Knee exoskeleton

Abstract

The utility model discloses a kind of knee joint exoskeletons, including thigh support module, shank support module and power module, the power module is used to drive shank support module relative to thigh support module rotation, it is characterized by: the thigh support module and shank support module are all included rigid support plate, baffle, flexible guard and pre-tightening mechanism, the rigid support plate, baffle and flexible guard form a containing space, the pre-tightening mechanism includes elastic rope and winding wheel assembly, the winding wheel assembly is set on the baffle, and the both ends of elastic rope are connected with the both sides of rigid support plate respectively, the winding wheel assembly is used to adjust the length of elastic rope, to adjust the size of the containing space. The utility model's knee joint exoskeleton, adopt knob type adjustable pre-tightening bandage to adjust the pre-tightening force of knee joint exoskeleton, easy to operate, adjust quickly.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to a knee joint exoskeleton. Background Technology

[0002] The development of knee exoskeleton technology stems from the continued focus on enhancing lower limb function and rehabilitation. Traditional exoskeleton systems are primarily used for land-based walking, standing balance, or gait training, aiming to reduce knee joint stress and restore or enhance athletic ability through mechanical assistance and intelligent control. However, with the integration of ergonomics and underwater sports science, exoskeleton technology has begun to extend to specialized environments such as underwater swimming, diving, and rehabilitation training. In underwater environments, the human knee joint plays a crucial role in propulsion and posture control during swimming movements (such as the leg kicks in breaststroke and freestyle). Due to the high density and fluid resistance of water, the knee joint needs to repeatedly perform flexion and extension movements to overcome resistance, resulting in a high load on the joint muscles and making them prone to fatigue and even sports injuries.

[0003] To improve underwater swimming efficiency, reduce energy consumption, and assist the knee joint in generating force, swimming knee exoskeletons have emerged that offer flexible fit, stable force transmission, and adjustable preload. Examples of existing solutions on the market include: ① Flexible straps and Velcro are used to apply pressure to the legs to generate radial friction, creating a tight contact between them. However, the pre-tightening method of binding with flexible straps and Velcro is difficult to control, is subject to friction, and the friction force generated in the underwater environment is greatly reduced.

[0004] ② By wearing a specially designed swimsuit, the swimsuit is put on and pre-tightened using elastic fasteners and anchor points. However, this method requires fasteners on the thighs and calves to be added after the swimsuit is put on, and finally the anchor points are connected. This increases the complexity and time cost of wearing the swimsuit, and is also limited by the elasticity of the material.

[0005] ③ The exoskeleton device is directly sewn onto a special swimsuit to complete the wearing process. This method has no adjustable pre-tension, and its fit relies entirely on the elasticity and size of the swimsuit itself, making it impossible to personalize for different users' leg circumference, muscle thickness, or movement posture. Underwater pressure and buoyancy cause periodic deformation and tension changes in the swimsuit material, causing the pre-tension, which was appropriate in the air, to rapidly decrease in water, resulting in the exoskeleton becoming loose, slipping, or experiencing delayed response. Wearing and removing the device is complex and maintenance is inconvenient; the device and clothing are integrated, making it difficult for the wearer to quickly put on or remove them, and any problems with the device require complete disassembly for inspection and replacement. Utility Model Content

[0006] To overcome the shortcomings of the existing technology, this utility model provides a knee joint exoskeleton, which uses a knob-type adjustable pretension strap to adjust the pretension force of the knee joint exoskeleton. It is simple to operate and quick to adjust.

[0007] The technical solution adopted by this utility model to solve its technical problem is: A knee joint exoskeleton includes a thigh support module, a lower leg support module, and an assist module. The assist module is used to drive the lower leg support module to rotate relative to the thigh support module. The thigh support module and the lower leg support module each include a rigid support plate, a baffle, a flexible guard plate, and a pre-tensioning mechanism. The rigid support plate, baffle, and flexible guard plate enclose a receiving space. The pre-tensioning mechanism includes a tension rope and a winding wheel assembly. The winding wheel assembly is disposed on the baffle, and both ends of the tension rope are connected to the two sides of the rigid support plate. The winding wheel assembly is used to adjust the length of the tension rope to adjust the size of the receiving space.

[0008] As a further improvement to the above technical solution, the reel assembly includes a base, a central fixing post, a reel, and a knob cover. The base is fixedly connected to a baffle plate and has an annular receiving groove. The bottom of the receiving groove has a connecting hole. One end of the central fixing post is slidably connected to the connecting hole, and the other end is fixedly connected to the knob cover. The reel is rotatably connected to the central fixing post. The tension cord is wound around the reel. The base has a clearance hole for the tension cord to pass through. The knob cover has a check valve structure, which is used to fix the position of the reel after it rotates.

[0009] As a further improvement to the above technical solution, the check valve structure includes a ratchet plate and a ratchet tooth groove. The ratchet tooth groove is disposed on the side wall of the receiving groove. The ratchet plate is provided with a through hole. The ratchet plate is fixedly sleeved on the central fixing post through the through hole. The ratchet plate is provided with a slot. The winding reel is provided with a locking block. When the central fixing post moves towards the base to a preset position, the slot and the locking block engage, and the ratchet plate meshes with the ratchet tooth groove.

[0010] As a further improvement to the above technical solution, the winding reel is provided with two tracks, each track is provided with a tension rope, and both ends of each tension rope are fixed on the track so that the portion of the tension rope extending outside the base forms a rope loop. The rigid support plate is provided with a guide wheel, and the rope loop is sleeved on the guide wheel.

[0011] As a further improvement to the above technical solution, the flexible protective plate is made of polymer plastic plate.

[0012] As a further improvement to the above technical solution, a gel layer is provided on the inner side of the flexible protective plate.

[0013] As a further improvement to the above technical solution, the rigid support plate of the thigh support module includes a thigh plate and a thigh support fixing plate, the thigh support fixing plate is connected to the thigh plate, and the flexible guard plate of the thigh support module is connected to the inner side of the thigh support fixing plate.

[0014] As a further improvement to the above technical solution, the rigid support plate of the calf support module includes a calf plate and a shaped leg support, the shaped leg support is connected to the calf plate, and the flexible guard plate of the calf support module is connected to the inner side of the shaped leg support.

[0015] As a further improvement to the above technical solution, the assist module includes a motor and a battery, both of which are mounted on the rigid support plate of the thigh support module, and the main shaft of the motor is connected to the rigid support plate of the calf support module.

[0016] The beneficial effects of this utility model are: by adjusting the length of the elastic rope through the winding wheel assembly, the size of the accommodating space can be adjusted. This allows for adjustment of the pre-tension force of the thigh support module on the thigh and the pre-tension force of the calf support module on the calf after wearing the exoskeleton. The operation is simple, the adjustment is quick, and the disassembly is convenient. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is an axonometric view of a knee exoskeleton according to an embodiment of the present invention. Figure 1 ; Figure 2 This is an axonometric view of a knee exoskeleton according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a structural exploded view of a knee joint exoskeleton according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the thigh support module according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the lower leg support module according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the pre-tightening mechanism according to an embodiment of the present invention.

[0019] Reference numerals: 1. Thigh support module; 11. Thigh plate; 111. Lock hole; 12. Thigh support fixing plate; 13. Thigh flexible guard plate; 14. Thigh baffle; 2. Lower leg support module; 21. Lower leg plate; 22. Shaped leg support; 23. Lower leg flexible guard plate; 24. Lower leg baffle; 3. Pre-tightening mechanism; 31. Knob cover; 32. Central fixing post; 33. Ratchet plate; 34. Winding wheel; 35. Elastic rope; 36. Base; 4. Guide wheel. Detailed Implementation

[0020] The following will clearly and completely describe the concept, specific structure, and technical effects of this utility model in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the scope of protection of this utility model. Furthermore, all connections / connections involved in the patent do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. For example, fixed connections / fixed installations can use screw connections, bolt connections, pin connections, key connections, adhesive connections, mortise and tenon connections, welding, riveting, etc., as needed. For detachable connections, screw connections, bolt connections, threaded connections, snap-fit ​​connections, mortise and tenon connections, Velcro connections, etc., can be used as needed. The various technical features in this utility model can be combined interactively without contradicting each other.

[0021] Reference Figure 1 and Figure 2 A knee exoskeleton includes a thigh support module 1, a lower leg support module 2, and an assist module (not shown in the figure). The assist module is used to drive the lower leg support module 2 to rotate relative to the thigh support module 1, thereby providing assistance to the user when swimming.

[0022] Specifically, refer to Figure 3 and Figure 4 The thigh support module 1 includes a rigid thigh support plate, a thigh baffle 14, and a flexible thigh guard plate 13. The rigid thigh support plate includes a thigh plate 11 and a thigh support fixing plate 12. The thigh support fixing plate 12 is connected to the thigh plate 11. The flexible guard plate of the thigh support module 1 is connected to the inner side of the thigh support fixing plate 12. The thigh baffle 14 and the flexible thigh guard plate 13 enclose a receiving space to facilitate fixing to the thigh.

[0023] Reference Figure 3 and Figure 5The lower leg support module 2 includes a rigid lower leg support plate, a lower leg baffle 24, and a flexible lower leg guard plate 23. The rigid lower leg support plate includes a lower leg plate 21 and a shaped leg support 22. The shaped leg support 22 is connected to the lower leg plate 21, and the flexible lower leg guard plate 23 is connected to the inner side of the shaped leg support 22. The lower leg baffle 24, the flexible lower leg guard plate 23, and the shaped leg support 22 enclose a receiving space to facilitate fixing to the lower leg.

[0024] In this embodiment, refer to Figures 3-5 Both the thigh support module 1 and the calf support module 2 include a pre-tightening mechanism 3, which is used to adjust the size of the accommodating space, thereby adjusting the pre-tightening force of the exoskeleton on the thigh and calf after wearing.

[0025] Specifically, refer to Figure 6 The pre-tensioning mechanism 3 includes a tension rope 35 (using Dyneema line) and a winding reel 34 assembly. The winding reel 34 assembly includes a base 36, a central fixing post 32, a winding reel 34, and a knob cover 31. The base 36 is provided with an annular receiving groove, and the bottom of the receiving groove is provided with a connecting hole. One end of the central fixing post 32 is slidably connected to the connecting hole, and the other end is fixedly connected to the knob cover 31. The winding reel 34 is rotatably connected to the central fixing post 32. The tension rope 35 is disposed on the winding reel 34. The base 36 is provided with a clearance hole for the tension rope 35 to pass through. The knob cover 31 is provided with a check structure, which is used to fix the position of the winding reel 34 during rotation.

[0026] Furthermore, the check valve structure includes a ratchet plate 33 and a ratchet tooth groove. The ratchet tooth groove is disposed on the side wall of the receiving groove. The ratchet plate 33 is provided with a through hole. The ratchet plate 33 is fixedly sleeved on the central fixing post 32 through the through hole. The ratchet plate 33 is provided with a locking groove. The winding reel 34 is provided with a locking block. When the central fixing post 32 moves towards the base 36 to a preset position, the locking groove engages with the locking block, and the ratchet plate 33 is provided with an elastic pawl in the circumferential direction that meshes with the ratchet tooth groove.

[0027] In the specific operation, the length of the tension rope 35 is changed by rotating the knob cover 31 clockwise or counterclockwise, thus adjusting the preload. When it is necessary to shorten the length of the tension rope 35, press the knob cover 31 towards the base 36, causing the knob cover 31 to move the central fixing post 32 in the connecting hole to a preset position (the central fixing post 32 contacts the bottom of the connecting hole). The slot on the ratchet plate 33 will engage with the locking block on the winding wheel 34. Thus, when the knob cover 31 is rotated, the winding wheel 34 will rotate together, thereby completing the contraction of the tension rope 35. At this time, the elastic pawl engages with the ratchet tooth groove to form a self-locking mechanism, preventing the winding wheel 34 from rotating back, thus fixing the position of the winding wheel 34 and maintaining the length of the tension rope 35. When it is necessary to extend the tension rope 35, pull the knob cover 31 upwards to move the ratchet plate 33 on the central fixing post 32 upwards, that is, the slot and the block disengage, and the elastic pawl disengages from the ratchet tooth groove, so that the winding wheel can rotate freely. At this time, pulling the tension rope 35 will extend the tension rope 35.

[0028] Furthermore, the winding reel 34 is provided with two tracks, each track is provided with a tension rope 35, and both ends of the tension rope 35 are fixed on the track so that the portion of the tension rope 35 extending outside the base 36 forms a rope loop.

[0029] It can be understood that in the thigh support module 1, the base 36 is fixedly connected to the thigh baffle 14 by screws. The thigh plate 11 has two locking holes 111 on the side near the thigh baffle 14, and one elastic rope 35 is threaded through the locking hole 111 to connect the elastic rope 35 to the thigh plate 11. The thigh support fixing plate 12 is provided with a guide wheel 4. Another elastic rope 35 (rope loop) is put on the guide wheel 4, and then the knob cover 31 is rotated to drive the winding wheel 34 to rotate, so as to shorten the length of the two elastic ropes 35, thereby driving the thigh baffle 14 to move towards the thigh flexible guard plate 13, thereby fixing the thigh support module 1 to the thigh.

[0030] Similarly, in the calf support module 2, the base 36 is fixedly connected to the calf baffle 24 by screws. The shaped leg support 22 is provided with a guide wheel 4 on each side near the calf baffle 24. Two elastic ropes 35 (rope loops) are respectively put on the two guide wheels 4. Then, the knob cover 31 is rotated to drive the winding wheel 34 to rotate, so as to shorten the length of the two elastic ropes 35, thereby driving the calf baffle 24 to move towards the calf flexible guard plate 23, thereby fixing the calf support module 2 on the calf.

[0031] In this embodiment, the thigh flexible guard plate 13 and the calf flexible guard plate 23 are both made of polymer plastic plates or other thermoplastic plastic plates, which have good plasticity at a certain temperature and good rigidity at room temperature, so that they can fit the human leg closely and maintain a certain rigidity.

[0032] Preferably, the inner side of the flexible protective plate is provided with a gel layer, which is a bio-silicone gel. The bio-silicone gel is prepared by uniformly mixing liquid silicone KL-6638AB glue from Kanglibang Technology Co., Ltd. in a 1:1 ratio, applying it to a polymer plastic plate, and forming it after vacuum degassing and baking at 120 degrees Celsius for ten minutes. It has excellent adhesion and waterproof ability, can be reused, and is harmless to the human body.

[0033] In this embodiment, the assist module includes a motor and a battery, both mounted on the thigh plate 11. The motor's spindle is connected to the lower leg plate 21, thus the motor drives the lower leg plate 21 to complete the assisted knee joint movement. It is understood that waterproofing of the motor and battery is existing technology. For example, the motor housing adopts an integrated sealed structure with an IP68 protection rating, and the dynamic sealing interface between its housing and the output shaft (i.e., the lower leg plate 21) uses a nitrile rubber skeleton oil seal to prevent water from seeping in along the shaft. The power module uses an aluminum-plastic film vacuum-encapsulated waterproof lithium battery, which, along with the control board, is installed in a sealed waterproof junction box mounted on the thigh plate 11. All electrical connections between modules use industrial-grade waterproof connectors to ensure the sealing of the connection points.

[0034] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A knee joint exoskeleton, comprising a thigh support module, a lower leg support module, and an assist module, wherein the assist module is used to drive the lower leg support module to rotate relative to the thigh support module, characterized in that: Both the thigh support module and the calf support module include a rigid support plate, a baffle, a flexible guard plate, and a pre-tensioning mechanism. The rigid support plate, the baffle, and the flexible guard plate enclose a receiving space. The pre-tensioning mechanism includes a tension rope and a winding wheel assembly. The winding wheel assembly is disposed on the baffle, and the two ends of the tension rope are respectively connected to the two sides of the rigid support plate. The winding wheel assembly is used to adjust the length of the tension rope to adjust the size of the receiving space.

2. The knee joint exoskeleton according to claim 1, characterized in that: The reel assembly includes a base, a central fixing post, a reel, and a knob cover. The base is fixedly connected to a baffle plate and has an annular receiving groove. The bottom of the receiving groove has a connecting hole. One end of the central fixing post is slidably connected to the connecting hole, and the other end is fixedly connected to the knob cover. The reel is rotatably connected to the central fixing post. The tension cord is wound around the reel. The base has a clearance hole for the tension cord to pass through. The knob cover has a check valve structure, which is used to fix the position of the reel after it rotates.

3. The knee joint exoskeleton according to claim 2, characterized in that: The check valve structure includes a ratchet plate and a ratchet tooth groove. The ratchet tooth groove is disposed on the side wall of the receiving groove. The ratchet plate has a through hole and is fixedly sleeved on the central fixing post through the through hole. The ratchet plate has a locking groove and the winding reel has a locking block. When the central fixing post moves towards the base to a preset position, the locking groove and the locking block engage, and the ratchet plate meshes with the ratchet tooth groove.

4. The knee joint exoskeleton according to claim 3, characterized in that: The reel has two tracks, each track has a tension rope, and both ends of each tension rope are fixed to the track so that the portion of the tension rope extending outside the base forms a rope loop. The rigid support plate has a guide wheel, and the rope loop is sleeved on the guide wheel.

5. The knee joint exoskeleton according to claim 1, characterized in that: The flexible protective plate is made of polymer plastic sheet.

6. The knee joint exoskeleton according to claim 5, characterized in that: A gel layer is provided on the inner side of the flexible protective plate.

7. The knee joint exoskeleton according to claim 1, characterized in that: The rigid support plate of the thigh support module includes a thigh plate and a thigh support fixing plate. The thigh support fixing plate is connected to the thigh plate, and the flexible guard plate of the thigh support module is connected to the inner side of the thigh support fixing plate.

8. The knee joint exoskeleton according to claim 1, characterized in that: The rigid support plate of the calf support module includes a calf plate and a shaped leg support. The shaped leg support is connected to the calf plate, and the flexible guard plate of the calf support module is connected to the inside of the shaped leg support.

9. A knee joint exoskeleton according to claim 1, characterized in that: The assist module includes a motor and a battery, both of which are mounted on the rigid support plate of the thigh support module. The main shaft of the motor is connected to the rigid support plate of the calf support module.

Images