CN117260678A - Connecting piece and joint exoskeleton and knee joint exoskeleton applying same - Google Patents

Abstract

The application discloses a connecting piece and a joint exoskeleton and a knee joint exoskeleton using the same, comprising an upper base, a lower base, an elastic component and a sliding limiting device, wherein the elastic component is positioned between the upper base and the lower base and is detachably and fixedly connected to the upper base and the lower base, and the elastic component is used for improving the overall rigidity of the connecting piece while providing the flexibility of the movement of the connecting piece; the upper base and the lower base are respectively provided with a connecting end which can be matched with a part to be connected and are used for being connected with different parts; the sliding limiting device is used for limiting the bending range of the elastic component and is movably connected with the upper base and the lower base; the sliding limiting device comprises a limiting support body, a limiting sliding rod, a limiting stop lever and a limiting sliding unit; the connecting piece is simple in structure, has a limiting function of a rotatable center, can be used for limiting the moving range of the joint of the connecting piece at will and can be used for fixing the joint of the connecting piece at a required angle according to requirements.

Description

Connecting piece and joint exoskeleton and knee joint exoskeleton applying same

Technical Field

The application relates to the field of rehabilitation apparatuses, in particular to a connecting piece and a joint exoskeleton and a knee joint exoskeleton applying the connecting piece.

Background

Joint diseases and injuries are common health problems worldwide, and especially the elderly, athletes, and certain people with hemiplegia are more susceptible. Some patients require a period of time to perform the rehabilitation and adaptation process after receiving the joint-like surgery. By assistance of the joint exoskeleton, the patient can be stably supported, proper movement amplitude is kept, joint burden is reduced, and rehabilitation of the patient is promoted. At present, some joint exoskeletons adopt a single rotation center structure, but because the joints of a human body often need to flexibly rotate, the rotation center position of the joint exoskeletons can change, so that the single rotation center structure is not aligned with the rotation movement center of the joints of the human body, and the natural biomechanical characteristics of the human body are easily damaged. The patent publication CN205905014U discloses a thigh and shank connecting device of an exoskeleton robot, which comprises a shank driving motor and a shank connecting piece, wherein the lower end of the thigh is connected with the upper end of the shank through a shank driving motor rotating shaft and the shank connecting piece, and the shank connecting piece is provided with a limiting mechanism for preventing the shank from continuing to rotate forwards when the shank and the thigh form a 180-degree angle, but the structure is not aligned with the rotation center of the knee joint of a human body, and the limitation of the expansion movement of the shank is required to be achieved through a power motor, the structure is complex, the limitation cannot be provided for the movement range of joints such as buckling movement and expansion movement according to the requirement of a user, and meanwhile, the thigh connecting piece is inconvenient to wear and use.

Disclosure of Invention

The utility model aims at providing a connecting piece and joint ectoskeleton and knee joint ectoskeleton of using thereof, buckling motion, extension motion and the range of motion of the joint of the connecting piece that its can the multidimensional restriction applied adapt to different crowds to the spacing demand of joint, convenient to use and wearing comfortablely.

In order to achieve the above purpose, the technical scheme provided by the application is as follows:

in one aspect, the present application provides a connector, which includes an upper base, a lower base, an elastic component and a limiting device, wherein the elastic component is located between the upper base and the lower base and is detachably and fixedly connected to the upper base and the lower base; the limiting device is used for limiting the bending and stretching range of the elastic component and is movably connected with the upper base and the lower base.

Preferably, the limiting device is a sliding limiting device and comprises a limiting support body, a limiting slide rod, a limiting stop lever and a limiting sliding unit; one end of the limit support body is rotatably connected with the upper base or the lower base, and the other end of the limit support body is slidably connected with one end of the limit slide rod; the limiting slide rod is slidably arranged on the limiting support body, one end of the limiting slide rod is slidably arranged on the limiting support body, and the other end of the limiting slide rod is rotatably connected with the lower base or the upper base; the limiting stop rod and the limiting sliding unit are used for limiting the sliding range of the limiting sliding rod on the limiting support body.

Preferably, the other end of the limit support body is provided with an opening for the limit slide rod to insert and slide on the limit support body; the limiting stop lever is used for limiting the limiting slide bar, is fixed on one end of the limiting slide bar, which is positioned in the limiting support body, and slides along with the limiting slide bar, and the limiting slide unit is movably arranged on the limiting support body and used for blocking the limiting stop lever.

Preferably, the limit support body is a cuboid, the inside of the limit support body is hollow, the middle part of the limit support body is provided with a sliding groove parallel to the long side direction, the limit support body is provided with a plurality of symmetrical dentate protrusions along the two sides of the long side, a tooth groove is arranged between two adjacent dentate protrusions and used for adjusting the range of the limit angle of the sliding limit device, the limit sliding rod is nested in the limit support body from one end of the limit support body and can slide in the limit support body, and when the limit sliding rod slides in the limit support body, the sliding groove in the middle of the limit stop lever moves along with the limit support body.

Preferably, the limiting sliding unit comprises a limiting fixed block, a spring fixed column, a spring and a limiting sliding block, wherein the outer contour of the limiting fixed block is matched with a tooth slot on a limiting support body, so that the limiting fixed block can be just clamped into the tooth slot, the inside of the limiting fixed block is hollow, an opening is formed in the surface of the limiting fixed block in a penetrating manner, the top end of the limiting sliding block is embedded in the limiting fixed block from one end of the limiting fixed block, an opening with the same size as the opening on the limiting fixed block is formed in the surface of the limiting sliding block in a penetrating manner, and after the limiting sliding block is embedded in the limiting fixed block, the opening on the limiting sliding block is partially or completely overlapped with the opening on the limiting fixed block; the spring fixing column is fixedly arranged on the limiting sliding block through the mounting hole, the spring is nested on the spring fixing column, one end of the spring is connected to the limiting sliding block, and the other end of the spring is connected to the inside of the limiting fixing block.

Preferably, the elasticity of the spring is that the limit sliding unit can slide on the limit support body when the spring is tightly pressed, and is fixed in a tooth slot of the limit support body after being loosened; the number of the limiting sliding units is two, so that the limiting stop lever moves between the two limiting sliding units.

Preferably, the device further comprises a limiting shell, wherein the limiting shell is fixed outside the limiting support body, and marks or scales corresponding to the number and the positions of the tooth-shaped protrusions on the limiting support body one by one are arranged on the outer surface of the limiting shell.

Preferably, the continuous limiting device further comprises a continuous limiting device, wherein the continuous limiting device comprises an elastic component and a plurality of continuous body modules, and the continuous body modules are disconnected with each other and are arranged on one side of the elastic component in a continuous arrangement mode and are used for limiting the angle range of the elastic component extending along one side where the continuous bodies are arranged.

On the other hand, the application provides a joint exoskeleton, which comprises the connecting piece, wherein the upper base and the lower base are respectively provided with a connecting end which can be matched with an external part to be connected, and the connecting ends are used for connecting with different external parts; when in use, the connecting piece is positioned on the side surface of the joint of the human body.

In yet another aspect, the present application provides a knee exoskeleton comprising the above-described connector, where the upper base and the lower base are respectively provided with a connection end adapted to be connected to an external component, for connection to a different external component; when in use, the connecting piece is positioned on the side surface of the knee joint of the human body.

The connecting piece and the exoskeleton, the knee joint exoskeleton, which are provided by the embodiment of the application, are provided with the elastic parts, and the flexibility and the rigidity of the elastic parts in elastic bending and stretching enable the connecting piece to have variable bending and rotation centers; simultaneously through setting up sliding stop device, make it have spacing function, can provide the restriction as required to the range of motion of the joint of the user of this connecting piece's joint ectoskeleton equipment like buckling motion, the angle of extension motion, and can adjust the range of motion of restriction joint by oneself according to user's demand, when needs, can also accurately restrict the joint of user in required angle for the connecting piece of this application has variable rotation center and effective spacing function.

In addition, the connecting piece and the exoskeleton applied to the connecting piece and the knee joint exoskeleton are provided in the embodiment of the application, and the connecting piece can limit different angle ranges of connected equipment by adjusting the position of the limiting sliding unit on the limiting support body, so that the requirements of accurate control and limitation of rotation and bending angles of different types of joints can be met.

On the other hand, the connecting piece and the exoskeleton and the knee joint exoskeleton applied by the connecting piece provided by the embodiment of the application have a bidirectional limiting function by arranging the two sliding limiting devices, so that the connecting piece is more convenient and accurate to adjust the buckling movement, the stretching movement and the moving range of the joint matched with the connecting piece, and can achieve the purpose of adjusting and fixing the angle required by a user; the device can provide accurate limitation for the movement angles of the joints and the knee joints of the wearer, and can change the limitation range through the limiting sliding structure on the limiting system, thereby adapting to the limitation requirements of different people on the knee joints;

on the other hand, the connecting piece and the exoskeleton, knee joint exoskeleton applied to the connecting piece provided by the embodiment of the application can change the rotation center of the joint exoskeleton, which is applied to the connecting piece, along with the rotation motion of a human joint by the cooperation of the elastic component on the continuous limiting device and the continuous body module structure, so that the joint exoskeleton is more in accordance with the design of an ergonomic structure, can adapt to the natural motion of the human joint, and improves the comfort level of a user during use.

In addition, the connecting piece and the exoskeleton applied to the connecting piece and the knee joint exoskeleton provided by the embodiment of the application can provide further safety guarantee for the extension condition of the joint by arranging the continuous limiting device, and prevent the condition of overstretching of the joint due to improper adjustment of a user.

In addition, exoskeleton, knee joint exoskeleton that provide in this application embodiment through the limiting plate that sets up continuum module both sides, can restrict the holistic torsional movement of connecting piece, prevents that the user from falling down because knee joint control ability is weak and unexpected when wearing, has further improved the holistic stability of knee joint exoskeleton.

In addition, in the joint exoskeleton and the knee joint exoskeleton provided by the application, the connecting piece is positioned on the side face of the knee of the human body, so that the knee joint can be supported to bend at a large angle, and the natural movement of the joint when a wearer walks naturally is not influenced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1a is a partially exploded view of a connector according to an embodiment of the present application, as seen from an angle;

FIG. 1b is a partially exploded view of a connector according to an embodiment of the present application from another angle;

Fig. 2 is a schematic structural diagram of a sliding limiting device in an embodiment of the present application;

FIG. 3 is a partially exploded view of a sliding stop device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a single limiting sliding unit in an embodiment of the present application;

FIG. 5 is an exploded view of a single limit slide unit;

FIG. 6 is a partially exploded view of a continuous stop device according to an embodiment of the present application;

FIG. 7 is a partially exploded schematic illustration of a plurality of continuum modules in an embodiment of the application;

FIG. 8 is a schematic structural view of a continuous limiting device according to an embodiment of the present application;

FIG. 9 is a schematic view of a knee exoskeleton configuration using a connector in an embodiment of the present application;

fig. 10 is an exploded view of a knee exoskeleton portion of an embodiment of the present application using a connector.

Detailed Description

The present application is further described below with reference to the specific illustrations in order to make the technical means, the creation features, the achievement of the purpose and the effect achieved by the present application easy to understand.

In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

On one hand, the connecting piece comprises an upper base, a lower base, an elastic component and a limiting device, wherein the elastic component is positioned between the upper base and the lower base and is detachably and fixedly connected to the upper base and the lower base; the limiting device is used for limiting the bending and stretching range of the elastic component and is movably connected with the upper base and the lower base. The limiting device is a sliding limiting device and comprises a limiting support body, a limiting slide rod, a limiting stop lever and a limiting sliding unit; one end of the limit support body is rotatably connected with the upper base or the lower base, and the other end of the limit support body is slidably connected with one end of the limit slide rod; the limiting slide rod is slidably arranged on the limiting support body, one end of the limiting slide rod is slidably arranged on the limiting support body, and the other end of the limiting slide rod is rotatably connected with the lower base or the upper base; the limiting stop rod and the limiting sliding unit are used for limiting the sliding range of the limiting sliding rod on the limiting support body. In a further scheme, the other end of the limiting support body is provided with an opening for inserting the limiting slide rod and sliding on the limiting support body; the limiting stop lever is used for limiting the limiting slide bar, is fixed on one end of the limiting slide bar, which is positioned in the limiting support body, and slides along with the limiting slide bar, and the limiting slide unit is movably arranged on the limiting support body and used for blocking the limiting stop lever.

On the other hand, the application provides a joint exoskeleton, which comprises the connecting piece, wherein the upper base and the lower base are respectively provided with a connecting end which can be matched with an external part to be connected, and the connecting ends are used for connecting with different external parts; when in use, the connecting piece is positioned on the side surface of the joint of the human body.

In yet another aspect, the present application provides a knee exoskeleton comprising the above-described connector, where the upper base and the lower base are respectively provided with a connection end adapted to be connected to an external component, for connection to a different external component; when in use, the connecting piece is positioned on the side surface of the knee joint of the human body.

The specific details are as follows:

as shown in fig. 1a and 1b, the embodiment of the present application provides a connector, which includes an upper base 210, a lower base 220, an elastic component 231 and a sliding limiting device 240, where the elastic component 231 is located between the upper base 210 and the lower base 220 and is detachably and fixedly connected to the upper base 210 and the lower base 220, so as to improve the overall rigidity of the connector while providing flexibility of the connector movement. The rigidity of the whole connector can be changed by changing the shape parameters and combination of the elastic members 231. In this embodiment, the elastic component 231 is a sheet-shaped plate spring with a certain thickness, the thickness of the sheet-shaped plate spring is 0.2 mm-1.0 mm, the rigidity of the connecting piece can be changed by changing the thickness of the sheet-shaped plate spring, the greater the thickness of the sheet-shaped plate spring is, the stronger the rigidity of the connecting piece is, or the rigidity of the connecting piece can be enhanced by overlapping a plurality of sheet-shaped plate springs, so that the stability of the joint exoskeleton of a user applying the connecting piece is improved. The upper base 210 and the lower base 220 are detachably and fixedly connected to both ends of the plate-shaped leaf spring, respectively. The outer ends of the upper base 210 and the lower base 220 are respectively provided with a connecting end which can be matched with an external part to be connected, and are used for being connected with different external parts. The sliding limiting device 240 is used for limiting the bending range of the elastic component, and the sliding limiting device 240 is located on the side surface of the elastic component and is rotatably connected with the upper base 210 and the lower base 220.

As shown in fig. 2 and 3, the sliding limiting device 240 includes a limiting slide bar 241, a limiting support 242, a limiting stop lever 243, a limiting housing 244, and a limiting sliding unit 250.

The limiting support body 242 is used for supporting the sliding limiting device 240 and connecting other parts, in this embodiment, the limiting support body 242 is a cuboid, the inside of the limiting support body 242 is hollow, the middle of the limiting support body is provided with a chute parallel to the long side direction, a plurality of symmetrical dentate protrusions are arranged on two sides of the long side of the limiting support body 242, tooth grooves are formed between two adjacent dentate protrusions and used for adjusting the range of limiting angles of the sliding limiting device 240, and the more the number of dentate protrusions, the denser the arrangement, the more accurate the limiting angles can be adjusted. In the embodiment of the application, the limiting angle of the corresponding connecting piece between the two tooth grooves to the joint is 3-5 degrees. The limit sliding rod 241 is nested inside the limit supporting body 242 from one end of the limit supporting body 242 and can slide inside the limit supporting body 242; further, the limit sliding rod 241 slides along the long side direction of the limit supporting body 242 inside the limit supporting body 242. The head end and the tail end of the limiting slide bar 241 are respectively provided with a mounting hole, the limiting stop bar 243 passes through the mounting holes at the head end of the limiting slide bar 241 and is fixed at the head end of the limiting slide bar 241, and when the limiting slide bar 241 slides in the limiting support body 242, the limiting stop bar 243 moves along with the sliding groove in the middle of the limiting support body 242. The length of the limiting slide rod 241 affects the sliding range of the limiting stop rod 243 inside the limiting support body 242, so as to affect the maximum range of the angle of the joint exoskeleton of the sliding stop device 240 for limiting the joint movement of the joint exoskeleton, in the embodiment of the present application, the length of the limiting slide rod 241 is slightly greater than the length of the limiting support body 242, so that the limiting stop rod 243 can move in the whole sliding groove range in the middle of the limiting support body 242.

The end part of the limit support body 242 far away from the limit slide bar 241 is provided with a mounting hole, the limit support body 242 is rotatably and detachably mounted on the side surface of the upper base 210 or the side surface of the lower base 220 through the mounting hole, and the mounting hole at the tail end of the limit slide bar 241 is rotatably and detachably mounted on the side surface of the lower base 220 or the side surface of the upper base 210. In this embodiment, protruding mounting grooves are formed on the sides of the upper base 210 and the lower base 220, for rotatably mounting the limit support body 242 and the limit slide bar 241; further, the limit support 242 is rotatably and detachably mounted in the mounting groove on the side of the lower base 220 through a plugging screw passing through the mounting hole, and the tail end of the limit sliding rod 241 is rotatably and detachably mounted in the mounting groove on the side of the upper base 210 through a plugging screw passing through the mounting hole, so that the sliding limit device 240 can rotate around the plugging screw relative to the upper base 210 and the lower base 220.

The limiting housing 244 is used for protecting the sliding limiting device 240, and is fixed outside the limiting support body 242 through a mounting hole at one end of the limiting support body 242 far away from the limiting slide rod 241. The outer surface of the limiting shell 244 is provided with marks or scales corresponding to the number and the positions of the tooth-shaped protrusions on the limiting support 242 one by one, so that a user can conveniently move the limiting sliding unit 250 through the marks or scales to achieve accurate limiting of joints limited by the joint exoskeleton applying the connecting piece.

Referring to fig. 4 and 5, the limit sliding unit 250 is movably mounted on the limit supporting body 242, and the limit sliding unit 250 includes a limit fixing block 251, a spring fixing column 252, a spring 253 and a limit sliding block 254. The limiting fixed block 251 comprises a top end and a pressing end; the pressing end is provided with an inward concave cambered surface for a human body to conveniently press; the inside of the sliding block is provided with a sliding groove and penetrates through the top end of the sliding block for the insertion and sliding of the limiting sliding block 254. The outer contour of the limit fixing block 251 is adapted to the tooth slot on the limit support body 242, so that the limit fixing block 251 can be just clamped into the tooth slot, the limit fixing block 251 is hollow, an opening is arranged on the surface of the limit fixing block, the width of the opening is slightly larger than the thickness of the limit support body 242, and the length of the opening is slightly larger than the distance from the tooth-shaped protruding top point on one side of the limit support body 242 to the tooth-shaped protruding top point on the symmetrical side. The limiting sliding block 254 comprises a top end and a pressing end, and the pressing end is provided with an inward concave cambered surface for a human body to conveniently press; the top end of the limit sliding block 254 is nested in the limit fixed block 251 from the top end of the limit fixed block 251 and can slide in the limit fixed block 251; the surface of the limiting sliding block 254 is provided with an opening with the same size as the opening on the limiting fixed block 251 in a penetrating way, and after the limiting sliding block 254 is nested inside the limiting fixed block 251, the opening on the limiting sliding block 254 is partially or completely overlapped with the opening on the limiting fixed block 251.

The top of the limiting sliding block 254 is provided with a mounting hole, the spring fixing column 252 is fixedly mounted on the limiting sliding block through the mounting hole, the spring 253 is nested on the spring fixing column 252, one end of the spring 253 is connected to the limiting sliding block 254, and the other end of the spring 253 is connected to the inside of the limiting fixing block 251.

When the elasticity of the spring is in an initial state, the spring 253 supports the limit sliding block 254 and the limit fixing block 251, so that the length of an opening part where the limit sliding block 254 and the limit fixing block coincide is the distance from the bottom edge of a tooth socket on one side of the limit supporting body 242 to the bottom edge of a tooth socket on the symmetrical side; the pressing ends on the limiting fixed block 251 and the limiting sliding block 254 tightly press the limiting fixed block 251 and the limiting sliding block 254 to compress the spring 253, so that the length of the overlapped opening part is slightly longer than the distance from the vertex of the toothed protrusion on one side of the limiting support body 242 to the vertex of the toothed protrusion on the symmetrical side, namely, the opening parts of the two are completely overlapped, and the limiting sliding unit 250 can slide on the limiting support body 242 when tightly pressing the spring, and is fixed in a tooth slot of the limiting support body 242 after being released. Further, a side of the opening on the limiting sliding block 254, which is close to the top end of the limiting sliding block 254, is provided with a protruding edge adapted to the tooth slot of the limiting supporting body 242, and the position of the top end of the limiting fixing block 251, which is close to the opening, is provided with a protruding edge adapted to the tooth slot of the limiting supporting body 242, so that the limiting sliding unit 250 can be more firmly fixed in the tooth slot of the limiting supporting body 242.

The number of the limiting sliding units is set to be two, and the limiting blocking rod 243 is used for blocking the limiting blocking rod 243, so that the limiting blocking rod 243 can only move between the two limiting sliding units 250, when the joint exoskeleton of the connecting piece is worn by a human body and used for buckling or stretching movement, as the limiting blocking rod 243 can only slide between the two limiting sliding units 250, when the joint moves to the boundary of the angle range limited by the limiting sliding units 250 in buckling or stretching, the limiting blocking rod 243 cannot slide continuously, the limiting sliding rod 241 connected with the limiting blocking rod 243 cannot slide continuously, and therefore the upper base and the lower base connected with the limiting sliding rod 241 and the limiting supporting body 242 cannot drive the joint exoskeleton to bend inwards or stretch outwards continuously, and the effect of limiting the angle range of buckling or stretching movement of the joint of a user is achieved.

In another embodiment of the present application, the limiting sliding units 250 are plug pin structures that are adapted to the tooth grooves of the limiting supporting bodies 242, and the user can fix the limiting sliding units 250 in the tooth grooves of the limiting supporting bodies 242 by manually plugging, so that the limiting stop lever 243 can only move between the two limiting sliding units 250, thereby achieving the effect of limiting the angular range of the bending or stretching motion of the joints of the user.

The sliding limiting device 240 has a bidirectional limiting function, can provide accurate limitation for the joint movement angle of a wearer applying the joint exoskeleton of the connecting piece, and can change the limiting range through the limiting sliding unit 250 so as to adapt to the limiting requirements of different crowds on different joints; when the distance between the two limit sliding units 250 is the largest, that is, the limit sliding units 250 are respectively positioned in the topmost tooth slot and the bottommost tooth slot of the limit support body 242, the movable range of the limit sliding rod 241 and the limit stop lever 243 is the largest, and at the moment, the limit of the limit device 240 on the movement range of the joint is the smallest; when the two limit sliding units 250 fix the limit sliding rod 241 between the two adjacent tooth grooves at the extreme end, the sliding limiting device 240 fixes the joint at the maximum value of the buckling movement angle or the minimum value of the stretching movement. In the embodiment of the application, since the limit slide bar 241 is mounted on the upper base 210, the end of the limit support body 242 far away from the limit slide bar 241 is mounted on the lower base 220, and when the two limit slide units 250 fix the limit slide bar 241 between the two tooth grooves adjacent to the topmost part, the slide limit device 240 fixes the joint at the minimum value of 0 ° of the extending motion; when the two limit sliding units 250 fix the limit sliding rod 241 between the two adjacent tooth grooves at the bottommost part, the bottom of the upper base connected with the tail end of the limit sliding rod 241 is contacted with the top of the limit supporting body 242, and the limit sliding device 240 fixes the joint at the maximum value of the buckling motion by 100 degrees.

In the embodiment of the application, the sliding range of the limit sliding rod 241 is adjusted by adjusting the two limit sliding units 250, so that the bending angle range and the stretching range of the elastic component 231 are adjusted, and the range of the buckling movement and the stretching movement of the corresponding joint is adjusted and limited; meanwhile, in the embodiment of the application, the two limiting sliding units 250 can be adjusted and arranged to be fixed at the positions of two adjacent tooth grooves, so that the limiting and positioning of the adjusting joint on a certain specific buckling angle and stretching angle can be achieved, and the requirements of different users can be met.

Further, as shown in fig. 6, the connector further includes a continuous limiting device 230, where the continuous limiting device includes the elastic member 231 and a plurality of continuous body modules 232, where the plurality of continuous body modules 232 are disposed on one side of the elastic member 231 in a continuous arrangement and disconnected from each other, and the plurality of continuous body modules 232 are used to limit the bending angle range of the elastic member 231 along the side where the plurality of continuous bodies are disposed, so as to provide a safe limit for the applied joint extension motion. The continuous stop 230 may flex or elastically flex along one side of the elastic member, limited by the interference of the plurality of continuum modules when returning to the other side, and limited in its return angle. The continuous limiting device 230 in the embodiment of the application enables the connecting piece in the embodiment of the application to have the characteristic of variable rotation center, supports the large-angle buckling of the joint, and does not influence the joint movement of the wearer during natural walking; meanwhile, the continuous body modules are mutually restricted, so that the limit of the joint stretching angle is achieved, and the safety of a user during use is ensured.

In this application embodiment, elastomeric element 231 is the slice leaf spring, is equipped with a plurality of mounting holes on it, a plurality of continuum modules 232 are fixed in proper order on the slice leaf spring through the mounting hole of slice leaf spring, elastomeric element 231 like the slice leaf spring have certain crooked radian after having set up a plurality of continuum modules 232, a plurality of continuum modules 232 fixed mounting in elastomeric element 231's curved surface outside, further, in the application this application in the joint exoskeleton of connecting piece, a plurality of continuum modules 232 are towards human outside.

Referring to fig. 7, in a further embodiment, two sides of the continuum module 232 further include a limiting plate 233 with symmetrical structure. The limiting plates 233 are fixed on both sides of the continuum module 232 in a wing structure and partially higher than the upper surface and/or the lower surface of the continuum module 232, for limiting the overall torsion movement of the connector. The upper section and the lower section of the limiting plate 233 are respectively provided with a corresponding protrusion and a corresponding groove, so that the limiting plates on the plurality of continuum modules 232 can be mutually clamped from top to bottom or from bottom to top when in close contact, and the limiting plates of the continuum modules positioned at the end part of the continuous limiting device 230 are also clamped with the outer sides of the upper base or the lower base, so that the continuum modules 232 can be sequentially overlapped from top to bottom or from bottom to top and then limit the torsion movement of the whole connecting piece in other directions, and the movement stability of the joint exoskeleton applying the connecting piece is improved.

As shown in fig. 8, when the joint exoskeleton using the connecting piece described in the present application is used, the rotation center of the connecting piece can be changed along with the rotation motion of the human joint, where the rotation center of the connecting piece is the intersection point Q of the extension lines of the upper base 100 and the lower base 300 along the direction of the elastic component 231, and along with the change of the angle of the human joint, the shape of the elastic component 231 on the continuous limiting device 230 is also changed, so as to drive the change of the rotation center, and the rotation center is located inside or outside the connecting piece.

The connecting piece can be applied to various joint exoskeletons with limit requirements, such as waist, elbow, knee and the like, and a knee joint exoskeletons using the connecting piece is specifically described below.

As shown in fig. 9 and 10, the present embodiment provides a knee exoskeleton using the connector described herein, including a thigh support 100, a knee rotation limiting device 200, and a calf support 300. The knee joint rotating device 200 is a connecting piece described in the application. The thigh support part 100 is used for positioning and supporting the thigh of the human body at a position close to the knee, the shank support part 300 is used for positioning and supporting the shank of the human body at a position close to the knee, and the knee joint rotation limiting device 200 is used for limiting the angle range of the knee movement of the human body and the flexion and extension movement range of the thigh. The knee joint rotation limiting device 200 is disposed between the thigh support portion 100 and the shank support portion 300, and is fixedly connected with the thigh support portion 100 and the shank support portion 300, when in use, the knee joint rotation limiting device 200 is disposed on the left side or the right side of the knee portion of the human body, and further, the number of the knee joint rotation limiting devices 200 is two, and when in use, the knee joint rotation limiting devices 200 are disposed on the left side and the right side of the knee portion of the human body. The thigh support 100 includes a left thigh support and a right thigh support that are structurally symmetrical, and the shank support 300 includes a left shank support and a right shank support that are structurally symmetrical.

In the knee exoskeleton embodiment of the present application, the knee rotation limiter 200 is the same as the connecting element in the above application embodiment, and the description of the structure and function of the connecting element is not repeated in this embodiment.

The knee joint rotation limiting device 200 comprises an upper base 210, a lower base 220, a continuous limiting device 230 and a sliding limiting device 240, wherein the upper base 210 is movably and adjustably fixedly connected with the thigh support part 100, the lower base 220 is movably and adjustably fixedly connected with the calf support part 300, two ends of the continuous limiting device 230 are respectively and fixedly connected with the upper base 210 and the lower base 220 or detachably and fixedly connected with the lower base 220, and two ends of the sliding limiting device 240 are respectively and rotatably connected with the upper base 210 and the lower base 220.

In this embodiment, the knee joint rotation limiting device corresponding to the space between two tooth grooves on the limiting support 242 has a limiting angle of 3 ° to the knee joint. The length of the limit sliding rod 241 is slightly greater than that of the limit supporting body 242.

The number of the limiting sliding units is set to be two, and the limiting blocking rod 243 is used for blocking the limiting blocking rod 243, so that the limiting blocking rod 243 can only move between the two limiting sliding units 250, when a human body wears the knee joint exoskeleton disclosed by the application to perform buckling or stretching motions, as the limiting blocking rod 243 can only slide between the two limiting sliding units 250, when the knee joint moves to the boundary of the angle range limited by the limiting sliding units 250 in buckling or stretching motions, the limiting blocking rod 243 cannot continue to slide, the limiting sliding rod 241 connected with the limiting blocking rod 243 cannot continue to slide, and therefore, the upper base and the lower base connected with the limiting sliding rod 241 and the limiting supporting body 242 cannot drive the knee joint exoskeleton to continue to bend inwards or stretch outwards, so that the effect of limiting the angle range of buckling or stretching motions of a user is achieved.

The sliding limiting device 240 has a bidirectional limiting function, can provide accurate limitation for the knee joint movement angle of a wearer, and can change the limiting range through the limiting sliding unit 250 so as to adapt to the limiting requirements of different crowds on the knee joint; when the distance between the two limit sliding units 250 is the largest, that is, the limit sliding units 250 are respectively positioned in the topmost tooth slot and the bottommost tooth slot of the limit support body 242, the movable range of the limit sliding rod 241 and the limit stop rod 243 is the largest, and at the moment, the limit of the limit device 240 on the knee joint movement range is the smallest; when the two limit sliding units 250 fix the limit sliding rod 241 between the two adjacent tooth grooves at the extreme end, the sliding limiting device 240 fixes the knee joint at the position of the knee joint as the origin in the buckling motion, the maximum value of the included angle between the extension line of the thigh in the direction of the origin and the shank or the minimum value of the included angle between the extension line of the thigh in the direction of the origin and the shank in the extending motion takes the knee joint as the origin. In the embodiment of the application, since the limit slide bar 241 is mounted on the upper base 210, the end of the limit support body 242 far away from the limit slide bar 241 is mounted on the lower base 220, when the two limit slide units 250 fix the limit slide bar 241 between the two adjacent tooth grooves at the top, the slide limiting device 240 fixes the knee joint at the knee joint position for the extending movement, and the minimum value of the included angle between the extension line of the thigh to the origin direction and the shank is 0 °; when the two limit sliding units 250 fix the limit sliding rod 241 between the two adjacent tooth grooves at the bottommost part, the bottom of the upper base connected with the tail end of the limit sliding rod 241 is contacted with the top of the limit supporting body 242, the limit sliding device 240 fixes the knee joint at the knee joint position of the buckling motion by taking the knee joint as the origin, and the maximum value of the included angle between the extension line of the thigh to the origin direction and the shank is 100 degrees.

The continuous limiting device 230 in the embodiment of the application enables the knee joint exoskeleton in the embodiment of the application to have a variable rotation center characteristic, supports the joint to bend at a large angle, and does not influence the knee joint movement when a wearer walks naturally; meanwhile, the continuous body modules are mutually restricted, so that the limit of the knee joint stretching angle is achieved, and the safety of a user during use is ensured.

In this embodiment, a side of the upper base 210 away from the continuous limiting device 230 is provided with a U-shaped chute with a certain length, a side wall of the U-shaped chute is provided with a plurality of mounting holes, a side wall of the upper base 100 is provided with an n-shaped chute with a certain length near the side of the upper base 210, a side wall of the upper base is provided with limiting holes corresponding to the number and the position of the mounting holes of the side wall of the U-shaped chute, and the length of the limiting holes of the n-shaped chute at the end of the upper base 100 is greater than that of the mounting holes of the U-shaped chute of the upper base. The U-shaped chute of the upper base 210 is inserted into the n-shaped chute of the thigh support 100 and can move relatively in the chute, the upper base 210 is adjustably and fixedly connected with the thigh support 100 by a bolt which passes through the mounting hole of the side wall of the U-shaped chute of the upper base and the limit hole of the side wall of the n-shaped chute of the thigh support to fix the upper base 210 at the end of the thigh support 100, and the fixing position of the upper base 210 is adjusted by adjusting the fixing position of the bolt within the length range of the limit hole, thereby adjusting the position of the whole knee joint rotation limiting device 200.

The side of the lower base 220 far away from the continuous limiting device 230 is provided with an n-shaped chute with a certain length, the side wall of the lower base is provided with a plurality of mounting holes, one side of the end part of the lower leg supporting part 300 close to the lower base 220 is correspondingly provided with a U-shaped chute with a certain length, the side wall of the lower base is provided with limiting holes corresponding to the number and the positions of the mounting holes of the side wall of the n-shaped chute, and the length of the limiting holes of the U-shaped chute at the end part of the lower leg supporting part 300 is greater than that of the mounting holes of the n-shaped chute of the lower base. The n-shaped chute of the lower base 220 and the U-shaped chute of the lower leg support 300 are inserted into each other and can move relatively in the slot, the lower base 220 and the lower leg support 300 are adjustably and fixedly connected by a bolt, the bolt passes through the mounting hole of the n-shaped chute side wall of the lower base and the limit hole of the U-shaped chute side wall of the lower leg support 300 at the same time to fix the lower base 220 at the end of the lower leg support 300, and the fixing position of the lower base 220 is adjusted by adjusting the fixing position of the bolt within the length range of the limit hole, thereby adjusting the mounting position of the knee joint rotation limiting device 200 on the whole lower limb of the human body.

As described in the previous embodiments, the continuous limiting device 230 includes an elastic member 231 and a plurality of continuous body modules 232, and the elastic member 231 is used to connect other components and provide a certain rigidity to the whole of the connection device with the variable rotation center. The structure and function of the particular continuous stop device 230 will not be repeated here.

The elastic component 231 is used for connecting components on the knee joint rotation limiting device 200, so that flexibility of knee joint extension and bending is provided, meanwhile, rigidity of the knee joint rotation limiting device 200 is improved, and rigidity of the knee joint rotation limiting device 200 can be changed by changing shape parameters and combination modes of the elastic component 231. In this embodiment, the elastic component 231 is a sheet-shaped plate spring with a certain thickness, the thickness of the sheet-shaped plate spring is 0.2 mm-1.0 mm, the rigidity of the knee joint rotation limiting device 200 can be changed by changing the thickness of the sheet-shaped plate spring, the greater the thickness of the sheet-shaped plate spring is, the stronger the rigidity of the knee joint rotation limiting device 200 is, or the rigidity of the knee joint rotation limiting device 200 can be enhanced by overlapping a plurality of sheet-shaped plate springs, so that the stability of the knee joint of a user is improved. The sheet-shaped plate spring is provided with a plurality of mounting holes, the plurality of continuum modules 232 are sequentially fixed on the sheet-shaped plate spring through the mounting holes of the sheet-shaped plate spring, two ends of the sheet-shaped plate spring are respectively and detachably fixedly connected to the upper base 210 and the lower base 220 through the mounting holes, and in the embodiment of the application, bolts are used for fixedly connecting. In an embodiment of the present application, the elastic component 231, such as a sheet-shaped plate spring, has a certain bending radian after a plurality of continuum modules 232 are disposed, and the continuum modules 232 are fixedly mounted on the outer side of the curved surface of the elastic component 231, and further, the continuum modules 232 face the outer side of the human body. The plurality of continuum modules 232 are sequentially fixed on the sheet-shaped plate spring along the longitudinal direction of the sheet-shaped plate spring, and are used for limiting the bending angle range of one side of the elastic component 231 unidirectionally, when the bending angle range of one side of the elastic component 231 along which the plurality of continuum modules 232 are arranged reaches the maximum limit, the plurality of continuum modules 232 are in close contact with each other, at this time, one of the limiting sliding units 250 of the sliding limiting device 240 is positioned in a tooth slot at the topmost part of the limiting support body 242, and the limiting stop lever 243 slides to the topmost part of the limiting support body 242.

When the human body stands upright normally, the knee joint is taken as an origin, the angle between the extension line of the thigh to the origin direction and the shank is about 0 degrees, and the plurality of continuum modules 232 are used for limiting the angle range of the knee joint extension of the human body in a unidirectional manner, and the knee joint is taken as the origin, so that the angle between the extension line of the thigh to the origin direction and the shank is not less than 0 degrees at the minimum. The sliding limiting device can limit the angle range of the knee joint of the human body in a two-way, so that the knee joint is taken as an origin, and the maximum range of the included angle between the extension line of the thigh of the human body to the origin and the shank can move within the range of 0-100 degrees. The material of the continuum module 232 has a certain strength, so that it will not deform when being extruded. The continuum module 232 is a hexahedron, and has a mounting hole at a mounting end thereof for being fixedly mounted on the elastic member 231. Further, concave planes or chamfer grooves are formed on the upper side and the lower side of the mounting end of the continuum module 232, so that the height or thickness of the upper side and the lower side of the mounting end is smaller than the body height or thickness of the continuum module 232, firstly, the continuum module 232 can be attached to the connection position of the elastic component 231 more, and meanwhile, the bending range of the elastic component is not limited due to small interference between the continuum modules when the elastic component 231 is bent. The continuum module 232 and the elastic member are fixedly connected by bolts in the embodiment of the present application. The plurality of continuum modules 232 are sequentially fixed on the sheet-shaped plate spring along the longitudinal direction of the sheet-shaped plate spring, and as the mounting end of each continuum module 232 is fixed on the sheet-shaped plate spring, when the knee of a user makes a buckling action in use, the sheet-shaped plate spring is inwards bent along with the buckling action, the distance between each continuum module 232 fixed on the sheet-shaped plate spring is increased, and the buckling angle of the knee joint of the user is not limited; when the knee of the user stretches, the sheet-shaped plate spring can bend towards the stretching direction, when the knee stretches to a certain angle, each continuum module 232 on the sheet-shaped plate spring can be closely contacted, and the sheet-shaped plate spring cannot continuously bend towards the stretching direction due to the fact that the sheet-shaped plate spring is not deformed when being extruded by the material of the sheet-shaped plate spring, and therefore the angle range of stretching of the knee joint of the human body is limited. The included angle between the upper edge and the lower edge of the side surface of each continuum module 232 towards the installation end direction of the continuum module 232 is a 0 degree, that is, the upper edge and the lower edge of the side surface of the continuum module are parallel, the number of the continuum modules is 10, the angle range of the knee joint rotation limiting device 200 limiting the human knee joint to extend is that the knee joint is taken as an origin, and the included angle between the extension line of the thigh towards the origin direction and the shank is greater than or equal to 0 degree.

In a further embodiment, the limiting plates 233 on the continuum module 232 and the protrusions and grooves corresponding to the upper cross section and the lower cross section of the limiting plates 233 enable the limiting plates on the continuum module 232 to be clamped with each other from top to bottom or from bottom to top when the continuum modules 232 are in close contact, and the limiting plates of the continuum module located at the end of the continuum limiting device 230 are further clamped with the outer side of the upper base or the lower base, so that the continuum module 232 can be sequentially overlapped from top to bottom or from bottom to top to limit the torsion movement of the whole knee joint rotation limiting device in other directions, thereby improving the movement stability of the knee joint rotation limiting device.

When the knee exoskeleton described in the present application is used, the rotation center of the knee rotation limiting device 200 may be changed along with the rotation motion of the knee of the human body, the rotation center of the knee rotation limiting device 200 is the intersection point Q of the extension lines of the upper base 100 and the lower base 300 along the direction of the elastic member 231, and along with the change of the angle of the knee of the human body, the shape of the elastic member 231 on the continuous limiting device 230 is also changed, so as to drive the change of the rotation center, and the rotation center is located inside or outside the knee rotation limiting device.

In a further embodiment, the thigh support 100 and the shank support 300 are respectively provided with a plurality of mounting holes, the thigh support 100 includes a thigh support 101 and a thigh strap 102, the thigh support 101 extends from the thigh support 100 to the front or the rear of the thigh to form a support plate, the left and the right sides of the thigh support extend from the left thigh support and the right thigh support respectively, and the two ends of the thigh strap 102 are fixed on the thigh support 100 through the mounting holes on the thigh support 100 and are positioned behind or in front of the thigh; in use, the thigh support 101 is positioned in front of or behind the thigh of a person for providing a support point for the thigh of the person, and the thigh strap 102 is positioned behind or in front of the thigh of the person for securing the knee exoskeleton to the thigh portion. The shank support 300 comprises a shank support 301 and shank straps 302, the shank support 301 extends from the shank support 300 to the front or rear of the shank to form a support plate, the left and right sides of the shank support extend from the left shank support and the right shank support respectively, and the two ends of the shank straps 302 are fixed on the shank support 300 through mounting holes on the shank support 300 and positioned at the rear or front of the shank; in use, the calf support 301 is positioned in front of or behind a human calf for providing a support point for the human calf, and the calf strap 302 is positioned behind or in front of the human calf for securing the knee exoskeleton to the calf portion. Further, the thigh strap 102 and the shank strap 302 are binding straps with a length capable of being freely adjusted, in this embodiment, the thigh strap 102 and the shank strap 302 are elastic straps with a length capable of being freely adjusted, and when in use, the thigh support 101 is located at the rear of the thigh of a human body, the thigh strap 102 is located at the front of the thigh of the human body, the shank support 301 is located at the rear of the shank of the human body, and the shank strap 302 is located at the front of the shank of the human body.

Further, the thigh support 101 and the calf support 301 are provided with a plurality of lightening holes for lightening the weight of the thigh support 101 and the calf support 301, respectively, so that the thigh support 101 and the calf support 301 have rigidity capable of supporting the thigh and the calf and simultaneously reduce the weight of the whole knee joint exoskeleton. The thigh support 101 has a certain degree of curvature, which is defined as follows: the thigh bracket 101 is integrally adapted to the thigh contour and bends towards the outer side of the thigh, the upper edge of the thigh bracket 101 forms a gradually downward arc from two endpoints to the midpoint, and the lower edge of the thigh bracket 101 forms a gradually upward arc from two endpoints to the midpoint; the lower leg supporter 301 has a certain curvature, and the curvature is defined as follows: the lower leg support 301 is integrally adapted to the contour of the lower leg and is bent towards the outer side of the lower leg, the upper edge of the lower leg support 301 forms a gradually downward arc from two endpoints to the middle point, and the lower edge of the lower leg support 301 forms a gradually upward arc from two endpoints to the middle point. When the knee joint exoskeleton is used, the thigh support 101 and the shank support 301 are respectively attached to the thigh and the shank of a human body, the bending arrangement of the knee joint exoskeleton is more in accordance with the design of an ergonomic structure, the knee joint exoskeleton can be more smoothly bent when squatting and the like, and the overall wearing comfort of the knee joint exoskeleton is improved.

In another embodiment of the present application, the thigh support part 100 includes thigh straps, both ends of which are fixed to the thigh support part 100 through mounting holes on the thigh support part 100, and in use, the thigh straps are wound around the thigh part for fixing the knee exoskeleton to the thigh part; the shank support 300 includes shank straps, both ends of which are fixed to the shank support 300 through mounting holes in the shank support 300, and which are wound around the shank portion for fixing the knee exoskeleton to the shank portion when in use.

The utility model provides a knee joint exoskeleton can be according to user and fit suitable size, the user wears this application knee joint exoskeleton time with thigh bandage binding in thigh department, bind shank bandage in shank department, dress promptly and finish, the thigh support is located thigh rear support thigh this moment, shank support is located shank rear support shank, knee joint rotation stop device is located human knee side, the person of dress can easily accomplish under the state such as position of sitting, standing position, and support knee joint wide angle buckling, joint activity when not influencing the person of dress naturally walks, and can two-way spacing, can provide the restriction to buckling motion, extension motion and the range of motion of user knee joint, and can adjust the range of motion that restricts knee joint by oneself according to user's demand, can also accurately restrict the knee joint of user at required angle when required.

The connecting piece that this application provided makes it have two-way limit function through setting up sliding stop device, can provide the restriction to the range of motion of the joint of the user of this connecting piece's joint ectoskeleton equipment like buckling motion, the angle of extension motion, and can adjust the range of motion of restriction joint by oneself according to user's demand, when needs, can also accurately restrict the joint of user in required angle.

The connecting piece that this application provided can do different angle scope restrictions to the equipment that connects through adjusting the position of spacing sliding unit 250 on spacing support body 242, can be suitable for the accurate control and the restriction demand of the rotation and the bending angle of different grade type joint.

On the other hand, through the cooperation of the elastic component 231 and the continuous body module 232 structure on the continuous limiting device of the connecting piece, the rotation center of the joint exoskeleton applying the connecting piece can be changed along with the rotation motion of the human joint, so that the joint exoskeleton is more in accordance with the design of an ergonomic structure, can adapt to the natural motion of the human joint, and improves the comfort level of a user during use.

In addition, through setting up continuous stop device can provide further security for the extension condition of joint, prevent to appear the condition that the joint stretches excessively because of user's adjustment is improper.

In addition, the rigidity of the whole connecting piece can be changed by changing the shape parameters and the combination mode of the elastic component 231, so that the stability of the joint of a user when the user uses the joint exoskeleton applying the connecting piece is improved, the elastic component can be suitable for different types of users, and the application scene is increased.

In addition, by arranging the limiting plates 233 on both sides of the continuum module 232, the whole torsion movement of the connecting piece can be limited, so that accidents caused by weak joint control capability when a user wears the joint exoskeleton applying the connecting piece can be prevented, and the whole stability of the joint exoskeleton applying the connecting piece is further improved.

On the other hand, the knee joint exoskeleton applying the connecting piece is fixed at the rear of the leg of a human body through the thigh binding bands 102 and the shank binding bands 302, so that a user can put on and take off in a sitting posture, a standing posture and other states, and the knee joint exoskeleton applying the connecting piece is more convenient and quick to put on and take off.

In addition, the knee joint rotation limiting device 200 in the knee joint exoskeleton applying the connecting piece is located on the side face of the knee of the human body, can support the knee joint to bend in a large angle, and does not affect the natural movement of the joint when the wearer walks naturally.

In addition, the knee joint rotation limiting device 200 in the knee joint exoskeleton using the connecting piece is movably and adjustably fixed between the thigh support part and the calf support part, so that a user can adjust the overall position of the knee joint rotation limiting device, thereby changing the fixing position of the knee joint rotation limiting device near the knee joint of a human body, and being suitable for different crowds and patients in different diseased stages.

The utility model provides a connecting piece and joint exoskeleton and knee joint exoskeleton of using thereof, it has changeable rotation center and adjusts spacing function as required, can adapt to the natural motion of human knee joint, provides the restriction to the buckling motion, the extension motion and the range of motion of knee joint, reinforcing knee joint's rigidity and stability, very big satisfying the rehabilitation use needs of hemiplegia patient, knee joint replacement postoperative patient and old person etc..

The above description is provided for a connecting piece and a joint exoskeleton and a knee exoskeleton applied by the connecting piece, and those skilled in the art will change the specific implementation and application scope according to the ideas of the embodiments of the present application, so the disclosure should not be construed as limiting the present application.

Claims (10)

1. The connecting piece is characterized by comprising an upper base, a lower base, an elastic component and a limiting device, wherein the elastic component is positioned between the upper base and the lower base and is detachably and fixedly connected to the upper base and the lower base; the limiting device is used for limiting the bending and stretching range of the elastic component and is movably connected with the upper base and the lower base.

2. The connector of claim 1, wherein the limit device is a sliding limit device comprising a limit support, a limit slide bar, a limit stop lever and a limit slide unit; one end of the limit support body is rotatably connected with the upper base or the lower base, and the other end of the limit support body is slidably connected with one end of the limit slide rod; the limiting slide rod is slidably arranged on the limiting support body, one end of the limiting slide rod is slidably arranged on the limiting support body, and the other end of the limiting slide rod is rotatably connected with the lower base or the upper base; the limiting stop rod and the limiting sliding unit are used for limiting the sliding range of the limiting sliding rod on the limiting support body.

3. The connector of claim 2, wherein the other end of the limit support body is provided with an opening for inserting and sliding the limit slide bar on the limit support body; the limiting stop lever is used for limiting the limiting slide bar, is fixed on one end of the limiting slide bar, which is positioned in the limiting support body, and slides along with the limiting slide bar, and the limiting slide unit is movably arranged on the limiting support body and used for blocking the limiting stop lever.

4. The connector of claim 3, wherein the limit support is a cuboid, the middle part of the limit support is provided with a chute parallel to the long side direction, the limit support is provided with a plurality of symmetrical dentate protrusions along two sides of the long side, a tooth slot is arranged between two adjacent dentate protrusions for adjusting the range of the limit angle of the sliding limit device, the limit slide bar is nested in the limit support from one end of the limit support and can slide in the limit support, and when the limit slide bar slides in the limit support, the chute in the middle part of the limit stop bar moves along with the limit support.

5. The connector of claim 4, wherein the limit sliding unit comprises a limit fixing block, a spring fixing column, a spring and a limit sliding block, the outline of the limit fixing block is matched with a tooth slot on the limit supporting body, so that the limit sliding block can be just clamped into the tooth slot, the limit fixing block is hollow, an opening is formed in the surface of the limit fixing block in a penetrating manner, the top end of the limit sliding block is nested in the limit fixing block from one end of the limit fixing block, an opening with the same size as the opening on the limit fixing block is formed in the surface of the limit sliding block in a penetrating manner, and after the limit sliding block is nested in the limit fixing block, the opening on the limit sliding block is partially or completely overlapped with the opening on the limit fixing block; the spring fixing column is fixedly arranged on the limiting sliding block through the mounting hole, the spring is nested on the spring fixing column, one end of the spring is connected to the limiting sliding block, and the other end of the spring is connected to the inside of the limiting fixing block.

6. The connector of claim 5, wherein the elasticity of the spring is that the limit sliding unit can slide on the limit support body when the spring is tightly pressed, and is fixed in the tooth socket of the limit support body after being loosened; the number of the limiting sliding units is two, so that the limiting stop lever moves between the two limiting sliding units.

7. The connector of claim 6, further comprising a spacing housing, wherein the spacing housing is fixed outside the spacing support, and the outer surface of the spacing housing is provided with marks or scales corresponding to the number and the positions of the tooth-shaped protrusions on the spacing support.

8. The connector of claim 1, further comprising a continuous stop device comprising the elastic member and a plurality of continuum blocks disposed on one side of the elastic member in a disconnected and continuous arrangement for limiting an angular range of the elastic member along the side on which the plurality of continuum blocks are disposed.

9. A joint exoskeleton comprising a connector according to any one of claims 1 to 8, wherein the upper and lower bases are provided with respective connection ends adapted to be connected to external components for connection to different external components; when in use, the connecting piece is positioned on the side surface of the joint of the human body.

10. A knee joint exoskeleton, comprising a connecting member according to any one of claims 1 to 8, wherein the upper base and the lower base are respectively provided with a connecting end adapted to be connected with an external component for connection with different external components; when in use, the connecting piece is positioned on the side surface of the knee joint of the human body.