ring and connected to the output shaft of the driving component; Wherein, a slot is formed on the annular plate, and a protrusion is formed on the connecting disk, the protrusion engaging with the slot; The annular plate surrounds the connecting disc.

8. The knee exoskeleton according to any one of claims 1 to 7, characterized in that, The first swing member and the upper fixed assembly are rotatably connected by a first limiting structure; the first limiting structure includes: First pin; The first bushing and the second bushing are both sleeved on the outside of the first pin. The first bushing is disposed on the first swing member; The second bushing is disposed on the upper fixing assembly; The second bushing is provided with a first limiting protrusion, which limits the first swing member; There are two first limiting protrusions, which are located on both sides of the first swing member.

9. The knee exoskeleton according to any one of claims 1 to 7, characterized in that, The rotating component and the second swing component are rotatably connected by a second limiting structure; the second limiting structure includes: Second pin; The third and fourth bushings are both fitted over the second pin. The third bushing is disposed on the second swing member; The fourth bushing is disposed on the rotating component; The fourth bushing is provided with a second limiting protrusion, which limits the second swing member.

10. A robot, characterized in that, include: The knee exoskeleton as described in any one of claims 1 to 9.

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