Knee joint exoskeleton

Abstract

In the field of exoskeleton technology, a knee joint exoskeleton is provided. The knee joint exoskeleton includes a front thigh unit, a rear thigh unit, a lower leg unit, and an actuator, the front thigh unit and rear thigh unit are connected to the actuator 4, the lower leg unit is drivably connected to the actuator, the front thigh unit includes a relatively rotatable front thigh plate 11, the rear thigh unit includes a relatively rotatable rear thigh plate 21 and a telescopic adjustment assembly that can adjust the relative distance between the front thigh plate and the rear thigh plate in the horizontal and vertical directions, the rear thigh plate is located above and behind the front thigh plate, and the lower leg unit includes a relatively rotatable lower leg plate 31, the lower leg plate is located below and behind the front thigh plate. The knee joint exoskeleton has a wide range of adjustment methods and is well suited to users of different heights, leg types, and leg thicknesses, offering a wider range of applications, a simpler structure, better force transmission, and the ability to achieve accurate force transmission.

Description

[Technical Field]

[0001] The present invention relates to the technical field of exoskeletons, and in particular to knee joint exoskeletons. [Background technology]

[0002] Exoskeleton is the common name for the outer shell of arthropods, so named because of its similar hardness to a skeleton. Examples include the shells of crabs and insects, and some even consider the shells of turtles to be a type of exoskeleton. In the field of robotics, exoskeleton specifically refers to wearable mobile robots that combine various technologies to provide power, assist with various movements of the human body, and give the limbs greater strength and durability.

[0003] With the development of technology, devices to assist the movements of specific groups of people are gradually emerging. For elderly people with degenerated knee joint function, patients with knee joint injuries, and hikers and athletes who want to gain more leg strength, knee exoskeletons can help users restore and strengthen the relevant functions of the knee joint to various degrees.

[0004] The applicant has discovered that the prior art has at least the following technical problems: existing knee joint exoskeletons have a relatively complex structure, are generally heavy, expensive, and cumbersome to wear; furthermore, there are large variations in the height, leg taper curve, and leg thickness of different users. In the prior art, the structural structure of existing knee joint exoskeletons is relatively fixed, has poor adjustability, and does not have universal applicability. Summary of the Invention

[0005] The purpose of the present invention is to provide a knee joint exoskeleton that solves the technical problems existing in the prior art. Various technical effects brought about by preferred technical solutions among many technical solutions provided by the present invention will be described in detail below.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: The knee joint exoskeleton comprises a thigh front unit, a thigh rear unit, a lower leg unit and an actuator, the thigh front unit and the thigh rear unit are connected to the actuator, the lower leg unit is drivably connected to the actuator, the thigh front unit includes a relatively rotatable thigh front plate, the thigh rear unit includes a relatively rotatable thigh rear plate and an extension and contraction adjustment assembly that can adjust the relative distance between the thigh front plate and the thigh rear plate in the horizontal and vertical directions, the thigh rear plate is located above and behind the thigh front plate, and the lower leg unit includes a relatively rotatable lower leg plate, and the lower leg plate is located below and behind the thigh front plate.

[0007] Preferably, the thigh front unit further includes a thigh front rod and a thigh front plate shaft, one end of the thigh front rod is connected to the actuator and the other end is connected to one end of the thigh front plate shaft, the thigh front plate is rotatably connected to the thigh front plate shaft, a first axial adjustment assembly is provided in common on the thigh front plate shaft and the thigh front plate, and the relative axial positions of the two can be adjusted by the first axial adjustment assembly.

[0008] Preferably, the thigh rear unit further includes a connection housing, a thigh rear rod, and a thigh rear plate shaft, the connection housing is connected to the actuator, one end of the thigh rear rod is movably connected to the connection housing via the telescopic adjustment assembly, the other end of the thigh rear rod is connected to the thigh rear plate shaft, the thigh rear plate is rotatably connected to the thigh rear plate shaft, a second axial adjustment assembly is provided in common on the thigh rear plate shaft and the thigh rear plate, and the relative axial positions of the two can be adjusted by the second axial adjustment assembly.

[0009] Preferably, the telescopic adjustment assembly includes an anti-rotation sleeve, a sliding groove, a fastening structure, and a telescopic adjustment nut, the anti-rotation sleeve is sleeve-fitted onto the outside of the femoral posterior rod and can limit the rotation of the femoral posterior rod, the sliding groove is provided on the connection housing and the anti-rotation sleeve is slidable relative to the sliding groove, the fastening structure is connected to the connection housing and can form pressing contact with the anti-rotation sleeve in a fastened state, the telescopic adjustment nut is provided on the outside of the connection housing and rotatably connected to the fastening structure, and the telescopic adjustment nut can adjust the fastening state of the fastening structure.

[0010] Preferably, the shank unit further includes a connection flange, a shank rod and a shank plate shaft, the connection flange being drivably connected to the actuator, one end of the shank rod being detachably connected to the connection flange via a positioning ball, the other end of the shank rod being connected to the shank plate shaft, the shank plate being rotatably connected to the shank plate shaft, a third axial adjustment assembly being provided in common on the shank plate shaft and the shank plate, and the relative axial position between the two being adjustable by the third axial adjustment assembly.

[0011] Preferably, the actuator includes a motor, a reducer, a motor Hall magnet, a reducer Hall magnet, and an ECU calculation unit, the motor is communicatively connected to the reducer, the reducer is drivably connected to the connection flange, the motor Hall magnet is provided on the motor, the reducer Hall magnet is provided on the reducer, and the motor Hall magnet and the reducer Hall magnet are communicatively connected to the ECU calculation unit.

[0012] Preferably, the motor includes a motor stator, a motor rotor, and a motor rotor gear, the motor stator is located outside the motor rotor, the motor rotor gear is connected to the motor rotor, and the motor hall magnet is connected on the motor rotor gear; The reducer includes a reducer gear, a gear mounting seat, a crankshaft, a cycloid gear, a plug pin, a pinwheel cage, a magnet mounting seat and a reducer output flange, the reducer gear is meshed with and connected to the motor rotor gear, the reducer gear, the gear mounting seat and the crankshaft are connected in sequence, the crankshaft is connected to the cycloid gear, the pinwheel cage can form a constraint on the cycloid gear, the cycloid gear is connected to the reducer output flange via the plug pin, the magnet mounting seat is connected to the reducer output flange, the reducer output flange is flange-connected to the connection flange, and the reducer hall magnet is connected to the magnet mounting seat.

[0013] Preferably, the device further comprises a thigh band, both ends of which are connected to the front thigh plate and the rear thigh plate, respectively.

[0014] Preferably, the device further comprises a calf band, the calf band being connected to the calf plate.

[0015] Preferably, the front thigh plate is positioned corresponding to the front side of the thigh of the human body, the rear thigh plate is positioned corresponding to the rear side of the thigh of the human body, and the lower leg plate is positioned corresponding to the rear side of the lower leg of the human body. [Effects of the Invention]

[0016] The present invention has the following beneficial effects: By providing the front thigh plate, rear thigh plate, and lower leg plate separately, the knee joint exoskeleton can form a three-point support fixed form, and by combining with the specific positioning positions where the rear thigh plate is located above and behind the front thigh plate and the lower leg plate is located below and behind the front thigh plate, an optimal mechanical feedback effect can be obtained and it can be well adapted to users of different heights.

[0017] By providing a telescopic adjustment assembly, the telescopic adjustment assembly can adjust the relative distance between the front thigh plate and the rear thigh plate in the horizontal and vertical directions, and can be adapted to the thickness of the user's legs, and different users can adjust the telescopic adjustment assembly according to the actual thickness of their own legs.

[0018] By providing the front thigh plate, rear thigh plate, and lower leg plate that can rotate relative to one another, the relative positioning angles of the front thigh plate, rear thigh plate, and lower leg plate can be adjusted by rotation to match the tapered curve of the user's leg, and different users can flexibly adjust the relative positioning angles of the front thigh plate, rear thigh plate, and lower leg plate according to the tapered curve of their own leg.

[0019] The knee joint exoskeleton has a wide range of adjustment methods, and can be well adapted to users of different heights, leg shapes and leg thicknesses, making it applicable in a wider range of applications.

[0020] The knee joint exoskeleton has a simpler structure, a more compact size, and a smaller volume, with the lower leg part of the knee joint exoskeleton being shorter and the upper leg part being longer, which creates a better fixation effect and reduces the constraint on the legs, allowing the user's legs to feel lighter during use, achieve a better force feedback effect, and realize accurate force transmission. [Brief explanation of the drawings]

[0021] In order to more clearly describe the embodiments of the present invention or the technical solutions in the prior art, the following will briefly describe the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these accompanying drawings without any creative work. [Figure 1] FIG. 2 is a structural diagram of the present invention. [Figure 2] This is a structural diagram of the present invention, with the front thigh plate, rear thigh plate, and lower leg plate hidden. [Figure 3] FIG. 2 is a structural diagram of the present invention with the thigh band and the lower leg band attached. [Figure 4] 2 is a detailed structural view of the telescopic adjustment assembly of the present invention; [Figure 5] 2 is a detailed structural diagram of the actuator of the present invention; [Figure 6] FIG. 2 is a bottom view of the actuator of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, other embodiments that can be obtained by those skilled in the art without any creative work are all included in the protection scope of the present invention.

[0023] In describing the present invention, the orientations or positional relationships indicated by terms such as "center," "side," "length," "width," "height," "up," "down," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "side," etc. are based on the orientations or positional relationships shown in FIG. 1 and are used solely for the purpose of simplifying the description and explanation of the present invention, and do not indicate or imply that such apparatus or device necessarily has a particular orientation or is configured and operated in a particular orientation, and therefore are not intended to limit the present invention.

[0024] In the description of the present invention, unless otherwise clearly defined or limited, the terms "attached," "coupled," "connected," etc. may be understood in a broad sense, for example, to mean fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intermediate medium. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0025] 1 to 6, the present invention provides a knee joint exoskeleton, comprising a thigh front unit 1, a thigh rear unit 2, a lower leg unit 3, and an actuator 4, the actuator 4 having a housing 45, the thigh front unit 1 and the thigh rear unit 2 are both connected to the housing 45 of the actuator 4, and the lower leg unit 3 is drivably connected to the actuator 4; The thigh front unit 1 includes a relatively rotatable thigh front plate 11, and when actually worn by a user, the thigh front plate 11 is positioned corresponding to the front of the thigh of the human body, and the thigh front plate 11 conforms to and contacts the tapered curve of the front of the thigh, and can perform corresponding angle adjustment according to the tapered curve. The thigh rear unit 2 includes a relatively rotatable thigh rear plate 21 and a telescopic adjustment assembly 22 that can adjust the relative distance between the thigh front plate 11 and the thigh rear plate 21 in the horizontal and vertical directions. The thigh rear plate 21 is located above and behind the thigh front plate 11. When actually worn by a user, the thigh rear plate 21 is positioned corresponding to the rear side of the thigh of the human body, and the thigh front plate 11 conforms to and comes into contact with the tapered curve of the rear side of the thigh, allowing corresponding angle adjustment according to the tapered curve. The lower leg unit 3 includes a relatively rotatable lower leg plate 31, which is located behind and below the front thigh plate 11. When the user actually wears the device, the lower leg plate 31 is positioned corresponding to the rear side of the lower leg of the human body, and the lower leg plate 31 conforms to and comes into contact with the tapered curve of the rear side of the lower leg, and the corresponding angle can be adjusted according to the tapered curve.

[0026] By providing the front thigh plate 11, rear thigh plate 21 and crus plate 31 separately, the knee joint exoskeleton can form a three-point support fixed type, and by combining this with the specific positioning positions of the rear thigh plate 21 located above and behind the front thigh plate 11 and the crus plate 31 located below and behind the front thigh plate 11, an optimal mechanical feedback effect can be obtained and it can be well adapted to users of different heights.

[0027] By providing the telescopic adjustment assembly 22, the telescopic adjustment assembly 22 can adjust the relative distance between the front thigh plate 11 and the rear thigh plate 21 in the horizontal and vertical directions, and can be adapted to the thickness of the user's legs, and different users can adjust the telescopic adjustment assembly 22 according to the actual thickness of their own legs.

[0028] By providing the thigh front plate 11, thigh rear plate 21, and crus plate 31 that can rotate relative to one another, the relative arrangement angle of the thigh front plate 11, thigh rear plate 21, and crus plate 31 can be adjusted by rotation, and can be adapted to the tapered curve of the user's leg. Different users can flexibly adjust the relative arrangement angle of the thigh front plate 11, thigh rear plate 21, and crus plate 31 according to the tapered curve of their own leg.

[0029] The knee joint exoskeleton has a wide range of adjustment methods, and can be well adapted to users of different heights, leg shapes and leg thicknesses, making it applicable in a wider range of applications.

[0030] The knee joint exoskeleton has a simpler structure, a more compact size, and a smaller volume, with the lower leg section of the knee joint exoskeleton being shorter and the upper leg section being longer, which creates a better fixation effect and reduces the constraint on the legs, allowing the user's legs to feel lighter during use, achieving a better force feedback effect, and realizing accurate force transmission.

[0031] Knee exoskeletons provide auxiliary equipment for people with knee injuries or who need knee support and strengthening, and can assist users in pushing off and bending the knee. Knee exoskeletons are easy to put on and take off, convenient to carry, and inexpensive. Knee exoskeletons can be used on one or both knees, do not affect body direction changes, and can be adapted to various working conditions such as climbing stairs, mountain climbing, and going up and down stairs. They can also assist in jumping and provide cushioning when descending.

[0032] As an optional embodiment, the femoral front unit 1 further includes a femoral front rod 12 and a femoral front plate axis 13; One end of the femoral anterior rod 12 is connected to the housing 45 of the actuator 4, where the connection is preferably a bolt connection, which allows for more convenient and quick attachment and detachment; The other end of the femoral front rod 12 is connected to one end of the femoral front plate shaft 13, preferably by bolt connection, which allows for more convenient and quick attachment and detachment. The thigh front plate 11 is rotatably connected to the thigh front plate shaft 13, and the thigh front plate 11 is rotatable relative to the thigh front plate shaft 13, so that it can be adapted to the tapered curve of the thigh front of different users; A first axial adjustment assembly is provided in common on both thigh front plate axis 13 and thigh front plate 11, and the relative axial position between the two can be adjusted by the first axial adjustment assembly, so that thigh front plate 11 can move axially relative to thigh front plate axis 13 and can be more suited to users of different heights and leg types. In this embodiment, the first axial adjustment assembly preferably has a combined structure of bolts and fixing holes, and by providing multiple fixing holes on thigh front plate axis 13, thigh front plate 11 can be bolted to selected fixing holes in different positions, thereby realizing adjustment of the relative position.

[0033] As an optional embodiment, the thigh posterior unit 2 further includes a connection housing 23 , a thigh posterior rod 24 and a thigh posterior plate axis 25 .

[0034] The connection housing 23 is connected to the housing 45 of the actuator 4, where the connection is preferably a bolt connection, which makes the connection and detachment more convenient and quick.

[0035] One end of the femoral posterior rod 24 is movably connected to the connection housing 23 via the telescopic adjustment assembly 22 .

[0036] The other end of the femoral posterior rod 24 is connected to the femoral posterior plate axis 25, which is preferably connected by a bolt, which makes attachment and detachment more convenient and quick.

[0037] The thigh rear plate 21 is rotatably connected to the thigh rear plate shaft 25, and the thigh rear plate 21 is rotatable relative to the thigh rear plate shaft 25, so that it can be adapted to the tapered curves of the posterior thighs of different users.

[0038] A second axial adjustment assembly is provided in common on both thigh rear plate axis 25 and thigh rear plate 21, and the relative axial position between the two can be adjusted by the second axial adjustment assembly, so that thigh rear plate 21 can move axially relative to thigh rear plate axis 25 and can further accommodate users of different heights and leg types. In this embodiment, the second axial adjustment assembly is preferably a combination structure of bolts and fixing holes, and by providing multiple fixing holes on thigh rear plate axis 25, thigh rear plate 21 can be connected with bolts by selecting fixing holes in different positions, thereby realizing adjustment of the relative position.

[0039] In an alternative embodiment, the telescopic adjustment assembly 22 includes a rotation preventing sleeve 221 , a sliding groove 222 , a fastening structure 223 and a telescopic adjustment nut 224 .

[0040] The anti-rotation sleeve 221 is sleeve-fitted onto the outside of the femoral posterior rod 24, and a key is provided between the anti-rotation sleeve 221 and the femoral posterior rod 24. The key connection can limit the rotation of the femoral posterior rod 24, while allowing the anti-rotation sleeve 221 and the femoral posterior rod 24 to move synchronously.

[0041] The slide groove 222 is provided on the connection housing 23, the rotation prevention sleeve 221 is slidable relative to the slide groove 222, and the relative position of the rotation prevention sleeve 221 and the femoral posterior rod 24 can be adjusted.

[0042] The fastening structure 223 is connected to the connecting housing 23, and the telescopic adjusting nut 224 is provided on the outside of the connecting housing 23 and rotatably connected to the fastening structure 223, and the telescopic adjusting nut 224 can adjust the fastening state of the fastening structure 223.

[0043] When the fastening structure 223 is in a fastened state, it can form a pressing contact with the anti-rotation sleeve 221, thereby limiting the displacement of the anti-rotation sleeve 221 and the femoral posterior rod 24, and when the fastening structure 223 is in a loosened state, it no longer forms a pressing contact with the anti-rotation sleeve 221, thereby allowing the anti-rotation sleeve 221 and the femoral posterior rod 24 to move.

[0044] The overall operation of the telescopic adjustment assembly 22 is simpler, and everything except the telescopic adjustment nut 224 is located inside the connection housing 23, which is more aesthetically pleasing, and adjustment can be completed with just the telescopic adjustment nut 224.

[0045] In an optional embodiment, the lower leg unit 3 further includes a connection flange 32, a lower leg rod 33 and a lower leg board shaft 34.

[0046] The connecting flange 32 is drivably connected to the actuator 4, and the actuator 4 can be driven to rotate the connecting flange 32 relatively and rotate the transtibial rod 33 relatively.

[0047] One end of the crural rod 33 is detachably connected to the connecting flange 32 via a positioning ball, making it easier to attach and detach. At the same time, by providing at least two positioning ball structures, the specific connection position can be selected according to actual usage needs, the relative length of the crural rod 33 can be extended, or crural rods 33 of different lengths can be directly replaced, providing a wider range of selectable structural forms.

[0048] The other end of the crus rod 33 is connected to the crus plate shaft 34, preferably by bolt connection, which allows for more convenient and quicker attachment and detachment.

[0049] The crus plate 31 is rotatably connected to the crus plate shaft 34, and the crus plate 31 is rotatable relative to the crus plate shaft 34, so that it can fit the tapered curve of the posterior lower leg of different users.

[0050] A third axial adjustment assembly is provided in common on both the crus plate axis 34 and the crus plate 31, and the relative axial position between the two can be adjusted by the third axial adjustment assembly, so that the crus plate 31 can move axially relative to the crus plate axis 34 and can be adapted to users of different heights and leg types. In this embodiment, it is preferable that the third axial adjustment assembly has a combined structure of bolts and fixing holes, and by providing multiple fixing holes on the crus plate axis 34, the crus plate 31 can be connected with bolts by selecting fixing holes in different positions, thereby realizing adjustment of the relative position.

[0051] In an alternative embodiment, the actuator 4 further includes a motor 41, a reducer 42, a motor Hall magnet 43, a reducer Hall magnet 44, and an ECU calculation unit, the motor 41 and the reducer 42 are all connected to a housing 45, the motor 41 is communicably connected to the reducer 42, and the reducer 42 is drivably connected to the connection flange 32; The motor 41, the reducer 42 and the connecting flange 32 can realize sequential transmission, and when the connecting flange 32 rotates, the entire lower leg unit 3 can be driven to rotate. The motor Hall magnet 43 is provided on the motor 41, and the reducer Hall magnet 44 is provided on the reducer 42. The motor Hall magnet 43 and the reducer Hall magnet 44 are connected to communicate with the ECU computing unit. The motor Hall magnet 43 can cooperate with a corresponding PCB encoder to help detect the rotation speed of the motor rotor 412, and the reducer Hall magnet 44 can cooperate with a corresponding PCB encoder to help detect the rotation speed of the output end. Then, the magnitude, direction and speed of the assist can be calculated in real time through the chip and algorithm on the PCB to realize assist for the person.

[0052] As an optional embodiment, the motor 41 includes a motor stator 411, a motor rotor 412 and a motor rotor gear 413, the motor stator 411 is located outside the motor rotor 412, the motor rotor gear 413 is connected to the motor rotor 412, and when the motor rotor 412 rotates, it can be driven to rotate the motor rotor gear 413, and the motor hall magnet 43 is connected on the motor rotor gear 413, and the motor hall magnet 43 can cooperate with a corresponding PCB encoder to help detect the rotation speed of the motor rotor 412.

[0053] The reducer 42 includes a reducer gear 421 , a gear mounting seat 422 , a crankshaft 423 , a cycloid gear 424 , a plug pin 425 , a pinwheel cage 426 , a magnet mounting seat 427 and a reducer output flange 428 .

[0054] The reducer gear 421 is meshed and connected with the motor rotor gear 413, and when the motor rotor gear 413 rotates, it can drive the reducer gear 421 to rotate.

[0055] The reducer gear 421, the gear mounting seat 422, and the crankshaft 423 are connected in sequence, and when the reducer gear 421 rotates, it can drive the crankshaft 423 to rotate.

[0056] The crankshaft 423 is connected to the cycloid gear 424, and the pinwheel cage 426 can form a constraint on the cycloid gear 424, so that when the crankshaft 423 rotates, the cycloid gear 424 can be driven to rotate around the crankshaft 423 under the constraint of the teeth on the pinwheel cage 426.

[0057] The cycloid gear 424 is connected to the reducer output flange 428 via the plug pin 425, and the reducer output flange 428 is flange-connected to the connecting flange 32. When the cycloid gear 424 rotates, it can drive the plug pin 425, the reducer output flange 428, and the connecting flange 32 to rotate sequentially.

[0058] The magnet mounting seat 427 is connected to the reducer output flange 428, and the reducer Hall magnet 44 is connected to the magnet mounting seat 427, and the reducer Hall magnet 44 can cooperate with a corresponding PCB encoder to help detect the rotation speed of the output end.

[0059] The cycloid reducer is a gear differential transmission, and the crankshaft 423 moves forward by only one tooth for each rotation, so a very large reduction ratio can be obtained and reverse driving is also possible.

[0060] In addition to the above-mentioned structural form, the actuator 4 mentioned in this embodiment can adopt various other structural forms, including, but not limited to, servo motors, decelerating servo motors, link rods, screws, wire drives, pneumatic drives, hydraulic drives, and other drive methods, and can be flexibly selected and configured according to actual usage needs.

[0061] In addition to the above-mentioned cycloid reducer structure, the reducer 42 can also adopt a planetary reducer, a harmonic drive reducer, a gear reducer, a hydraulic reducer, a worm gear reducer, or a bevel gear reducer, and can be flexibly selected and configured according to actual usage needs.

[0062] As an optional embodiment, it further includes a thigh band 5, both ends of which are connected to the front thigh plate 11 and the rear thigh plate 21, respectively, preferably in a detachable manner, and by providing corresponding connecting and fixing portions on the front thigh plate 11 and the rear thigh plate 21, respectively, the ends of the thigh band 5 are connected to the corresponding connecting and fixing portions, and the thigh band 5 plays a role of assisting in fixation, helping to better fit the user's upper legs and the exoskeleton.

[0063] As an optional embodiment, the exoskeleton further includes a lower leg band 6, which is connected to the lower leg plate 31, preferably in a detachable manner, and the lower leg band 6 is sleeve-fitted to the front of the user's lower leg and cooperates with the lower leg plate 31 at the rear of the lower leg, helping to better fit the user's lower leg and the exoskeleton.

[0064] Although the specific embodiments of the present invention have been described above, the scope of protection of the present invention is not limited thereto, and any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be governed by the scope of the utility model patent claims. [Explanation of symbols]

[0065] 1. Front thigh unit 11 Front thigh plate 12 Anterior femoral rod 13 Anterior thigh axis 2. Rear thigh unit 21 Posterior thigh plate 22 Telescopic Adjustment Assembly 221 Anti-rotation sleeve 222 sliding groove 223 Fastening structure 224 Telescopic adjustment nut 23 Connection housing 24 Posterior femoral rod 25 Posterior femoral plate axis 3 Lower Leg Unit 31 Lower Leg Board 32 Connection flange 33 Lower leg rod 34 Lower leg board axis 4 Actuators 41 Motor 411 Motor Stator 412 Motor rotor 413 Motor rotor gear 42 Reducer 421 Reducer Gear 422 Gear mounting seat 423 Crankshaft 424 Cycloid Gear 425 plug pin 426 Pinwheel Cage 427 Magnet mounting seat 428 Reducer output flange 43 Motor Hall Magnet 44 Reducer Hall Magnet 45 cabinet 5 thigh bands 6 Lower Leg Bands

Claims

1. 1. A knee joint exoskeleton comprising a thigh front unit (1), a thigh rear unit (2), a lower leg unit (3), and an actuator (4), wherein the thigh front unit (1) and the thigh rear unit (2) are connected to the actuator (4), the lower leg unit (3) is drivably connected to the actuator (4), the thigh front unit (1) includes a relatively rotatable thigh front plate (11), the thigh rear unit (2) includes a relatively rotatable thigh rear plate (21) and an extension and contraction adjustment assembly (22) that can adjust the relative distance between the thigh front plate (11) and the thigh rear plate (21) in the horizontal and vertical directions, the thigh rear plate (21) being located above and behind the thigh front plate (11), and the lower leg unit (3) includes a relatively rotatable lower leg plate (31), which is located below and behind the thigh front plate (11).

2. 2. The knee joint exoskeleton according to claim 1, wherein the thigh front unit (1) further includes a thigh front rod (12) and a thigh front plate shaft (13), one end of the thigh front rod (12) is connected to the actuator (4) and the other end is connected to one end of the thigh front plate shaft (13), the thigh front plate (11) is rotatably connected to the thigh front plate shaft (13), a first axial adjustment assembly is provided in common on the thigh front plate shaft (13) and the thigh front plate (11), and the relative axial positions of the two can be adjusted by the first axial adjustment assembly.

3. 2. The knee joint exoskeleton according to claim 1, wherein the thigh rear unit (2) further includes a connection housing (23), a thigh rear rod (24), and a thigh rear plate shaft (25), the connection housing (23) is connected to the actuator (4), one end of the thigh rear rod (24) is movably connected to the connection housing (23) via the telescopic adjustment assembly (22), the other end of the thigh rear rod (24) is connected to the thigh rear plate shaft (25), the thigh rear plate (21) is rotatably connected to the thigh rear plate shaft (25), a second axial adjustment assembly is provided in common to the thigh rear plate shaft (25) and the thigh rear plate (21), and the relative axial positions of the two can be adjusted by the second axial adjustment assembly.

4. 4. The knee joint exoskeleton of claim 3, wherein the telescopic adjustment assembly (22) includes an anti-rotation sleeve (221), a sliding groove (222), a fastening structure (223), and a telescopic adjustment nut (224), wherein the anti-rotation sleeve (221) is sleeve-fitted on the outside of the femoral posterior rod (24) and can limit the rotation of the femoral posterior rod (24), the sliding groove (222) is provided on the connection housing (23), the anti-rotation sleeve (221) is slidable relative to the sliding groove (222), the fastening structure (223) is connected to the connection housing (23) and can form a pressing contact with the anti-rotation sleeve (221) in a fastened state, and the telescopic adjustment nut (224) is provided on the outside of the connection housing (23) and rotatably connected to the fastening structure (223), and the telescopic adjustment nut (224) can adjust the fastening state of the fastening structure (223).

5. The knee joint exoskeleton of claim 1, characterized in that the lower leg unit (3) further includes a connection flange (32), a lower leg rod (33), and a lower leg plate axis (34), the connection flange (32) is drivably connected to the actuator (4), one end of the lower leg rod (33) is detachably connected to the connection flange (32) via a positioning ball, the other end of the lower leg rod (33) is connected to the lower leg plate axis (34), the lower leg plate (31) is rotatably connected to the lower leg plate axis (34), a third axial adjustment assembly is provided in common on the lower leg plate axis (34) and the lower leg plate (31), and the relative axial positions of the two can be adjusted by the third axial adjustment assembly.

6. 6. The knee joint exoskeleton of claim 5, wherein the actuator (4) includes a motor (41), a reducer (42), a motor Hall magnet (43), a reducer Hall magnet (44), and an ECU computing unit, wherein the motor (41) is communicatively connected to the reducer (42), the reducer (42) is drivably connected to the connection flange (32), the motor Hall magnet (43) is provided on the motor (41), the reducer Hall magnet (44) is provided on the reducer (42), and the motor Hall magnet (43) and the reducer Hall magnet (44) are communicatively connected to the ECU computing unit.

7. The motor (41) includes a motor stator (411), a motor rotor (412) and a motor rotor gear (413), the motor stator (411) is located outside the motor rotor (412), the motor rotor gear (413) is connected to the motor rotor (412), and the motor hall magnet (43) is connected on the motor rotor gear (413); The reducer (42) includes a reducer gear (421), a gear mounting seat (422), a crankshaft (423), a cycloid gear (424), a plug pin (425), a pinwheel cage (426), a magnet mounting seat (427), and a reducer output flange (428). The reducer gear (421) is meshed with and connected to the motor rotor gear (413). The reducer gear (421), the gear mounting seat (422), and the crankshaft (423) are connected in sequence. The crankshaft (423) is connected to the cycloid gear (424).

7. The knee joint exoskeleton of claim 6, wherein the pinwheel cage (426) is capable of forming a constraint on the cycloid gear (424), the cycloid gear (424) is connected to the reducer output flange (428) via the plug pin (425), the magnet mounting seat (427) is connected to the reducer output flange (428), the reducer output flange (428) is flange-connected to the connection flange (32), and the reducer hall magnet (44) is connected to the magnet mounting seat (427).

8. 2. The knee joint exoskeleton according to claim 1, further comprising a thigh band (5), both ends of which are connected to the front thigh plate (11) and the rear thigh plate (21), respectively.

9. The knee joint exoskeleton according to claim 1, further comprising a calf band (6), said calf band (6) being connected to said calf plate (31).

10. 2. The knee joint exoskeleton according to claim 1, wherein the front thigh plate (11) is positioned corresponding to the front side of the thigh of the human body, the rear thigh plate (21) is positioned corresponding to the rear side of the thigh of the human body, and the lower leg plate (31) is positioned corresponding to the rear side of the lower leg of the human body.

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