CN115139282A - Bionic knee joint exoskeleton structure and exoskeleton robot - Google Patents

Abstract

The invention provides a bionic knee joint exoskeleton structure and an exoskeleton robot, wherein the bionic knee joint exoskeleton structure comprises a thigh component, a shank component, a pulley component, a flexible transmission rope and a driving part, wherein the thigh component is connected with the shank component through the pulley component; the drive division is connected with thigh subassembly, and the drive division has the link, and the one end and the link of flexible driving rope are connected, and the other end and the loose pulley assembly of flexible driving rope are connected, and the drive division passes through the flexible driving rope of friction moment drive and removes to the relative thigh subassembly of drive shank subassembly rotates along first direction. The invention solves the problem that the bionic knee joint of the robot in the prior art can only realize the passive rotation function.

Description

Bionic knee joint exoskeleton structure and exoskeleton robot

Technical Field

The invention relates to the technical field of bionic exoskeleton robots, in particular to a bionic knee joint exoskeleton structure and an exoskeleton robot.

Background

In the prior art, an exoskeleton robot is a robot sleeved outside a human body and is also called a wearable robot, a part of the exoskeleton robot realizes rotation of a bionic knee joint through a four-bar transmission mode, and the part of the exoskeleton robot realizes rotation of the bionic knee joint through gear transmission and combination of a four-bar mechanism.

Disclosure of Invention

The invention mainly aims to provide an exoskeleton structure of a bionic knee joint and an exoskeleton robot, and aims to solve the problem that the bionic knee joint of the exoskeleton robot in the prior art can only realize a passive rotation function.

In order to achieve the above object, according to one aspect of the present invention, there is provided a bionic knee joint exoskeleton structure, comprising a thigh assembly, a shank assembly, a pulley assembly, a flexible transmission rope and a driving part, wherein the thigh assembly is connected with the shank assembly through the pulley assembly; the drive division is connected with thigh subassembly, and the drive division has the link, and the one end and the link of flexible driving rope are connected, and the other end and the loose pulley assembly of flexible driving rope are connected, and the drive division passes through the friction torque drive flexible driving rope between link and the flexible driving rope and removes to the relative thigh subassembly of drive shank subassembly rotates along first direction.

The pulley assembly comprises a first pulley assembly, a second pulley assembly and a connecting rod, the first pulley assembly is connected with the thigh assembly, and one end, far away from the thigh assembly, of the first pulley assembly is provided with a first arc-shaped surface; the second pulley assembly is arranged opposite to the first pulley assembly and connected with the lower leg assembly, and a second arc-shaped surface is formed at the position, opposite to the first arc-shaped surface, of the second pulley assembly; the first end of the connecting rod is pivotally connected with the first pulley assembly, and the second end of the connecting rod is pivotally connected with the second pulley assembly; wherein, the one end of keeping away from the link of flexible driving rope is connected with second loose pulley assembly, and the drive division drive link rotates and twines flexible driving rope on the link to pulling second loose pulley assembly rotates along first arcwall face and predetermines the angle.

Further, the second pulley assembly comprises a second mounting base and a second pulley block, wherein the second mounting base is connected with the shank assembly and is provided with a second arc-shaped surface; the second pulley block is connected with the second installation foundation, and one end, far away from the connecting end, of the flexible transmission rope is connected with the second pulley block.

Further, the first pulley assembly comprises a first mounting base and a first pulley block, wherein the first mounting base is connected with the thigh assembly and is provided with a first arc-shaped surface; the first pulley block is connected with the first installation base, the first pulley block comprises a first fixed pulley, a second fixed pulley and a guide wheel, and the guide wheel is located between the first fixed pulley and the second fixed pulley.

Furthermore, the bionic knee joint exoskeleton structure further comprises a tensioning mechanism, and the tensioning mechanism is connected with the thigh component; the second pulley block comprises a first movable pulley and a second movable pulley, the first movable pulley is arranged opposite to the first fixed pulley, and the second movable pulley is arranged opposite to the second fixed pulley; the first end of flexible driving rope is connected with first fixed pulley, and after the second end of flexible driving rope walked around first movable pulley, flexible driving rope passed through first fixed pulley, the first spacing groove of the circumference surface of leading wheel, link, the second spacing groove of the circumference surface of leading wheel, second fixed pulley and second movable pulley in proper order and was connected with straining device.

Further, the thigh assembly comprises a first thigh framework and a second thigh framework, wherein the first thigh framework is provided with a first accommodating cavity; the first chamber mouth position department that holds the chamber is established to second thigh skeleton lid to sealed first chamber that holds, straining device and the first surface connection that holds chamber one side of orientation of second thigh skeleton, so that straining device is located first chamber that holds.

Further, the driving portion comprises a driving shaft, one end of the driving shaft is located in the first accommodating cavity, the driving shaft and the tensioning mechanism are arranged at intervals, and the connecting end is sleeved on the outer periphery of the driving shaft.

Furthermore, the driving part also comprises an assembly component, the assembly component comprises a tensioning sleeve, and the tensioning sleeve is arranged at the end part of the driving shaft and is positioned between the circumferential outer surface of the driving shaft and the wall surface of the hole of the connecting end.

Further, the assembly component comprises a cushion block and a fastener, wherein the cushion block is pressed on the end surface of the tensioning sleeve through the fastener.

Further, the second thigh skeleton has the second and holds the chamber, and the one end of keeping away from the link of drive shaft is located the second and holds the intracavity, and the drive division still includes rotor structure and stator structure, and rotor structure and drive shaft connection, and the stator structure cover is established at rotor structure's periphery side, and stator structure and second hold the chamber wall face in chamber and be connected.

Further, the one end of keeping away from of drive shaft tight cover that rises is provided with magnetism and inhales the component, the drive division still includes motor end cover and dirver circuit board, the motor end cover has the mounting groove, dirver circuit board installs in the mounting groove, motor end cover lid is established in the second and is held the open position department in chamber, the via hole structure has been seted up with the relative position department of magnetism of the component of inhaling of the tank bottom of mounting groove, the one end of keeping away from of drive shaft tight cover that rises passes the via hole structure and stretches into in the mounting groove, so that magnetism inhales the component and the dirver circuit board sets up relatively.

Further, the tensioning mechanism comprises a guide cylinder and a sliding mechanism, wherein a spiral spring is arranged in the guide cylinder, and an avoidance hole is formed in the cylinder bottom of the guide cylinder; slide mechanism includes backstop subassembly and guide bar, and the backstop subassembly is connected with the guide bar, and slide mechanism still has the intercommunicating pore, and the intercommunicating pore runs through backstop subassembly and guide bar, the terminal surface and the coil spring butt of the guide bar one side of orientation of backstop subassembly, the second end of flexible driving rope and the terminal surface butt of keeping away from guide bar one side of backstop subassembly, and flexible driving rope passes intercommunicating pore, coil spring's inner circle in proper order and dodges the hole and be connected with first fixed pulley.

Further, the slide mechanism is movably provided in the axial direction of the guide cylinder.

Furthermore, the stopping assembly comprises a guide end head, the guide end head is connected with the guide rod, a stopping end face is formed at the connecting position of the guide end head and the guide rod, and the stopping end face is abutted against the spiral spring; the intercommunicating pore comprises a first through hole which penetrates through the guide end head and the guide rod.

Furthermore, the stop assembly also comprises an adjusting structure, the adjusting structure comprises an adjusting end and an adjusting rod which are connected, part of the adjusting rod extends into the first through hole, an internal thread structure is formed on the wall surface of the first through hole, and an external thread structure matched with the internal thread structure is formed on the outer surface of the adjusting rod; the intercommunicating pore also comprises a second through hole, the area of the cross section of the end part of the second end of the flexible transmission rope is larger than the area of the hole section of the second through hole, so that the end part of the second end of the flexible transmission rope is abutted to the end surface of the adjusting end far away from one side of the adjusting rod, and the flexible transmission rope sequentially passes through the second through hole, the first through hole and the inner ring of the spiral spring, avoids the hole and is connected with the first fixed pulley.

Furthermore, the bionic knee joint exoskeleton structure further comprises a connecting structure, wherein the first end of the connecting structure is connected with the pulley assembly, and the second end of the connecting structure is pivotally connected with the lower leg assembly, so that the lower leg assembly rotates along the second direction.

According to another aspect of the invention, an exoskeleton robot is provided, which comprises a bionic knee joint exoskeleton structure, wherein the bionic knee joint exoskeleton structure is the bionic knee joint exoskeleton structure.

The technical scheme of the invention is applied, and provides a bionic knee joint exoskeleton structure with a driving part, and meanwhile, a thigh component and a shank component are connected through a pulley component, the driving part is connected with the thigh component, one end of a flexible driving rope is connected with a connecting end, and the other end of the flexible driving rope is connected with the pulley component, so that the driving part can drive the pulley component to move through the flexible driving rope, and the shank component is driven to rotate along a first direction relative to the thigh component, and the driving reliability of the driving part on the shank component is ensured.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural diagram of a biomimetic knee exoskeleton structure of an exoskeleton robot according to an alternative embodiment of the present invention;

FIG. 2 is a schematic exploded view of the exoskeleton structure of a biomimetic knee joint of FIG. 1;

FIG. 3 is a schematic diagram showing an exploded view of pulley assemblies of the biomimetic knee exoskeleton structure of FIG. 2;

FIG. 4 is a schematic diagram showing a portion of the configuration of the thigh assembly and pulley assembly of the biomimetic knee exoskeleton structure of FIG. 1;

FIG. 5 is a schematic cross-sectional view of a portion of the thigh assembly and drive section of the biomimetic knee exoskeleton structure of FIG. 1;

fig. 6 is a schematic cross-sectional structural view of the tensioning mechanism of the biomimetic knee exoskeleton structure in fig. 2.

Wherein the figures include the following reference numerals:

10. a thigh assembly; 11. a first thigh armature; 111. a first accommodating chamber; 12. a second thigh armature; 121. a second accommodating chamber; 122. a third accommodating cavity; 13. a thigh strap;

20. a lower leg assembly; 21. a shank binding band; 22. a third pivot hole;

30. a sheave assembly; 31. a first sheave assembly; 311. a first mounting base; 3111. a first arc-shaped face; 312. a first pulley block; 3121. a first fixed pulley; 3121a, a first fixed support shaft; 3122. a second fixed pulley; 3122a, a second fixed support shaft; 3123. a guide wheel; 3123a, a first limiting groove; 3123b, a second limiting groove; 3123c, a guide wheel support shaft; 313. a first connecting shaft; 314. a first bushing; 315. a first sleeve end cap; 316. a first screw; 32. a second sheave assembly; 321. a second mounting base; 3211. a second arc-shaped surface; 322. a second pulley block; 3221. a first movable pulley; 3221a, a first movable supporting shaft; 3222. a second movable pulley; 3222a, a second movable supporting shaft; 323. a second connecting shaft; 324. a second shaft sleeve; 325. a second bushing end cap; 326. a second screw; 33. a connecting rod; 34. a spacer sleeve;

40. a drive section; 41. a connecting end; 411. a flexible drive line; 42. a drive shaft; 43. assembling the components; 431. a tensioning sleeve; 432. a cushion block; 433. a fastener; 44. a rotor structure; 45. a stator structure; 46. a magnetically attractive element; 47. a motor end cover; 471. mounting grooves; 4711. a via structure; 48. a drive circuit board; 49. a main circuit board; 410. a battery; 420. a first end cap; 430. a second end cap;

50. a tensioning mechanism; 51. a guide cylinder; 511. avoiding holes; 52. a sliding mechanism; 521. a stop assembly; 5211. a guide end; 5212. an adjustment structure; 5212a, an adjusting tip; 5212b, adjusting rod; 522. a guide bar; 523. a first through hole; 524. a second through hole; 53. a coil spring;

60. a connecting structure; 61. a first pivot hole; 62. a second pivot hole; 63. rotating the pin shaft; 64. and (4) end covers of the pin shafts.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to solve the problem that the bionic knee joint of the exoskeleton robot in the prior art can only realize a passive rotation function, the invention provides an exoskeleton structure of the bionic knee joint and the exoskeleton robot, wherein the exoskeleton robot comprises the exoskeleton structure of the bionic knee joint, and the exoskeleton structure of the bionic knee joint is the exoskeleton structure of the bionic knee joint described above and below.

As shown in fig. 1 to 6, the bionic knee joint exoskeleton structure comprises a thigh component 10, a shank component 20, a pulley component 30, a flexible transmission rope 411 and a driving part 40, wherein the thigh component 10 is connected with the shank component 20 through the pulley component 30; drive division 40 is connected with thigh subassembly 10, and drive division 40 has link 41, and the one end and the link 41 of flexible driving rope 411 are connected, and the other end and the pulley assembly 30 of flexible driving rope 411 are connected, and drive division 40 passes through the friction torque drive flexible driving rope 411 between link 41 and the flexible driving rope 411 and moves to drive shank subassembly 20 and rotate along first direction relatively thigh subassembly 10.

The application provides a bionical knee joint ectoskeleton structure with driver 40, and simultaneously, connect thigh subassembly 10 and shank subassembly 20 through pulley assembly 30, driver 40 is connected with thigh subassembly 10, the one end and the link 41 of flexible driving rope 411 are connected, the other end and the pulley assembly 30 of flexible driving rope 411 are connected, make driver 40 can pass through flexible driving rope 411 drive pulley assembly 30 motion, thereby drive shank subassembly 20 and rotate along the first direction for thigh subassembly 10, ensure the driving reliability of driver 40 to shank subassembly 20, because thigh subassembly 10 passes through pulley assembly 30 and is connected with shank subassembly 20, can also ensure shank subassembly 20 and for the rotation reliability of thigh subassembly 10, in addition, adopt flexible driving rope 411 to transmit, ensure the rotation comfort and the security of shank subassembly 20, thereby ensure the walking reliability of ectoskeleton robot.

As shown in fig. 1 to 4, the pulley assembly 30 includes a first pulley assembly 31, a second pulley assembly 32 and a connecting rod 33, the first pulley assembly 31 is connected to the thigh assembly 10, and an end of the first pulley assembly 31 away from the thigh assembly 10 has a first arc surface 3111; the second pulley assembly 32 is arranged opposite to the first pulley assembly 31, the second pulley assembly 32 is connected with the lower leg assembly 20, and a second arc-shaped surface 3211 is formed at the position of the second pulley assembly 32 opposite to the first arc-shaped surface 3111; a first end of the link 33 is pivotally connected to the first pulley assembly 31, and a second end of the link 33 is pivotally connected to the second pulley assembly 32; wherein, the one end of keeping away from link 41 of flexible driving rope 411 is connected with second pulley assembly 32, and drive portion 40 drive link 41 rotates and twines flexible driving rope 411 on link 41 to pulling second pulley assembly 32 rotates along first arcwall face 3111 and predetermines the angle. Like this, drive link 41 through drive part 40 rotates and twine flexible driving rope 411 on link 41 to shorten flexible driving rope 411 between link 41 and the second pulley assembly 32, make second pulley assembly 32 rotate preset angle along first arcwall face 3111 under flexible driving rope 411's pulling effect, and then ensure the rotation reliability of shank subassembly 20.

As shown in fig. 1 to 4, the second pulley assembly 32 includes a second mounting base 321 and a second pulley block 322, wherein the second mounting base 321 is connected to the lower leg assembly 20, and the second mounting base 321 has a second arc-shaped surface 3211; the second pulley block 322 is connected with the second mounting base 321, and one end of the flexible transmission rope 411 far away from the connecting end 41 is connected with the second pulley block 322. Thus, the flexible transmission rope 411 drives the second mounting base 321 connected with the second pulley block 322 to rotate by a preset angle by pulling the second pulley block 322, and the second mounting base 321 further drives the lower leg assembly 20 to rotate by a preset angle.

It should be noted that, in the present application, considering that the rotation center of the human knee joint is changed, the pulley assembly 30 is configured to include the first pulley assembly 31 and the second pulley assembly 32, and meanwhile, the second pulley assembly 32 can rotate along the first arc-shaped surface 3111 by a preset angle under the pulling action of the flexible transmission rope 411, because the second pulley assembly 32 can rotate relative to the first pulley assembly 31, the rotation center of the exoskeleton structure of the biomimetic knee joint can be changed, so that the rotation center of the exoskeleton structure of the biomimetic knee joint can be matched with the changed rotation center of the human knee joint as undistorted as possible, the exoskeleton structure of the biomimetic knee joint can better adapt to the change of the leg shape, and further the exoskeleton robot can simulate the normal walking of the human body, and furthermore, the walking safety of the exoskeleton robot can be ensured.

It should be noted that, in the present application, the rotation center of the exoskeleton structure of the bionic knee joint refers to a contact position between the second arc-shaped surface 3211 of the second pulley assembly 32 and the first arc-shaped surface 3111 of the first pulley assembly 31, and since the contact position between the second arc-shaped surface 3211 and the first arc-shaped surface 3111 is changed in the process that the second pulley assembly 32 rotates along the first arc-shaped surface 3111 by a preset angle, the rotation center of the exoskeleton structure of the bionic knee joint is changed.

As shown in fig. 1 to 4, the first pulley assembly 31 includes a first mounting base 311 and a first pulley block 312, wherein the first mounting base 311 is connected to the thigh assembly 10, and the first mounting base 311 has a first arc-shaped surface 3111; the first pulley block 312 is connected to the first mounting base 311, the first pulley block 312 includes a first fixed pulley 3121, a second fixed pulley 3122, and a guide pulley 3123, and the guide pulley 3123 is located between the first fixed pulley 3121 and the second fixed pulley 3122. In this way, the first pulley assembly 31 is connected to the thigh assembly 10 through the first mounting base 311, so as to ensure the connection reliability of the first pulley assembly 31 and the thigh assembly 10, and the arrangement of the first pulley block 312 facilitates the transmission reliability of the flexible transmission rope 411.

Alternatively, the structures of the first and second mounting bases 311 and 321 may be the same, so that the first and second mounting bases 311 and 321 may be mass-produced, and of course, the structures of the first and second mounting bases 311 and 321 may be different.

As shown in fig. 2 to 4, the biomimetic knee exoskeleton structure further comprises a tensioning mechanism 50, wherein the tensioning mechanism 50 is connected with the thigh assembly 10; the second pulley block 322 comprises a first movable pulley 3221 and a second movable pulley 3222, the first movable pulley 3221 is arranged opposite to the first fixed pulley 3121, and the second movable pulley 3222 is arranged opposite to the second fixed pulley 3122; the first end of the flexible transmission rope 411 is connected with the first fixed pulley 3121, and after the second end of the flexible transmission rope 411 passes around the first movable pulley 3221, the flexible transmission rope 411 sequentially passes through the first fixed pulley 3121, the first limit groove 3123a of the circumferential outer surface of the guide wheel 3123, the connection end 41, the second limit groove 3123b of the circumferential outer surface of the guide wheel 3123, the second fixed pulley 3122 and the second movable pulley 3222, and is connected with the tensioning mechanism 50. In this way, the rotational reliability of the second pulley assembly 32 along the first arcuate surface 3111 is ensured.

Note that, in this application, the arrow in fig. 4 indicates the winding direction of the flexible driving cord 411.

As shown in fig. 2 and 5, the thigh assembly 10 comprises a first thigh frame 11 and a second thigh frame 12, wherein the first thigh frame 11 has a first accommodation cavity 111; the second thigh frame 12 covers the opening of the first accommodating cavity 111 to seal the first accommodating cavity 111, and the tensioning mechanism 50 is connected to the surface of the second thigh frame 12 facing the first accommodating cavity 111, so that the tensioning mechanism 50 is located in the first accommodating cavity 111. Therefore, the first accommodating cavity 111 is fully utilized, and the compact design of the bionic knee joint exoskeleton structure is facilitated.

As shown in fig. 2 and 5, the driving portion 40 includes a driving shaft 42, one end of the driving shaft 42 is located in the first accommodating cavity 111, the driving shaft 42 is disposed at a distance from the tensioning mechanism 50, and the connecting end 41 is sleeved on an outer peripheral side of the driving shaft 42. Thus, the connecting end 41 and the tensioning mechanism 50 are both located in the first accommodating cavity 111, and the flexible driving rope 411 is connected with the connecting end 41 and the tensioning mechanism 50 respectively.

As shown in fig. 5, the driving part 40 further includes a fitting assembly 43, and the fitting assembly 43 includes a tension sleeve 431, and the tension sleeve 431 is disposed at the end of the driving shaft 42 and between the circumferential outer surface of the driving shaft 42 and the hole wall surface of the connecting end 41. Thus, the connection reliability of the connection end 41 and the drive shaft 42 is ensured.

As shown in fig. 5, the fitting assembly 43 further includes a pad 432 and a fastener 433, and the pad 432 is pressed against the end surface of the tension sleeve 431 by the fastener 433. In this way, the connection stability of the connection end 41 and the drive shaft 42 is further ensured.

As shown in fig. 2 and 5, the second thigh frame 12 has a second accommodating cavity 121, one end of the driving shaft 42 away from the connecting end 41 is located in the second accommodating cavity 121, the driving part 40 further includes a rotor structure 44 and a stator structure 45, the rotor structure 44 is connected with the driving shaft 42, the stator structure 45 is sleeved on an outer peripheral side of the rotor structure 44, and the stator structure 45 is connected with a cavity wall surface of the second accommodating cavity 121. Therefore, the second accommodating cavity 121 is fully utilized, and the compact design of the bionic knee joint exoskeleton structure is facilitated.

As shown in fig. 2, the second thigh skeleton 12 further has a third accommodating cavity 122, the third accommodating cavity 122 and the second accommodating cavity 121 are disposed at an interval, the bionic knee exoskeleton further includes a main circuit board 49, a battery 410 and a second end cap 430, wherein the main circuit board 49 and the battery 410 are electrically connected, the main circuit board 49 and the battery 410 are disposed in the third accommodating cavity 122, and the second end cap 430 is disposed at an orifice of the third accommodating cavity 122.

As shown in fig. 5, one end of the driving shaft 42, which is far away from the tensioning sleeve 431, is provided with a magnetic attraction element 46, the driving portion 40 further includes a motor end cover 47 and a driving circuit board 48, the motor end cover 47 has a mounting groove 471, the driving circuit board 48 is mounted in the mounting groove 471, the motor end cover 47 covers the opening position of the second accommodating cavity 121, a via hole structure 4711 is disposed at a position, which is opposite to the magnetic attraction element 46, of the bottom of the mounting groove 471, and one end of the driving shaft 42, which is far away from the tensioning sleeve 431, penetrates through the via hole structure 4711 and extends into the mounting groove 471, so that the magnetic attraction element 46 and the driving circuit board 48 are disposed oppositely. Thus, the drive circuit board 48 is ensured to be able to detect the positional information of the drive section 40 through the magnetic attraction member 46.

As shown in fig. 2, the exoskeleton structure further comprises a first end cap 420, and the first end cap 420 is covered on the motor end cap 47.

Alternatively, a magnetic induction element is integrated on the driving circuit board 48, and the magnetic induction element can detect the position information of the driving portion 40 through the magnetic attraction element 46, and of course, can also detect the rotation speed information of the driving shaft 42.

As shown in fig. 6, the tensioning mechanism 50 includes a guide cylinder 51 and a sliding mechanism 52, wherein a coil spring 53 is disposed in the guide cylinder 51, and a relief hole 511 is formed in the bottom of the guide cylinder 51; the sliding mechanism 52 comprises a stop assembly 521 and a guide rod 522, the stop assembly 521 is connected with the guide rod 522, the sliding mechanism 52 further comprises a communication hole, the communication hole penetrates through the stop assembly 521 and the guide rod 522, the end face, facing one side of the guide rod 522, of the stop assembly 521 abuts against the spiral spring 53, the second end of the flexible transmission rope 411 abuts against the end face, facing the side of the guide rod 522, of the stop assembly 521, and the flexible transmission rope 411 sequentially penetrates through the communication hole, the inner ring of the spiral spring 53 and the avoidance hole 511 and is connected with the first fixed pulley 3121. The slide mechanism 52 is provided movably in the axial direction of the guide cylinder 51. In this way, since the second end of the flexible transmission cord 411 abuts against the end surface of the stopper member 521 on the side away from the guide rod 522 and the end surface of the stopper member 521 on the side toward the guide rod 522 abuts against the coil spring 53, pulling the flexible transmission cord 411 allows the slide mechanism 52 to move in the axial direction of the guide cylinder 51.

As shown in fig. 6, the stopping assembly 521 includes a guide head 5211, the guide head 5211 is connected to the guide rod 522, and a stopping end surface is formed at the connecting position of the guide head 5211 and the guide rod 522, and the stopping end surface abuts against the coil spring 53; the communication hole includes a first through hole 523, and the first through hole 523 penetrates the guide head 5211 and the guide rod 522. Thus, when the flexible drive string 411 is pulled, it is ensured that the guide tip 5211 can exert a pressure action on the coil spring 53, so that the coil spring 53 is compressively deformed, the coil spring 53 accumulates elastic potential energy and provides an elastic action to the guide tip 5211.

As shown in fig. 6, the stopping assembly 521 further includes an adjusting structure 5212, the adjusting structure 5212 includes an adjusting end 5212a and an adjusting rod 5212b connected to each other, a portion of the adjusting rod 5212b extends into the first through hole 523, an internal thread structure is formed on a wall surface of the first through hole 523, and an external thread structure for matching with the internal thread structure is formed on an outer surface of the adjusting rod 5212 b; the communicating hole further comprises a second through hole 524, the cross section area of the end part of the second end of the flexible transmission rope 411 is larger than the hole cross section area of the second through hole 524, so that the end part of the second end of the flexible transmission rope 411 is abutted to the end surface of the adjusting end 5212a, far away from the adjusting rod 5212b, of the adjusting rod 5212a, and the flexible transmission rope 411 sequentially penetrates through the second through hole 524, the first through hole 523, the inner ring of the spiral spring 53 and the avoiding hole 511 and is connected with the first fixed pulley 3121. In this way, by screwing the adjusting structure 5212 clockwise or counterclockwise, the distance between the adjusting head 5212a and the guiding head 5211 is adjusted, and the tensioning action of the tensioning mechanism 50 on the flexible transmission rope 411 is further achieved.

The exoskeleton structure further includes a connecting structure 60, as shown in fig. 1 and 2, wherein a first end of the connecting structure 60 is connected to the pulley assembly 30, and a second end of the connecting structure 60 is pivotally connected to the lower leg assembly 20, so as to rotate the lower leg assembly 20 in a second direction. Thus, the shank component 20 can be ensured to rotate along the first direction and the second direction, so that the bionic knee joint exoskeleton structure can be matched with the knee joint of a human body as far as possible, and the purpose of bidirectional rotation is achieved.

Optionally, the connection structure 60 includes a first lug and a second lug, wherein the first lug is provided with a first pivot hole 61, the second lug is provided with a second pivot hole 62, the connection structure 60 further includes a rotation pin 63 and a pin end cover 64, the lower leg assembly 20 includes a third pivot hole 22, and the rotation pin 63 sequentially passes through the first pivot hole 61, the third pivot hole 22 and the second pivot hole 62 and is connected to the pin end cover 64.

Alternatively, the axis of the rotation pin 63 is perpendicular to the axis of the drive shaft 42.

Alternatively, the plane of the first direction is perpendicular to the plane of the second direction, wherein the first direction specifically refers to the direction of rotation about an axis parallel to the axis of the drive shaft 42 and the second direction refers to the direction of rotation about the rotation pin shaft 63, as shown in fig. 2.

Alternatively, the second mounting base 321 is symmetrically disposed with respect to the first mounting base 311.

Alternatively, the inner ring of the coil spring 53 is disposed coaxially with the relief hole 511.

As shown in fig. 1 and 2, the thigh assembly 10 further comprises a thigh strap 13, the thigh assembly 10 is fixedly connected to the exoskeleton through the thigh strap 13, the calf assembly 20 further comprises a calf strap 21, and the calf assembly 20 is fixedly connected to the exoskeleton through the calf strap 21.

As shown in fig. 3, a first fixed support shaft 3121a is provided through the first fixed pulley 3121 to support the first fixed pulley 3121, a second fixed support shaft 3122a is provided through the second fixed pulley 3122 to support the second fixed pulley 3122, a guide wheel 3123 has a first limit groove 3123a and a second limit groove 3123b, both of the first limit groove 3123a and the second limit groove 3123b are provided to wind the flexible transmission rope 411, the first limit groove 3123a and the second limit groove 3123b are respectively provided at both axial ends of the guide wheel 3123, and a guide wheel 3123c is passed through the guide wheel 3123 to support the guide wheel 3123.

As shown in FIG. 3, a first movable supporting shaft 3221a is provided through the first movable pulley 3221 to support the first movable pulley 3221, and a second movable supporting shaft 3222a is provided through the second movable pulley 3222 to support the second movable pulley 3222.

As shown in fig. 3, the first mounting bases 311 are two oppositely disposed, and the projections of the two first mounting bases 311 are overlapped, the two first mounting bases 311 are connected by the first connecting shaft 313, the first shaft sleeves 314 are respectively sleeved at two axial ends of the first connecting shaft 313, the two connecting rods 33 are provided, the first ends of the two connecting rods 33 are respectively connected with two axial ends of the first connecting shaft 313, wherein the first end of one of the two connecting rods 33 is connected with the first shaft sleeve 314, and then the first shaft sleeve end cover 315 and the first screw 316 are sequentially mounted, so as to connect the first end of the connecting rod 33 with the first connecting shaft 313, the connecting rod 33 is rotatably disposed, and the connection manner of the first end of the other of the two connecting rods 33 is the same, which is not repeated herein.

As shown in fig. 3, the second mounting bases 321 are two oppositely disposed, the projections of the two second mounting bases 321 are overlapped, the two second mounting bases 321 are connected by a second connecting shaft 323, the second connecting shaft 323 is parallel to the first connecting shaft 313, two axial ends of the second connecting shaft 323 are respectively sleeved with a second shaft sleeve 324, and second ends of the two connecting rods 33 are respectively connected with two axial ends of the second connecting shaft 323, wherein the second end of one of the two connecting rods 33 is connected with the second shaft sleeve 324, and then a second shaft sleeve end cap 325 and a second screw 326 are sequentially mounted, so that the second end of the connecting rod 33 is connected with the second connecting shaft 323, the connecting rod 33 is rotatably disposed, and the connection manner of the second end of the other of the two connecting rods 33 is the same, and will not be described herein again.

As shown in fig. 3, the spacer 34 is plural, and the plural spacers 34 are used to adjust the axial distance between the pulleys in the first pulley assembly 31 and/or the second pulley assembly 32.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.

For ease of description, spatially relative terms such as "above … …", "above … …", "above … … upper surface", "above", etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (17)

1. A biomimetic knee exoskeleton structure comprising:

a thigh assembly (10);

a lower leg assembly (20);

the pulley assembly (30) is used for connecting the thigh assembly (10) with the lower leg assembly (20) through the pulley assembly (30);

a flexible drive line (411);

drive division (40), drive division (40) with thigh subassembly (10) are connected, drive division (40) have link (41), the one end of flexible driving rope (411) with link (41) are connected, the other end of flexible driving rope (411) with pulley assembly (30) are connected, drive division (40) pass through link (41) with the friction torque drive between flexible driving rope (411) remove, in order to drive shank subassembly (20) is relative thigh subassembly (10) rotates along the first direction.

2. The biomimetic knee exoskeleton structure of claim 1, wherein the pulley assembly (30) comprises:

a first pulley assembly (31), wherein the first pulley assembly (31) is connected with the thigh assembly (10), and one end of the first pulley assembly (31) far away from the thigh assembly (10) is provided with a first arc-shaped surface (3111);

the second pulley assembly (32), the second pulley assembly (32) and the first pulley assembly (31) are arranged oppositely, the second pulley assembly (32) is connected with the lower leg assembly (20), and a second arc-shaped surface (3211) is formed at the position of the second pulley assembly (32) opposite to the first arc-shaped surface (3111);

a link (33), a first end of the link (33) being pivotally connected to the first pulley assembly (31), a second end of the link (33) being pivotally connected to the second pulley assembly (32);

one end, far away from the connecting end (41), of the flexible transmission rope (411) is connected with the second pulley assembly (32), and the driving portion (40) drives the connecting end (41) to rotate and winds the flexible transmission rope (411) on the connecting end (41) so as to pull the second pulley assembly (32) to rotate for a preset angle along the first arc-shaped surface (3111).

3. The biomimetic knee exoskeleton structure of claim 2, wherein the second pulley assembly (32) comprises:

a second mounting base (321), the second mounting base (321) being connected with the lower leg assembly (20), the second mounting base (321) having the second arcuate face (3211);

the second pulley block (322), the second pulley block (322) with second installation basis (321) are connected, the one end that keeps away from of flexible driving rope (411) link (41) with the second pulley block (322) are connected.

4. The biomimetic knee exoskeleton structure of claim 3, wherein the first pulley assembly (31) comprises:

a first mounting base (311), said first mounting base (311) being connected to said thigh assembly (10), said first mounting base (311) having said first arcuate face (3111);

a first pulley block (312), the first pulley block (312) being connected with the first mounting base (311), the first pulley block (312) comprising a first fixed pulley (3121), a second fixed pulley (3122), and a guide pulley (3123), the guide pulley (3123) being located between the first fixed pulley (3121) and the second fixed pulley (3122).

5. The biomimetic knee exoskeleton structure of claim 4,

the bionic knee joint exoskeleton structure further comprises a tensioning mechanism (50), wherein the tensioning mechanism (50) is connected with the thigh assembly (10);

the second pulley block (322) comprises a first movable pulley (3221) and a second movable pulley (3222), the first movable pulley (3221) is arranged opposite to the first fixed pulley (3121), and the second movable pulley (3222) is arranged opposite to the second fixed pulley (3122);

the first end of the flexible transmission rope (411) is connected with the first fixed pulley (3121), after the second end of the flexible transmission rope (411) passes around the first movable pulley (3221), the flexible transmission rope (411) sequentially passes through the first fixed pulley (3121), the first limit groove (3123 a) on the circumferential outer surface of the guide wheel (3123), the connecting end (41), the second limit groove (3123 b) on the circumferential outer surface of the guide wheel (3123), the second fixed pulley (3122) and the second movable pulley (3222) and is connected with the tensioning mechanism (50).

6. The biomimetic knee exoskeleton structure of claim 5, wherein the thigh assembly (10) comprises:

a first thigh frame (11), said first thigh frame (11) having a first accommodation chamber (111);

second thigh skeleton (12), second thigh skeleton (12) lid is established first accent position department that holds chamber (111) is in order to seal first chamber (111) that holds, straining device (50) with the orientation of second thigh skeleton (12) the surface connection of first chamber (111) one side holds, so that straining device (50) are located in the first chamber (111) that holds.

7. The biomimetic knee exoskeleton structure according to claim 6, wherein the driving portion (40) comprises:

the one end of drive shaft (42) is located in first accommodation chamber (111), and drive shaft (42) with straining device (50) set up with interval, link (41) cover is established the periphery side of drive shaft (42).

8. The biomimetic knee exoskeleton structure of claim 7, wherein the drive portion (40) further comprises a fitting assembly (43), the fitting assembly (43) comprising:

a tensioning sleeve (431), wherein the tensioning sleeve (431) is arranged at the end part of the driving shaft (42) and is positioned between the circumferential outer surface of the driving shaft (42) and the hole wall surface of the connecting end (41).

9. The biomimetic knee exoskeleton structure of claim 8, wherein the fitting assembly (43) comprises:

a pad block (432);

a fastener (433), and the cushion block (432) is pressed on the end surface of the tensioning sleeve (431) through the fastener (433).

10. The bionic knee joint exoskeleton structure as claimed in claim 8, wherein the second thigh frame (12) has a second accommodating cavity (121), the end of the driving shaft (42) far away from the connecting end (41) is located in the second accommodating cavity (121), the driving part (40) further comprises a rotor structure (44) and a stator structure (45), the rotor structure (44) is connected with the driving shaft (42), the stator structure (45) is sleeved on the outer periphery side of the rotor structure (44), and the stator structure (45) is connected with the cavity wall surface of the second accommodating cavity (121).

11. The bionic knee joint exoskeleton structure as claimed in claim 8, wherein a magnetic attraction element (46) is disposed at one end of the driving shaft (42) far away from the tensioning sleeve (431), the driving part (40) further comprises a motor end cover (47) and a driving circuit board (48), the motor end cover (47) is provided with a mounting groove (471), the driving circuit board (48) is mounted in the mounting groove (471), the motor end cover (47) covers the opening position of the second accommodating cavity (121), a via hole structure (4711) is disposed at a position of the bottom of the mounting groove (471) opposite to the magnetic attraction element (46), and one end of the driving shaft (42) far away from the tensioning sleeve (431) passes through the via hole structure (4711) and extends into the mounting groove (471), so that the magnetic attraction element (46) and the driving circuit board (48) are disposed opposite to each other.

12. The biomimetic knee exoskeleton structure of claim 5, wherein the tensioning mechanism (50) comprises:

the guide device comprises a guide cylinder (51), wherein a spiral spring (53) is arranged in the guide cylinder (51), and a avoidance hole (511) is formed in the bottom of the guide cylinder (51);

slide mechanism (52), slide mechanism (52) include backstop subassembly (521) and guide bar (522), backstop subassembly (521) with guide bar (522) are connected, slide mechanism (52) still have the intercommunicating pore, the intercommunicating pore runs through backstop subassembly (521) with guide bar (522), the orientation of backstop subassembly (521) towards the terminal surface of guide bar (522) one side with coil spring (53) butt, the second end of flexible transmission rope (411) with the keeping away from of backstop subassembly (521) the terminal surface butt of guide bar (522) one side, flexible transmission rope (411) pass in proper order the intercommunicating pore, the inner circle of coil spring (53) and dodge hole (511) and with first fixed pulley (3121) is connected.

13. The biomimetic knee exoskeleton structure according to claim 12, wherein the sliding mechanism (52) is movably arranged along an axial direction of the guide cylinder (51).

14. The biomimetic knee exoskeleton structure of claim 13, wherein the stop assembly (521) comprises:

a guide tip (5211), wherein the guide tip (5211) is connected to the guide rod (522), and a stop end surface is formed at a connection position of the guide tip (5211) and the guide rod (522), and the stop end surface abuts against the coil spring (53);

the communication hole includes a first through hole (523), and the first through hole (523) penetrates the guide head (5211) and the guide rod (522).

15. The biomimetic knee exoskeleton structure of claim 14, wherein the stop assembly (521) further comprises:

the adjusting structure (5212) comprises an adjusting end (5212 a) and an adjusting rod (5212 b) which are connected, part of the adjusting rod (5212 b) extends into the first through hole (523), an internal thread structure is formed on the wall surface of the first through hole (523), and an external thread structure matched with the internal thread structure is formed on the outer surface of the adjusting rod (5212 b);

the intercommunicating pore still includes second through-hole (524), the area of the cross section of the tip of the second end of flexible transmission rope (411) is greater than the area of the hole cross section of second through-hole (524), so that the tip of the second end of flexible transmission rope (411) with adjusting keeping away from of end (5212 a) adjust the terminal surface butt of pole (5212 b) one side, flexible transmission rope (411) pass in proper order second through-hole (524), first through-hole (523) the inner circle of coil spring (53) with dodge hole (511) and with first fixed pulley (3121) are connected.

16. The biomimetic knee exoskeleton structure of claim 1, further comprising:

a connecting structure (60), wherein a first end of the connecting structure (60) is connected with the pulley assembly (30), and a second end of the connecting structure (60) is pivotally connected with the lower leg assembly (20) so as to enable the lower leg assembly (20) to rotate along a second direction.

17. An exoskeleton robot comprising a biomimetic knee exoskeleton structure, wherein the biomimetic knee exoskeleton structure is as claimed in any one of claims 1 to 16.

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