A knee joint variable-cell exoskeleton based on variable-cell point cooperative driving

Abstract

This invention discloses a knee joint variable-cell exoskeleton based on variable-cell point collaborative driving, including an inner plate, a thigh binding assembly, and a first driving structure. The output end of the first driving structure is rotatably connected to a first rod and a second rod. The end of the first rod not connected to the output end of the first driving structure is rotatably connected to a fourth rod, and the end of the second rod not connected to the output end of the first driving structure is rotatably connected to a third rod. The third and fourth rods are hinged together. A lower leg binding assembly is mounted on the fourth rod. The knee joint variable-cell exoskeleton based on variable-cell point collaborative driving also includes a fifth rod. One end of the fifth rod is rotatably connected to the middle position of the third rod, and the other end is rotatably connected to the inner plate. A second driving structure is located at the connection point between the fifth and third rods. This exoskeleton only needs to change from a four-bar mechanism to a six-bar mechanism and then back to a four-bar mechanism, requiring two configurational changes within one assist cycle, thus realizing the topological change of the knee joint variable-cell assembly.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, and particularly relates to a knee joint variable cell exoskeleton based on variable cell point collaborative driving. Background Technology

[0002] While existing knee joint variable-cell assisted exoskeletons achieve variable-axis movement of the knee joint through configuration switching between four-bar and six-bar mechanisms, the structure is relatively complex, requiring a transition from the first four-bar configuration to the sixth, then to the second four-bar configuration, and finally back to the first four-bar configuration. Furthermore, at the variable-cell point, an electromagnet needs to be energized and discharged, which is a mechanical limiting device. In actual use, if the user cannot accurately identify the variable-cell point, the configuration switching will fail. The user's need to be ready to turn the power on and off at any time further increases the difficulty of using the assisted exoskeleton.

[0003] Therefore, there is an urgent need to design a knee joint variable cell exoskeleton based on variable cell point collaborative driving to solve the problems mentioned above. Utility Model Content

[0004] To address the technical problem mentioned in the background art, which involves complex variable cell mechanisms requiring four configuration changes within one assistance cycle, and where the mechanical limiting device at the variable cell point requires precise user identification of the variable cell point (otherwise the configuration cannot be switched, thus failing to achieve the effect of automatic assistance throughout the entire exoskeleton process), a knee joint variable cell exoskeleton based on variable cell point collaborative driving is provided.

[0005] To achieve the above objectives, the specific technical solution of this utility model for a knee joint variable cell exoskeleton based on variable cell point collaborative driving is as follows:

[0006] A knee joint variable cell exoskeleton based on variable cell point collaborative driving includes an inner plate, on which a thigh binding assembly and a first driving structure are disposed. The output end of the first driving structure is rotatably connected to a first rod and a second rod. The end of the first rod not connected to the output end of the first driving structure is rotatably connected to a fourth rod. The end of the second rod not connected to the output end of the first driving structure is rotatably connected to a third rod. The third rod and the fourth rod are hinged to each other. A lower leg binding assembly is disposed on the fourth rod. The knee joint variable cell exoskeleton based on variable cell point collaborative driving also includes a fifth rod. One end of the fifth rod is rotatably connected to the middle position of the third rod, and the other end is rotatably connected to the inner plate. A second driving structure is disposed at the connection position between the fifth rod and the third rod.

[0007] The knee joint cellular exoskeleton based on cellular point co-driving includes:

[0008] In the first phase, the third and fifth rods are not coplanar.

[0009] In the second phase, when in the second phase, the third rod rotates to a position coplanar with the fifth rod.

[0010] Furthermore, the thigh binding assembly and the first drive structure are respectively disposed on both sides of the inner side plate.

[0011] Furthermore, the first driving structure includes a first driving member and a transmission mechanism disposed at the output end of the first driving member. The output end of the transmission mechanism is rotatably connected to a first rod and a second rod. The first driving member drives the first rod to rotate through the transmission mechanism.

[0012] Furthermore, the transmission mechanism includes a first transmission component and a second transmission component that are rotatably connected. The first transmission component is disposed at the output end of the first driving member, and the output end of the second transmission component is rotatably connected to a first rod and a second rod. The first transmission component and the second transmission component are rotatably connected.

[0013] Furthermore, the first transmission assembly includes a connecting shaft and a pair of bevel gears, and the second transmission assembly includes an output shaft and a pair of spur gears. One end of the connecting shaft is provided with a bevel gear and the other end is provided with a spur gear. One end of the output shaft is connected to the first rod and the second rod, and the other end is provided with a spur gear.

[0014] Furthermore, the fourth pole includes:

[0015] The first base body has one end connected to the first rod and the other end connected to the third rod;

[0016] The second base has an L-shaped structure, with one end connected to the middle part of the first base and the other end connected to the calf binding assembly.

[0017] Furthermore, the knee joint variable cell exoskeleton based on variable cell point collaborative drive also includes a misaligned transmission rod. There are two misaligned transmission rods. The first base is connected to the first rod and the third rod through the misaligned transmission rod. The misaligned transmission rod is perpendicular to the first rod, the third rod and the fourth rod. The length of the misaligned transmission rod is configured to make the thigh binding assembly and the calf binding assembly on the same horizontal plane.

[0018] Furthermore, both the thigh binding assembly and the calf binding assembly are provided with multiple sets of mounting positions, and the distance between the thigh binding assembly and the calf binding assembly can be adjusted through different mounting positions.

[0019] Furthermore, the thigh binding assembly includes a thigh binding member and a thigh binding connector, with one side of the thigh binding member binding the thigh and the other side connected to the thigh binding connector; the calf binding assembly includes a calf binding member and a calf binding connector, with one side of the calf binding member binding the calf and the other side connected to the calf binding connector.

[0020] Furthermore, the second drive structure includes a second drive member and a transmission shaft. The second drive member is located at the connection position between the fifth rod and the third rod, and the transmission shaft is located at the output end of the second drive member. The second drive member can drive the third rod and the fifth rod to rotate relative to each other through the rotating shaft.

[0021] The novel knee joint variable-cell exoskeleton based on variable-cell point collaborative drive has the following advantages: By optimizing the structure, it only needs to change from a four-bar mechanism to a six-bar mechanism and then back to a four-bar mechanism, requiring two configurational changes within one assist cycle. In addition, through the collaborative drive of two motors, the variable-cell position is accurately identified. That is, at the variable-cell point, by introducing the drive of the second drive component, the two links are no longer coplanar, realizing the change from a four-bar configuration to a six-bar configuration. At the same time, by locking the second drive component, the two links remain coplanar in the following process, realizing the change from a six-bar configuration back to a four-bar configuration. Thus, the variable-cell assisted exoskeleton can achieve fully autonomous variable-cell transformation without the user needing to constantly turn the power on and off, realizing the topological change of the knee joint variable-cell component. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the knee joint variable cell exoskeleton based on variable cell point collaborative driving according to this utility model;

[0023] Figure 2 This is a schematic diagram of the structure of the knee joint variable cell exoskeleton based on variable cell point cooperative driving in the first phase of this utility model.

[0024] Figure 3 This is a schematic diagram of the structure of the knee joint variable cell exoskeleton based on variable cell point cooperative driving in the second phase of this utility model;

[0025] Figure 4 This is a schematic diagram of the first driving structure of this utility model.

[0026] Explanation of markings in the diagram:

[0027] 11. Inner side plate; 12. First rod; 13. Second rod; 14. Third rod; 15. Fourth rod; 151. First base; 152. Second base; 16. Fifth rod; 17. Offset transmission rod; 21. Thigh binding assembly; 22. Lower leg binding assembly; 23. Mounting position; 3. First drive structure; 31. First drive component; 311. Drive plate; 32. Transmission mechanism; 321. First transmission assembly; 3211. Connecting shaft; 3212. Bevel gear; 322. Second transmission assembly; 3221. Output shaft; 3222. Spur gear; 4. Second drive structure; 41. Second drive component; 42. Transmission shaft. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0029] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0030] The following is a reference to the appendix. Figure 1 To be continued Figure 4 This invention describes a knee joint variable cell exoskeleton based on variable cell point collaborative driving.

[0031] This embodiment provides a knee joint variable cell exoskeleton based on variable cell point collaborative driving. Figure 1 This is a schematic diagram of the knee joint variable-cell exoskeleton based on variable-cell point cooperative driving in this embodiment, as shown below. Figure 1 As shown, the knee joint variable cell exoskeleton based on variable cell point collaborative driving includes an inner plate 11, on which a thigh binding assembly 21 and a first driving structure 3 are provided. The output end of the first driving structure 3 is rotatably connected to a first rod 12 and a second rod 13. The end of the first rod 12 that is not connected to the output end of the first driving structure 3 is rotatably connected to a fourth rod 15. The end of the second rod 13 that is not connected to the output end of the first driving structure 3 is rotatably connected to a third rod 14. The third rod 14 and the fourth rod 15 are hinged to each other. The fourth rod 15 is provided with a lower leg binding assembly 22. The knee joint variable cell exoskeleton based on variable cell point collaborative driving also includes a fifth rod 16. One end of the fifth rod 16 is rotatably connected to the middle position of the third rod 14, and the other end is rotatably connected to the inner plate 11. The connection position between the fifth rod 16 and the third rod 14 is provided with a second driving structure 4.

[0032] The knee joint variable-cell exoskeleton based on variable-cell point collaborative driving includes a first phase and a second phase, wherein, Figure 2 This is a schematic diagram of the knee joint variable-cell exoskeleton based on variable-cell point cooperative driving in the first phase of this embodiment; as shown. Figure 2 As shown, when in the first phase, the third rod 14 and the fifth rod 16 are not coplanar; Figure 3 This is a schematic diagram of the knee joint variable-cell exoskeleton based on variable-cell point cooperative driving in the second phase of this embodiment; as shown... Figure 3 As shown, when in the second phase, the third rod 14 rotates to a position coplanar with the fifth rod 16.

[0033] By optimizing the structure, the configuration only needs to change from a four-bar to a six-bar and then back to a four-bar, requiring two configuration changes within one assist cycle. Furthermore, through the coordinated drive of two motors, the position of the variable cell is accurately identified. At the variable cell point, the second drive component 41 is introduced to drive two of the links so that they are no longer coplanar, realizing the change from a four-bar configuration to a six-bar configuration. At the same time, by locking the second drive component 41, the two links remain coplanar in the following steps, realizing the change from a six-bar configuration back to a four-bar configuration. Thus, the variable cell assist exoskeleton can achieve fully autonomous cell change without the user needing to be ready to turn the power on and off at any time, realizing the topological change of the knee joint variable cell component.

[0034] Furthermore, the thigh binding assembly 21 and the first drive structure 3 are respectively disposed on both sides of the inner side plate 11. The thigh binding assembly 21 and the first drive structure 3 are disposed on both sides of the inner side plate 11 to avoid excessive weight on one side causing imbalance in the exoskeleton and improve wearing comfort; the drive components and binding assembly are arranged in layers to reduce the thickness of the mechanism and avoid movement interference.

[0035] Furthermore, the first drive structure 3 includes a first drive member 31 and a transmission mechanism 32 disposed at the output end of the first drive member 31. The output end of the transmission mechanism 32 is rotatably connected to a first rod 12 and a second rod 13. The first drive member 31 drives the first rod 12 to rotate through the transmission mechanism 32. The transmission mechanism 32 converts the rotational motion of the first drive member 31 into the rotation of the first rod 12, ensuring the continuity of knee flexion and extension movements. The dual-rod linkage design distributes the force on the knee joint and extends the life of the drive member.

[0036] Furthermore, the transmission mechanism 32 includes a first transmission component 321 and a second transmission component 322 rotatably connected. The first transmission component 321 is disposed at the output end of the first drive member 31, and the output end of the second transmission component 322 is rotatably connected to a first rod 12 and a second rod 13. The first transmission component 321 and the second transmission component 322 are rotatably connected. The bevel gear set realizes a 90° change in the power direction, and the spur gear set ensures coplanar output, adapting to the space constraints of the exoskeleton.

[0037] Specifically, the first driving member 31 includes a driving plate 311, and the first driving member 31 is disposed on the inner side plate 11 via the driving plate 311.

[0038] Figure 4 This is a schematic diagram of the first driving structure in this embodiment.

[0039] Furthermore, such as Figure 1 and Figure 4As shown, the first transmission assembly 321 includes a connecting shaft 3211 and a pair of bevel gears 3212, and the second transmission assembly 322 includes an output shaft 3221 and a pair of spur gears 3222. One end of the connecting shaft 3211 is provided with a bevel gear 3212, and the other end is provided with a spur gear 3222. One end of the output shaft 3221 is connected to the first rod 12 and the second rod 13, and the other end is provided with a spur gear 3222. The connecting shaft 3211 integrates the bevel gear 3212 and the spur gear 3222, reducing the transmission chain length and lowering weight and inertia.

[0040] Furthermore, the fourth rod 15 includes a first base 151 and a second base 152. One end of the first base 151 is connected to the first rod 12, and the other end is connected to the third rod 14. The second base 152 has an L-shaped structure, with one end connected to the middle part of the first base 151 and the other end connected to the calf binding assembly 22. The first base 151 is responsible for transmitting power, and the second base 152 (L-shaped) is connected to the calf binding assembly 22 to optimize the lever arm and enhance the torque.

[0041] In some embodiments, the first base 151 and the second base 152 are made of the same material, both being aluminum alloy, and during manufacturing, the two form a complete connecting rod. On the other hand, the separate structure of the first base 151 and the second base 152 can be made of different materials for different components, such as using high-strength steel for the first base 151 and aluminum alloy for the second base 152, without specific limitations here.

[0042] Furthermore, the knee joint variable-cell exoskeleton based on variable-cell point collaborative drive also includes misaligned transmission rods 17. Two misaligned transmission rods 17 are provided. The first base 151 is connected to the first rod 12 and the third rod 14 via the misaligned transmission rods 17. The misaligned transmission rods 17 are perpendicular to the first rod 12, the third rod 14, and the fourth rod 15. The length of the misaligned transmission rods 17 is configured to keep the thigh binding assembly 21 and the calf binding assembly 22 on the same horizontal plane. The vertically arranged misaligned transmission rods 17 ensure that the thigh binding assembly 21 and the calf binding assembly 22 are always on the same horizontal plane, avoiding torsional torque during movement and reducing user fatigue. The multiple vertically intersecting rods form a spatially stable structure, suppressing lateral swaying.

[0043] Furthermore, both the thigh binding assembly 21 and the calf binding assembly 22 are provided with multiple sets of mounting positions 23, allowing the distance between them to be adjusted through different mounting positions 23. The multiple mounting positions 23 allow for adjustment of the binding spacing according to the user's leg length, accommodating different body types (such as children / adults).

[0044] Furthermore, the thigh binding assembly 21 includes a thigh binding member and a thigh binding connector, with one side of the thigh binding member binding the thigh and the other side connected to the thigh binding connector; the calf binding assembly 22 includes a calf binding member and a calf binding connector, with one side of the calf binding member binding the calf and the other side connected to the calf binding connector.

[0045] The modular design, meaning that the leg straps and connectors are designed to be easy to replace or clean, improves maintenance convenience.

[0046] Furthermore, the second drive structure 4 includes a second drive member 41 and a transmission shaft 42. The second drive member 41 is located at the connection position between the fifth rod 16 and the third rod 14, and the transmission shaft 42 is located at the output end of the second drive member 41. The second drive member 41 can drive the third rod 14 and the fifth rod 16 to rotate relative to each other through the rotation shaft 42.

[0047] Specifically, the knee joint variable cell exoskeleton based on variable cell point collaborative drive also includes a connecting longitudinal axis, which is set at the connection between the inner side plate 11 and the fifth rod 16, so that the fifth rod 16 can rotate relative to the inner side plate 11.

[0048] The second drive element 41 acts directly on the hinge point between the fifth rod 16 and the third rod 14, and is locked or released via the transmission shaft 42 to ensure rapid switching between collinear and non-collinear states with an error of less than 1°. The connecting longitudinal shaft drives the inner side plate 11 to rotate relative to the fifth rod 16, so that the basic function of the mechanism can be maintained even if the drive element fails.

[0049] Initially, the mechanism is in a four-bar configuration, moving under the drive of the first drive member 31. When it reaches the variable point, the second drive member 41 begins to drive, causing the third link 14 and the fifth link 16 to rotate in opposite directions, thus breaking their coplanar state and achieving the transition from a four-bar configuration to a six-bar configuration. When it reaches the extreme position, the first drive member 31 provides the opposite driving force, and the entire mechanism begins to move in the opposite direction. When it reaches the variable point again, the second drive member 41 changes from driving to locking, causing the third link 14 and the fifth link 16 to remain coplanar, achieving the transition from a six-bar configuration back to a four-bar configuration. The entire configuration switching process no longer relies on the original electromagnet engagement method, but achieves a stable transformation of the knee exoskeleton topology through the drive and locking of dual motors. By precisely driving the linkage angles with motors, the timing and position control of the configuration transition are more precise, avoiding the non-contact failure and engagement delay that may exist with electromagnet engagement, and improving the consistency and stability of the configuration transition.

[0050] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A metamorphic exoskeleton for a knee joint based on synergistic driving of metamorphic points, characterized in that, The device includes an inner side plate, on which a thigh binding assembly and a first drive structure are provided. The output end of the first drive structure is rotatably connected to a first rod and a second rod. The end of the first rod not connected to the output end of the first drive structure is rotatably connected to a fourth rod. The end of the second rod not connected to the output end of the first drive structure is rotatably connected to a third rod. The third rod and the fourth rod are hinged to each other. A calf binding assembly is provided on the fourth rod. The knee joint variable cell exoskeleton based on variable cell point collaborative drive also includes a fifth rod. One end of the fifth rod is rotatably connected to the middle position of the third rod, and the other end is rotatably connected to the inner side plate. A second drive structure is provided at the connection position between the fifth rod and the third rod. The knee joint cellular exoskeleton based on cellular point co-driving includes: In the first phase, the third and fifth rods are not coplanar. In the second phase, when in the second phase, the third rod rotates to a position coplanar with the fifth rod.

2. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to claim 1, characterized in that, The thigh binding assembly and the first drive structure are respectively located on both sides of the inner side plate.

3. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to claim 2, characterized in that, The first driving structure includes a first driving member and a transmission mechanism disposed at the output end of the first driving member. The output end of the transmission mechanism is rotatably connected to a first rod and a second rod. The first driving member drives the first rod and the second rod to rotate through the transmission mechanism.

4. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to claim 3, characterized in that, The transmission mechanism includes a first transmission component and a second transmission component that are rotatably connected. The first transmission component is disposed at the output end of the first driving member, and the output end of the second transmission component is rotatably connected to a first rod and a second rod. The first transmission component and the second transmission component are rotatably connected.

5. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to claim 4, characterized in that, The first transmission assembly includes a connecting shaft and a pair of bevel gears, and the second transmission assembly includes an output shaft and a pair of spur gears. One end of the connecting shaft is provided with a bevel gear and the other end is provided with a spur gear. One end of the output shaft is connected to the first rod and the second rod, and the other end is provided with a spur gear.

6. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to claim 1, characterized in that, The fourth shot includes: The first base body has one end connected to the first rod and the other end connected to the third rod; The second base has an L-shaped structure, with one end connected to the middle part of the first base and the other end connected to the calf binding assembly.

7. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to claim 6, characterized in that, The knee joint variable cell exoskeleton based on variable cell point collaborative drive also includes misaligned transmission rods. There are two misaligned transmission rods. The first base is connected to the first rod and the third rod through the misaligned transmission rods. The misaligned transmission rods are perpendicular to the first rod, the third rod and the fourth rod. The length of the misaligned transmission rods is configured so that the thigh binding assembly and the calf binding assembly are on the same horizontal plane.

8. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to claim 1, characterized in that, Both the thigh binding assembly and the calf binding assembly are equipped with multiple mounting positions, and the distance between the thigh binding assembly and the calf binding assembly can be adjusted through different mounting positions.

9. The metamorphic point-cooperative driving based knee metamorphic exoskeleton according to any one of claims 1 or 8, characterized in that, The thigh binding assembly includes a thigh binding member and a thigh binding connector, with one side of the thigh binding member binding the thigh and the other side connected to the thigh binding connector; the calf binding assembly includes a calf binding member and a calf binding connector, with one side of the calf binding member binding the calf and the other side connected to the calf binding connector.

10. The knee joint variable-cell exoskeleton based on variable-cell point collaborative driving according to claim 1, characterized in that, The second drive structure includes a second drive member and a transmission shaft. The second drive member is located at the connection position between the fifth rod and the third rod, and the transmission shaft is located at the output end of the second drive member. The second drive member can drive the third rod and the fifth rod to rotate relative to each other through the rotating shaft.

Images