Modular mechanical free-clutch exoskeleton joint

Abstract

Disclosed is a modular mechanical free-clutch exoskeleton joint. The modular mechanical free-clutch exoskeleton joint comprises a first connecting ring, a second connecting ring, a bionic joint and a driving member; the bionic joint comprises a mounting base, a rotating ring and an eccentric block; the mounting base is connected to the second connecting ring, and the rotating ring is connected to the first connecting ring; the rotating ring is provided with a mounting groove, the eccentric block being rotatably connected in the mounting groove, and the mounting groove having an abutting and driving surface capable of abutting against the eccentric block; the driving member is mounted to the mounting base, and a driving shaft of the driving member has a transmission fit with the eccentric block, so as to drive the eccentric block to rotate; in the process of rotating, the eccentric block may drive the rotating ring to rotate, so as to drive the first connecting ring to rotate relative to the second connecting ring. The modular mechanical free-clutch exoskeleton joint is capable of switching, freely and without energy consumption, between power-assisted movement and free movement of any large joint of a limb of a human body, so that use safety, comfort, degree of coupling, flexibility and endurance of the exoskeleton joint are improved.

Description

A modular mechanical free clutch exoskeleton joint Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a modular mechanical free-clutch exoskeleton joint. Background Art

[0002] With the rapid development of social science and technology, the demand for human-machine collaborative assistance or support devices is increasing. Exoskeleton joints, wearable devices that assist or assist limb joint movement to reduce workload and aid in limb motor function rehabilitation, are increasingly being used in a variety of scenarios and fields, including industrial applications and medical rehabilitation. The basic working principle of exoskeleton joints is to apply torque to the joints, thereby providing assistance and support for human movement. However, the major joints in our limbs that primarily generate force and bear weight typically have more than a single degree of freedom; for example, the shoulder, elbow, and ankle joints each have two or three degrees of freedom. Therefore, the primary consideration is how to provide appropriate assistance for the primary joint movements while minimizing the constraints on the joint's own degrees of freedom. This balances good coupling with limb joints, safety of assistance, and practicality with low energy consumption. Furthermore, as wearable devices, exoskeleton joints will be required to fit the human body as closely as possible and be easy to wear. Therefore, a compact, integrated, and lightweight design is also required to achieve high wear comfort, convenience, and minimal sense of restraint.

[0003] Most existing exoskeleton joints are complex and bulky in design, and often struggle to achieve free engagement and disengagement without actuation. This results in poor coupling with limb joint motion, large size, heavy mass, and limited adaptability to different limbs and joints. Furthermore, many current exoskeleton joints focus on achieving assistance while ignoring the wearer's need for flexible and natural joint movement during actual use. Indeed, if all joint movement requires external actuation, not only would the joint's inherent degrees of freedom be overly constrained, making movement extremely inconvenient, but when temporary free movement is required, the exoskeleton's actuation would not only transform into resistance that must be overcome, but could also pose safety risks such as tearing and straining. Therefore, the exoskeleton's design must accommodate free joint movement, allowing the wearer to move freely without disengaging the exoskeleton when necessary. Technical issues

[0004] The purpose of the present invention is to propose a modular mechanical free-clutch exoskeleton joint, which can realize energy-free and free switching between assisted movement and free movement for any large joint of the human limbs, thereby improving the safety, comfort, coupling, flexibility, and endurance of the exoskeleton joint. Technical Solutions

[0005] In order to achieve the above technical effects, the technical solutions of the present invention are as follows:

[0006] The present invention discloses a modular mechanical free-clutch exoskeleton joint, comprising: a first connecting ring, the first connecting ring being used to connect to a limb located at one end of a limb joint; a second connecting ring, the second connecting ring being used to connect to a limb located at the other end of the limb joint; a bionic joint, the bionic joint comprising a mounting seat, a rotating ring, and an eccentric mass, the mounting seat being connected to the second connecting ring, the rotating ring being connected to the first connecting ring, the rotating ring having a mounting groove, the eccentric mass being rotatably connected within the mounting groove, the mounting groove having an abutting driving surface capable of abutting against the eccentric mass; a driving member, the driving member being mounted on the mounting seat, the driving shaft of the driving member being in transmission cooperation with the eccentric mass to drive the eccentric mass to rotate, wherein during rotation of the eccentric mass, when the eccentric mass contacts the abutting driving surface of the rotating ring, the rotating ring can be driven to rotate, thereby driving the first connecting ring to rotate relative to the second connecting ring; when the eccentric mass is not in contact with the abutting driving surface of the rotating ring, the second connecting ring can freely rotate relative to the first connecting ring under the action of the limb joint.

[0007] In some embodiments, the bionic joint further comprises a reducer, wherein the power input and output ends of the reducer cooperate with the drive shaft of the drive member, and the power output end of the reducer cooperates with the eccentric block.

[0008] In some specific embodiments, the reducer includes a wave generator, an internal gear and an outer ring gear. The wave generator cooperates with the drive shaft of the driving member, the internal gear is sleeved on the wave generator, the outer ring gear is installed on the mounting seat and sleeved on the internal gear and meshes with the internal gear, and the internal gear cooperates with the eccentric block for transmission.

[0009] In some more specific embodiments, the bionic joint also includes an inner sleeve, which is coaxially arranged with the outer gear ring, and the inner circumferential wall of the inner sleeve is spaced apart from the outer wall of the outer gear ring. The rotating ring is installed on the inner sleeve, and a bearing is provided between the inner sleeve and the mounting seat.

[0010] In some optional embodiments, a first fixing hole is provided on the end face of the inner sleeve, a second fixing hole is provided on the rotating ring, and a third fixing hole is provided on the first connecting ring. The first connecting member passes through the third fixing hole, the second fixing hole and the first fixing hole to connect the inner sleeve, the rotating ring and the first connecting ring.

[0011] In some more specific embodiments, a fourth fixing hole is provided on the end face of the internal gear, a fifth fixing hole is provided on the eccentric block, and a second connecting member passes through the fifth fixing hole and the fourth fixing hole to connect the internal gear and the eccentric block.

[0012] In some more specific embodiments, a sixth fixing hole is provided on the outer gear ring, a seventh fixing hole is provided on the mounting seat, and a third connecting member passes through the sixth fixing hole and the seventh fixing hole to connect the outer gear ring and the mounting seat.

[0013] In some embodiments, the rotating ring has an annular protrusion, the mounting groove is provided on the annular protrusion, and the first connecting ring has an annular groove that cooperates with the annular protrusion.

[0014] In some embodiments, the first connecting ring is provided with a mating hole, the first fixing element is mated with the mating hole, and is connected to the limb located at one end of the limb joint; and / or, the second connecting ring is provided with a snap-fit ​​groove, the second fixing element is mated in the snap-fit ​​groove, and is connected to the limb located at the other end of the limb joint.

[0015] In some embodiments, an angle sensor is provided on the eccentric block. Beneficial effects

[0016] The beneficial effects of the modular mechanical free-clutch exoskeleton joint of the present invention are as follows: During actual operation, the user first connects the first connecting ring and the second connecting ring to the two ends of the limb joint. After wearing the bionic joint, it fits the user's joint. When the driving member drives the eccentric block to rotate counterclockwise until the eccentric block stops at the abutment driving surface, the eccentric block can drive the rotating ring to rotate counterclockwise, thereby reducing the angle between the first connecting ring and the second connecting ring to assist the user's limb joint in flexion movement. When the driving member drives the eccentric block to rotate clockwise until the eccentric block stops at the abutment driving surface, the eccentric block can drive the rotating ring to rotate clockwise, thereby increasing the angle between the first connecting ring and the second connecting ring to assist the user's limb joint in extension movement. During the rotation of the eccentric block, before it contacts the abutment driving surface of the rotating ring, the entire modular mechanical free-clutch exoskeleton joint is in an idle stroke state, and the user's joint can freely flex or extend. Thus, the modular mechanical free-clutch exoskeleton joint of this embodiment not only provides active bidirectional assistance to the joints, but also automatically releases bidirectional degrees of freedom of movement when assistance is no longer needed. This allows for both joint assistance when the user is carrying weight, and unrestricted free movement when unloaded. Furthermore, the modular mechanical free-clutch exoskeleton joint of this embodiment boasts a simple structure and a very small overall volume, offering advantages of lightweight and miniaturization. It is suitable for assisting large joints of the limbs, such as the shoulder, elbow, hip, and knee, and offers a high degree of personalized adaptability.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a schematic structural diagram of a modular mechanical free clutch exoskeleton joint according to an embodiment of the present invention;

[0019] FIG2 is a schematic structural diagram of a modular mechanical free clutch exoskeleton joint in another direction according to an embodiment of the present invention;

[0020] FIG3 is a schematic diagram of the exploded structure of a modular mechanical free clutch exoskeleton joint according to an embodiment of the present invention;

[0021] FIG4 is a schematic diagram of the exploded structure of the bionic joint according to an embodiment of the present invention.

[0022] Reference numerals:

[0023] 1. First connecting ring; 11. Annular groove; 12. Third fixing hole; 13. Matching hole;

[0024] 2. Bionic joint; 21. Mounting seat; 211. Eighth fixing hole; 212. Seventh fixing hole; 22. Wave generator; 23. Outer ring gear; 231. Sixth fixing hole; 24. Internal gear; 241. Fourth fixing hole; 25. Inner sleeve; 251. First fixing hole; 26. Bearing; 27. Rotating ring; 271. Second fixing hole; 272. Annular protrusion; 273. Mounting groove; 28. Eccentric block; 281. Fifth fixing hole;

[0025] 3. Second connecting ring; 31. Snap-fit ​​groove; 32. Ninth fixing hole;

[0026] 4. Driving parts. Modes for Carrying Out the Invention

[0027] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific implementation methods.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0029] In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0030] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0031] The specific structure of the modular mechanical free clutch exoskeleton joint according to an embodiment of the present invention will be described below with reference to FIG1 to FIG4.

[0032] The present invention discloses a modular mechanical free clutch exoskeleton joint, as shown in Figures 1 and 4, the modular mechanical free clutch exoskeleton joint of this embodiment includes a first connecting ring 1, a second connecting ring 3, a bionic joint 2 and a driving member 4, the first connecting ring 1 is used to connect to the limb at one end of the limb joint, the second connecting ring 3 is used to connect to the limb at the other end of the limb joint, the bionic joint 2 includes a mounting seat 21, a rotating ring 27 and an eccentric block 28, the mounting seat 21 is connected to the second connecting ring 3, the rotating ring 27 is connected to the first connecting ring The first connecting ring 1 is connected to the second connecting ring 3, and the rotating ring 27 has a mounting groove 273. The eccentric mass 28 is rotatably connected to the mounting groove 273. The mounting groove 273 has an abutting driving surface that can abut against the eccentric mass 28. The driving member 4 is mounted on the mounting seat 21. The output end of the driving member 4 (i.e., the internal gear 24) is in transmission cooperation with the eccentric mass 28 to drive the eccentric mass 28 to rotate. When the eccentric mass 28 contacts the abutting driving surface of the rotating ring 27, the rotation of the eccentric mass 28 can drive the rotating ring 27 to rotate, thereby driving the first connecting ring 1 to rotate relative to the second connecting ring 3. When the eccentric mass 28 is not in contact with the abutting driving surface of the rotating ring 27, the second connecting ring 3 can rotate freely relative to the first connecting ring 1 under the action of the limb joint.

[0033] It can be understood that in the actual working process, the user first connects the first connecting ring 1 and the second connecting ring 3 to the two ends of the limb joint. After wearing, the bionic joint 2 in Figure 2 fits the user's joint. When the output end of the driving member 4 (i.e., the internal gear 24) drives the eccentric block 28 to rotate counterclockwise to the abutment driving surface at the installation groove 273, the eccentric block 28 can drive the rotating ring 27 to rotate counterclockwise at the same time, thereby reducing the angle between the first connecting ring 1 and the second connecting ring 3 to assist the user's limb joint to perform flexion movement. When the output end of the driving member 4 (i.e., the internal gear 24) drives the eccentric block 28 to rotate clockwise to the abutment driving surface at the installation groove 273, the eccentric block 28 can drive the rotating ring 27 to rotate clockwise at the same time, thereby increasing the angle between the first connecting ring 1 and the second connecting ring 3 to assist the user's limb joint to perform extension movement. During the rotation of the eccentric mass 28, when it has not yet come into contact with the abutting drive surface of the rotating ring 27, the entire modular mechanical free-clutch exoskeleton joint is in an idle state. The first connecting ring 1 can rotate freely relative to the second connecting ring 3 without interfering with each other, thereby ensuring that the user's joints can freely flex or extend. Therefore, the modular mechanical free-clutch exoskeleton joint of this embodiment not only provides active bidirectional assistance to the joints, but also automatically releases the bidirectional degrees of freedom of movement when assistance is no longer needed. This achieves the goal of providing assistance to the joints when the user is carrying weight, while also not restricting the joints' free movement when the user is not carrying weight.

[0034] Optionally, the eccentric block 28 has an arc-shaped surface that fits with the inner circumferential wall of the mounting groove 273, thereby ensuring that when the output end of the driving member 4 (i.e., the internal gear 24) drives the eccentric block 28 to rotate, the eccentric block 28 can stably rotate in the mounting groove 273, and can ensure that when the eccentric block 28 rotates to the abutment driving surface at the mounting groove 273 of the rotating ring 27, it can stably drive the rotating ring 27 to rotate.

[0035] In some embodiments, the bionic joint 2 further includes a speed reducer, the power input and output ends of which cooperate with the drive shaft of the driver 4, and the power output end of the speed reducer cooperates with the eccentric mass 28. It will be appreciated that the addition of the speed reducer can increase the output torque of the driver 4, ensuring that the modular mechanical free-clutch exoskeleton joint has sufficient output torque when providing assistance to the limb joint under load, thereby ensuring that the modular mechanical free-clutch exoskeleton joint can stably assist the limb joint in flexion or extension.

[0036] In some specific embodiments, as shown in FIG4 , the reducer includes a wave generator 22, an internal gear 24, and an outer ring gear 23. The wave generator 22 is coupled to the drive shaft of the driver 4. The internal gear 24 is sleeved on the wave generator 22. The outer ring gear 23 is mounted on the mounting base 21 and sleeved on the internal gear 24 to mesh with the internal gear 24. The internal gear 24 is in driving engagement with the eccentric mass 28. It will be appreciated that the reducer, including the wave generator 22, the internal gear 24, and the outer ring gear 23, not only improves output torque but also facilitates improved structural compactness of the entire bionic joint 2, facilitating the lightweight, integrated, and miniaturized design of the modular mechanical free-clutch exoskeleton joint.

[0037] In some more specific embodiments, as shown in FIG4 , the bionic joint 2 further includes an inner sleeve 25, which is coaxially arranged with the outer gear ring 23, with the inner circumferential wall of the inner sleeve 25 spaced apart from the outer wall of the outer gear ring 23. A rotating ring 27 is mounted on the inner sleeve 25, and a bearing 26 is provided between the inner sleeve 25 and the mounting base 21. It will be appreciated that the bearing 26 stably supports the inner sleeve 25, thereby reducing the resistance experienced by the rotating ring 27 connected to the inner sleeve 25 during rotation, ensuring that the modular mechanical free-clutch exoskeleton joint can stably assist in limb joint flexion or extension.

[0038] In some optional embodiments, as shown in Figures 3-4, a first fixing hole 251 is defined on the end surface of the inner sleeve 25, a second fixing hole 271 is defined on the rotating ring 27, and a third fixing hole 12 is defined on the first connecting ring 1. A first connecting member passes through the third fixing hole 12, the second fixing hole 271, and the first fixing hole 251 to connect the inner sleeve 25, the rotating ring 27, and the first connecting ring 1. It will be appreciated that during assembly, the inner sleeve 25, the rotating ring 27, and the first connecting ring 1 can be connected by simply passing the first connecting member through the third fixing hole 12, the second fixing hole 271, and the first fixing hole 251, respectively. This facilitates assembly and provides high connection stability. In this embodiment, the first connecting member can be a screw, a pin, or other connector as needed. Of course, in other embodiments of the present invention, the rotating ring 27, the inner sleeve 25, and the first connecting ring 1 can also be connected using other structures as needed.

[0039] In some more specific embodiments, as shown in FIG4 , a fourth fixing hole 241 is defined on the end face of the internal gear 24, and a fifth fixing hole 281 is defined on the eccentric mass 28. A second connecting member passes through the fifth fixing hole 281 and the fourth fixing hole 241 to connect the internal gear 24 and the eccentric mass 28. It will be appreciated that, during actual assembly, the second connecting member only needs to be passed through the fifth fixing hole 281 and the fourth fixing hole 241, respectively, to connect the internal gear 24 and the eccentric mass 28. This facilitates assembly and provides a highly stable connection. In this embodiment, the second connecting member can be a screw, pin, or other connecting member as needed. Of course, in other embodiments of the present invention, other connection structures can be used for the internal gear 24 and the eccentric mass 28 as needed.

[0040] In some more specific embodiments, as shown in FIG4 , a sixth fixing hole 231 is provided on the outer gear ring 23, and a seventh fixing hole 212 is provided on the mounting base 21. A third connecting member passes through the sixth fixing hole 231 and the seventh fixing hole 212 to connect the outer gear ring 23 and the mounting base 21. It will be appreciated that, during actual assembly, the outer gear ring 23 and the mounting base 21 can be connected by simply passing the third connecting member through the sixth fixing hole 231 and the seventh fixing hole 212, respectively. This facilitates assembly and provides a highly stable connection. In this embodiment, the third connecting member can be a screw, pin, or other connecting member as needed. Of course, in other embodiments of the present invention, other connection structures can be used between the outer gear ring 23 and the mounting base 21 as needed.

[0041] In some more specific embodiments, as shown in Figures 3 and 4, the inner circumferential wall of the second connecting ring 3 is provided with a ninth fixing hole 32, and the outer circumferential wall of the mounting base 21 has an eighth fixing hole 211. The fourth connecting member passes through the ninth fixing hole 32 and the eighth fixing hole 211 to connect the second connecting ring 3 and the mounting base 21. It will be appreciated that during actual assembly, the second connecting ring 3 and the mounting base 21 can be connected by simply passing the fourth connecting member through the ninth fixing hole 32 and the eighth fixing hole 211, respectively. This makes assembly very convenient and provides a highly stable connection. In this embodiment, the fourth connecting member can be a screw, pin, or other connecting member as needed. Of course, in other embodiments of the present invention, the second connecting ring 3 and the mounting base 21 can also be connected using other structures as needed.

[0042] In some embodiments, as shown in FIG4 , the rotating ring 27 has an annular protrusion 272, a mounting groove 273 is provided on the inner circumferential wall of the annular protrusion 272, and the first connecting ring 1 has an annular groove 11 that cooperates with the outer circumferential wall of the annular protrusion 272. Thus, the cooperation between the annular groove 11 and the annular protrusion 272 facilitates the assembly of the rotating ring 27 and the first connecting ring 1, ensuring that the rotating ring 27 and the first connecting ring 1 can be coaxially installed, thereby ensuring that the rotating ring 27 can stably drive the first connecting ring 1 to rotate.

[0043] In some embodiments, as shown in FIG3 , a matching hole 13 is provided on the first connecting ring 1, and the first fixing element cooperates with the matching hole 13 and is connected to the limb located at one end of the limb joint. It is understandable that in actual practical use, the first fixing element can be a strap or a ring, and the first fixing element is used to tie or fix the first connecting ring 1 to the limb that needs assistance. The binding position and tightness can also be appropriately adjusted according to actual needs, while ensuring that the rotation center of the first connecting ring 1 is highly matched with the rotation center of the limb joint, providing the user with a more comfortable wearing experience. As a result, it is convenient to wear the modular mechanical free clutch exoskeleton joint on the limb, and it is highly matched with the rotation center of the joint, and the more comfortable wearing experience can improve user satisfaction. Of course, in other embodiments of the present invention, the first fixing element can also select other connecting components according to actual needs, and is not limited to straps and rings.

[0044] In some embodiments, as shown in FIG3 , a snap-in groove 31 is provided on the second connecting ring 3, and the second fixing element fits into the snap-in groove 31 and is connected to the limb at the other end of the limb joint. It is understandable that in actual practical application, the second fixing element can be a strap or a ring, and the second connecting ring 3 is tied or fixed to the limb that needs assistance using the second fixing element. The binding position and tightness can also be appropriately adjusted according to actual needs, while ensuring that the rotation center of the second connecting ring 3 is highly matched with the rotation center of the limb joint, providing the user with a more comfortable wearing experience. As a result, it is convenient to wear the modular mechanical free clutch exoskeleton joint on the limb and highly match it with the joint rotation center, and the more comfortable wearing experience can improve user satisfaction. Of course, in other embodiments of the present invention, the second fixing element can also select other connecting components according to actual needs, and is not limited to straps and rings.

[0045] In some embodiments, angle information can be obtained by providing an angle sensor on the eccentric mass 28 or a gyroscope on the first connecting ring 1. It is understood that the angle sensor or gyroscope can detect the rotation angle of the eccentric mass 28 or the first connecting ring 1 and provide real-time feedback of the detected angle to the control system of the modular mechanical free clutch exoskeleton joint, thereby enabling the control system to monitor the working status of the modular mechanical free clutch exoskeleton joint and the user's movement status in real time. Furthermore, the angle sensor or gyroscope can accurately detect the angle of rotation of the eccentric mass 28 or the first connecting ring 1, thereby achieving precise control of the angle between the first connecting ring 1 and the second connecting ring 3, thereby improving the user experience.

[0046] Example:

[0047] The specific structure of a modular mechanical free clutch exoskeleton joint according to a specific embodiment of the present invention will be described below with reference to FIG1 to FIG4.

[0048] As shown in Figures 1-4, the modular mechanical free-clutch exoskeleton joint of this embodiment includes a first connecting ring 1, a second connecting ring 3, a bionic joint 2, and a drive element 4. The first connecting ring 1 is provided with an annular groove 11, with third fixing holes 12 spaced circumferentially outside the annular groove 11. The first connecting ring 1 is also provided with a mating hole 13 capable of mating with a first fixing element, which is used to connect to the limb at one end of the limb joint. The second connecting ring 3 has a snap-in groove 31 and a plurality of ninth fixing holes 32 spaced circumferentially.

[0049] The bionic joint 2 includes a mounting base 21, a wave generator 22, an outer gear ring 23, an inner gear 24, an inner sleeve 25, a bearing 26, a rotating ring 27, and an eccentric mass 28. The outer peripheral wall of the mounting base 21 is provided with a plurality of eighth fixing holes 211 spaced apart along its circumference, and the end face of the mounting base 21 is provided with a plurality of seventh fixing holes 212 spaced apart along its circumference. The inner peripheral wall of the wave generator 22 cooperates with the drive shaft of the driving member 4, and the outer peripheral wall of the wave generator 22 cooperates with the inner peripheral wall of the inner gear 24. The outer gear ring 23 is sleeved on the inner gear 24 and cooperates with the inner gear 24. The outer gear ring 23 is provided with a plurality of sixth fixing holes 231 spaced apart along its circumference, and the inner peripheral wall of the wave generator 22 cooperates with the inner peripheral wall of the inner gear 24. The gear 24 is provided with a plurality of fourth fixing holes 241 spaced apart along its circumference. The rotating ring 27 has an annular protrusion 272. The outer peripheral wall of the annular protrusion 272 fits in the annular groove 11, and the inner peripheral wall of the annular protrusion 272 is provided with a mounting groove 273. The mounting groove 273 has an abutting driving surface that can stop at the eccentric block 28. The eccentric block 28 is provided with a plurality of fifth fixing holes 281, and is installed on the internal gear 24 and rotatably fits in the mounting groove 273. The first connecting member passes through the third fixing hole 12, the second fixing hole 271, and the first fixing hole 251 to connect the inner sleeve 25, the rotating ring 27, and the first connecting ring 1. The second connecting member passes through the fifth fixing hole 281 and the fourth fixing hole 241 to connect the internal gear 24 and the eccentric weight 28. The third connecting member passes through the sixth fixing hole 231 and the seventh fixing hole 212 to connect the outer ring gear 23 and the mounting seat 21. The fourth connecting member passes through the ninth fixing hole 32 and the eighth fixing hole 211 to connect the second connecting ring 3 and the mounting seat 21. In this embodiment, the power-assisted auxiliary stroke for limb joint movement is within the central angle range of 140°, and the free stroke of the limb joint is within the central angle range of 220°. However, it should be noted that the stroke range here is only an example and can be adjusted according to the actual required motion range of different limb joints. For example, the maximum flexion range of the hip joint is less than or equal to 120°.

[0050] The method of using the modular mechanical free clutch exoskeleton joint of this embodiment is as follows:

[0051] Use a strap and a tie ring through the matching hole 13 to fix the first connecting ring 1 to the limb at one end of the limb joint that needs assistance. Use a strap and a tie ring through the clamping groove 31 to fix the second connecting ring 3 to the limb at the other end of the limb joint that needs assistance, and ensure that the rotation center of the bionic joint 2 is aligned with the center of the limb joint.

[0052] The driving member 4 is started to rotate forward, causing the internal gear 24 to drive the eccentric mass 28 to rotate counterclockwise until it stops at the abutment driving surface at the mounting groove 273. The eccentric mass 28 continues to rotate, driving the rotating ring 27 to rotate counterclockwise as well, thereby reducing the angle between the first connecting ring 1 and the second connecting ring 3, thereby assisting the user's limb joints in flexion movement.

[0053] The driving member 4 is started to rotate in reverse, so that the internal gear 24 drives the eccentric block 28 to rotate clockwise until it stops at the abutting driving surface of the mounting groove 273. The eccentric block 28 continues to rotate, which can drive the rotating ring 27 to rotate clockwise as well, so that the angle between the first connecting ring 1 and the second connecting ring 3 becomes larger, thereby assisting the user's limb joints in stretching exercises;

[0054] When the user needs to move freely, he first needs to drive the eccentric block 28 to disengage from the abutting driving surface of the rotating ring 27 through the driving member 4, so that the eccentric block 28 returns to the idle stroke area, and then stop the driving member 4. When the user stretches or flexes, the eccentric block 28 will not contact the abutting driving surface of the rotating ring 27. Within the range of this free stroke, the first connecting ring 1 can rotate freely relative to the second connecting ring 3 without affecting each other, thereby ensuring that the user can stretch or flex freely.

[0055] When the driving member 4 rotates and the user moves freely, the angle sensor or gyroscope can detect the rotation angle of the eccentric mass 28 or the first connecting ring 1, and feed back the detected angle to the control system of the modular mechanical free clutch exoskeleton joint in real time, so that the control system can monitor the working status of the modular mechanical free clutch exoskeleton joint and the user's movement status in real time.

[0056] The beneficial effects of the modular mechanical free clutch exoskeleton joint of this embodiment are as follows:

[0057] First: The eccentric block 28 and the rotating ring 27 are used in conjunction to achieve the switching between auxiliary power assistance for limb joint movement and free movement. The mechanism design is simple, efficient and compact. It not only has a high degree of coupling with the limb joints, but also does not require power drive during free movement, greatly reducing energy consumption.

[0058] Second, it adopts a compact configuration with a streamlined and lightweight design. Through bionic analysis, the drive unit 4 and reducer are highly integrated, and the overall space volume is extremely small, with the advantages of lightweight and miniaturization. It can be applied to assist large joints of the limbs, such as shoulders, elbows, hips, and knees, and has high personalized adaptability.

[0059] Third: By reserving binding end interfaces (matching holes 13 and snap-in slots 31) on the first connecting ring 1 and the second connecting ring 3, appropriate binding or fastening elements can be selected according to the needs of specific joints, making the modular mechanical free clutch exoskeleton joint more lightweight, integrated, and universal. It can not only improve the wearing comfort and portability, but also flexibly adjust the binding and fixing method according to the different positions and sizes of limb joints required by different users.

[0060] Throughout this specification, references to "some embodiments," "other embodiments," and the like indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0061] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A modular mechanical free clutch exoskeleton joint, characterized in that: include: A first connecting ring (1), the first connecting ring (1) being used to be connected to a limb located at one end of a limb joint; A second connecting ring (3), the second connecting ring (3) being used to be connected to the limb located at the other end of the limb joint; A bionic joint (2), the bionic joint (2) comprising a mounting seat (21), a rotating ring (27) and an eccentric block (28), the mounting seat (21) being connected to the second connecting ring (3), the rotating ring (27) being connected to the first connecting ring (1), the rotating ring (27) having a mounting groove (273), the eccentric block (28) being rotatably connected in the mounting groove (273), and the mounting groove (273) having an abutting driving surface capable of abutting against the eccentric block (28); A driving member (4), the driving member (4) being mounted on the mounting seat (21), the driving shaft of the driving member (4) being in transmission cooperation with the eccentric block (28) to drive the eccentric block (28) to rotate, wherein: When the eccentric block (28) contacts the abutting driving surface of the rotating ring (27), the eccentric block (28) can drive the rotating ring (27) to rotate during the rotation process, thereby driving the first connecting ring (1) to rotate relative to the second connecting ring (3); When the eccentric block (28) is not in contact with the abutment driving surface of the rotating ring (27), the second connecting ring (3) can freely rotate relative to the first connecting ring (1) under the action of the limb joint.

2. The modular mechanical free clutch exoskeleton joint according to claim 1, characterized in that: The bionic joint (2) further comprises a reducer, wherein the power input and output ends of the reducer cooperate with the drive shaft of the drive member (4), and the power output end of the reducer cooperates with the eccentric block (28).

3. The modular mechanical free clutch exoskeleton joint according to claim 2, characterized in that: The reducer comprises a wave generator (22), an internal gear (24) and an outer gear ring (23); the wave generator (22) cooperates with the driving shaft of the driving member (4); the internal gear (24) is sleeved on the wave generator (22); the outer gear ring (23) is installed on the mounting seat (21) and sleeved on the internal gear (24) to mesh with the internal gear (24); the internal gear (24) is in transmission cooperation with the eccentric block (28).

4. The modular mechanical free clutch exoskeleton joint according to claim 3, characterized in that: The bionic joint (2) further comprises an inner sleeve (25), the inner sleeve (25) being coaxially arranged with the outer gear ring (23), and the inner circumferential wall of the inner sleeve (25) being spaced apart from the outer wall of the outer gear ring (23), the rotating ring (27) being mounted on the inner sleeve (25), and a bearing (26) being arranged between the inner sleeve (25) and the mounting seat (21).

5. The modular mechanical free clutch exoskeleton joint according to claim 4, characterized in that: A first fixing hole (251) is provided on the end surface of the inner sleeve (25), a second fixing hole (271) is provided on the rotating ring (27), a third fixing hole (12) is provided on the first connecting ring (1), and a first connecting member passes through the third fixing hole (12), the second fixing hole (271) and the first fixing hole (251) to connect the inner sleeve (25), the rotating ring (27) and the first connecting ring (1).

6. The modular mechanical free clutch exoskeleton joint according to claim 3, characterized in that: A fourth fixing hole (241) is provided on the end surface of the internal gear (24), a fifth fixing hole (281) is provided on the eccentric block (28), and a second connecting member passes through the fifth fixing hole (281) and the fourth fixing hole (241) to connect the internal gear (24) and the eccentric block (28).

7. The modular mechanical free clutch exoskeleton joint according to claim 3, characterized in that: The outer gear ring (23) is provided with a sixth fixing hole (231), the mounting seat (21) is provided with a seventh fixing hole (212), and a third connecting member passes through the sixth fixing hole (231) and the seventh fixing hole (212) to connect the outer gear ring (23) and the mounting seat (21).

8. The modular mechanical free clutch exoskeleton joint according to any one of claims 1-7, characterized in that: The rotating ring (27) has an annular protrusion (272), the mounting groove (273) is arranged on the annular protrusion (272), and the first connecting ring (1) has an annular groove (11) matched with the annular protrusion (272).

9. The modular mechanical free clutch exoskeleton joint according to any one of claims 1 to 7, characterized in that: The first connecting ring (1) is provided with a matching hole (13), and the first fixing element matches with the matching hole (13) and is connected to the limb located at one end of the limb joint; and / or, the second connecting ring (3) is provided with a snap-in groove (31), and the second fixing element matches in the snap-in groove (31) and is connected to the limb located at the other end of the limb joint.

10. The modular mechanical free clutch exoskeleton joint according to any one of claims 1-7, characterized in that: An angle sensor (29) is provided on the eccentric block (28).

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