Exoskeleton knee joint structure capable of adapting to different leg widths

Abstract

The utility model discloses an exoskeleton knee joint structure capable of adapting to different leg widths, and aims to solve the problems that an existing exoskeleton knee joint structure supports a skeleton on one side, damage to a knee joint cannot be effectively reduced, even pain and even damage of the knee joint may occur, and a wrapping structure cannot adjust the width size or the adjusting process is complex. The device comprises thigh structures, bionic knee joints, shank structures and binding structures, the thigh structures and the shank structures are hinged through the bionic knee joints, and the binding structures are installed on the inner sides of the thigh structures and the inner sides of the shank structures; each binding structure comprises a BOA screw, a fixing steel wire, an inserting buckle, a fixed binding belt, a movable binding belt and a binding liner, the binding liners in the two binding structures are installed on the inner side of the thigh structure and the inner side of the shank structure respectively, and the fixed binding belts and the movable binding belts are fixed to the two sides of the binding liners respectively.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton knee technology, and in particular to an exoskeleton knee joint structure that can adapt to different leg widths. Background Technology

[0002] Originally, exoskeletons referred to as rigid external structures in biology that protect the soft internal organs of organisms. Now, exoskeleton robots refer to a type of mechanical device that mimics human movement, enhances human mobility, and combines bionics and ergonomics. Worn on the outside of the limbs, they can improve specific abilities such as walking endurance and load-bearing capacity. Because exoskeleton robots involve ergonomics, they require strong adaptability, not only to suit wearers of different body types but also to provide safety protection for joints to prevent injury during wear.

[0003] Most existing knee joint structures are located on one side, fixing the thigh and calf to the exoskeleton leg from the side. This cannot effectively reduce knee joint damage and may even cause knee pain or injury. Other structures that wrap around the knee joint on both sides either cannot adjust the width or require the removal of screws, making the adjustment process complicated. Utility Model Content

[0004] This invention addresses the problems of existing exoskeleton knee joint structures, where the supporting bone is on one side, which cannot effectively reduce knee joint damage and may even cause knee pain or injury, as well as the inability to adjust the width of the wrapping structure or the complexity of the adjustment process. Therefore, this invention provides an exoskeleton knee joint structure that can adapt to different leg widths, thus solving the problems mentioned in the background art.

[0005] The technical solution of this utility model is:

[0006] An exoskeleton knee joint structure that can adapt to different leg widths includes a thigh structure, a bionic knee joint, a lower leg structure, and a binding structure. The thigh structure and the lower leg structure are hinged by the bionic knee joint, and the binding structure is installed on the inner side of both the thigh structure and the lower leg structure.

[0007] The binding structure includes a BOA twist, a fixing wire, a buckle, a fixing strap, a movable strap, and binding pads. The binding pads in the two binding structures are installed on the inner sides of the thigh structure and the calf structure, respectively. The fixing straps and the movable straps are fixed on both sides of the binding pads. The fixing straps and the movable straps are detachably connected by the buckle. The fixing straps are fixed with a BOA twist, and the fixing wire is wound inside the BOA twist. The fixing wire passes around the outer side of the thigh structure and is fixedly connected to the movable strap.

[0008] Furthermore, the thigh structure includes a lateral thigh bone and a medial thigh bone. The upper ends of the lateral thigh bone and the medial thigh bone are respectively provided with a lateral thigh arc-shaped support and a medial thigh arc-shaped support. The lateral thigh arc-shaped support and the medial thigh arc-shaped support are inserted to form a semi-circular arc structure.

[0009] The lower leg structure includes the lateral lower leg bone and the medial lower leg bone. The lower ends of the lateral lower leg bone and the medial lower leg bone are respectively provided with the lateral lower leg arc-shaped support and the medial lower leg arc-shaped support. The lateral lower leg arc-shaped support and the medial lower leg arc-shaped support are interlocked to form a semi-circular arc structure.

[0010] Furthermore, a thigh adjustment groove is provided on the outer arc-shaped support part of the thigh, and a thigh adjustment plug is provided on the inner arc-shaped support part of the thigh. The thigh adjustment groove can be inserted into the thigh adjustment plug.

[0011] A calf adjustment groove is provided on the outer arc-shaped support part of the calf, and a calf adjustment plug is provided on the inner arc-shaped support part of the calf. The calf adjustment groove can be inserted into the calf adjustment plug.

[0012] Furthermore, the thigh adjustment groove and thigh adjustment plug are arc-shaped, and their arc shape has the same radius as the semi-circular arc structure formed by the insertion of the outer thigh arc support and the inner thigh arc support. The thigh adjustment groove and thigh adjustment plug can also be straight, and the calf adjustment groove and calf adjustment plug are similar.

[0013] Furthermore, the fixing wire is a double-stranded wire.

[0014] Furthermore, both the outer and inner curved support portions of the thigh are provided with thigh steel rope grooves, and the corresponding fixing steel wires are embedded in the thigh steel rope grooves.

[0015] Furthermore, both the outer arc-shaped support portion and the inner arc-shaped support portion of the lower leg are provided with lower leg steel rope grooves, and the corresponding fixing steel wires are embedded in the lower leg steel rope grooves.

[0016] Furthermore, an exoskeleton thigh structure is fixedly connected to the lateral thigh bone.

[0017] Furthermore, an exoskeleton lower leg structure is fixedly connected to the outer bone of the lower leg.

[0018] Furthermore, the lateral thigh bone and the exoskeleton thigh structure, and the lateral calf bone and the exoskeleton calf structure are detachably fixedly connected by locking pins.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. An exoskeleton knee joint structure adaptable to different leg widths, featuring an adjustable binding diameter. The binding structure is tightened via a BOA (Boob Overload) mechanism, allowing for rapid adjustment of the binding width. The inner and outer bone structures are installed via plug-in connections, with varying plug depths to accommodate different knee joint widths.

[0021] 2. The exoskeleton features symmetrically arranged lateral thigh bones, medial thigh bones, lateral calf bones, and medial calf bones, effectively providing symmetrical knee joint support, reducing lateral stress on the knee joint, and further minimizing knee joint injury. This exoskeleton knee joint structure can be used as a standalone knee brace or connected to the exoskeleton thigh and calf bars to function as a lower limb exoskeleton. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the knee joint of this exoskeleton;

[0023] Figure 2 This is a schematic diagram of the lateral skeletal structure of the knee joint in this exoskeleton.

[0024] Figure 3 This is a schematic diagram of the medial knee joint bone structure of this exoskeleton;

[0025] Figure 4 This is a schematic diagram of the knee joint binding structure of this exoskeleton.

[0026] Figure 5 This is a schematic diagram of the knee joint and exoskeleton installation structure of the exoskeleton.

[0027] In the diagram: 1. Thigh structure; 11. Lateral thigh bone; 12. Medial thigh bone; 13. Thigh cable groove; 14. Thigh adjustment groove; 15. Thigh adjustment plug; 16. Lateral thigh arc-shaped support; 17. Medial thigh arc-shaped support; 2. Bionic knee joint; 3. Lower leg structure; 31. Lateral lower leg bone; 32. Medial lower leg bone; 33. Lower leg cable groove; 34. Lower leg adjustment groove; 35. Lower leg adjustment plug; 36. Lateral lower leg arc-shaped support; 37. Medial lower leg arc-shaped support; 4. Binding structure; 42. BOA twist; 43. Fixing wire; 44. Buckle; 45. Fixing strap; 46. Movable strap; 47. Binding pad; 5. Exoskeleton thigh structure; 6. Exoskeleton lower leg structure. Detailed Implementation

[0028] Specific implementation method one: See Figure 1-4 As shown, an exoskeleton knee joint structure that can adapt to different leg widths is described in this embodiment. It includes a thigh structure 1, a bionic knee joint 2, a lower leg structure 3, and a binding structure 4. The thigh structure 1 and the lower leg structure 3 are hinged through the bionic knee joint 2, and the binding structure 4 is installed on the inner side of both the thigh structure 1 and the lower leg structure 3.

[0029] The binding structure 4 includes a BOA twist 42, a fixing wire 43, a buckle 44, a fixing strap 45, a movable strap 46, and a binding pad 47. The binding pads 47 in the two sets of binding structures 4 are respectively installed on the inner side of the thigh structure 1 and the calf structure 3. The fixing straps 45 and the movable straps 46 are fixed on both sides of the binding pads 47 respectively. The fixing straps 45 and the movable straps 46 are detachably connected by the buckle 44. The BOA twist 42 is fixed on the fixing strap 45. The fixing wire 43 is wound inside the BOA twist 42. The fixing wire 43 passes around the outside of the thigh structure 1 and is fixedly connected to the movable strap 46.

[0030] Specific Implementation Method Two: See Figure 1-4 As shown, the fixing wire 43 in this embodiment is a double-stranded wire.

[0031] Specific implementation method three: See Figure 1-4 As shown, in this embodiment, both the outer thigh arc-shaped support portion 16 and the inner thigh arc-shaped support portion 17 are provided with thigh steel rope grooves 13, and the corresponding fixing steel wires 43 are embedded in the thigh steel rope grooves 13.

[0032] Detailed Implementation Method Four: See [link] Figure 1-4 As shown, both the outer arc-shaped support portion 36 and the inner arc-shaped support portion 37 of the lower leg in this embodiment are provided with lower leg steel rope grooves 33, and the corresponding fixing steel wires 43 are embedded in the lower leg steel rope grooves 33.

[0033] Furthermore, the binding 4 is glued and fixed to the lateral thigh bone 11 and the lateral calf bone 31 respectively. The binding pad 47 directly contacts the leg to provide a soft cushioning effect, thereby improving wearing comfort. Two thigh steel cable grooves 13 are provided on both the lateral thigh arc-shaped support part 16 and the inner thigh arc-shaped support part 17. A U-shaped fixing steel wire 43 extends from the BOA screw 42, and the top of the fixing steel wire 43 is sewn and fixed to the movable binding strap 46. The movable binding strap 46, buckle 44, fixing strap 45, and fixing steel wire 43 form a ring tensioning device used to tighten the lateral thigh bone 11 and the inner thigh bone 12. The two fixing steel wires 43 are respectively embedded in the two thigh steel cable grooves 13. Rotating the BOA screw 42 can simultaneously tighten both ends of the fixing steel wire 43, causing the lateral thigh bone 11 and the inner thigh bone 12 to move closer together, achieving quick adjustment of the knee joint width. The lower leg structure 3 is also equipped with a binding structure 4, which works in the same way as the above structure.

[0034] Specific implementation method five: See Figure 1-3As shown, the thigh structure 1 of this embodiment includes a lateral thigh bone 11 and a medial thigh bone 12. The upper ends of the lateral thigh bone 11 and the medial thigh bone 12 are respectively provided with a lateral thigh arc-shaped support part 16 and a medial thigh arc-shaped support part 17. The lateral thigh arc-shaped support part 16 and the medial thigh arc-shaped support part 17 are inserted to form a semi-circular arc structure.

[0035] The lower leg structure 3 includes a lateral lower leg bone 31 and a medial lower leg bone 32. The lower ends of the lateral lower leg bone 31 and the medial lower leg bone 32 are respectively provided with a lateral lower leg arc-shaped support part 36 and a medial lower leg arc-shaped support part 37. The lateral lower leg arc-shaped support part 36 and the medial lower leg arc-shaped support part 37 are inserted to form a semi-circular arc structure.

[0036] Specific implementation method six: See Figure 1-3 As shown, the outer thigh arc-shaped support portion 16 of this embodiment is provided with a thigh adjustment groove 14, and the inner thigh arc-shaped support portion 17 is provided with a thigh adjustment plug 15. The thigh adjustment groove 14 can be inserted into the thigh adjustment plug 15.

[0037] A calf adjustment groove 34 is provided on the outer arc-shaped support part 36 of the calf, and a calf adjustment plug 35 is provided on the inner arc-shaped support part 37 of the calf. The calf adjustment groove 34 can be inserted into the calf adjustment plug 35.

[0038] Detailed implementation method seven: See Figure 1-3 As shown, the thigh adjustment groove 14 and thigh adjustment plug 15 of this embodiment are arc-shaped, and their arc shape has the same radius as the semi-circular arc structure formed by the insertion of the outer thigh arc support 16 and the inner thigh arc support 17. The thigh adjustment groove 14 and thigh adjustment plug 15 can also be straight, and the calf adjustment groove 34 and calf adjustment plug 35 are similar.

[0039] Furthermore, the lateral thigh bone 11 and the lateral lower leg bone 31 are hinged together by a bionic knee joint 2, and the medial thigh bone 12 and the medial lower leg bone 32 are hinged together by a bionic knee joint 2. The thigh adjustment plug 15 can be inserted into the thigh adjustment groove 14. By adjusting the depth of the above-mentioned insertion, the distance between the lateral thigh bone 11 and the medial thigh bone 12 can be adjusted to adapt to different knee joint widths. The distance between the lateral thigh bone 11 and the medial thigh bone 12 is fixed by the support of the thigh on the inner side and by the binding of the fixing wire 43 on the outer side.

[0040] Detailed Implementation Method Eight: See also Figure 5 As shown, in this embodiment, an exoskeleton thigh structure 5 is fixedly connected to the lateral thigh bone 11.

[0041] Detailed Implementation Method Nine: See also Figure 5As shown, in this embodiment, an exoskeleton lower leg structure 6 is fixedly connected to the lateral lower leg bone 31.

[0042] Detailed Implementation Method Ten: See [link] Figure 5 As shown, in this embodiment, the lateral thigh bone 11 and the exoskeleton thigh structure 5, and the lateral lower leg bone 31 and the exoskeleton lower leg structure 6 are detachably fixedly connected by locking pins.

[0043] Furthermore, an exoskeleton thigh structure 5 is detachably mounted on the lateral thigh bone 11 via locking pins, and an exoskeleton lower leg structure 6 is detachably mounted on the lateral lower leg bone 31. The exoskeleton thigh structure 5 and the exoskeleton lower leg structure 6 can transfer the load to the ground through the inner and outer sides of the knee joint. When used alone, this exoskeleton knee joint can be used as a knee brace; when connected with the exoskeleton thigh structure 5 and the exoskeleton lower leg structure 6, it can be used as a lower limb exoskeleton.

[0044] In use, open the buckle 44, put the exoskeleton knee joint on the leg, until the bionic knee joint 2 is flush with the knee, close the buckle 44, and gradually rotate the upper and lower BOA screws 42 to tighten the fixing straps 45 and the movable straps 46. At the same time, the fixing wire 43 pulls the outer thigh bone 11 and the outer calf bone 31 towards the inner thigh bone 12 and the inner calf bone 32 respectively, until the two binding structures 4 are completely attached to the thigh and calf, completing the fixation of the thigh structure 1 and the calf structure 3. Then, the exoskeleton thigh structure 5 and the exoskeleton calf structure 6 can be installed as needed. To disassemble, loosen the BOA screws 42 and open the buckle 44 for quick disassembly.

Claims

1. An exoskeleton knee joint structure adaptable to different leg widths, characterized by: It includes a thigh structure (1), a bionic knee joint (2), a calf structure (3) and a binding structure (4). The thigh structure (1) and the calf structure (3) are hinged together by the bionic knee joint (2). The binding structure (4) is installed on the inner side of both the thigh structure (1) and the calf structure (3). The binding structure (4) includes a BOA twist (42), a fixing wire (43), a buckle (44), a fixing strap (45), a movable strap (46), and a binding pad (47). The binding pads (47) in the two binding structures (4) are installed on the inner side of the thigh structure (1) and the calf structure (3), respectively. The fixing strap (45) and the movable strap (46) are fixed on both sides of the binding pad (47), respectively. The fixing strap (45) and the movable strap (46) are detachably connected by the buckle (44). The fixing strap (45) is fixed with a BOA twist (42), and the fixing wire (43) is wound inside the BOA twist (42). The fixing wire (43) passes around the outside of the thigh structure (1) and is fixedly connected to the movable strap (46).

2. The exoskeleton knee structure of claim 1, wherein: The thigh structure (1) includes a lateral thigh bone (11) and an inner thigh bone (12). The upper ends of the lateral thigh bone (11) and the inner thigh bone (12) are respectively provided with an lateral thigh arc-shaped support part (16) and an inner thigh arc-shaped support part (17). The lateral thigh arc-shaped support part (16) and the inner thigh arc-shaped support part (17) are connected to form a semi-circular arc structure. The lower leg structure (3) includes a lateral lower leg bone (31) and a medial lower leg bone (32). The lower ends of the lateral lower leg bone (31) and the medial lower leg bone (32) are respectively provided with an lateral lower leg arc-shaped support (36) and a medial lower leg arc-shaped support (37). The lateral lower leg arc-shaped support (36) and the medial lower leg arc-shaped support (37) are connected to form a semi-circular arc structure.

3. The exoskeleton knee joint structure adaptable to different leg widths according to claim 2, characterized in that: The outer thigh arc-shaped support part (16) is provided with a thigh adjustment groove (14), and the inner thigh arc-shaped support part (17) is provided with a thigh adjustment plug (15). The thigh adjustment groove (14) can be inserted into the thigh adjustment plug (15). The lower leg outer arc-shaped support part (36) is provided with a lower leg adjustment groove (34), and the lower leg inner arc-shaped support part (37) is provided with a lower leg adjustment plug (35). The lower leg adjustment groove (34) can be inserted into the lower leg adjustment plug (35).

4. The exoskeleton knee joint structure adaptable to different leg widths according to claim 3, characterized in that: The thigh adjustment groove (14) and thigh adjustment plug (15) are arc-shaped, and their arc shape is the same as the radius of the semi-circular arc structure formed by the insertion of the outer thigh arc support part (16) and the inner thigh arc support part (17). The thigh adjustment groove (14) and thigh adjustment plug (15) can also be straight. The same applies to the calf adjustment groove (34) and calf adjustment plug (35).

5. The exoskeleton knee joint structure adaptable to different leg widths according to claim 1, characterized in that: The fixing wire (43) is a double-strand wire.

6. The exoskeleton knee joint structure adaptable to different leg widths according to claim 4, characterized in that: Both the outer thigh arc-shaped support part (16) and the inner thigh arc-shaped support part (17) are provided with thigh steel rope grooves (13), and the corresponding fixing steel wires (43) are embedded in the thigh steel rope grooves (13).

7. The exoskeleton knee joint structure adaptable to different leg widths according to claim 3, characterized in that: Both the outer arc-shaped support part (36) and the inner arc-shaped support part (37) of the lower leg are provided with lower leg steel rope grooves (33), and the corresponding fixing steel wires (43) are embedded in the lower leg steel rope grooves (33).

8. The exoskeleton knee joint structure adaptable to different leg widths according to claim 2, characterized in that: An exoskeleton thigh structure (5) is fixedly connected to the lateral thigh bone (11).

9. The exoskeleton knee joint structure adaptable to different leg widths according to claim 2, characterized in that: An exoskeleton leg structure (6) is fixedly connected to the lateral calf bone (31).

10. The exoskeleton knee joint structure adaptable to different leg widths according to claim 8 or 9, characterized in that: The lateral thigh bone (11) and the exoskeleton thigh structure (5), and the lateral lower leg bone (31) and the exoskeleton lower leg structure (6) are detachably fixedly connected by locking pins.

Images