23 results about "Knee joint structure" patented technology

A robot leg structure imitating tendon motion control comprises a thigh structure, a shank structure and a motion control assembly part, the bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, and a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure; the motion control assembly part is arranged at the top of the thigh structure or above the thigh structure, the motion control assembly part is connected with at least one tendon-imitating driving stay wire structure, and the tendon-imitating driving stay wire structure is used for controlling and connecting the thigh structure, the shank structure and / or the foot plate structure. According to the robot, the dynamic performance, the naturalness and the flexibility are good, the joint load is small, the whole leg can be slender and exquisite, the stability of the joint structure is high, the needed initial driving force is small, therefore, the power consumption can be lower, and the robot has the long-time endurance walking capacity.

The invention belongs to the field of mechanical legs, and particularly relates to an active and passive switching structure, a switching method, a knee joint system and a mechanical leg. Wherein the driving and driven switching structure comprises a driving wheel, a transmission wheel II, a driven wheel, a bracket and a clutch mechanism; the driving wheel and the driven wheel are rotationally arranged on the support, the driving wheel is connected with the rotary driving mechanism, and the driven wheel is used for being connected with a driving part of the knee joint structure; the clutch mechanism comprises an operating part and a locking part, the operating part comprises a rotating part rotationally arranged on the axis of the driving wheel and a clutch rod fixedly arranged on the rotating part, the transmission wheel II is rotationally arranged on the clutch rod, and the transmission wheel II and the driven wheel are rotationally matched or separated by rotating the clutch rod. The active-passive switching structure is used for achieving rapid switching of active movement and passive movement of the knee joint structure, and after a rotary driving mechanism of the mechanical leg loses power, the knee joint structure can be switched to be in a passive movement state, so that the mechanical leg can still be used as a passive mechanical leg.

A double-foot humanoid robot leg comprises a waist joint supporting piece, a left leg structure and a right leg structure are installed on the two sides of the waist joint supporting piece through lateral joint components respectively, and each of the left leg structure and the right leg structure comprises a thigh structure, a shank structure and a motion control assembly part. The bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure, and the motion control assembly part is installed at the top of the thigh structure, connected with a tendon-imitating driving pull wire assembly and provided with an installation outer shell. A lateral joint connecting part is arranged on the installation outer shell and used for being connected with a lateral joint component. According to the utility model, the dynamic performance, the naturalness and the flexibility are excellent, the far-end driving is realized, the joint load and the rotational inertia are small, the stability of the joint structure is high, and the required initial driving force is smaller, so that the power consumption is lower.

The application discloses a single-shaft active and passive mixed driving intelligent artificial knee joint structure with energy recovery function, which comprises a joint rotating module, a gear transmission module, a hydraulic damping module, a rack and a motor. The gear transmission module comprises a primary bevel gear transmission system, a secondary gear transmission system, a synchronous belt wheel transmission assembly and a transmission rack. The motor is fixed on the transmission rack. In the active stage, the motor provides an active driving torque for the knee joint through the gear transmission module and the joint rotating module. In the passive stage, the joint rotating module transmits a passive torque of the knee joint to the motor through the gear transmission module, drives the motor to rotate, so that the motor generates electricity to recover energy, and the hydraulic damping module provides a damping torque to ensure the stability of the knee joint. In various use occasions, the required damping or driving torque can be obtained, the power consumption of the motor can be reduced by recovering the passive torque of the knee joint in the passive stage, and the working endurance of the intelligent artificial limb is improved.

The invention discloses a lower limb rehabilitation auxiliary robot, which relates to the technical field of rehabilitation medical instruments and comprises a waist structure, a crotch structure, a leg structure, a knee joint structure, an ankle structure and a foot structure. The leg structure is provided with an upper plate, a lower plate and a leg limiting structure, the upper plate and the lower plate are arranged up and down, an inserting groove is formed in the lower end of the upper plate, the upper end of the lower plate is inserted into the inserting groove in a sliding fit mode, a clamping groove penetrating into the inserting groove is further formed in the upper plate, and the leg limiting structure is installed at the clamping groove and used for limiting relative sliding of the upper plate and the lower plate during locking. The leg structures and the waist structure have the functions of flexibly adjusting and locking the length and the width respectively, and SEA series elastic actuators in the knee joint structures provide an elastic receding interval within a certain range for a patient on the included angle parameters of the thigh structures and the shank structures. Full-parameter adaptation, safe elastic driving and efficient rehabilitation training of the body type of the patient can be achieved, and the device is suitable for full-process rehabilitation treatment of different dyskinesia patients.

The utility model discloses a kind of multi-posture lower limbs exoskeleton rehabilitation training devices, including bed-chair conversion mechanism, double scissor lifting mechanism, hip plate support mechanism, flexible lower limbs exoskeleton mechanism and power device.Bed-chair conversion mechanism is matched with tripod through electric push rod, realizes the conversion of lying, sitting posture and standing posture;Double scissor lifting mechanism adopts scissor structure and electric push rod to realize lifting, bottom is equipped with trundle;Hip plate support mechanism is matched with support rod by spring shaft, provides stable support under different postures;Flexible lower limbs exoskeleton mechanism includes hip joint and knee joint structure, hip joint is driven in parallel by Bowden cable and spring, knee joint is driven by electric push rod.The device is also provided with control handle, integrated rocker, OLED display, voice control and STM32 single-chip microcomputer, to facilitate patient flexible control.The utility model can realize the switching of multiple rehabilitation postures, improve rehabilitation training effect.

The wearable knee joint exoskeleton rehabilitation robot is characterized in that a first protector is provided with a first end and a second end which are arranged side by side, a second protector is also provided with a first end and a second end which are arranged side by side, and the first end of the first protector is rotationally connected with the first end of the second protector through a joint component; the joint motor module is provided with a motor stator and a motor rotor, the second end of the first protective tool is fixedly connected with the motor stator, the second end of the second protective tool is fixedly connected with the motor rotor, the joint motor module is electrically connected with the controller, and the first protective tool and the second protective tool are both of a carbon fiber material integrally-formed structure. Through the arrangement of the joint motor module, the problems that in the prior art, a knee joint power-assisted exoskeleton robot is cumbersome in design and cannot be widely applied in life are solved, and through the design of a humanoid knee joint structure, the human-machine compatibility, the energy utilization rate and the use safety are improved while the knee joint is protected.

The utility model relates to a knee joint ice compress device convenient to wear, and provides the knee joint ice compress device convenient to wear in some embodiments. Comprising a clamping plate, a first supporting rod, a second supporting rod, first wearing mechanisms fixedly arranged on the first supporting rod and the second supporting rod and symmetrically arranged at the two ends of the first supporting rod and the second supporting rod, and second wearing mechanisms fixedly arranged on the first supporting rod and the second supporting rod and symmetrically arranged at the two ends of the first supporting rod and the second supporting rod. The ice compress mechanism is arranged on the first supporting rod and the second supporting rod in a sliding manner; the ice compress mechanism is arranged to conduct ice compress on the knee joint, the ice bag does not need to be held by hand, the ice compress mechanism can slightly lift the ice bag to adapt to the knee joint structure, and the ice bag is prevented from pressing the knee joint.

The invention provides a knee joint motor injury electrical signal early warning protection method, and belongs to the technical field of early warning protection, and the method comprises the steps: obtaining leg posture images and physiological monitoring signals of a target patient in multiple motion states, extracting specific joint features and common joint features, and constructing a physical quality portrait; fusing the first deployment diagram and the third deployment diagram through position mapping of the joint features and the knee joint structure to obtain a comprehensive deployment diagram; configuring a monitoring assembly according to the image, collecting a knee joint electrical signal set and a self-quality feedback signal, and calculating a physical quality positive difference vector; and comparing the electrical signal with a signal standard library to obtain an initial damage-probability signal vector, and outputting early warning protection by matching a vector-early warning mapping table after positive difference vector optimization. Multi-scene adaptation, personalized monitoring and accurate early warning are achieved, the influence of forward change of physical quality on injury risks is fully considered, and reliable support is provided for knee joint movement injury protection.

The utility model discloses an exoskeleton knee joint structure capable of adapting to different leg widths, and aims to solve the problems that an existing exoskeleton knee joint structure supports a skeleton on one side, damage to a knee joint cannot be effectively reduced, even pain and even damage of the knee joint may occur, and a wrapping structure cannot adjust the width size or the adjusting process is complex. The device comprises thigh structures, bionic knee joints, shank structures and binding structures, the thigh structures and the shank structures are hinged through the bionic knee joints, and the binding structures are installed on the inner sides of the thigh structures and the inner sides of the shank structures; each binding structure comprises a BOA screw, a fixing steel wire, an inserting buckle, a fixed binding belt, a movable binding belt and a binding liner, the binding liners in the two binding structures are installed on the inner side of the thigh structure and the inner side of the shank structure respectively, and the fixed binding belts and the movable binding belts are fixed to the two sides of the binding liners respectively.

The invention belongs to the field of mechanical legs, and particularly relates to a knee joint structure, a knee joint movement method and a mechanical leg, and the knee joint structure comprises a four-bar mechanism and a rotating wheel mechanism; the four-connecting-rod mechanism comprises a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod IV which are sequentially hinged end to end, the connecting rod I is used for connecting thighs of the mechanical legs, and the connecting rod III is used for connecting shanks of the mechanical legs; the rotating wheel mechanism comprises a connecting rod V and a connecting rod VI which are hinged to each other, a transmission wheel I is rotationally arranged on the hinged axis of the connecting rod V and the connecting rod VI, a driving wheel / driven wheel rotationally matched with the transmission wheel I is rotationally arranged on the connecting rod V, and the driving wheel / driven wheel is rotationally arranged on the connecting rod I; the connecting rod VI is rotationally provided with a driven / driving wheel rotationally matched with the transmission wheel I. The driven / driving wheel is rotationally arranged on the connecting rod III. According to the invention, excellent optimization effects are embodied in the aspects of passive motion stability, structural bearing capacity and module redundancy design.

A knee joint structure featuring hydraulic control includes a knee-joint base having a receiving space, an upper fluid channel, a lower fluid channel and a common channel; a hydraulic axle core arranged in the receiving space; a fluid barrier block arranged on an internal wall of the knee-joint base and in contact with the hydraulic axle core to divide the receiving space into upper and lower fluid chambers. The upper and lower fluid chambers are respectively in communication with the upper and lower fluid channels. The fluid barrier block is in communication with the common channel. The cushioning fluid chamber is directly formed in the knee-joint base so that the cost is reduced, and during bending of the knee-joint base, a pressure difference of the upper and lower fluid chambers cause fluid to flow therebetween to realize a hydraulic cushioning effect.

The invention relates to a knee joint structure with hydraulic control, comprising: a knee joint head (10) having a receiving space (11), an upper oil channel (12), a lower oil channel (13), and a common channel (14); a hydraulic axis (20) arranged in the receiving space (11); and an oil barrier block (30) arranged on the inner wall of the knee joint head (10), in contact with the hydraulic axis (20), and defining the receiving space (11) into an upper oil chamber (111) and a lower oil chamber (112), wherein the upper oil chamber (111) is connected to the upper oil channel (12), the lower oil chamber (112) is connected to the lower oil channel (13), and the oil barrier block (30) is connected to the common channel (14).By arranging the buffer oil chamber directly inside the knee joint head, the present invention not only saves costs but also achieves a buffer effect, allowing fluid to circulate directly through the pressure difference between the upper and lower oil chambers during rotation (clockwise or counterclockwise) and flexion of the knee joint head. For example, the load on the user's walking can be effectively reduced, making the gait more natural and relaxed.

The utility model discloses a knee joint structure and a robot, and belongs to the technical field of humanoid robots, the knee joint structure comprises a driver, a driven part and a middleware, one end of the middleware is connected with the driver, the other end of the middleware is connected with the driven part, the driver drives the middleware, and the driven part is connected with the driver. The middle part drives the driven part; the driver simulates a thigh, the telescopic part of the driver simulates the lower end of a thigh and is used for providing driving force for a knee joint, the driven part simulates the upper end of a tibia, the middle part simulates a ligament, the driver drives the middle part firstly, and then the middle part drives the driven part to move, so that the driven part moves under the assistance of the middle part; relative sliding of the thighbone and the tibia and bending movement of the knee joint are simulated; compared with an existing knee joint structure doing circular motion, the position of the actuator is raised, the middle piece and the driven piece are light in weight, the rotational inertia of the knee joint is reduced, and even load bearing is further achieved.

The present invention belongs to the field of robotics-related technologies and discloses a humanoid robot leg structure assembly and a humanoid robot. The leg structure assembly includes: a hip joint assembly including three drive modules to achieve three-degree-of-freedom rotational motion similar to that of a human hip; a knee joint assembly including a knee joint structure, a knee joint drive module, and a knee joint transmission assembly. The knee joint drive module is mounted at the upper end of the thigh structure and drives the calf structure to achieve flexion and extension through the knee joint transmission assembly; and an ankle joint assembly including an ankle joint structure, an ankle joint drive module, and an ankle joint transmission assembly. The ankle joint drive module is mounted at the upper end of the thigh structure and below the knee joint drive module. The ankle joint drive module drives the foot structure to achieve plantar flexion / dorsiflexion and eversion / adduction motion through the ankle joint transmission assembly. The present invention moves the drive module upward to the upper end of the thigh structure, resulting in no drive module at the end, centralized mass, and low moment of inertia, which is beneficial for increasing the movement frequency of the humanoid robot.

The application belongs to the field of mechanical legs, and particularly relates to a knee joint structure, a knee joint movement method and a mechanical leg, wherein the knee joint structure comprises a four-bar linkage mechanism and a rotating wheel mechanism; the four-bar linkage mechanism comprises sequentially hinged connecting rod I, connecting rod II, connecting rod III and connecting rod IV in head-tail mode, wherein the connecting rod I is used for connecting the thigh of the mechanical leg, and the connecting rod III is used for connecting the lower leg of the mechanical leg; the rotating wheel mechanism comprises connecting rod V and connecting rod VI which are hingedly connected to each other, a transmission wheel I is rotationally arranged on the hinged axis of the connecting rod V and the connecting rod VI, a driving / driven wheel which rotationally cooperates with the transmission wheel I is rotationally arranged on the connecting rod V, the driving / driven wheel is rotationally arranged on the connecting rod I, a driven / driving wheel which rotationally cooperates with the transmission wheel I is rotationally arranged on the connecting rod VI, and the driven / driving wheel is rotationally arranged on the connecting rod III. The application has excellent optimization effect in passive movement stability, structural bearing capacity and module redundancy design.

A leg joint of a humanoid biped robot for tendon movement control comprises a waist joint supporting piece, a left leg structure and a right leg structure are installed on the two sides of the waist joint supporting piece through lateral joint components respectively, and each of the left leg structure and the right leg structure comprises a thigh structure, a shank structure and a movement control assembly part. The bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure, and the motion control assembly part is installed at the top of the thigh structure, connected with a tendon-imitating driving pull wire assembly and provided with an installation outer shell. A lateral joint connecting part is arranged on the installation outer shell and used for being connected with a lateral joint component. According to the invention, excellent dynamic performance, naturalness and flexibility can be realized, far-end driving is realized, the joint load and rotational inertia are small, the joint structure stability is high, and the required initial driving force is small, so that the power consumption is lower.

The application discloses a lower limb wearable assisting device based on a tensegrity structure, which comprises an exoskeleton wearing connection structure, a wearable knee joint structure, a wearable foot structure, a wearable ankle joint structure and a rope connection driving structure, the wearable knee joint structure is installed at the middle part of the exoskeleton wearing connection structure, the wearable foot structure is installed at the bottom of the exoskeleton wearing connection structure, the wearable ankle joint structure is installed at the back side of the wearable foot structure, and the wearable knee joint structure and the wearable foot structure are connected through the rope connection driving structure. The wearable structure and the tensegrity structure are combined, so that the whole has compliance, stability and flexibility, the structure is built more simply and quickly while the manufacturing cost is low, and the application prospect is wide.

A knee joint structure with double oil pressure control comprises a knee joint head, an oil pressure axis and an oil baffle block, the knee joint head, the oil pressure axis and the oil baffle block define a first oil pressure control structure and further comprise a second oil pressure control structure, and the second oil pressure control structure is provided with a rotatable strength adjusting valve on the knee joint head. The upper oil way, the lower oil way and the middle oil way are arranged in the knee joint head and communicated with the upper oil chamber and the lower oil chamber. The second oil pressure control structure has the function of adjusting the oil pressure intensity, so that a user can directly adjust the oil pressure intensity to rise and fall in four stages of high, medium, low and no under the condition that a valve needle is not adjusted so as to be matched with various dynamic actions of the user, for example, during fast step, the intensity is adjusted to be high by an intensity adjusting valve; during walking, the intensity adjusting valve is adjusted to be medium / low in intensity according to the use habit of a user; when a user rides the bicycle quickly, the user must have no resistance, and the strength adjusting valve is adjusted to have no strength.

A knee joint structure featuring hydraulic control includes a knee-joint base having a receiving space, an upper fluid channel, a lower fluid channel and a common channel; a hydraulic axle core arranged in the receiving space; a fluid barrier block arranged on an internal wall of the knee-joint base and in contact with the hydraulic axle core to divide the receiving space into upper and lower fluid chambers. The upper and lower fluid chambers are respectively in communication with the upper and lower fluid channels. The fluid barrier block is in communication with the common channel. The cushioning fluid chamber is directly formed in the knee-joint base so that the cost is reduced, and during bending of the knee-joint base, a pressure difference of the upper and lower fluid chambers cause fluid to flow therebetween to realize a hydraulic cushioning effect.

The application belongs to the field of mechanical legs, and particularly relates to a main-passive switching structure, a switching method, a knee joint system and a mechanical leg. The main-passive switching structure comprises a driving wheel, a transmission wheel II, a driven wheel, a support and a clutch mechanism. The driving wheel and the driven wheel are rotationally arranged on the support, the driving wheel is connected with a rotary driving mechanism, and the driven wheel is used for being connected with a driving part of a knee joint structure. The clutch mechanism comprises an operation part and a locking part. The operation part comprises a rotating piece rotationally arranged on an axis of the driving wheel, and a clutch rod fixedly arranged on the rotating piece. The transmission wheel II is rotationally arranged on the clutch rod. The transmission wheel II is rotationally matched with the driven wheel or separated from the driven wheel by rotating the clutch rod. The main-passive switching structure is used for realizing quick switching of active and passive movements of the knee joint structure. After the rotary driving mechanism of the mechanical leg loses power, the knee joint structure can be switched to a passive movement state, so that the knee joint structure can still be used as a passive mechanical leg.

The utility model discloses an in-vitro auxiliary exoskeleton support which comprises thigh rods corresponding to thighs of a human body, knee joint structural parts corresponding to knee joints of the human body and shank rods corresponding to shanks of the human body. The thigh rod is connected with the shank rod through the knee joint structural part, the thigh rod and the shank rod are hinged to each other through the knee joint structural part and can be positioned and fixed at an angle, and a sitting supporting part corresponding to the buttocks of the human body and an upper binding part used for binding the thigh rod to the thighs of the human body are installed on the thigh rod. A supporting leg rod used for supporting the ground is installed at the lower end of the shank rod, and a lower binding piece used for binding the shank rod to the shank of the human body is further installed on the shank rod. The utility model has the advantages that the human body can sit in a posture close to standing at any time after wearing, so that the fatigue of the lower limbs of the human body during operation is relieved, and the human body can walk naturally after wearing without any inconvenience during walking.

The utility model relates to a knee-joint-imitating anti-impact structure based on shear thickening fluid, and belongs to the technical field of buffering and energy absorption. The structure comprises a main body block body, a soft shell cavity and shear thickening liquid, the shear thickening fluid is sealed in the soft shell cavity, and the soft shell cavity is assembled and filled into the main body block; the main body block body is formed by connecting an upper block body, a lower block body and a thin-wall connecting curved beam and is integrally manufactured by a 3D printing technology; the bottom surfaces of the upper block body and the lower block body are square; the inner side interfaces of the upper block body and the lower block body are formed by stretching a cosine function curve of one cycle along the direction vertical to the paper surface; and the internal interface of the thin-wall connecting curved beam is formed by stretching a cosine function curve of one period along the direction vertical to the paper surface. The special rigidity characteristic of the knee joint structure is utilized, the shear thickening fluid is flexibly packaged, a deformation area is expanded, excellent impact resistance is achieved, and the knee joint structure has the advantages of being light in weight, controllable in size and easy to assemble.