Knee joint rehabilitation exoskeleton structure based on non-circular gear drive

Abstract

The application relates to the technical field of rehabilitation equipment, in particular to a knee joint rehabilitation exoskeleton structure based on non-circular gear driving, which comprises a guard plate supporting mechanism, a binding mechanism, a non-circular gear transmission mechanism, a resistance detection mechanism and an anti-loosening mechanism. The non-circular gear transmission mechanism comprises a driving non-circular gear and a driven non-circular gear which are mutually meshed, and the outer surfaces of the two are provided with tooth openings; the resistance detection mechanism is arranged on the side surface of the supporting plate and is used for abutting against the tooth openings to provide movement resistance and generate sound feedback; the anti-loosening mechanism is arranged in the second tensioning plate and is used for locking the tensioning belt; and the tooth opening is internally provided with a strength adjusting mechanism. The anti-loosening mechanism penetrates through the tensioning belt to prevent the tensioning belt from falling off, the adjusting mechanism is used for changing the overhanging amount of the tooth opening to adjust the transmission state, and the detection mechanism is combined to provide resistance and generate sound feedback to the force process.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to a knee joint rehabilitation exoskeleton structure based on non-circular gear drive. Background Technology

[0002] Knee joint rehabilitation exoskeleton is a medical device used to assist patients with impaired lower limb motor function in joint flexion and extension rehabilitation and gait training. Existing mechanical knee joint exoskeletons generally use a single-axis cylindrical gear transmission mechanism or a fixed-axis hinge structure to connect the upper and lower protective gears. The flexion and extension movement of the human knee joint is a multi-center complex movement accompanied by sliding, not a pure circular rotation around a single fixed axis. When using a conventional circular transmission structure, the mechanical rotation center is spatially misaligned with the actual skeletal movement trajectory of the human body during leg flexion and extension. The transmission process generates mechanical pulling and reverse compression on the patient's leg muscles and joint ligaments, hindering the patient's normal force exertion.

[0003] In terms of wearable structure, traditional exoskeletons rely on Velcro or smooth nylon webbing with buckles for tightening and fixation. When patients perform high-frequency flexion and extension exercises, the expansion and contraction of the leg muscle groups change the contact circumference of the wearing area, and the sweat on the skin reduces the static friction between the webbing and the connectors. Due to the lack of rigid physical locking components, the webbing slides and shifts when pulled, causing the exoskeleton and the leg to shift relative to each other and loosen as a whole, directly destroying the transmission alignment of the internal and external mechanical structures.

[0004] Furthermore, when adjusting the resistance of exoskeletons that rely on purely mechanical mechanisms, operators usually need to use external tools to disassemble the protective gear and replace the internal springs or friction pads. The adjustment process is cumbersome and interrupts the continuous rehabilitation training process. Conventional mechanical protective gear lacks a physical feedback mechanism to transmit the patient's current level of force to the outside world. Users cannot perceive the current magnitude of movement resistance through mechanical collision sounds or obvious structural displacement phenomena, making it difficult to assess the intensity of rehabilitation training based on the actual mechanical operation status. Therefore, this solution proposes a knee joint rehabilitation exoskeleton structure based on non-circular gear drive. Summary of the Invention

[0005] The present invention proposes a knee joint rehabilitation exoskeleton structure based on non-circular gear drive, which solves the problem of local friction caused by the mismatch between the mechanical movement trajectory of existing exoskeletons and human joints. At the same time, it improves the problems of loosening of tension bands, cumbersome mechanical resistance adjustment and lack of physical feedback of force state.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A knee joint rehabilitation exoskeleton structure based on non-circular gear drive, comprising:

[0008] A protective plate support mechanism includes an upper support assembly and a lower support assembly with identical structures. The upper support assembly includes two support plates and a first protective plate and a second protective plate respectively fixed on the two support plates. One end of the first protective plate and the second protective plate are rotatably connected by a movable shaft. The two support plates on the same side of the upper support assembly and the lower support assembly are rotatably connected by a movable shaft.

[0009] The binding mechanism includes a first tensioning plate mounted on a first guard plate, a second tensioning plate mounted on a second guard plate, and a tensioning strap for locking the first guard plate and the second guard plate. The second tensioning plate is also equipped with an anti-loosening mechanism for locking the tensioning strap.

[0010] A non-circular gear transmission mechanism includes a driving non-circular gear rotatably connected to two support plates in an upper support assembly and a driven non-circular gear rotatably connected to two support plates in a lower support assembly. The driving non-circular gear and the driven non-circular gear on the same side are meshed and connected. The outer surfaces of the driving non-circular gear and the driven non-circular gear are provided with teeth.

[0011] A resistance detection mechanism is disposed on the side surface of the support plate and is used to abut against the toothed jaws to provide motion resistance and generate audible feedback.

[0012] As a further improvement to the above solution, the inside of the toothed opening is provided with a training intensity adjustment mechanism, which is used to adjust the outward extension of the toothed opening relative to the driving non-circular gear or the driven non-circular gear, so as to change the pushing stroke of the resistance detection mechanism during transmission.

[0013] The exercise intensity adjustment mechanism includes a sliding plate and a hollow seat. The outer surface of the hollow seat is fixedly connected to the inner bottom surface of the toothed opening, and the outer surface of the sliding plate is fixedly connected to the inner side surface of the toothed opening. An opening is provided on the top surface of the hollow seat, and a groove is provided on the inner bottom surface of the hollow seat.

[0014] As a further improvement to the above solution, a slider is slidably connected inside the groove, a pusher block is fixedly connected to the top surface of the slider, a rocker is provided inside the hollow seat, the side surface of the pusher block abuts against the top side surface of the rocker, a first spring is fixedly connected between the bottom side surface of the rocker and the inner bottom surface of the hollow seat, and a first magnet is fixedly connected to the other top side surface of the rocker, with the top surface of the first magnet fitting against the bottom surface of the slide plate.

[0015] As a further improvement to the above solution, the anti-loosening mechanism includes a limiting plate and a sleeve. The side surface of the second tensioning plate is slidably connected to the inner surface of the limiting plate. The outer surface of the sleeve is fixedly connected to the side surface of the second tensioning plate. A telescopic rod is slidably connected inside the sleeve. One end face of the telescopic rod is fixedly connected to the side surface of the limiting plate.

[0016] As a further improvement to the above solution, a third spring is fixedly connected between the inner end face of the sleeve and the side end face of the telescopic rod, a second magnet is fixedly connected to the other end face of the telescopic rod, a pressing seat is fixedly connected to the side surface of the limiting plate, a rubber pad is fixedly connected to the outer surface of the pressing seat, a spike is fixedly connected to the inner surface of the pressing seat, and a through hole is opened inside the second tensioning plate, and the outer surface of the spike is slidably connected to the inside of the through hole;

[0017] The end of the tension band extends through the interior of the second tension plate, the outer end of the spike extends through the interior of the tension band, the outer surface of the rubber pad is attached to the outer surface of the tension band, and the outer surface of the second magnet is attached to the inner sidewall of the sleeve.

[0018] As a further improvement to the above solution, the resistance detection mechanism includes a connecting plate and a moving plate. The bottom surface of the connecting plate is fixedly connected to the side surface of the support plate, and a limit rod is fixedly connected to the top surface of the connecting plate. The bottom surface of the moving plate is slidably connected to the top surface of the connecting plate. A circular hole is opened inside the moving plate, and the outer surface of the limit rod is slidably connected to the inside of the circular hole.

[0019] As a further improvement to the above solution, a groove is provided on the top surface of the connecting plate, the bottom surface of the moving plate is slidably connected to the inside of the groove, a second spring is sleeved on the outer surface of the limiting rod, one end of the second spring is fixedly connected to the side surface of the connecting plate, the other end of the second spring is fixedly connected to the side surface of the moving plate, and a baffle is fixedly connected to the side surface of the moving plate.

[0020] As a further improvement to the above solution, a horizontal plate is fixedly connected to the bottom surface of the movable plate, a fixed plate is fixedly connected to the top surface of the connecting plate, and a plurality of metal sheets are fixedly connected to the side surface of the fixed plate. The plurality of metal sheets are arranged in an equidistant array, and the side surface of the horizontal plate abuts against the side surface of the outermost metal sheet.

[0021] As a further improvement to the above solution, the connecting plate is fixed on the surface of the support plate outside the driving non-circular gear and the driven non-circular gear, and the side end face of the tooth of the driving non-circular gear abuts against the front end surface of the baffle.

[0022] As a further improvement to the above solution, the limiting plate is hinged with a diagonal brace on the side near the first tensioning plate, and the diagonal brace is located outside the extrusion seat. A connecting spring is connected between the diagonal brace and the limiting plate so that the bottom of the diagonal brace abuts against the outer wall of the side of the first tensioning plate near the limiting plate. The first tensioning plate is also provided with a locking hole for inserting the bottom of the diagonal brace on this side so as to prevent the extrusion seat from rebounding after the spike rod separates from the tensioning band.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. This invention provides an anti-loosening mechanism inside the second tensioning plate. Pulling the limiting plate causes the telescopic rod and the compression seat to move outward, releasing the restriction on the tensioning band. After loosening, the rebound force of the third spring and the attraction of the second magnet fix the position of the compression seat, allowing the spike to penetrate the tensioning band and the rubber pad to press the surface of the tensioning band. Through the dual limiting of mechanical insertion and surface friction, the tensioning band is prevented from shifting and loosening when the rehabilitation exoskeleton is stretched, ensuring the stability of the device.

[0025] 2. This invention incorporates an exercise intensity adjustment mechanism inside the toothed opening. Pressing the push block inward compresses the first spring, causing the rocker to deflect under pressure and releasing the first magnet's attraction and locking of the slide plate. At this point, moving the push block along the groove changes the extension length of the toothed opening outside the non-circular gear. After releasing the push block, the first spring rebounds, causing the rocker to reset and re-magnetically lock. By adjusting the extension stroke of the toothed opening, the amount of pushing displacement of the detection mechanism baffle during gear rotation can be controlled, thereby changing the training resistance.

[0026] 3. This invention provides a resistance detection mechanism on the side surface of the support plate. The rotating toothed jaw abuts against and pushes the baffle, causing the moving plate to slide linearly along the limiting rod. When the moving plate moves, it compresses the second spring to generate motion resistance. At the same time, the horizontal plate at the bottom of the moving plate pushes the arrayed metal sheets in sequence. The metal sheets are deformed by pressure and collide to produce sound. By determining the number of times and the duration of the sound produced by the metal sheets colliding, the operator can be informed of the displacement progress of the moving plate and the current output training resistance.

[0027] 4. The diagonal brace and connecting spring are designed so that after the spike is pulled away from the tension band, the bottom of the diagonal brace can be locked in the insertion hole to prevent the compression seat from rebounding, which facilitates the subsequent tightening and loosening of the tension band. Attached Figure Description

[0028] Figure 1 This is a perspective view of the present invention;

[0029] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0030] Figure 3 This is a schematic diagram of the tension band of the present invention;

[0031] Figure 4 This is a schematic diagram of the toothed opening structure of the present invention;

[0032] Figure 5 for Figure 4 Enlarged view at point B in the middle;

[0033] Figure 6 This is a schematic diagram of the connecting plate of the present invention;

[0034] Figure 7 This is a schematic diagram of the anti-loosening mechanism of the present invention;

[0035] Figure 8 This is a schematic diagram of the diagonal brace of the present invention.

[0036] Explanation of key symbols:

[0037] 1. First guard plate; 2. Second guard plate; 3. Movable shaft; 4. Support plate; 5. First tension plate; 6. Tensioning band; 7. Driven non-circular gear; 8. Driving non-circular gear; 9. Second tension plate; 10. Exercise intensity adjustment mechanism; 101. Slide plate; 102. Pushing block; 103. Slider; 104. Rocker; 105. First spring; 106. Hollow seat; 107. Opening; 108. First magnet; 109. Groove; 11. Resistance detection mechanism; 111. Connection 112. Plate; 113. Second spring; 114. Slide groove; 115. Limiting rod; 116. Moving plate; 117. Baffle; 118. Horizontal plate; 119. Fixed plate; 12. Metal sheet; 12. Anti-loosening mechanism; 121. Pressing seat; 122. Rubber pad; 123. Limiting plate; 124. Spike rod; 125. Sleeve; 126. Third spring; 127. Telescopic rod; 128. Second magnet; 13. Toothed opening; 14. Diagonal brace; 15. Connecting spring; 16. Locking hole. Detailed Implementation

[0038] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0039] Example 1:

[0040] Please combine Figure 1 - Figure 7This embodiment of a knee joint rehabilitation exoskeleton structure based on non-circular gear drive includes a protective plate support mechanism, a binding mechanism, a non-circular gear transmission mechanism, a resistance detection mechanism, and an anti-loosening mechanism.

[0041] The exoskeleton support mechanism includes a first exoskeleton 1, a second exoskeleton 2, a support plate 4, and a movable shaft 3. The support plate 4 is fixedly connected to the outer surfaces of both the first exoskeleton 1 and the second exoskeleton 2. The movable shaft 3 rotatably connects the opposite end faces of the two support plates 4, allowing the first exoskeleton 1 and the second exoskeleton 2 to be rotatably connected via the movable shaft 3. The inner surface shape of the first exoskeleton 1 is adapted to the physiological curvature of the front of the human thigh, and the inner surface shape of the second exoskeleton 2 is adapted to the physiological curvature of the front of the human calf, increasing the contact area between the exoskeleton and the leg surface and dispersing the local pressure generated when the exoskeleton is worn. A clearance fit is used between the outer surface of the movable shaft 3 and the inner hole of the support plate 4. A wear-resistant copper sleeve is fitted around the outside of the movable shaft 3 to reduce frictional resistance and mechanical wear during the relative rotation of the first exoskeleton 1 and the second exoskeleton 2.

[0042] The binding mechanism includes a first tensioning plate 5, a second tensioning plate 9, and a tensioning strap 6. The first tensioning plate 5 is fixedly connected to the side surface of the first guard plate 1, the second tensioning plate 9 is fixedly connected to the side surface of the second guard plate 2, and one end of the tensioning strap 6 is fixedly connected to the first tensioning plate 5, while the other end passes through the interior of the second tensioning plate 9. The outer edges of both the first tensioning plate 5 and the second tensioning plate 9 are chamfered to prevent sharp edges from scratching the user's skin during limb movement.

[0043] The non-circular gear transmission mechanism includes a driving non-circular gear 8 and a driven non-circular gear 7. The driving non-circular gear 8 is rotatably connected to the side surface of a support plate 4, and the driven non-circular gear 7 is rotatably connected to the side surface of another support plate 4. The driving non-circular gear 8 is located above the driven non-circular gear 7, and the outer surface of the driving non-circular gear 8 meshes with the outer surface of the driven non-circular gear 7. The pitch curves of the driving non-circular gear 8 and the driven non-circular gear 7 are designed based on the inverse mapping of the instantaneous rotation center change trajectory of the human knee joint during flexion and extension, so that the non-circular gears exhibit variable transmission ratio characteristics during meshing transmission, and the motion output of the non-circular gears corresponds to the multi-center motion trajectory of the human knee joint. The tooth surfaces of the driving non-circular gear 8 and the driven non-circular gear 7 are surface hardened to improve the hardness of the tooth surface and fatigue resistance to pitting corrosion. Both the outer surfaces of the driving non-circular gear 8 and the driven non-circular gear 7 are provided with toothed edges 13.

[0044] The resistance detection mechanism 11 is disposed on the side surface of the support plate 4, and located outside the driving non-circular gear 8 and the driven non-circular gear 7, for abutting against the toothed jaw 13 to provide motion resistance and generate audible feedback. The anti-loosening mechanism 12 is disposed inside the second tensioning plate 9 for locking the tension band 6.

[0045] The toothed mouth 13 is provided with a training intensity adjustment mechanism 10, which is used to adjust the extension of the toothed mouth 13 relative to the driving non-circular gear 8 or the driven non-circular gear 7, so as to change the pushing stroke of the resistance detection mechanism 11 during transmission.

[0046] Example 2:

[0047] like Figure 1 , Figure 3 and Figure 7 and Figure 8 As shown, this embodiment is further improved on the basis of embodiment 1 in the following ways:

[0048] The anti-loosening mechanism 12 includes a limiting plate 123, a sleeve 125, a telescopic rod 127, a third spring 126, a second magnet 128, a compression seat 121, a rubber pad 122, and a spike 124. The side surface of the second tensioning plate 9 is slidably connected to the inner surface of the limiting plate 123, and the outer surface of the sleeve 125 is fixedly connected to the side surface of the second tensioning plate 9. The internal channel axis of the sleeve 125 is perpendicular to the surface of the second tensioning plate 9. The telescopic rod 127 is slidably connected inside the sleeve 125, and the outer sidewall of the telescopic rod 127 is in sliding fit with the inner sidewall of the sleeve 125. One end face of the telescopic rod 127 is fixedly connected to the side surface of the limiting plate 123, and the third spring 126 is fixedly connected between the inner end face of the sleeve 125 and the side end face of the telescopic rod 127. The axis of the third spring 126 is collinear with the axis of motion of the telescopic rod 127, causing the third spring 126 to undergo axial elastic deformation during compression and tension.

[0049] A second magnet 128 is fixedly connected to the other end face of the telescopic rod 127, and a pressing seat 121 is fixedly connected to the side surface of the limiting plate 123. A rubber pad 122 is fixedly connected to the outer surface of the pressing seat 121. The outer surface of the rubber pad 122 has an array of grid-like anti-slip textures to increase the static friction coefficient when the rubber pad 122 contacts the surface of the tension band 6. A spike 124 is fixedly connected to the inner surface of the pressing seat 121. The front end of the spike 124 has a conical structure to facilitate penetration through the braided holes inside the tension band 6. A through hole is provided inside the second tension plate 9. The outer surface of the spike 124 is slidably connected to the inside of the through hole. The inner diameter of the through hole is larger than the outer diameter of the spike 124, providing guidance for the penetration action of the spike 124.

[0050] The end of the tension band 6 passes through the interior of the second tension plate 9, the outer end of the spike 124 passes through the interior of the tension band 6, the outer surface of the rubber pad 122 is attached to the outer surface of the tension band 6, and the outer surface of the second magnet 128 is attached to the inner sidewall of the sleeve 125.

[0051] A diagonal brace 14 is hinged to the side of the limiting plate 123 near the first tensioning plate 5, and the diagonal brace 14 is located on the outside of the pressing seat 121. A connecting spring 15 connects the diagonal brace 14 and the limiting plate 123, and the connecting spring 15 keeps the bottom of the diagonal brace 14 in contact with the outer wall of the first tensioning plate 5 near the limiting plate 123. A locking hole 16 is provided on this side of the first tensioning plate 5 for inserting the bottom of the diagonal brace 14.

[0052] Specifically, when the leg is placed between the first guard plate 1 and the second guard plate 2, the tension band 6 connects the first tension plate 5 and the second tension plate 9. Pulling the limiting plate 123 outward, the tension applied to the limiting plate 123 overcomes the preload of the third spring 126 and the magnetic attraction of the second magnet 128 to the inner wall of the sleeve 125, causing the telescopic rod 127 to slide axially outward within the sleeve 125. The sliding of the telescopic rod 127 simultaneously stretches the third spring 126. At the same time, the limiting plate 123 causes the pressing seat 121 to move outward, causing the spike 124 to exit outward along the through hole and disengage from the tension band 6. At this time, the tension band 6 loses its limiting constraint inside the second tension plate 9, and the tightness of the garment can be adjusted by pulling the tension band 6.

[0053] At the same time, the diagonal brace 14 slides along the outer wall of the first tensioning plate 5 under the action of the connecting spring 15. When it moves to the position of the locking hole 16, the bottom of the diagonal brace 14 is inserted into the locking hole 16, locking the limiting plate 123 in the outward position, preventing the squeezing seat 121 and the spike 124 from rebounding, making it easier for the operator to adjust the tensioning band 6.

[0054] After the tension band 6 is adjusted, the diagonal brace 14 is moved to disengage its bottom from the locking hole 16. The limiting plate 123 is reset under the rebound force of the third spring 126, and the telescopic rod 127 retracts into the sleeve 125. During the final stroke of the telescopic rod 127's retraction, the outer surface of the second magnet 128 adheres to the inner sidewall of the sleeve 125, locking the telescopic rod 127 in position through magnetic attraction. At this time, the pressing seat 121 resets with the limiting plate 123, and the spike 124 re-penetrates into the fiber pores inside the tension band 6. The rubber pad 122 on the surface of the pressing seat 121 presses against the outer surface of the tension band 6, forcing the inner surface of the tension band 6 to adhere to the inner bottom surface of the second tension plate 9. Through the mechanical penetration of the tension band 6 by the spike 124 and the surface friction generated by the positive pressure applied by the rubber pad 122, a dual limiting structure of penetration and friction is formed on the tension band 6, restricting the tension band 6 from slipping during use.

[0055] Example 3:

[0056] like Figure 4 and Figure 5 As shown, this embodiment is further improved on the basis of Embodiments 1 and 2 in that:

[0057] The exercise intensity adjustment mechanism 10 includes a slide plate 101, a hollow seat 106, a pusher block 102, a slider 103, a rocker arm 104, a first spring 105, and a first magnet 108. The outer surface of the hollow seat 106 is fixedly connected to the inner bottom surface of the toothed opening 13, and the outer surface of the slide plate 101 is fixedly connected to the inner side surface of the toothed opening 13. An opening 107 is provided on the top surface of the hollow seat 106, and the size of the opening 107 matches the outer contour size of the pusher block 102. A groove 109 is provided on the inner bottom surface of the hollow seat 106. The groove 109 has a T-shaped groove structure to restrict the internal slider 103 from sliding linearly with a single degree of freedom along the length direction of the groove 109.

[0058] A slider 103 is slidably connected inside the groove 109. The surface of the slider 103 is polished to reduce sliding friction resistance. A push block 102 is fixedly connected to the top surface of the slider 103, and the top operating surface of the push block 102 is provided with an inner groove. A rocker 104 is provided inside the hollow seat 106. The rocker 104 is made of hard alloy to reduce bending deformation under downward pressure. The side surface of the push block 102 abuts against the top side surface of the rocker 104. A first spring 105 is fixedly connected between the bottom side surface of the rocker 104 and the inner bottom surface of the hollow seat 106. A first magnet 108 is fixedly connected to the other top side surface of the rocker 104. The top surface of the first magnet 108 is in contact with the bottom surface of the slide plate 101. The slide plate 101 is made of ferromagnetic material, so that the first magnet 108 can generate magnetic attraction on the surface of the slide plate 101.

[0059] Specifically, when the first guard plate 1 and the second guard plate 2 rotate relative to each other around the movable shaft 3, they drive the two support plates 4 to deflect, and the teeth on the outer surfaces of the driving non-circular gear 8 and the driven non-circular gear 7 mesh and rotate. When adjusting the position of the toothed mouth 13, the push block 102 is pressed vertically into the hollow seat 106. The push block 102 presses down on one side surface of the rocker 104, the first spring 105 is compressed and contracts, and the rocker 104 tilts and deflects against the elastic force of the first spring 105, causing the first magnet 108 to separate from the bottom surface of the slide plate 101, releasing the magnetic lock between the first magnet 108 and the slide plate 101. At this time, the mechanism enters the unlocked state.

[0060] In the press-unlocked state, the push block 102 is moved horizontally, causing the slider 103 to slide along the groove 109. Since the slider 103 acts as a guide connected to the non-circular gear base, its relative displacement causes the toothed opening 13, including the hollow seat 106 and the slide plate 101, to slide radially along the non-circular gear, thereby changing the outward extension length of the toothed opening 13 on the non-circular gear surface. After position adjustment, the push block 102 is released, and the first spring 105 rebounds, pushing the rocker 104 upwards to reset, pushing the push block 102 outwards back to its initial plane. The first magnet 108 reattaches and magnetically attracts to the bottom surface of the slide plate 101, locking the relative position of the slider 103 and the groove 109, maintaining the fixed state of the toothed opening 13 after adjustment, so that the toothed opening 13 can bear the compressive load in subsequent exercises.

[0061] Example 4:

[0062] like Figure 6 and Figure 7 As shown, the resistance detection mechanism 11 includes a connecting plate 111, a movable plate 115, a limiting rod 114, a second spring 112, a baffle 116, a horizontal plate 117, a fixed plate 118, and a metal sheet 119. The bottom surface of the connecting plate 111 is fixedly connected to the side surface of the support plate 4, and the top surface of the connecting plate 111 is fixedly connected to the limiting rod 114. The bottom surface of the movable plate 115 is slidably connected to the top surface of the connecting plate 111. A through circular hole is provided inside the movable plate 115, and the outer surface of the limiting rod 114 is slidably connected inside the circular hole to guide the linear movement of the movable plate 115.

[0063] A groove 113 is formed on the top surface of the connecting plate 111. The extending direction of the groove 113 is parallel to the axial direction of the limiting rod 114. The bottom surface of the moving plate 115 is slidably connected to the inside of the groove 113. The limiting rod 114 and the groove 113 together reduce the probability of the moving plate 115 deviating and jamming when sliding. A second spring 112 is sleeved on the outer surface of the limiting rod 114. The second spring 112 is made of spring steel wire. One end of the second spring 112 is fixedly connected to the side surface of the connecting plate 111, and the other end of the second spring 112 is fixedly connected to the side surface of the moving plate 115. A baffle 116 is fixedly connected to the side surface of the moving plate 115, and a cross plate 117 is fixedly connected to the bottom surface of the moving plate 115.

[0064] A fixing plate 118 is fixedly connected to the top surface of the connecting plate 111, and a plurality of equidistantly arranged metal sheets 119 are fixedly connected to the side surface of the fixing plate 118. The metal sheets 119 do not contact each other when not subjected to external force, and the side surface of the horizontal plate 117 abuts against the side surface of the outermost metal sheet 119. The connecting plate 111 is located outside the driving non-circular gear 8 and the driven non-circular gear 7. When the teeth 13 on the surface of the driving non-circular gear 8 rotate with the gear, their side end faces can abut against the front end surface of the baffle 116.

[0065] Specifically, when the gear rotates, the side end face of the toothed tooth 13 in its extended state contacts and presses against the front surface of the baffle 116. The baffle 116, under force, pushes the moving plate 115, causing the moving plate 115 to slide along the limiting rod 114 and the slide groove 113 on the surface of the connecting plate 111. When the moving plate 115 undergoes horizontal displacement, it compresses the second spring 112, which undergoes axial compression deformation and applies reverse resistance to the moving plate 115. During the sliding of the moving plate 115, the bottom horizontal plate 117 moves towards the fixed plate 118, and the side surface of the horizontal plate 117 sequentially contacts and pushes against the arrayed metal sheets 119. The compressed metal sheets 119 undergo lateral bending deformation, and adjacent deformed metal sheets 119 generate mechanical impact at the moment of contact, causing the metal sheets 119 to vibrate and produce sound. The longer the displacement distance of the moving plate 115, the greater the compression deformation of the second spring 112, and the greater the motion resistance generated by the mechanism; at the same time, the number of metal sheets 119 that are pushed and bent by the horizontal plate 117 increases synchronously. The operator judges the displacement of the baffle 116 and the compression state of the second spring 112 based on the number of times and the duration of the sound produced by the collision of the metal sheets 119.

[0066] Working principle:

[0067] The patient places their leg between the first guard plate 1 and the second guard plate 2. The first tension plate 5 and the second tension plate 9 are connected by a tension strap 6, securing the exoskeleton to the outside of the leg. Support plates 4 on both sides provide structural support for the leg joints. An anti-loosening mechanism 12 is used to restrain the tension strap 6: when adjusting the wearing length, pulling the limiting plate 123 outwards causes the telescopic rod 127 to slide within the sleeve 125 and stretch the third spring 126. The compression seat 121 retracts with the limiting plate 123, causing the spike 124 to exit the internal hole of the tension strap 6, allowing the tension strap 6 to slide freely for length adjustment. At this time, the diagonal brace 14, under the action of the connecting spring 15, engages in the locking hole 16 of the first tension plate 5, preventing the compression seat 121 from rebounding, facilitating adjustment of the tension strap 6. After adjustment, move the diagonal brace 14 to disengage it from the locking hole 16, release the limiting plate 123, and the telescopic rod 127 retracts into the sleeve 125 under the action of the rebound force of the third spring 126. The second magnet 128 magnetically adheres to the inner wall of the sleeve 125 to fix the position of the extrusion seat 121. The spike 124 re-penetrates the braided layer of the tension band 6, and the rubber pad 122 on the surface of the extrusion seat 121 presses against the surface of the tension band 6. The penetration of the spike 124 and the friction between the spike 124 and the surface of the rubber pad 122 prevent the tension band 6 from slipping and loosening under force.

[0068] The patient's leg flexion and extension cause the first guard plate 1, the second guard plate 2, and the support plate 4 to rotate around the movable shaft 3. The driving non-circular gear 8 and the driven non-circular gear 7 on the support plate 4 mesh with each other. The variable transmission ratio characteristic of the non-circular gears makes the movement trajectory correspond to the multi-center movement trajectory of the human knee joint, reducing the pulling and relative friction on the surface of the leg muscles when the gears rotate. The extension length of the toothed opening 13 is changed by the exercise intensity adjustment mechanism 10 to control the pushing depth of the baffle 116: the pusher block 102 is pressed and moved vertically into the hollow seat 106. The pressing part of the pusher block 102 overcomes the elastic force of the first spring 105 and presses down on one end of the rocker 104, causing the rocker 104 to tilt and deflect, causing the first magnet 108 at the other end to separate from the bottom surface of the slide plate 101. In the unlocked state, the pusher block 102 is moved, and the sliding of the internal slider 103 in the groove 109 guides the toothed opening 13 to move radially, adjusting the length of the toothed opening 13 protruding from the edge of the non-circular gear. After the push block 102 is released, the first spring 105 rebounds and lifts the rocker 104 back to its original position. The first magnet 108 re-fits with the slide plate 101 to lock its position. The push block 102 pushes outward to complete the fixation of the toothed opening 13 in the extended state.

[0069] During mechanical resistance training, the extended toothed jaw 13 rotates with the non-circular gear, abutting and squeezing the baffle 116 at the front end of the resistance detection mechanism 11. The baffle 116, under force, drives the moving plate 115 to slide along the groove 113 and the limiting rod 114 on the surface of the connecting plate 111. The moving plate 115 compresses the second spring 112, causing the second spring 112 to generate a reverse elastic force as resistance. As the moving plate 115 slides against the resistance, the horizontal plate 117 fixed at the bottom moves towards the fixed plate 118. The side surface of the horizontal plate 117 sequentially contacts and pushes the metal sheets 119. The greater the linear displacement distance of the horizontal plate 117, the deeper the pushing stroke of the toothed jaw 13, and the more metal sheets 119 are bent by the pressure of the horizontal plate 117 and collide with adjacent sheets. The resistance provided by the device increases with the increase of the compression of the second spring 112, and the number and density of collisions and sounds produced by the metal sheets 119 increase with the increase of the displacement stroke of the horizontal plate 117. The operator judges the magnitude of the current motion resistance and the degree of effort the patient exerts to overcome the resistance based on the frequency and duration of the sound produced by the collision of the metal sheet 119.

[0070] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A knee joint rehabilitation exoskeleton structure based on non-circular gear drive, characterized in that, include: The guard plate support mechanism includes an upper support assembly and a lower support assembly with the same structure. The upper support assembly includes two support plates (4) and a first guard plate (1) and a second guard plate (2) respectively fixed on the two support plates (4). One end of the first guard plate (1) and the second guard plate (2) are rotatably connected by a movable shaft (3). The two support plates (4) on the same side of the upper support assembly and the lower support assembly are rotatably connected by a movable shaft (3). The binding mechanism includes a first tensioning plate (5) mounted on a first guard plate (1), a second tensioning plate (9) mounted on a second guard plate (2), and a tensioning strap (6) for locking the first guard plate (1) and the second guard plate (2). The second tensioning plate (9) is also equipped with an anti-loosening mechanism (12) for locking the tensioning strap (6). The non-circular gear transmission mechanism includes a driving non-circular gear (8) rotatably connected to two support plates (4) in the upper support assembly and a driven non-circular gear (7) rotatably connected to two support plates (4) in the lower support assembly. The driving non-circular gear (8) and the driven non-circular gear (7) on the same side are meshed. The outer surfaces of the driving non-circular gear (8) and the driven non-circular gear (7) are provided with toothed edges (13). A resistance detection mechanism (11) is disposed on the side surface of the support plate (4) and is used to abut against the toothed mouth (13) to provide motion resistance and generate sound feedback.

2. The knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 1, characterized in that, The toothed mouth (13) is provided with a training intensity adjustment mechanism (10) to adjust the extension of the toothed mouth (13) relative to the driving non-circular gear (8) or the driven non-circular gear (7) to change the pushing stroke of the resistance detection mechanism (11) during transmission. The exercise intensity adjustment mechanism (10) includes a slide plate (101) and a hollow seat (106). The outer surface of the hollow seat (106) is fixedly connected to the inner bottom surface of the toothed opening (13). The outer surface of the slide plate (101) is fixedly connected to the inner side surface of the toothed opening (13). An opening (107) is provided on the top surface of the hollow seat (106). A groove (109) is provided on the inner bottom surface of the hollow seat (106).

3. The knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 2, characterized in that, A slider (103) is slidably connected inside the groove (109). A pusher block (102) is fixedly connected to the top surface of the slider (103). A rocker (104) is provided inside the hollow seat (106). The side surface of the pusher block (102) abuts against the top side surface of the rocker (104). A first spring (105) is fixedly connected between the bottom side surface of the rocker (104) and the bottom surface inside the hollow seat (106). A first magnet (108) is fixedly connected to the other side surface of the top of the rocker (104). The top surface of the first magnet (108) is in contact with the bottom surface of the slide plate (101).

4. The knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 1, characterized in that, The anti-loosening mechanism (12) includes a limiting plate (123) and a sleeve (125). The side surface of the second tensioning plate (9) is slidably connected to the inner surface of the limiting plate (123). The outer surface of the sleeve (125) is fixedly connected to the side surface of the second tensioning plate (9). A telescopic rod (127) is slidably connected inside the sleeve (125). One end face of the telescopic rod (127) is fixedly connected to the side surface of the limiting plate (123).

5. The knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 4, characterized in that, A third spring (126) is fixedly connected between the inner end face of the sleeve (125) and the side end face of the telescopic rod (127). A second magnet (128) is fixedly connected to the other end face of the telescopic rod (127). A pressing seat (121) is fixedly connected to the side surface of the limiting plate (123). A rubber pad (122) is fixedly connected to the outer surface of the pressing seat (121). A spike (124) is fixedly connected to the inner surface of the pressing seat (121). A through hole is opened inside the second tensioning plate (9). The outer surface of the spike (124) is slidably connected to the inside of the through hole. The end of the tension band (6) is disposed inside the second tension plate (9), the outer end of the spike (124) is disposed inside the tension band (6), the outer surface of the rubber pad (122) is attached to the outer surface of the tension band (6), and the outer surface of the second magnet (128) is attached to the inner sidewall of the sleeve (125).

6. The knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 1, characterized in that, The resistance detection mechanism (11) includes a connecting plate (111) and a moving plate (115). The bottom surface of the connecting plate (111) is fixedly connected to the side surface of the support plate (4). The top surface of the connecting plate (111) is fixedly connected to a limiting rod (114). The bottom surface of the moving plate (115) is slidably connected to the top surface of the connecting plate (111). A circular hole is provided inside the moving plate (115). The outer surface of the limiting rod (114) is slidably connected to the inside of the circular hole.

7. A knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 6, characterized in that, The top surface of the connecting plate (111) is provided with a groove (113), the bottom surface of the moving plate (115) is slidably connected to the inside of the groove (113), the outer surface of the limiting rod (114) is fitted with a second spring (112), one end of the second spring (112) is fixedly connected to the side surface of the connecting plate (111), the other end of the second spring (112) is fixedly connected to the side surface of the moving plate (115), and a baffle (116) is fixedly connected to the side surface of the moving plate (115).

8. The knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 7, characterized in that, A horizontal plate (117) is fixedly connected to the bottom surface of the movable plate (115), and a fixed plate (118) is fixedly connected to the top surface of the connecting plate (111). A plurality of metal sheets (119) are fixedly connected to the side surface of the fixed plate (118). The plurality of metal sheets (119) are arranged in an equidistant array, and the side surface of the horizontal plate (117) abuts against the side surface of the outermost metal sheet (119).

9. A knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 7, characterized in that, The connecting plate (111) is fixed on the surface of the support plate (4) at the outside of the driving non-circular gear (8) and the driven non-circular gear (7), and the side end face of the tooth (13) on the surface of the driving non-circular gear (8) abuts against the front end surface of the baffle (116).

10. A knee joint rehabilitation exoskeleton structure based on non-circular gear drive according to claim 5, characterized in that, The limiting plate (123) is hinged with a diagonal brace (14) on the side near the first tensioning plate (5), and the diagonal brace (14) is located outside the extrusion seat (121). A connecting spring (15) is connected between the diagonal brace (14) and the limiting plate (123) so that the bottom of the diagonal brace (14) abuts against the outer wall of the side of the first tensioning plate (5) near the limiting plate (123). The first tensioning plate (5) is also provided with a bottom locking hole (16) for inserting the diagonal brace (14) so ​​as to prevent the extrusion seat (121) from rebounding after the spike (124) separates from the tensioning band (6).

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