CN114654449A - Active-passive combined wearable knee joint assistance exoskeleton - Google Patents
Active-passive combined wearable knee joint assistance exoskeleton Download PDFInfo
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- CN114654449A CN114654449A CN202210352669.1A CN202210352669A CN114654449A CN 114654449 A CN114654449 A CN 114654449A CN 202210352669 A CN202210352669 A CN 202210352669A CN 114654449 A CN114654449 A CN 114654449A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Abstract
An active-passive combination wearable knee joint assistance exoskeleton comprises a single-leg assistance unit, wherein the single-leg assistance unit comprises: a thigh frame assembly; the lower leg frame component is hinged with the upper leg frame component and forms a power assisting point; the integrated knee joint is arranged on the power assisting point and is used for actively assisting power; and the passive power assisting system is used for providing elastic passive power assisting. The invention adopts the active and passive combined modular design of the integrated electric knee joint and the die spring module, the active power assisting part realizes intelligent power assistance according to walking, deep-squat standing, half-squat maintaining, sitting posture standing and stair climbing steps, and the passive power assisting part can ensure large torque output in a specific action scene and improve the whole power assisting efficiency. The passive power assisting part can realize nonlinear energy storage and power assisting, reduces the impact on the Bowden cable and the patella when the passive energy storage module is started, prolongs the service life of the spring module of the passive die, and can realize active and passive power assisting.
Description
Technical Field
The invention belongs to the technical field of power assisting devices, and particularly relates to an active and passive combined wearable knee joint power assisting exoskeleton.
Background
The exoskeleton system integrates the robot technologies of sensing, controlling, information acquiring, mobile computing and the like, and is a man-machine integrated system which can complete functions and tasks of assisting in walking and the like under the unconscious control of an operator.
Exoskeleton systems generally have two distinct applications: firstly, the lost motion ability of the human is compensated; secondly, the motor ability of the human body is enhanced. For the first application, the main application objects of the exoskeleton system are patients with motor function loss caused by spinal cord injury, stroke and the like. The exoskeleton replaces or recovers the motor ability of the patient in the mode of an assistive device and a recovery device. For the second application, the exoskeleton system is mainly applied to the fields of industry, military affairs and the like, and the applications comprise: can strengthen the strength of four limbs of a person so as to lift a heavier object, strengthen the bearing capacity of the body of the person to prevent the joint from being damaged, or reduce the metabolism during long marching.
Among the exoskeleton systems, the exoskeleton system for assisting knee joint has been widely studied, and the main reasons are as follows: firstly, the exoskeleton robot required by the knee joint has less freedom degree, the requirement can be met by arranging a rotational freedom degree centering with the knee joint, secondly, the moment born by the knee joint is larger, the normal walking gait can reach more than 50Nm, and the knee joint assisting exoskeleton can obviously reduce the maximum muscle strength required by daily activities such as walking, squatting and the like and reduce the fatigue of a human body. In addition, the incidence rate of patellar osteoarthritis is high clinically, accounting for 73% of the total osteoarthritis, and the knee joint assisting exoskeleton can remarkably reduce impact on the patella.
The knee joint assistance exoskeleton robot can be divided into an active assistance mode and a passive assistance mode according to whether a battery is used or not.
The active power-assisted knee joint exoskeleton can continuously provide intelligent power assistance according to different gaits, such as functions of walking power assistance, stair climbing power assistance, motion buffering, body supporting and the like, and reduces muscle fatigue. However, the knee joint needs a large torque in the supporting stage, so that high requirements are provided for a motor and a speed reducer which are needed by pure active driving, and the problems of large equipment weight, insufficient assisting efficiency, limited cruising ability after long-time use and the like are often caused.
The passive power-assisted knee exoskeleton can realize the storage and redistribution of human body energy through an internal elastic structure, for example, the energy storage can be realized in the squatting motion, and the energy is released to provide assistance when standing is recovered. Larger torque forces can be achieved using elastic elements that store higher amounts of energy. In addition, the passive exoskeleton does not need a motor and a battery, so that the requirement on external energy supply can be reduced, and the passive exoskeleton is not limited by the problem of endurance. However, the passive assisting exoskeleton has a single torque output mode, most of the passive assisting exoskeleton is only in linear relation with the knee joint angle, intelligent assistance in an active assisting mode is difficult to realize, the elastic element with high energy storage weight is also heavy, and if the passive assisting exoskeleton is arranged near the knee joint, additional resisting torque is formed due to the fact that the passive assisting exoskeleton is far away from the center of gravity of the waist of a human body, so that the metabolic energy loss of the human body is increased.
Disclosure of Invention
In summary, how to provide an exoskeleton assistance system capable of providing dual assistance to achieve the combination of the advantages of using an active assistance exoskeleton and a passive assistance exoskeleton becomes a problem to be solved by those skilled in the art.
In order to solve the problems, the invention provides an active and passive combined wearable knee joint power-assisted exoskeleton, which is a wearable knee joint power-assisted exoskeleton robot with simple structure, accordance with the structure of a human body and convenient use.
Specifically, the technical scheme of the invention is as follows:
the invention provides an active and passive combined wearable knee joint assistance exoskeleton, which comprises a single-leg assistance unit, wherein the single-leg assistance unit comprises:
a thigh frame assembly for wearing on a thigh of a person;
the calf shelf component is used for being worn on the calf of a human body, and the calf shelf component and the thigh shelf component are hinged corresponding to the patella of the human body and form a force assisting point;
the integrated knee joint is used for providing electric active power assistance, is arranged on the power assistance point and is used for actively driving the rotation of the lower leg frame assembly relative to the upper leg frame assembly;
the passive power assisting system comprises a cam stay wire passive module and a passive adjustable die spring energy storage module which is in power connection with the cam stay wire passive module and is used for storing energy, wherein the cam stay wire passive module is arranged on the power assisting point, and the passive power assisting system can store human kinetic energy into elastic potential energy, release the stored elastic potential energy and be used for passively driving the shank frame assembly to rotate relative to the shank frame assembly.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton, the integrated knee joint comprises a motor integrated with a speed reducer, the motor comprises a stator and a rotor, and the stator and the rotor are respectively arranged on the upper leg frame assembly and the lower leg frame assembly.
Preferably, in the active and passive combined wearable knee joint assistance exoskeleton, the stator and the rotor are provided with limiting blocks for limiting the rotation of the rotor.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton, the cam cable passive module comprises a bowden cable guide fixing piece and a bowden cable fixed end restraint piece, wherein the bowden cable guide fixing piece is linked with the thigh frame assembly, the bowden cable fixed end restraint piece is linked with the shank frame assembly, the bowden cable guide fixing piece is hinged with the end part of the bowden cable fixed end restraint piece, and a hinged shaft of the bowden cable guide fixing piece and the bowden cable fixed end restraint piece is coaxial with a hinged shaft of the assisting point; a bowden wire guide block and a guide wheel which are used for guiding a bowden wire are arranged on the bowden wire guide fixing piece, the bowden wire guide block is arranged at the tail end of the bowden wire guide fixing piece, and the guide wheel is arranged in the middle of the bowden wire guide fixing piece; the hinged end of the Bowden cable fixed end restraint piece is provided with a clamping groove for clamping a Bowden cable, and the Bowden cable fixed end restraint piece is used for fixing the Bowden cable fixed end; the rotational movement of the bowden cable fixed end restraint relative to the bowden cable guide fixing part is transmitted through the bowden cable.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton, a cam is arranged at the hinged end of the bowden cable fixed end restraint, and the cam can abut against the bowden cable and is used for timely intervening in the rotation process of the lower leg frame assembly so as to increase the transmission efficiency of the bowden cable to the rotational motion of the bowden cable fixed end restraint.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton, the passive adjustable die spring energy storage module comprises a die spring fixing end and a die spring moving end which elastically moves relative to the die spring fixing end through a die spring, and the die spring moving end is connected with one end of a bowden cable and used for storing and releasing motion energy of the lower leg frame assembly through the bowden cable.
Preferably, in the active and passive combined wearable knee joint assistance exoskeleton, a slide rail is fixedly arranged relative to the fixed end of the mold spring, the extending direction of the slide rail is parallel to the extending and retracting direction of the mold spring, and a slide block in sliding fit with the slide rail is arranged at the moving end of the mold spring; the die spring is provided with two, and two the die spring symmetry branch is located the both sides of slide rail.
Preferably, in the active and passive combined wearable knee joint assistance exoskeleton, a tension wire wheel and a ratchet wheel assembly are arranged at the moving end of the die spring, and the ratchet wheel assembly comprises a ratchet wheel linked with the tension wire wheel and a pawl matched with the ratchet wheel; the bowden cable is connected with the tensioning cable pulley; the ratchet wheel is also provided with a ratchet wheel adjusting knob.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton provided by the invention, the exoskeleton further comprises a binding mechanism with a heterogeneous design, the binding mechanism comprises a combined waist strap, and the combined waist strap is connected with the thigh frame assembly through an elastic bandage and buckles; the thigh frame assembly comprises a thigh frame which is designed according to human engineering and is matched with the contour shape of the thigh and the leg of a human body, and a binding belt is arranged on the thigh frame; the shank frame component comprises a shank frame which is designed according to human engineering and is matched with the contour shape of the shank of a human body, and a binding belt is arranged on the shank frame.
Preferably, the active-passive combined wearable knee joint assisting exoskeleton further comprises a main control unit and two sensors for acquiring motion control parameters of human legs during action, the sensors are arranged on the single leg assisting units and are in signal connection with the main control unit, and the main control unit is in control connection with the integrated knee joints of the two single leg assisting units respectively and controls the two single leg assisting units respectively through a finite state machine algorithm.
The invention has the following beneficial effects:
the invention provides an active and passive combined wearable knee joint assistance exoskeleton, which comprises a single-leg assistance unit, wherein the single-leg assistance unit comprises: a thigh frame assembly for wearing on a thigh of a person; the calf shelf component is used for being worn on the calf of a human body, and the calf shelf component and the thigh shelf component are hinged corresponding to the patella of the human body and form a power assisting point; the integrated knee joint is arranged on the power assisting point and used for actively driving the shank frame component to rotate relative to the thigh frame component; the passive power assisting system comprises a cam stay wire passive module and a passive adjustable die spring energy storage module which is in power connection with the cam stay wire passive module and is used for storing energy, wherein the cam stay wire passive module is arranged on a power assisting point, and the passive power assisting system can store human body kinetic energy into elastic potential energy, release the stored elastic potential energy and be used for realizing the rotation of the passive driving crus frame assembly relative to the thigh frame assembly.
Through the structural design, the active and passive combined wearable knee joint assistance exoskeleton provided by the invention at least has the following advantages:
1. according to the invention, an active and passive combined modular design that an integrated electric knee joint and a die spring module are matched is adopted, intelligent assistance is carried out according to walking, deep-squat standing, half-squat maintaining, sitting posture standing and stair climbing steps by an active assistance part, a large moment output under a specific action scene can be ensured by a passive assistance part, the integral assistance efficiency is improved, and the active part and the passive part are completely independent;
2. the passive power assisting part utilizes a die spring with a large elastic coefficient to combine with a Bowden cable, a cam, a guide wheel and the like to form a passive adjustable energy storage module, the outer contour of the cam is designed based on a cosine motion design algorithm, nonlinear energy storage and power assisting are realized, the impact on the Bowden cable and patella when the passive energy storage module is started is reduced, and the service life of the passive die spring module is prolonged;
3. the combined waist and back strap adopts the design of the isomerous degree of freedom at the hip joint position, and utilizes the triangular connection of the front and the back pairs of flexible binding bands, thereby not only strengthening the fixation effect on the knee joint exoskeleton and keeping the knee joint exoskeleton at the relatively fixed position of the legs, but also ensuring that the rotation center of the knee joint exoskeleton does not deviate when a human body moves. The interference to the movement of the hip joint is also avoided, and certain assistance to the hip joint is realized.
Drawings
Fig. 1 is a schematic overall structure diagram of an active-passive combined wearable knee joint assistance exoskeleton in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a single-leg power assisting unit according to an embodiment of the invention;
FIG. 3a is a front view of a single leg assist unit in an embodiment of the present invention;
FIG. 3b is a left side view of a single leg assist unit in an embodiment of the present invention;
FIG. 3c is a right side view of the single leg assist unit in an embodiment of the present invention;
FIG. 4a is an isometric view of a passive assist system in an embodiment of the invention;
FIG. 4b is an elevation view of a passive assist system in an embodiment of the present invention;
FIG. 4c is a left side view of a passive assist system in an embodiment of the invention;
FIG. 5a is a front view of a passively adjustable die spring energy storage module in an embodiment of the present invention;
FIG. 5b is a right side view of a passively adjustable die spring energy storage module in an embodiment of the present invention;
FIG. 5c is a rear view of a passively adjustable die spring energy storage module in an embodiment of the present invention;
FIG. 5d is a schematic diagram of an overall structure of a spring energy storage module of a passive adjustable mold according to an embodiment of the present invention;
FIG. 5e is a diagram of a shelled finished product of the passively adjustable die spring energy storage module in an embodiment of the invention;
fig. 6 is a schematic structural view of the combined waist belt in the embodiment of the present invention.
In fig. 1 to 6, the correspondence between the part names and the reference numerals is:
1 is an integrated electric knee joint, 2 is a passive power-assisted system, 3 is a cable containing an electric wire and a signal wire, 4 is a Bowden wire, 5 is a passive adjustable die spring energy storage module, 6 is a main control unit, 7 is a multifunctional combined back belt, 8 is an elastic bandage, 9 is a three-point type eye-splice, 10 is a shank frame, 11 is a flexible layer, 12 is an inertia measurement unit, 13 is a common eye-splice, 14 is a bandage, 15 is a motor, 16 is a rotor connecting piece, 17 is a limiting block, 18 is a thigh frame, 19 is a pressure sensor, 20 is a stator connecting piece, 21 is a Bowden wire guiding and fixing piece, 22 is a cam, 23 is a Bowden wire fixed end restraint piece, 24 is a Bowden wire fixed end, 25 is a Bowden wire guiding block which is wear-resistant in an exoskeleton, 26 is a guiding wheel, 27 is a die spring moving end, 28 is a ratchet wheel, 29 is a ratchet wheel adjusting knob, 30 is a die spring, 31 is a die spring fixed end, 32 is a slide rail, 33 is a pawl, 34 is a pawl adjusting knob, 35 is a wear-resistant Bowden wire guide block in the energy storage module, 36 is a slide rail fixing piece, 37 is an adjustable die spring energy storage module fixing binding piece, 38 is a tension wire wheel, 39 is a slide block, and 40 is a slide block and die spring moving end connecting piece.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In addition, in the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
Please refer to fig. 1 to fig. 6, wherein:
fig. 1 is a schematic overall structure diagram of an active-passive combined wearable knee joint assistance exoskeleton in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a single-leg power assisting unit in an embodiment of the invention;
FIG. 3a is a front view of a single leg assist unit in an embodiment of the present invention;
FIG. 3b is a left side view of the single leg assist unit in an embodiment of the present invention;
FIG. 3c is a right side view of the single leg assist unit in an embodiment of the present invention;
FIG. 4a is an isometric view of a passive assist system in an embodiment of the invention;
FIG. 4b is an elevation view of a passive assist system in an embodiment of the present invention;
FIG. 4c is a left side view of a passive assist system in accordance with an embodiment of the present invention;
FIG. 5a is a front view of a passively adjustable die spring accumulator module in an embodiment of the present invention;
FIG. 5b is a right side view of a passively adjustable die spring energy storage module in an embodiment of the present invention;
FIG. 5c is a rear view of a passively adjustable die spring energy storage module in accordance with an embodiment of the present invention;
FIG. 5d is a schematic diagram of the overall structure of the spring energy storage module of the passive adjustable mold according to the embodiment of the present invention;
FIG. 5e is a diagram of a shelled finished product of the passively adjustable mold spring energy storage module in an embodiment of the invention;
fig. 6 is a schematic structural view of the combined waist belt in the embodiment of the present invention.
The invention provides an active and passive combined wearable knee joint assistance exoskeleton, which is used for realizing active assistance and passive assistance of legs of a human body.
In the prior art, knee joint power assisting equipment is in an active power assisting mode (electrically driven) or a passive power assisting mode (mainly adopting a die spring 30 storage mode), and the single power assisting mode has certain power assisting mode defects.
The active-passive combined wearable knee joint assistance exoskeleton comprises a single-leg assistance unit, wherein the single-leg assistance unit is a component for providing assistance to a single leg of a human body. Generally, a human body comprises two legs, so that the active-passive combined wearable knee joint assistance exoskeleton provided by the invention is provided with two single-leg assistance units (which respectively provide assistance for the left leg and the right leg of the human body), and the two single-leg assistance units are consistent in structural composition. In order to describe the structure and the structure of the single-leg power assisting unit in more detail, the components of the active-passive combined wearable knee-joint power assisting exoskeleton are described in detail below.
The first structural part and the thigh frame component.
The thigh frame assembly is a structural member of the single-leg power assisting unit for being fixed on the thigh of the human body, and the thigh frame assembly can move along with the thigh of the human body.
In order to simplify the description of the structure of the present invention, the relative motion between the thigh and the calf is regarded as the motion of the calf relative to the thigh (the thigh is regarded as stationary) (the motion is rotational motion, that is, in the direction of travel, the calf rotates forward or rotates successively relative to the thigh, and there is no left-right deflection motion).
Specifically, the thigh frame assembly comprises a thigh frame 18, the thigh frame 18 is designed according to human engineering, the thigh frame 18 is of a cylindrical frame structure, an inner space formed by the thigh frame 18 is a space with a smooth surface, and after the thigh frame 18 is worn on a thigh of a human body, the thigh frame can be attached to the thigh of the human body to the greatest extent, so that the wearing comfort and firmness of the thigh frame 18 are improved.
Of course, the present invention can also provide a flexible layer 11 (silicone or sponge) on the inner side of the thigh frame 18, which can further improve the wearing comfort of the thigh frame 18.
The thigh frame 18 is also provided with a binding belt 14, the binding belt 14 is provided with a common insert buckle 13, and the wearing firmness of the thigh frame 18 can be further improved by arranging the binding belt 14.
The invention has two power assisting modes of active power assisting and passive power assisting, and the two power assisting modes can act on the thigh frame 18, therefore, the thigh frame 18 at least comprises thigh frame connecting plates which are arranged at the left and right, the two thigh frame connecting plates are arranged at the left and right, one thigh frame connecting plate is used for matching with the active power assisting, and the other thigh frame connecting plate is used for matching with the passive power assisting.
The present invention is not repeated in detail with respect to the specific structure of the thigh frame 18, so that the thigh frame can be firmly worn on the thigh of the human body, and the thigh frame has an optimal structure with high comfort.
In the present invention, the thigh frame 18 is made of a hard material, such as a metal material or a hard polymer material, preferably stainless steel or an aluminum alloy.
A second structural part and a lower leg frame component.
From the above, the thigh frame assembly can be regarded as stationary, while the calf frame assembly is hinged with the thigh frame assembly and rotatable about the hinge axis.
The calf shelf component provided by the invention is used for being worn on the calf of a human body, and the calf shelf component and the thigh shelf component are hinged corresponding to the patella position (the knee joint rotating shaft position of the human body) of the human body and form a force assisting point.
Specifically, the lower leg frame assembly includes a lower leg frame 10, the lower leg frame 10 is designed according to human engineering, the lower leg frame 10 is a cylindrical frame structure, and the inner space formed by the lower leg frame 10 is a space with a smooth surface.
The thigh frame 18 and the structural design of the thigh and the thigh can form a good human-computer interface, and after being worn, the thigh frame wraps the legs of a human body comprehensively, so that the effective transmission of force is promoted. In addition, the concave direction of the curved surface of the thigh frame 18 is consistent with that of the calf frame 10, which is beneficial for the user to put on and take off quickly and simply without lifting the foot. The thigh frame assembly and the shank frame assembly are made of aluminum alloy materials, strength required by output torque can be met through checking, and the whole weight is light.
When the thigh frame is worn, the feet of a human body penetrate through the thigh frame 18 and pass through the thigh frame 10 in sequence, then the thigh frame 18 is worn on the thigh, the shank frame 10 is worn on the shank, and finally the inserting buckle is inserted to realize fixation.
The inner space formed by the calf support 10 is a space with a smooth surface, and after the calf support 10 is worn on the calf of a human body, the calf support can be in contact fit with the calf of the human body to the maximum extent, so that the wearing comfort and firmness of the calf support 10 are improved.
Similar to the thigh frame 18, the present invention can also provide a flexible layer 11 on the medial side of the calf frame 10, which can further improve the comfort of wearing the calf frame 10.
The invention also provides a binding belt 14 on the calf support 10, a common eye-splice 13 is arranged on the binding belt 14, and the wearing firmness of the calf support 10 can be further improved by arranging the binding belt 14.
The invention has two power-assisted modes of active power assistance and passive power assistance, and the two power-assisted modes can act on the shank frame 10 similarly, so that the shank frame 10 at least also comprises shank frame connecting plates which are arranged at the left and right, the two shank frame connecting plates are arranged at the left and right, one shank frame connecting plate is used for matching with the active power assistance, and the other shank frame connecting plate is used for matching with the passive power assistance.
The present invention is not repeated in detail with respect to the specific structure of the calf support 10, and the present invention is an optimum structure for being able to be firmly worn on the calf of a human body while having high comfort.
The upper leg frame 18 and the lower leg frame 10 are hinged, the hinged part is defined as a power assisting point, and the hinged axis (a virtual axis) of the power assisting point is coaxial with the rotating shaft of the knee joint of the human body (when the human body is worn, the human body is self-adjusted by the wearer). Specifically, the hinge connection between the thigh frame 18 and the shank frame 10 is realized by the hinge connection of the end of the thigh frame connecting plate and the end of the shank frame connecting plate arranged on the same side.
And a structural part III is an integrated knee joint.
The integrated knee joint is a structural component for realizing active power assistance in the invention, and is used for providing electric active power assistance.
In the invention, the integrated knee joint is arranged on a power assisting point (specifically, on a connecting plate on one side, for example, a hinged part of a thigh frame connecting plate on the left side and a shank frame connecting plate, or a hinged part of a thigh frame connecting plate on the right side and a shank frame connecting plate), and the integrated knee joint takes electric energy as energy, and outputs torque through electric drive, so that the shank frame component is actively driven to rotate relative to the thigh frame component, and active power assisting is realized.
In one embodiment of the invention, the integrated knee joint comprises a reducer-integrated motor, the motor comprising a stator and a rotor, the stator and the rotor being disposed on the thigh frame assembly and the calf frame assembly, respectively.
The motor is integrated with a speed reducer, so that the purposes of speed reduction and torque increase can be achieved. The electric motor includes a rotor for power take-off. In a preferred embodiment of the present invention, the stator of the motor is fixedly disposed on the connecting plate of the thigh frame 18 (the bottom end of the thigh frame connecting plate, the bottom end of the thigh frame connecting plate adopts a flange structure as the stator connecting part 20 to realize the connection with the stator), the rotor is fixedly disposed on the connecting plate of the shank frame 10 (the upper end of the shank frame connecting plate, the upper end of the shank frame connecting plate adopts a flange structure as the rotor connecting part 16 to realize the connection with the rotor), wherein the rotation axis of the rotor is coaxial with the hinge axis between the thigh frame 18 and the shank frame 10 (i.e. coaxial with the rotation axis of the human knee joint), and the motor outputs torque (rotation motion) after being energized, so that the shank frame assembly can be driven to rotate (swing back and forth) relative to the thigh frame assembly to realize active power assistance.
Furthermore, in order to improve the use safety of the knee joint, the joint shell is arranged on the outer side of the motor, and the motor is arranged in the joint shell, so that the knee joint can protect the motor, the use safety of the knee joint can be improved, and foreign matters can be prevented from twisting into the integrated knee joint.
In order to avoid the excessive rotation of the integrated knee joint (if the integrated knee joint rotates excessively, the human knee joint is injured), the invention is provided with a limiting block 17 for limiting the rotation of the rotor on the stator and the rotor.
Specifically, the invention is provided with a fixed disc relative to the stator, a rotating disc relative to the rotor, a limit block 17 on the fixed disc, and a limit block 17 on the rotating disc, so that the rotation limit of the lower leg frame assembly is realized through the limit action of the two limit blocks 17.
Of course, the invention can also directly arrange the limit block 17 on the thigh frame 18 (thigh frame connecting plate) and the shank frame 10 (shank frame connecting plate).
In the present invention, the stator, the rotor, the stopper 17 and other members are preferably mounted on the upper leg frame assembly and the lower leg frame assembly by bolting, but other connection forms are also applicable to the present invention.
A structural part IV and a passive power assisting system 2.
The passive power assisting system 2 is a structural component for realizing passive power assisting, and the passive power assisting system 2 is used for providing elastic passive power assisting.
In the invention, the passive power assisting system 2 comprises a cam wire passive module and a passive adjustable die spring energy storage module 5 which is in power connection with the cam wire passive module and is used for storing energy.
The cam stay wire passive module can be linked with the lower leg frame assembly, so that the kinetic energy of the lower leg frame assembly is transferred to the passive adjustable die spring energy storage module 5 to be stored in an elastic potential energy mode, and can be stored in the passive adjustable die spring energy storage module 5 at a proper time (proper time means that when a human body squats down, the kinetic energy of the lower leg frame assembly is stored in the passive adjustable die spring energy storage module 5, and in the process that the human body stands from the squat posture, the elastic potential energy is released to drive the lower leg frame assembly to act to complete assistance), and the elastic potential energy is released to serve as passive assistance kinetic energy to act on the lower leg frame assembly, so that passive assistance is realized.
In the passive power assisting system 2, the bowden cable 4 is used in the invention, and the bowden cable 4, namely the brake cable, comprises a sheath and a pull wire, wherein the end part of the sheath is fixed relative to certain two structures (the thigh frame 18 and the die spring fixing end 31 in the invention), so that the power can be transmitted through the pull wire.
The cam stay wire passive module is arranged on the power assisting point and can be linked with the lower leg frame assembly, and the passive power assisting system 2 can store human kinetic energy into elastic potential energy, release the stored elastic potential energy and be used for realizing the rotation of the lower leg frame assembly relative to the upper leg frame assembly in a passive driving mode.
Specifically, the cam pull-cord passive module comprises a Bowden-cord guiding fixing piece 21 linked with the thigh frame assembly and a Bowden-cord fixed-end restraining piece 23 linked with the shank frame assembly, wherein the Bowden-cord guiding fixing piece 21 is hinged with the end part of the Bowden-cord fixed-end restraining piece 23, and a hinged shaft of the Bowden-cord guiding fixing piece 21 and the Bowden-cord fixed-end restraining piece 23 is coaxial with a hinged shaft of the power assisting point. The bowden cable guide fixing member 21 is a hard plate structure, preferably made of a metal material, and specifically, may be a stainless steel or aluminum alloy profile. The bowden cable guide fixing part 21 is fixedly arranged on the thigh frame connecting plate and can be linked with the thigh frame component (in the invention, the bowden cable guide fixing part 21 can be regarded as being fixed). The bowden cable guide fixing member 21 is provided at one end (upper end) with a bowden cable guide block 25, the sheath of the bowden cable 4 is fixed with respect to the bowden cable guide block 25, and the pull wire of the bowden cable 4 can be passed through the bowden cable guide block 25 (a guide groove is provided on the bowden cable guide block 25, and the pull wire is slidably provided in the guide groove of the bowden cable guide block 25).
The invention is provided with a Bowden wire guide block 25 for guiding the Bowden wire 4 on the Bowden wire guide fixing piece 21, and further provided with a guide wheel 26, wherein the pulling wire in the Bowden wire 4 can be wound (not wound by 360 degrees, the pulling wire is only contacted with part of the outer edge of the guide wheel 26) on the guide wheel 26 after passing through the Bowden wire guide block 25.
Specifically, the bowden cable guide block 25 is disposed at the distal end (upper end) of the bowden cable guide fixing member 21, and the guide pulley 26 is disposed at the middle of the bowden cable guide fixing member 21.
The hinged end of the bowden cable fixed end restraint 23 (the upper end of the bowden cable fixed end restraint 23 is hinged to the lower end of the bowden cable guide fixing part 21, the upper end of the bowden cable fixed end restraint 23 is the hinged end) is provided with a clamping groove (the clamping groove is arranged on the outer edge surface of the upper end of the bowden cable fixed end restraint 23) for clamping the bowden cable 4, and the bowden cable fixed end restraint 23 is used for fixing the fixed end of the bowden cable 4 (one end of a pull wire in the bowden cable 4). The rotational movement of the bowden cable fixing end restraint 23 relative to the bowden cable guide fixing 21 is transmitted via the bowden cable 4.
In the above structural design, the bowden cable fixing end restraint 23 is linked with the lower leg frame assembly, when a person squats, the lower leg frame assembly rotates relative to the upper leg frame assembly, so that the bowden cable fixing end restraint 23 can rotate relative to the bowden cable guiding and fixing member 21, one end of the pull wire in the bowden cable 4 is fixedly arranged on the bowden cable fixing end restraint 23, and the pull wire can be tensioned under the action of the movement of the bowden cable fixing end restraint 23 to realize the transmission of movement energy.
Further, as an improved focus of the present invention: the invention is provided with a cam 22 at the hinged end of the Bowden cable fixed end restraint 23, the cam 22 can be abutted against the Bowden cable 4 (when the motion state is changed to a certain limit, the cam 22 starts to abut against the pull wire of the Bowden cable 4, for example, the cam 22 does not abut against the pull wire of the Bowden cable 4 in the first half section of the squatting action, and when the squatting action is carried out to the second half section, the cam 22 starts to abut against the pull wire of the Bowden cable 4), so as to timely intervene in the rotation process of the calf frame component to increase the transmission efficiency of the Bowden cable 4 to the rotation motion of the Bowden cable fixed end restraint 23.
Specifically, the cam 22 is offset with respect to the hinge axis of the bowden cable fixing end binding member 23, and when the cam 22 rotates with the movement of the bowden cable fixing end binding member 23 and contacts the bowden cable 4 (pulling cable), the bowden cable fixing end binding member 23 continues to rotate, and the bowden cable 4 can be pressed by the outer edge of the cam 22 for tightening, and the efficiency of the transmission of the rotational movement of the bowden cable 4 to the bowden cable fixing end binding member 23 can be increased due to the additionally provided structure of the cam 22. By transmission efficiency (custom name) is meant the relation between the degree to which the bowden cable 4 is tensioned and the rotational movement of the fixed end restraint, for example: when the Bowden cable 4 is not in contact with the cam 22, the Bowden cable 4 is tensioned by 1N for every 1 DEG of the rotational movement of the fixed end restraint; when the Bowden cable 4 is in contact with the cam 22, the fixed end restraint continues to rotate, after which the force with which the Bowden cable 4 is tensioned in contact with the cam 22 is greater than 1N for every 1 ° of rotation of the fixed end restraint. The cam 22 structure is arranged, so that the passive power assisting system 2 can start to intervene for assisting when the action amplitude of a human body is larger than a certain limit. The above numerical descriptions are merely illustrative and do not represent actual data.
The passive adjustable die spring energy storage module 5 comprises a die spring fixing end 31 and a die spring moving end 27 which elastically moves relative to the die spring fixing end 31 through a die spring 30, wherein the die spring moving end 27 is connected with one end of a Bowden cable 4 (the other end of a pull wire in the Bowden cable 4) and is used for storing and releasing the motion energy of the lower leg frame assembly through the Bowden cable 4.
The die spring fixing end 31 is also provided with an energy storage module inner wear-resistant Bowden wire guide block 35 for guiding the pull wire in the Bowden wire 4. In addition, the adjustable die spring energy storage module fixing binding piece 37 is further arranged on the die spring fixing end 31, the adjustable die spring energy storage module fixing binding piece 37 is of a U-shaped clip structure, and a clip piece can be arranged on the combined back waistband 7 and used for clamping and fixing the adjustable die spring energy storage module fixing binding piece 37.
Further, a slide rail 32 is fixedly disposed on the mold spring fixing end 31 (specifically, the slide rail 32 is fixedly disposed on the mold spring fixing end 31 through a slide rail fixing member 36), the extending direction of the slide rail 32 is parallel to the extending and retracting direction of the mold spring 30, and a slide block 39 slidably engaged with the slide rail 32 is disposed on the mold spring moving end 27 (the slide block 39 is fixedly connected with a mold spring moving end connecting member 40 through a slide block, and the slide block and mold spring moving end connecting member 40 is a connecting member fixedly disposed on the mold spring moving end 27). The moving end 27 of the die spring is mounted to the fixed end 31 of the die spring by the slide rail 32 and the slide block 39, so that the moving end 27 of the die spring can move back and forth along a set path. Based on above-mentioned structure, set up mould spring 30 into two in this embodiment, two mould spring 30 symmetry branches locate the both sides of slide rail 32, and mould spring 30 sets up two and can make mould spring remove end 27 atress balanced, improves the stability that passive adjustable mould spring energy storage module 5 used.
The pull wire of the Bowden wire 4 is fixed to the die spring moving end 27, and in order to be able to adjust the tension of the pull wire of the Bowden wire 4, the invention provides a tension wire wheel 38 and a ratchet assembly. Wherein, the ratchet wheel component comprises a ratchet wheel 28 linked with a tension wire wheel 38 and a pawl 33 matched with the ratchet wheel 28, and the Bowden cable 4 is connected with the tension wire wheel 38. In order to facilitate the rotation adjustment of the ratchet wheel 28, the ratchet wheel 28 of the present invention is further provided with a ratchet wheel adjustment knob 29.
Further, in order to facilitate the adjustment of the pawl 33, the present invention further provides a pawl adjustment knob 34 on the pawl 33.
A fifth structural part and a combined waist brace.
The combination waist braces is the subassembly of guaranteeing the reliable wearing of single leg helping hand unit, and its structure does not make concrete introduction to can improve single leg helping hand unit and dress the fastness for the standard, still should have the travelling comfort that combination waist braces dressed simultaneously concurrently.
Specifically, the combined lumbar strap is connected to the thigh frame assembly by an elastic strap 8 and a three-point buckle 9.
The multifunctional combined back waistband 7 comprises braces, a waist seal, a front pair of elastic straps 8, a rear pair of elastic straps 8 and a three-point type buckle 9, wherein the braces and the waist seal enable shoulders and a waist to share part of the gravity of the exoskeleton respectively, and the flexible straps 14 and the three-point type buckle are connected in a triangular shape, so that the fixing effect on the exoskeleton of the knee joint can be strengthened, the exoskeleton of the knee joint can be maintained at the relatively fixed position of legs, and the rotation center of the exoskeleton of the knee joint is not deviated when a human body moves. The interference to the movement of the hip joint is also avoided, and certain assistance to the hip joint is realized. In addition, the three-point type buckle is convenient to unfasten and is beneficial to the wearing and taking off of a user.
And a sixth structural part and a control system.
The control system is a system for realizing intelligent control in the active power assisting process.
Specifically, the control system comprises a main control unit 6 (microcontroller) and a sensor for acquiring motion control parameters during the motion of the legs of the human body. The control parameters comprise pressure values of thighs and calves of a human body, inertia during movement, movement speed of a calves frame assembly and a thigh frame assembly and the like.
In the invention, two single-leg power assisting units are arranged, the sensor is arranged on the single-leg power assisting unit and is in signal connection with the main control unit 6, the main control unit 6 is respectively in control connection with the integrated knee joints of the two single-leg power assisting units, and the two single-leg power assisting units are respectively controlled through a finite state machine algorithm.
The cam stay wire driven module can realize the corresponding relation between the knee joint rotation angle and the stay wire extension length, thereby pulling the far-end driven adjustable die spring energy storage module 5. The cam pull wire passive module consists of a cam 22, a Bowden wire 4, a guide wheel 26 and a wear-resistant Bowden wire guide block 25 in the exoskeleton. The cam 22 is made of aluminum alloy with the surface subjected to oxidation treatment, so that the wear resistance of the cam is ensured, the outer contour of the cam 22 is designed and completed based on a cosine motion design algorithm, the algorithm aims at reducing the impact on the Bowden cable 4 when the passive energy storage module is triggered so as to prolong the service life of the Bowden cable 4, and nonlinear energy storage and assistance are realized so as to reduce the impact on the patella.
The above cosine motion design algorithm specifically includes: and designing the structure of the cam based on the cosine acceleration requirement of the cam.
The Bowden cable 4, namely the brake cable, is composed of a high-carbon steel wire bundle with high hardness, an abrasion-resistant polytetrafluoroethylene inner tube and a polyvinyl chloride outer tube, is extremely strong in toughness and not easy to bend, and can realize effective transmission of tensile force, and the guide wheel 26 and the abrasion-resistant Bowden cable guide block 25 in the exoskeleton are used for restraining the trend of the Bowden cable 4.
The passive adjustable die spring energy storage module 5 comprises a die spring 30, a die spring fixing end 31, a die spring moving end 27, a ratchet 28, a pawl 33, a slide rail 32, a slide block 39, a tension reel 38 and the like. When the knee joint rotates, the tension is transmitted to the tension wire wheel 38 in the energy storage module of the adjustable die spring 30 at the far end through the Bowden cable 4, the tension wire wheel 38 is connected with the moving end 27 of the die spring and the slide block 39, and the slide block 39 is matched with the slide rail 32, so that the die spring 30 can be driven to compress, and the die spring 30 can store energy. The ratchet 28 is coaxial with the tension wire wheel 38 and cooperates with the pawl 33 to adjust the tension force, so that the stiffness of the stored energy and output force of the die spring 30 is adjustable.
The control system includes a main control unit 6 and a cable 3 (an electric wire and a signal wire), and specifically, the control system includes a battery (a storage battery), a switch, a controller, an electric wire and a signal wire. The battery is used for supplying power to the exoskeleton integrated electric knee joint 1, the signal acquisition device and the controller (the main control unit 6), a control algorithm based on a finite state machine is written in the controller (the main control unit 6), the state judgment and the control of real-time torque output are carried out according to the data of the real-time angle and the speed of the motor encoder and the thigh inertia measurement unit, and the independent intelligent assistance of the left leg and the right leg can be realized. The electric wire and the signal wire are integrated in the corrugated pipe to avoid exposure.
The active and passive combined wearable knee joint assistance exoskeleton provided by the invention adopts an active and passive combined modular design in which an integrated electric knee joint 1 and a die spring 30 (a die spring module) are matched, the active part realizes intelligent assistance according to walking, deep squat standing, half squat maintaining, sitting posture standing and stair climbing gait, the passive part ensures specific action large moment output, the whole assistance efficiency is improved, and the active part and the passive part realize complete independence between the modules through the modular design. In addition, the passive part utilizes the die spring 30 with large elastic coefficient to combine with the Bowden cable 4, the cam 22, the guide wheel 26 and the like to form a passive adjustable energy storage module, the outer contour of the cam 22 is designed based on a cosine motion design algorithm for assistance, nonlinear energy storage and assistance are realized, impact on the Bowden cable 4 and the patella when the passive energy storage module is started is reduced, and the service life of the passive die spring 30 (the die spring module) is prolonged.
The binding mechanism is not designed in a free degree isomorphic way at the hip joint position according to the traditional three-degree-of-freedom (flexion, extension, adduction, abduction and internal and external rotation), but is designed in a free degree isomerous way by connecting the front and rear pairs of elastic binding bands 8 in a triangular shape, so that the fixation effect on the knee-joint exoskeleton is strengthened, the knee-joint exoskeleton is maintained at the relatively fixed position of the leg, the rotation center of the knee-joint exoskeleton is not deviated when a human body moves, the hip joint can be allowed to move in three degrees of freedom, certain assistance is realized on the hip joint, and the three-point type buckle 9 is adopted to facilitate the wearing and taking off of a user.
For the design of the binding mechanism, the exoskeleton designed strictly according to the number of degrees of freedom and the axis of a single joint belongs to an isomorphic design, and the exoskeleton is in a heterogeneous design compared with other types of exoskeletons with less degrees of freedom or non-concentricity. The elastic binding mechanism is used in the invention, the three-degree-of-freedom design (so called heterogeneous design) of the hip joint is not strictly designed, but the elastic binding mechanism can meet the activity requirement of the hip joint with three degrees of freedom, and realizes the fixation of the knee joint part, even the elasticity of the elastic binding mechanism can realize the assistance to the hip joint to a certain degree.
The invention provides an active and passive combined wearable knee joint assistance exoskeleton, which comprises a single-leg assistance unit, wherein the single-leg assistance unit comprises: a thigh frame assembly for wearing on a thigh of a person; the calf shelf component is used for being worn on the calf of a human body, and the calf shelf component and the thigh shelf component are hinged corresponding to the patella of the human body and form a power assisting point; the integrated knee joint is arranged on the power assisting point and used for actively driving the shank frame component to rotate relative to the thigh frame component; the passive power assisting system 2 is used for providing elastic passive power assisting, the passive power assisting system 2 comprises a cam wire pulling passive module and a passive adjustable die spring energy storage module 5 which is in power connection with the cam wire pulling passive module and is used for storing energy, the cam wire pulling passive module is arranged on a power assisting point, the passive power assisting system 2 can store human body kinetic energy into elastic potential energy and release the stored elastic potential energy, and the passive power assisting system is used for realizing the rotation of a passive driving crus frame component relative to a thigh frame component.
Aiming at the structural defects of external power-assisted skeletons in the prior art, the invention provides an active and passive combined wearable knee-joint power-assisted exoskeleton, which is different from the prior art in that:
(1) the invention adopts a modularized design combining active and passive, utilizes the integrated electric knee joint 1 to be matched with the die spring 30 (die spring module) with large elastic coefficient, is suitable for scenes needing long-time walking, semi-squatting and squatting operation, gives enough assistance when a human body walks and squats through the energy storage function of the die spring 30, has very obvious assistance effect especially when squats, ensures the applicability of a scene with large moment output, and improves the assistance efficiency. In addition, passive helping hand need not any energy, can make battery duration prolong greatly, and motor 15 weight reduces by a wide margin, has reduced the extra moment of resistance of knee joint ectoskeleton to the human body, and overall structure is compact, and the device is reliable light.
(2) The passive power assisting part of the invention utilizes a mould spring 30 with large elastic coefficient to combine with the Bowden cable 4 structure, the cam 22, the guide wheel 26 and the like to form a passive energy storage module, the outer contour of the cam 22 is designed based on a cosine motion design algorithm for assisting the design, and the storage and redistribution of the human body energy are realized. Through nonlinear energy storage and assistance, the impact on the Bowden cable 4 and the patella when the energy storage is started is reduced, and the service life of the passive die spring 30 (die spring module) is prolonged.
(3) The active part of the invention combines the data of the inertia measurement unit 12, the pressure sensor 19 and the integrated electric knee joint 1 encoder which are arranged at the thigh position, and realizes independent intelligent assistance of the left leg and the right leg based on a finite state machine algorithm, and the invention can realize intelligent assistance according to the gait when walking, standing in deep squat, maintaining in semi squat, standing in sitting posture and going upstairs, thereby greatly improving the adaptability of the exoskeleton to the normal gait and action of the human body.
(4) The passive part variable stiffness die spring 30 (die spring module) is arranged separately from the knee joint, flexible transmission is realized by connecting through the Bowden cable 4, a complex transmission mechanism is completely not needed, the weight of lower limb skeleton is greatly reduced, the structure is compact, the die spring module is concentrated near the center of gravity of a human body, no additional resistance moment is generated, unnecessary human body metabolic consumption is reduced, and compared with the traditional exoskeleton robot, the exoskeleton robot is more comfortable for human body wearing.
(5) The active and passive parts of the knee joint are completely independent from each other, can be automatically disassembled and assembled according to needs, have no influence on the power assisting effect of the respective parts after being disassembled and assembled, and have higher use flexibility.
(6) The binding mechanism adopts a freedom degree heterogeneous design at the hip joint position, utilizes the triangular connection of the front and the rear pairs of flexible binding bands 14, strengthens the fixation effect on the knee joint exoskeleton, maintains the knee joint exoskeleton at the relatively fixed position of the leg, and ensures that the rotation center of the knee joint exoskeleton does not deviate during the movement of a human body. The invention avoids the interference to the movement of the hip joint and realizes certain assistance to the hip joint.
Through the structural design, the active and passive combined wearable knee joint assistance exoskeleton at least has the following advantages:
1. the invention adopts the active and passive combined modular design of the integrated electric knee joint 1 and the die spring 30 (die spring module) which are matched, the active power assisting part realizes intelligent power assistance according to the differences of walking, deep squat standing, half squat maintaining, sitting posture standing and stair climbing steps, the passive power assisting part can ensure large moment output in a specific action scene, the whole power assisting efficiency is improved, and the active part and the passive part are completely independent;
2. the passive power assisting part of the invention utilizes the die spring 30 with large elastic coefficient to combine with the Bowden cable 4, the cam 22, the guide wheel 26 and the like to form a passive adjustable energy storage module, the outer contour of the cam 22 is designed based on the cosine motion design algorithm, thus realizing the nonlinear energy storage and the power assisting, reducing the impact on the Bowden cable 4 and the patella when the passive energy storage module is started, and prolonging the service life of the passive die spring 30 (the die spring module);
3. the binding mechanism (namely the combined waist strap) adopts a freedom degree heterogeneous design at the hip joint position, and utilizes the triangular connection of the front and the rear pairs of flexible binding bands 14, thereby not only strengthening the fixation effect on the knee joint exoskeleton and keeping the knee joint exoskeleton at the relatively fixed position of the leg, but also ensuring that the rotation center of the knee joint exoskeleton does not deviate when a human body moves. The interference to the movement of the hip joint is avoided, and certain assistance to the hip joint is realized.
It will be appreciated by those skilled in the art that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (10)
1. An active-passive combination wearable knee-joint assisted exoskeleton comprising a single-leg power-assisted unit, the single-leg power-assisted unit comprising:
a thigh frame assembly for wearing on a thigh of a person;
the calf shelf component is used for being worn on the calf of a human body, and the calf shelf component and the thigh shelf component are hinged corresponding to the patella of the human body and form a force assisting point;
the integrated knee joint is used for providing electric active power assistance, is arranged on the power assistance point and is used for actively driving the rotation of the lower leg frame assembly relative to the upper leg frame assembly;
the passive power assisting system comprises a cam stay wire passive module and a passive adjustable die spring energy storage module which is in power connection with the cam stay wire passive module and is used for storing energy, wherein the cam stay wire passive module is arranged on the power assisting point, and the passive power assisting system can store human kinetic energy into elastic potential energy, release the stored elastic potential energy and be used for passively driving the shank frame assembly to rotate relative to the shank frame assembly.
2. The active-passive combination wearable knee assist exoskeleton of claim 1,
the integrated knee joint comprises a motor integrated with a speed reducer, the motor comprises a stator and a rotor, and the stator and the rotor are respectively arranged on the thigh frame assembly and the shank frame assembly.
3. The active-passive combination wearable knee-joint-assisted exoskeleton of claim 2,
and the stator and the rotor are provided with limiting blocks for realizing the rotation limiting of the rotor.
4. The active-passive combination wearable knee-joint-assisted exoskeleton of claim 1,
the cam pull wire passive module comprises a Bowden wire guide fixing piece and a Bowden wire fixed end restraining piece, wherein the Bowden wire guide fixing piece is linked with the thigh frame assembly, the Bowden wire fixed end restraining piece is linked with the shank frame assembly, the Bowden wire guide fixing piece is hinged with the end part of the Bowden wire fixed end restraining piece, and a hinged shaft of the Bowden wire guide fixing piece and the Bowden wire fixed end restraining piece is coaxial with a hinged shaft of the power assisting point;
a bowden wire guide block and a guide wheel which are used for guiding a bowden wire are arranged on the bowden wire guide fixing piece, the bowden wire guide block is arranged at the tail end of the bowden wire guide fixing piece, and the guide wheel is arranged in the middle of the bowden wire guide fixing piece;
the hinged end of the Bowden cable fixed end restraint piece is provided with a clamping groove for clamping a Bowden cable, and the Bowden cable fixed end restraint piece is used for fixing the Bowden cable fixed end;
the rotational movement of the bowden cable fixed end restraint relative to the bowden cable guide fixing part is transmitted through the bowden cable.
5. The active-passive combination wearable knee-joint-assisted exoskeleton of claim 4,
and a cam is arranged at the hinged end of the Bowden wire fixing end restraint piece, can abut against the Bowden wire and is used for timely intervening in the rotation process of the shank bracket component so as to increase the transmission efficiency of the Bowden wire to the rotary motion of the Bowden wire fixing end restraint piece.
6. The active-passive combination wearable knee assist exoskeleton of claim 1,
the passive adjustable die spring energy storage module comprises a die spring fixing end and a die spring moving end, wherein the die spring moving end moves relative to the die spring fixing end through elastic movement of a die spring, and the die spring moving end is connected with one end of a Bowden cable and used for storing and releasing motion energy of the shank frame assembly through the Bowden cable.
7. The active-passive combination wearable knee-joint-assisted exoskeleton of claim 6,
a slide rail is fixedly arranged opposite to the fixed end of the die spring, the extension direction of the slide rail is parallel to the extension direction of the die spring, and a slide block in sliding fit with the slide rail is arranged on the moving end of the die spring;
the die spring is provided with two, two the die spring symmetry branch is located the both sides of slide rail.
8. The active-passive combination wearable knee-joint-assisted exoskeleton of claim 6,
a tensioning wire wheel and a ratchet wheel component are arranged at the moving end of the die spring, and the ratchet wheel component comprises a ratchet wheel linked with the tensioning wire wheel and a pawl matched with the ratchet wheel;
the bowden cable is connected with the tensioning cable pulley;
the ratchet wheel is also provided with a ratchet wheel adjusting knob.
9. The active-passive combination wearable knee-joint-assisted exoskeleton of claim 1,
the binding mechanism comprises a combined waist strap, and the combined waist strap is connected with the thigh frame assembly through an elastic bandage and a buckle;
the thigh frame assembly comprises a thigh frame which is designed according to human engineering and is matched with the contour shape of the thigh and the leg of a human body, and a binding belt is arranged on the thigh frame;
the shank frame component comprises a shank frame which is designed according to human engineering and is matched with the contour shape of the shank of a human body, and a binding belt is arranged on the shank frame.
10. The active-passive combination wearable knee-joint-assisted exoskeleton of any one of claims 1-9,
the single-leg power assisting device is characterized by further comprising a main control unit and two sensors used for acquiring motion control parameters of human legs during motion, wherein the number of the single-leg power assisting units is two, the sensors are arranged on the single-leg power assisting units and are in signal connection with the main control unit, the main control unit is in control connection with the two integrated knee joints of the single-leg power assisting units respectively and controls the two single-leg power assisting units respectively through a finite-state machine algorithm.
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