Knee joint exoskeleton power assisting device

Abstract

The utility model discloses a knee joint exoskeleton power assisting device which comprises a knee bandage, a shell is installed on the side face of the knee bandage, a motor and a swing rod rotating shaft are installed in the shell, the motor transmits power to the swing rod rotating shaft through a gear set, and the swing rod rotating shaft is connected with the upper end of a shank swing rod. The lower end of the shank swing rod is fixed to the shank bandage, the thigh swing rod is installed on the top of the speed reducer shell, and the upper end of the thigh swing rod is fixed to the thigh bandage. The disc-type permanent magnet synchronous motor is adopted as a power part, and the output shaft of the disc-type permanent magnet synchronous motor is designed into a disc structure, so that the structural layout of power transmission is more reasonable.

Description

Technical Field

[0001] This utility model belongs to the field of biological exoskeleton device technology, specifically relating to a knee joint exoskeleton assistive device. Background Technology

[0002] The knee joint is one of the most important joints in the human body, bearing significant force and pressure. Studies show that when we stand, the knee joint bears approximately 1.5 times our body weight, while when we squat or kneel, the load on the knee joint increases to 8 times our body weight. This is especially true for manual laborers, who perform tasks such as carrying heavy objects or climbing stairs, placing even greater pressure on the knee joint. This high-load condition leads to cartilage wear and tear in manual laborers, resulting in knee pain as the cartilage wears down and degenerates.

[0003] With the advancement of technology, many knee joint assistive devices have been developed to protect and assist the knee joint. For example, patent publication number CN109333512B describes a knee joint assistive mechanism where a cylinder is hinged between the thigh support rod and the calf support rod, and an air bladder is located inside the sole, with the air bladder's air passage leading to the cylinder. Through the spring of the assistive mechanism, the response is fast, and the pressure on the muscles is relatively high. Another example is patent publication number CN110478199A, which describes an assistive knee exoskeleton. Its power device drives the Bowden wire core of the assistive component. During the relative movement between the calf and thigh wear parts, the Bowden wire core causes the calf wear part to extend relative to the thigh, generating an assist torque at the knee joint that forces the knee joint to extend, thus assisting in the extension of the knee joint and aiding normal walking. This reduces the energy consumed during walking, making the user's gait lighter and more natural. However, the above structures are relatively complex to use, especially during wear, as the waist wear part affects usability, resulting in unsatisfactory performance and a bulky and uncoordinated structure. Summary of the Invention

[0004] The purpose of this invention is to design a knee joint exoskeleton assistive device. The entire device is easy to wear, has an appearance similar to a knee brace, and is more coordinated.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A knee joint exoskeleton assistive device includes a knee strap, a housing mounted on the side of the knee strap, a motor and a swing arm shaft mounted inside the housing, the motor transmitting power to the swing arm shaft via a gear set, the swing arm shaft being connected to the upper end of a lower leg swing arm, the lower end of the lower leg swing arm being fixed to the lower leg strap, and a thigh swing arm mounted on the top of the reducer housing, the upper end of the thigh swing arm being fixed to the thigh strap.

[0007] Furthermore, a shell base is installed on the knee strap, the shell is installed on the base, and the shell is also fitted with a joint shell.

[0008] Furthermore, the motor is a disc-type permanent magnet synchronous motor, and the output shaft of the motor is a flange-type output shaft.

[0009] Furthermore, a flange-type output shaft is connected to a gear set, which includes a drive gear connected to the flange-type output shaft. The drive gear meshes with an intermediate gear, and the intermediate gear meshes with a rocker arm gear. The intermediate gear is mounted on the housing base via a rotating shaft.

[0010] Furthermore, the swing arm shaft is mounted on the outer casing via bearings. The upper ends of the swing arm shaft, swing arm gear, and lower leg swing arm are all provided with several through holes, and the swing arm shaft, swing arm gear, and lower leg swing arm are connected and fixed by connectors.

[0011] Furthermore, an end cover is installed on the surface of the gear set. The end cover is connected to the outer casing through bolt holes around the perimeter, and a magnetic encoder is installed inside the end cover.

[0012] Furthermore, the motor is fixed inside the housing by a limiting component.

[0013] Furthermore, both the thigh swing arm and the calf swing arm are made of carbon fiber, and a control box is installed at the thigh swing arm.

[0014] Furthermore, the knee straps, calf straps, and thigh straps use weakly elastic or non-elastic straps with Velcro fastening.

[0015] The above technical solution can achieve the following beneficial effects:

[0016] This utility model uses a disc-type permanent magnet synchronous motor as the power unit, and its output shaft is designed as a disc flange structure. This makes the structure layout of the assist device more reasonable. At the same time, the motor speed is output at a reasonable speed through the gear set, so that the rotation of the thigh swing arm is adapted to the leg movement.

[0017] This invention is easy to wear. Compared with existing bulky assistive mechanisms, its structure is simple and not complicated. It is lightweight and has low manufacturing cost. Similar to the structure of a knee brace, it provides the wearer with good comfort. Attached Figure Description

[0018] Figure 1 This is an exploded view of the assist device.

[0019] Figure 2 This is a side view of the power assist device.

[0020] Figure 3 This is a structural diagram of the gear set.

[0021] Figure 4It uses a state diagram.

[0022] In the picture:

[0023] In the diagram: 1. Lower leg strap; 2. Knee strap; 3. Thigh strap; 4. Lower leg swing arm; 5. Thigh swing arm; 6. Control box; 7. Housing; 8. Swing arm shaft; 9. Bearing; 10. Shaft; 11. Output shaft; 12. Motor; 13. Magnetic encoder; 14. Gear set; 15. Joint housing; 16. Limiting component; 17. End cap. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings:

[0025] like Figure 1-3 As shown, a knee joint exoskeleton assistive device includes a knee strap 2, a housing base disposed on the side of the knee strap 2, a housing 7 mounted on the housing base, a thigh swing arm 3 mounted on a thigh strap, a calf swing arm 4 mounted on a calf strap, and a reducer housing 7 connected to the top of the thigh swing arm 3. A motor 12 and a swing arm shaft 8 are installed inside the housing 7. The motor is a disc-type permanent magnet synchronous motor, and the output shaft of the motor 12 is a flange-type output shaft (disc-shaped). The flange-type output shaft drives a gear set 14 to rotate, and the gear set transmits power to the swing arm shaft 8. The gear set 14 includes components connected to the flange-type output shaft 8. The output shaft connects to the drive gear, which meshes with the intermediate gear. The intermediate gear meshes with the rocker arm gear. The intermediate gear is mounted on the housing base or housing via the rotating shaft 10. It should be noted that the intermediate gear is a two-layer gear, with a large gear meshing with the drive gear and a small gear meshing with the rocker arm gear. One side of the rocker arm rotating shaft 8 is connected to the upper end of the lower leg rocker arm 4, and the other side is connected to the rocker arm gear. An end cover 14 is installed on the upper surface of the gear set, and a magnetic encoder 13 is installed inside the end cover 14. A control box 6 is also installed on the thigh rocker arm 5. Both the thigh rocker arm 5 and the lower leg rocker arm 4 are made of carbon fiber material.

[0026] In the above embodiment, the motor is fixed to the housing by the limiting member 16. The limiting member 16 is in the shape of a cover. The cover is fixed to the housing by bolts around its perimeter. Then, the joint housing covers the entire internal structure to protect the internal structure.

[0027] In the above embodiment, the outer shell 7 is equipped with a bearing 9, and the bearing 9 is equipped with a rocker arm shaft 8. The rocker arm shaft 8, the upper end of the lower leg rocker arm 4, and the rocker arm gear are provided with three through holes. The rocker arm shaft 8, the upper end of the lower leg rocker arm 4, and the rocker arm gear are connected in series in the outer shell through a connecting rod.

[0028] In the above embodiment, the two sides of the end cap 14 are screw holes, and bolts are inserted into the screw holes to install it onto the outer shell.

[0029] In the above embodiments, the knee strap 2, the calf strap 1, and the thigh strap 3 are made of weakly elastic or non-elastic straps and have a Velcro structure.

[0030] Figure 4 As shown, in actual use, tear off the Velcro straps on the knee and put them on the user's knee joint, securing them with Velcro. In the same way, put the thigh straps and calf straps on the user's thigh and calf respectively. Turn on the power button of the control box 6. The power in the control box 6 supplies power to the motor. The motor drives the flange-type output shaft to rotate. The power is transmitted through the drive gear, intermediate gear, and swing arm gear in sequence, and then transmitted to the swing arm shaft 8. Since the swing arm shaft 8 is connected to the thigh swing arm 5, when the swing arm shaft 8 rotates, it drives the thigh swing arm 5 to rotate, thus enabling the lower leg to move, thereby reducing the force of leg movement and providing assistance.

[0031] The above descriptions are all preferred embodiments of this utility model. For those skilled in the art, any modifications to this utility model in various equivalent forms without departing from the principle of this utility model shall fall within the protection scope of the appended claims.

Claims

1. A knee joint exoskeleton assistive device, characterized in that: The device includes a knee strap (2), a housing (7) is mounted on the side of the knee strap (2), a motor (12) and a swing arm shaft (8) are installed inside the housing (7), the motor (12) transmits power to the swing arm shaft (8) through a gear set (14), the swing arm shaft (8) is connected to the upper end of the lower leg swing arm (4), the lower end of the lower leg swing arm (4) is fixed on the lower leg strap (1), and a thigh swing arm (5) is mounted on the top of the reducer housing (7), the upper end of the thigh swing arm (5) is fixed on the thigh strap (3).

2. The knee joint exoskeleton assistive device according to claim 1, characterized in that: A housing base is installed on the knee strap (2), and a housing (7) is installed on the base. The housing (7) is also fitted with a joint housing (15).

3. The knee joint exoskeleton assistive device according to claim 1, characterized in that: The motor (12) is a disc-type permanent magnet synchronous motor, and the output shaft of the motor (12) is a flange-type output shaft.

4. The knee joint exoskeleton assistive device according to claim 3, characterized in that: A flange-type output shaft is connected to a gear set (14), which includes a drive gear connected to the flange-type output shaft. The drive gear meshes with an intermediate gear, and the intermediate gear meshes with a rocker arm gear. The intermediate gear is mounted on the housing base via a rotating shaft (10).

5. The knee joint exoskeleton assistive device according to claim 1, characterized in that: The swing arm shaft (8) is mounted on the outer shell through the bearing (9). The upper ends of the swing arm shaft (8), the swing arm gear and the lower leg swing arm (4) are provided with several through holes. The swing arm shaft (8), the swing arm gear and the lower leg swing arm (4) are connected and fixed by the connector.

6. The knee joint exoskeleton assistive device according to claim 1, characterized in that: The gear set (14) has an end cover (17) mounted on its surface. The end cover is connected to the outer shell (7) through bolt holes around its perimeter. A magnetic encoder (13) is installed inside the end cover.

7. The knee joint exoskeleton assistive device according to claim 1, characterized in that: The motor (12) is fixed inside the housing (7) by a limiting member (16).

8. The knee joint exoskeleton assistive device according to claim 1, characterized in that: Both the thigh swing arm (5) and the calf swing arm (4) are made of carbon fiber material, and the control box (6) is installed at the thigh swing arm (5).

9. The knee joint exoskeleton assistive device according to claim 1, characterized in that: The knee strap (2), calf strap (1) and thigh strap (3) are made of weakly elastic or non-elastic straps and have Velcro structure.

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