A knee brace mechanical exoskeleton structure

Abstract

The utility model discloses a kind of knee protector mechanical exoskeleton structures, including brushless DC motor, the rotor end of the brushless DC motor is connected with the gear module large modulus end of speed change gear box, the gear module small modulus end of the speed change gear box is connected with electronic lock buckle component, one end of the electronic lock buckle component is connected with thigh rotary lever, the other end is connected with calf rotary lever, calf binding belt is fixedly connected on the calf rotary lever, thigh binding belt is fixedly connected on the thigh rotary lever;With suitable kinetic energy recovery mode, waste potential energy in the process of collection is converted into electric energy storage, to improve the technical problem that existing lower limb mechanical exoskeleton endurance is poor;Gear transmission mechanism is used to realize the smooth output of power, so that the movement of lower limb mechanical exoskeleton is more close to actual human movement;Through attitude recognition system intelligent analysis exoskeleton user's limb action type and expected action amplitude, realize the accurate control of each drive device.

Description

Technical Field

[0001] This utility model relates to the field of lower limb mechanical exoskeleton technology, specifically a knee brace mechanical exoskeleton structure. Background Technology

[0002] Lower limb mechanical exoskeletons are wearable mechatronic devices that enhance or restore a user's lower limb motor abilities through mechanical structures, sensors, and drive systems. Their main applications include: medical rehabilitation needs: gait rehabilitation training for patients with spinal cord injuries, strokes, or paraplegia to help restore motor function; military and industrial applications: enhancing the load-bearing capacity of soldiers or workers, reducing physical exertion, such as carrying heavy objects or long marches; and aging societies: assisting the elderly or those with mobility impairments in daily walking and slowing muscle atrophy.

[0003] In the field of mechanical exoskeletons, most designs use a motor combined with a reducer as the power source. This drive method has the following disadvantages: low energy utilization and poor battery life; the drive module directly transmits kinetic energy to the actuator, resulting in limited torque, low load on the wearer, and high impact during movement; it does not consider the damage to the knees caused by different postures and movements during actual use; and it has a single movement mode and lacks the ability to learn independently and meet the diverse needs of wearers. Utility Model Content

[0004] The purpose of this invention is to provide a mechanical exoskeleton structure for knee braces to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a knee brace mechanical exoskeleton structure, comprising a brushless DC motor, wherein the rotor end of the brushless DC motor is connected to the large module end of the gear module of a transmission gearbox, the small module end of the gear module of the transmission gearbox is connected to an electronic locking assembly, one end of the electronic locking assembly is connected to a thigh rotating rod, and the other end is connected to a calf rotating rod, a calf restraint strap is fixedly connected to the calf rotating rod, a thigh restraint strap is fixedly connected to the thigh rotating rod, an ankle rotation adjuster is fixedly provided at the end of the calf rotating rod away from the brushless DC motor, a rear foot support rod and a forefoot support rod are rotatably connected to the ankle rotation adjuster, and a power source is provided inside the calf restraint strap.

[0006] Preferably, the brushless DC motor has its own electronic commutator and controller.

[0007] Preferably, posture detection sensors are provided on the calf restraint strap, thigh restraint strap, rear foot support rod, and forefoot support rod.

[0008] Preferably, the electronic latch assembly is equipped with an electronic lock.

[0009] Preferably, the controller electrical signal is connected to the attitude detection sensor, and the controller electrical signal is connected to the power supply and the electronic lock.

[0010] Compared with the prior art, the beneficial effects of this utility model are: by adopting a suitable kinetic energy recovery method, the potential energy wasted during the movement is collected and converted into electrical energy for storage, so as to improve the technical problem of poor endurance of existing lower limb mechanical exoskeletons; by using a gear transmission mechanism to achieve smooth power output, the movement performance of the lower limb mechanical exoskeleton is closer to actual human movement; and by using a posture recognition system to intelligently analyze the limb movement type and expected movement range of the exoskeleton user, precise control of various drive devices is achieved. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0012] Figure 2 This is a schematic diagram showing the position of the electronic locking component of this utility model;

[0013] Figure 3 This is a schematic diagram of the electronic locking assembly of this utility model;

[0014] Figure 4 This is a schematic diagram of the thigh-spinning rod of this utility model;

[0015] Figure 5 This is a schematic diagram of the lower leg rotating rod of this utility model.

[0016] In the picture: 1. Brushless DC motor; 2. Gearbox; 3. Electronic locking assembly; 4. Lower leg lever; 5. Thigh lever; 6. Lower leg restraint belt; 7. Thigh restraint belt; 8. Ankle rotation adjuster; 9. Rear foot support rod; 10. Forefoot support rod; 11. Electronic lock. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0018] Please refer to 1-5. One embodiment of this utility model is provided: a knee brace mechanical exoskeleton structure, including a brushless DC motor 1. The rotor end of the brushless DC motor 1 is connected to the large module end of the gear module of the gearbox 2. The small module end of the gear module of the gearbox 2 is connected to an electronic locking assembly 3. One end of the electronic locking assembly 3 is connected to a thigh rotating rod 5, and the other end is connected to a calf rotating rod 4. A calf restraint strap 6 is fixedly connected to the calf rotating rod 4. A thigh restraint strap 7 is fixedly connected to the thigh rotating rod 5. An ankle rotation adjuster 8 is fixedly provided at the end of the calf rotating rod 4 away from the brushless DC motor 1. A rear foot support rod 9 and a forefoot support rod 10 are rotatably connected to the ankle rotation adjuster 8. A power supply is provided in the calf restraint strap 6. The locking structure of the ankle rotation adjuster 8 realizes auxiliary support for the ankle. The power supply can input and output electrical energy according to the instructions of the controller of the brushless DC motor 1.

[0019] The brushless DC motor 1 uses the model Bestway-FGP42-4250-270KV-12V3240RPM.

[0020] The transmission gearbox 2 is a built-in function of Bestway-FGP42-4250-270KV-12V3240RPM. The electronic locking assembly 3 adopts an electromagnet attraction design. When the coil is energized, it attracts the moving iron core. After the moving iron core is pulled upward, it releases the locking relationship with the corresponding rotating rod. After the power is cut off, it resets under the action of the spring and locks again.

[0021] The ankle rotation adjuster 8 adopts an electromagnetic adsorption structure design. It generates magnetic force to attract the corresponding support rod, thereby connecting and fixing the support rod and the ankle rotation adjuster to the exoskeleton.

[0022] The brushless DC motor 1 comes with an electronic commutator and controller. The electronic commutator can switch between power generation mode and operation mode, and can realize the switching between kinetic energy conversion into electrical energy and electrical energy conversion into mechanical energy.

[0023] The calf restraint strap 6, thigh restraint strap 7, rear foot support rod 9, and forefoot support rod 10 are all equipped with posture detection sensors, which can be used to collect data on human posture.

[0024] An electronic lock 11 is provided on the electronic locking assembly 3.

[0025] The controller's electrical signal is connected to the posture detection sensor, the controller's electrical signal is connected to the power supply and the electronic lock 11. The controller of the brushless DC motor 1 has the ability to receive and analyze human posture data, and can realize the switching of the corresponding movement mode according to the collected human posture data. The controller of the brushless DC motor 1 has an autonomous learning function, and can predict the wearer's movement posture and corresponding swing amplitude according to the collected human posture data, and complete the actuator control.

[0026] Working principle:

[0027] It has basic functions such as sitting down, standing up, going up and down stairs, and walking. In addition, it can autonomously create movement modes based on the analysis of the wearer's movement posture data.

[0028] Seating mode:

[0029] The electronic locking assembly 3 is locked to the thigh rotating rod 5 and unlocked to the calf rotating rod 4, realizing the transmission chain between the brushless DC motor 1 and the thigh rotating rod 5; the ankle rotation adjuster 8 locks the rear foot support rod 9 and the forefoot support rod 10, realizing auxiliary support for the ankle; the electronic commutator of the brushless DC motor 1 switches to the counterclockwise power generation mode phase sequence; the wearer's own gravitational potential energy is converted into rotational mechanical energy through the rigid connection between the thigh restraint strap 7 and the thigh rotating rod 5, and then transmitted to the gearbox 2 for torque reduction and speed increase; the mechanical energy after torque reduction and speed increase by the gearbox 2 is used to generate electricity in reverse through the brushless DC motor 1, and finally stored in the power supply, realizing kinetic energy recovery and completing the sitting; the posture detection sensors of the thigh restraint strap 7, calf restraint strap 6, rear foot support rod 9 and forefoot support rod 10 collect human posture data and transmit it to the controller of the brushless DC motor 1 for autonomous learning.

[0030] Sit-up mode:

[0031] The electronic locking assembly 3 is locked to the thigh rotating rod 5 and unlocked to the calf rotating rod 4, realizing the transmission chain between the brushless DC motor 1 and the thigh rotating rod 5; the ankle rotation adjuster 8 locks the rear foot support rod 9 and the forefoot support rod 10, realizing auxiliary support for the ankle; the electronic commutator of the brushless DC motor 1 switches to the clockwise operation mode phase sequence; the power supply output current drives the brushless DC motor 1 to rotate clockwise and output mechanical energy, which is transmitted to the thigh rotating rod 5 through the speed reduction and torque increase of the gearbox 2, causing the thigh rotating rod 5 to rotate clockwise; after the thigh rotating rod 5 rotates clockwise, it supports the wearer's thigh through the thigh restraint strap 7, realizing the mechanical exoskeleton sitting assistance; the posture detection sensors on the calf restraint strap 6, thigh restraint strap 7, rear foot support rod 9 and forefoot support rod 10 collect human posture data and transmit it to the controller of the brushless DC motor 1 for autonomous learning.

[0032] Staircase mode:

[0033] First, in the stair-climbing mode, the knee-bending action is initiated. The electronic locking assembly 3 locks onto the calf lever 4 and unlocks the thigh lever 5, establishing a transmission chain between the brushless DC motor 1 and the calf lever 4. The ankle rotation adjuster 8 releases the locks on the rear foot support rod 9 and the forefoot support rod 10, allowing the ankle to be freely controlled by the wearer. The electronic commutator in the brushless DC motor 1 switches to a clockwise operating mode. The power supply output current drives the brushless DC motor 1 to rotate clockwise, outputting corresponding speed and torque. The transmission gearbox 2 receives the torque from the power supply and reduces speed and increases torque, thereby driving the calf lever 4 to rotate clockwise, transferring mechanical energy and assisting in the lifting of the thigh. The posture detection sensors on the rear foot support rod 9 and the forefoot support rod 10 sense whether the raised foot is fully in contact with the step, triggering the climbing and straightening action in the stair-climbing mode. The electronic locking... Component 3 is locked to thigh pivot 5 and unlocked to calf pivot 4, realizing the transmission chain between brushless DC motor 1 and thigh pivot 5; ankle rotation adjuster 8 locks rear foot support rod 9 and forefoot support rod 10, realizing auxiliary support for the ankle; the power supply output current drives brushless DC motor 1 to rotate clockwise and output mechanical energy. After the speed reduction and torque increase of the gearbox 2, the kinetic energy is transmitted to thigh pivot 5, causing thigh pivot 5 to rotate clockwise; after the thigh pivot 5 rotates clockwise, it lifts the wearer's thigh through thigh restraint strap 7, and then cycles to the knee bending action of the stair climbing mode, finally realizing continuous mechanical exoskeleton stair climbing assistance; synchronously, the posture detection sensors on thigh restraint strap 7, calf restraint strap 6, rear foot support rod 9 and forefoot support rod 10 collect human posture data and transmit it to the controller of brushless DC motor 1 for autonomous learning.

[0034] Downstairs mode:

[0035] First, in the downstairs mode, the knee-bending action occurs. The electronic locking assembly 3 on side A (the left and right sides of the mechanical exoskeleton are designated A / B, and this will be the definition used below) locks into connection with the lower leg rotating rod 4 and unlocks from the thigh rotating rod 5, establishing the transmission chain between the brushless DC motor 1 and the lower leg rotating rod 4. The ankle rotation adjuster 8 on side A releases the locking of the rear foot support rod 9 and the forefoot support rod 10, allowing the ankle to be freely controlled by the wearer. The electronic commutator in the brushless DC motor 1 on side A switches to the clockwise operating mode phase sequence. The power supply output current on side A drives the brushless DC motor 1 to rotate clockwise, outputting the corresponding speed and torque. The gearbox 2 on side A receives the torque from the power supply output and reduces speed and increases torque, thereby driving the lower leg rotating rod 4 clockwise. Rotation facilitates the transfer of mechanical energy, assisting in the lifting of the thigh. Posture sensors on the A-side rear foot support rod 9 and forefoot support rod 10 detect whether the raised A-side foot is fully in contact with the step, triggering the bottom-reaching straightening action in the B-side mechanical exoskeleton's stair-climbing mode. The B-side electronic locking assembly 3 locks onto the thigh rotating rod 5 and unlocks from the calf rotating rod 4, establishing a transmission chain between the brushless DC motor 1 and the thigh rotating rod 5. The B-side ankle rotation adjuster 8 locks the rear foot support rod 9 and forefoot support rod 10, providing auxiliary ankle support. The electronic commutator of the B-side brushless DC motor 1 switches to a counter-clockwise power generation mode. The B-side exoskeleton, equipped with its own gravitational potential energy, is rigidly connected to the thigh rotating rod 5 via the thigh restraint strap 7. The energy is converted into rotational mechanical energy, which is then transmitted to the transmission gearbox 2 for torque reduction and speed increase. The mechanical energy on side B, after being reduced in torque and increased in speed by the transmission gearbox 2, is used to generate electricity in reverse through the brushless DC motor 1 and stored in the power supply, realizing kinetic energy recovery. The posture detection sensors on the rear foot support rod 9 and the forefoot support rod 10 on side A detect whether the raised foot on side A has completed the center of gravity transfer, triggering the hip lifting and straightening action in the stair-climbing mode of the mechanical exoskeleton mechanism on side A. The electronic locking assembly 3 on side A is locked to the thigh rotating rod 5 and unlocked to the calf rotating rod 4, realizing the transmission chain between the brushless DC motor 1 and the thigh rotating rod 5. The ankle rotation adjuster 8 on side A locks the rear foot support rod 9 and the forefoot support rod 10, realizing auxiliary support for the ankle. The electronic commutator of the brushless DC motor 1 on side A switches to the clockwise operating mode phase sequence; the power supply output current on side A drives the brushless DC motor 1 to rotate clockwise and output mechanical energy. After the speed reduction and torque increase of the transmission gearbox 2, the kinetic energy is transferred to the thigh rotor 5, which drives the thigh rotor 5 to rotate clockwise; after the thigh rotor 5 on side A rotates clockwise, it supports the wearer's thigh through the thigh restraint strap 7, and then cycles to the knee bending action of the downstairs mode, finally realizing continuous mechanical exoskeleton assistance for going downstairs; the posture detection sensors on the calf restraint strap 6, thigh restraint strap 7, rear foot support rod 9 and forefoot support rod 10 collect human posture data and transmit it to the controller of the brushless DC motor 1 for autonomous learning.

[0036] Walking Mode: First, in the walking mode, the A-side leg lift action occurs. The A-side electronic locking assembly 3 locks and connects to the calf rotating rod 4, and unlocks from the thigh rotating rod 5, thus establishing the transmission chain between the brushless DC motor 1 and the calf rotating rod 4. The A-side ankle rotation adjuster 8 releases the locks on the rear foot support rod 9 and the forefoot support rod 10, allowing the ankle to be freely controlled by the wearer. The electronic commutator in the A-side brushless DC motor 1 switches to the clockwise operating mode phase sequence. The A-side power supply output current drives the brushless DC motor 1 to rotate clockwise, outputting... The corresponding speed and torque; the A-side gearbox 2 receives the torque output from the power supply and reduces speed to increase torque, thereby driving the lower leg rotating rod 4 to rotate clockwise, realizing the transmission of mechanical energy and assisting in the lifting of the thigh; the posture detection sensors on the A-side rear foot support rod 9 and the forefoot support rod 10 sense whether the A-side rear foot is in contact with the ground, triggering the center of gravity transfer action in the A-side walking mode; the A-side electronic locking assembly 3 is locked to the thigh rotating rod 5 and unlocked from the lower leg rotating rod 4, realizing the transmission between the brushless DC motor 1 and the thigh rotating rod 5. The system consists of a moving chain; the A-side ankle rotation adjuster 8 locks the rear foot support rod 9 and the forefoot support rod 10, providing auxiliary ankle support; the electronic commutator of the A-side brushless DC motor 1 switches to a clockwise operating mode; the A-side power supply output current drives the 1 to rotate clockwise, outputting mechanical energy, which is then reduced and increased in torque by the gearbox 2, transferring the kinetic energy to the thigh rotor 5, causing the thigh rotor 5 to rotate clockwise; after the A-side thigh rotor 5 rotates clockwise, it lifts the wearer's thigh through the thigh restraint strap 7, achieving weight transfer assistance for the mechanical exoskeleton; the posture detection sensors on the A-side rear foot support rod 9 and the forefoot support rod 10 sense whether the lifted A-side foot has completed the weight transfer, triggering the B-side mechanical exoskeleton walking mode leg lifting action cycle, ultimately achieving continuous mechanical exoskeleton walking assistance; simultaneously, the posture detection sensors on the calf restraint strap 6, thigh restraint strap 7, rear foot support rod 9, and forefoot support rod 10 collect human posture data and transmit it to the controller of the brushless DC motor 1 for autonomous learning.

Claims

1. A knee brace mechanical exoskeleton structure, comprising a brushless DC motor (1), characterized in that: The rotor end of the brushless DC motor (1) is connected to the large module end of the gear module of the gearbox (2). The small module end of the gear module of the gearbox (2) is connected to the electronic locking assembly (3). One end of the electronic locking assembly (3) is connected to the thigh rotating rod (5), and the other end is connected to the calf rotating rod (4). The calf restraint belt (6) is fixedly connected to the calf rotating rod (4). The thigh restraint belt (7) is fixedly connected to the thigh rotating rod (5). An ankle rotation adjuster (8) is fixedly provided at the end of the calf rotating rod (4) away from the brushless DC motor (1). The ankle rotation adjuster (8) is rotatably connected to the rear foot support rod (9) and the forefoot support rod (10). The calf restraint belt (6) is equipped with a power supply.

2. The knee brace mechanical exoskeleton structure according to claim 1, characterized in that: The brushless DC motor (1) has its own electronic commutator and controller.

3. The knee brace mechanical exoskeleton structure according to claim 1, characterized in that: The lower leg restraint strap (6), thigh restraint strap (7), rear foot support rod (9), and forefoot support rod (10) are all equipped with posture detection sensors.

4. The knee brace mechanical exoskeleton structure according to claim 1, characterized in that: The electronic latch assembly (3) is equipped with an electronic lock (11).

5. The knee brace mechanical exoskeleton structure according to claim 2, characterized in that: The controller electrical signal is connected to the attitude detection sensor, and the controller electrical signal is connected to the power supply and the electronic lock (11).

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