CN215789965U - Passive exoskeleton lower limb joint structure capable of adjusting assistance force and robot - Google Patents

Abstract

The utility model discloses a joint structure capable of adjusting the power assisting size of lower limbs of a passive exoskeleton, which comprises a joint base, a joint rotating arm, a coil spring part, a ratchet part and a pawl locking part, wherein a degree of freedom is formed between the joint base and the joint rotating arm, the axis of the degree of freedom is coaxial with a human joint, the coil spring part is arranged between the joint base and the joint rotating arm, and at least part of the coil spring part is embedded in the joint base and is connected with the joint base in a rotating manner; the ratchet wheel part is arranged outside the joint base and is fixedly connected with the side surface of the coil spring part in the joint base; the pawl locking part is arranged above the joint base and used for transmitting torque force of the coil spring part to the joint base, and the joint structure can be adjusted in auxiliary force under normal walking according with human exoskeleton kinematics, so that the joint structure can adapt to different application scenes and different users, and can relieve joint damage of the users in reciprocating squatting and loading work to a certain extent.

Description

Passive exoskeleton lower limb joint structure capable of adjusting assistance force and robot

Technical Field

The utility model relates to the technical field of passive exoskeleton robots worn by human bodies, in particular to a joint structure with adjustable assistance force of a passive exoskeleton lower limb and a robot.

Background

With the social development, the problems of global aging, medical rehabilitation, emergency rescue, disaster relief and the like are more prominent, the exoskeleton robot is taken as a wearable robot capable of assisting and enhancing the functions of a human body, the intelligence of the human body and the physical strength of the robot can be perfectly combined, the complex motion which cannot be completed by a single robot is realized, and the exoskeleton robot has a very wide application prospect.

The lower limb knee joint and waist joint exoskeleton oriented to squatting and rising loads is an important branch of exoskeleton robot research, and is mainly used for assisting the rising of human body loads, the rising of carried materials and the like. Currently exoskeletons can be divided into, according to their energy source: motor drive, pneumatic drive, hydraulic drive and passive energy storage.

The driving source mainly senses human motion intention by using a sensor, drives an actuating mechanism to apply force to a wearer through a control program, and belongs to active exoskeleton. At present, the discomfort of a wearer is often caused due to technical bottlenecks such as intention perception and compliance control, and meanwhile, the defects of low reliability, high cost, short endurance and poor wearing experience exist due to the complex system. To address the above problems, passive exoskeletons have slowly become one of the mainstream solutions.

The passive exoskeleton of lower limb waist joint and knee joint assistance provides fixed auxiliary force for the lower limb waist joint and knee joint assisting passive exoskeleton mainly through a mechanical device in the process of squatting and starting movement of the lower limb, but because of the limitation of size and weight, the output torque of the exoskeleton is fixed and can only provide assistance in a certain proportion for the known light and small loads, the requirements of torque assistance of different working scenes can not be met, production is required to be preset for special crowds and special application scenes, the production can lead to yield reduction and can not be popularized, the practicability is improved, and in addition, because of special reservation, the cost can be increased. According to the demand analysis, the lower limb knee joint and waist joint power assisting exoskeleton needs to ensure that the driving joint reasonably outputs torque force meeting the human body bearing limit according to different wearers and different driving forces of different carrying and standing scenes, and needs smaller mass and volume power ratio to realize the capability of independent work of the exoskeleton in complex environments such as outdoor environment. When the device is applied to the field of medical rehabilitation and is worn by a patient, when the device is used for squatting and training the patient or assisting the old to stand, the torque force of the knee joint and the waist joint cannot be adjusted, when the torque force is smaller, the device cannot assist the patient or the old with limited strength to stand, when the torque force is larger, the squatting and training effect cannot be achieved, and when the device is used for squatting, the leg and the joint of the wearer can be damaged due to larger reaction force of the joint; when being applied to operation workman and dressing in the transportation industry, because the unable adjustment of the torque power of knee joint and waist joint, to the workman that needs do reciprocal work of squatting, the auxiliary force of little torque can't satisfy the demand, leads to operation workman very tired. Therefore, the problem of adjustable torque assistance for lower limb knee joints and waist joint assistance exoskeletons with strict requirements on size, weight, output torque and wearing comfort is urgently needed to be solved.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a joint structure for a passive exoskeleton lower limb capable of adjusting the magnitude of an assisting force as required, which provides a solution with simple structure and flexible movement for adapting to different application scenarios, different leg strength and endurance requirements of different wearers, and can realize the squatting and standing of a weight load for comfortable assisting force of the wearers.

On one hand, the utility model provides a joint structure capable of adjusting the power assistance of lower limbs of a passive exoskeleton, which comprises a joint base, a joint rotating arm, a coil spring part, a ratchet part and a pawl locking part, wherein the joint base is provided with a first end and a second end;

a degree of freedom is formed between the joint base and the joint rotating arm, and the axis of the degree of freedom is coaxial with a human body joint, so that the anti-joint rotation conforming to human kinematics between the big leg and the small leg of the exoskeleton lower limb connected with the joint base and the joint rotating arm is realized;

the coil spring part is arranged between the joint base and the joint rotating arm and used for fixing the joint base and the joint rotating arm in the axis direction of the degree of freedom; preferably, the coil spring part is at least partially embedded in the joint base and is connected with the joint base in a rotating manner;

the ratchet wheel part is arranged outside the joint base, is fixedly connected with the side surface of the coil spring part inside the joint base and is used for driving the coil spring part to rotate to adjust pretightening force;

the pawl locking part is arranged above the joint base and used for transmitting pretightening force of the coil spring part to the joint base to be converted into torque force, so that anti-joint torque force is formed between the joint base and the joint rotating arm.

In some preferred embodiments, the joint base is provided with at least one and is located on at least one side of the joint rotation arm;

and/or one joint base is arranged on the joint rotary arm, and the joint base is positioned on one side of the joint rotary arm away from the inner side of the human joint;

and/or two joint bases are arranged and distributed according to the axis of the degree of freedom and positioned on one side of the joint rotating arm away from the inner side of the human joint;

and/or two joint bases are arranged and are distributed on two sides of the joint rotating arm symmetrically according to the axis of the degree of freedom.

In some preferred embodiments, the joint base has a recess formed in at least one side thereof.

In some preferred embodiments, two sides of the joint base are provided with grooves, the grooves are circular, and the two grooves are coaxial in the freedom degree but have different diameters; the groove with the large diameter is used for installing the coil spring part and is connected with the coil spring part in a rotating mode, and the groove with the small diameter is used for installing the ratchet part, so that the coil spring part and the ratchet part are connected into a whole.

In some preferred embodiments, the center of the swivel arm is formed with a reinforcement fixedly connected to a coil spring rotatably connected in the groove.

In some preferred embodiments, the reinforcing part is a polygon made of aluminum alloy, iron, and carbon steel.

In some preferred embodiments, the reinforcement is square or circular or hexagonal or triangular in shape.

In some preferred embodiments, the coil spring part includes a joint end cover, a coil spring rotating shaft, a coil spring and a coil spring seat, which are coaxial with the degree of freedom, the coil spring seat is used for wrapping and clamping the outer ring end of the coil spring and is rotatably installed in the groove with a large diameter, the central ring end of the coil spring is clamped with the coil spring rotating shaft, the joint end cover is used for sleeve-type radial fixation of the coil spring rotating shaft and is fixedly connected with the side surface of the joint base, and one end of the coil spring rotating shaft, which extends out of the joint end cover, is fixedly connected with the center of the reinforcement part.

In some preferred embodiments, the coil spring rotating shaft is formed with a step section, and the diameter of the step section is larger than that of the coil spring rotating shaft, so that the coil spring rotating shaft is clamped with the positioning between the joint end cover and the coil spring seat.

In some preferred embodiments, self-lubricating bearing sleeves are sleeved on the rotating shaft of the coil spring and are respectively used for bearing the joint end cover and the coil spring seat.

In some preferred embodiments, a polygonal insertion portion is formed at a junction of the rotation axis of the coil spring and the reinforcing portion, and the polygonal insertion portion includes a polygonal shaft provided at an end of the rotation axis of the coil spring and a polygonal hole penetrating through a center of the reinforcing portion to be fitted with the polygonal shaft.

In some preferred embodiments, ratchet portion include with coaxial fixed disk of axis of degree of freedom, ratchet and ratchet carousel, the fixed disk rotationally installs in the minor diameter through the rule formula, be used for fixed connection spring portion, be equipped with a plurality of draw-in grooves of central symmetry on the fixed disk side, the draw-in groove runs through extremely the outer contour line of fixed disk, ratchet dish middle part cup joints wholly the fixed disk joint with it, the ratchet is inside be equipped with the bulge of draw-in groove looks adaptation, ratchet carousel fixed connection be in one side of ratchet.

In some preferred embodiments, the fixed disk and the coil spring part, the ratchet wheel and the fixed disk, and the fixed disk and the ratchet wheel rotary disk are fixedly connected by screws respectively.

In some preferred embodiments, the pawl locking portion comprises a pawl, a pawl push rod, a torsion spring transition plate, a torsion spring and a positioning screw rod, the torsion spring transition plate is installed in the middle of the upper portion of the joint base, the positioning screw rod penetrates through the pawl and is in rotational connection with the pawl, the positioning screw rod penetrates through the torsion spring transition plate and is fixedly connected with the joint base, the positioning screw rod is adjusted to be provided with the torsion spring and a torsion spring sleeve between the pawl and the joint base, and the torsion spring is clamped and connected with the torsion spring transition plate.

In another aspect, the passive exoskeleton robot comprises the joint structure with the adjustable assistance force of the lower passive exoskeleton limb.

In some preferred embodiments, the exoskeleton further comprises a large leg structure and a small leg structure connected with the passive exoskeleton lower limb joint structure capable of adjusting the boosting size, and an upper limb.

Compared with the prior art, the embodiment of the utility model has the following beneficial effects:

the passive exoskeleton lower limb joint structure capable of adjusting the assistance force has a joint rotating arm and a joint base with one degree of freedom and capable of adjusting the anti-joint torque force, a coil spring part and a pawl part which are positioned between the joint rotating arm and the joint base and capable of adjusting the anti-joint torque force are formed on the degree of freedom, the pawl part is limited on the joint base and receives the torque force of the pawl part to the pawl locking part on the joint rotating arm, in addition, the degree of freedom is coaxial with a knee joint and a waist joint of a human body, so that a wearer can sit up and stand up with a load according with required joint auxiliary force when the wearer perfectly combines with the exoskeleton of the embodiment to walk normally, the leg strength of the user is enhanced, and meanwhile, the comfort degree of the user is higher. The user can alleviate the damage at joint position when carrying the reciprocal squatting and loading transport during operation, and anti-joint torque power is adjustable can be applicable to more application scenes.

Drawings

Fig. 1 is a schematic overall structure diagram of an exoskeleton robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a joint structure according to an embodiment of the present invention;

FIG. 3 is a perspective view of the joint structure of the embodiment of FIG. 2;

FIG. 4 is another structural schematic of a joint structure according to an embodiment of the present invention;

FIG. 5 is another structural schematic of a joint structure according to an embodiment of the present invention;

FIG. 6 is an exploded view of a joint structure of an embodiment of the present invention;

FIG. 7 is an exploded view from another angle of the joint structure of FIG. 6;

fig. 8 is a schematic perspective view of a ratchet wheel and a fixed disk according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to fig. 1 to 8 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the indicated orientations and positional relationships based on the orientation shown in the drawings, merely to facilitate describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The embodiment provides an exoskeleton robot which is worn by a user such as a human and can enhance the functions of the user, such as enhancing the functions of the human body.

Referring to fig. 1, the exoskeleton robot of the present embodiment includes a joint structure 100, a thigh structure 300, a shank structure 200, and an upper limb structure 400. The joint structure 100 is connected, in particular fixedly connected, to the thigh structure 300, the calf structure 200 and the upper limb structure 400, and is used in cooperation as a connecting structure, so that the thigh structure 300, the calf structure 200 and the upper limb structure 400 are mutually and rotatably connected.

Referring to fig. 2 and 3, the adjustable power assist size joint structure 100 of the passive exoskeleton lower limb of the present embodiment has a joint base 102 and a joint rotating arm 101 which rotate with each other in one degree of freedom, namely, the axis X of the degree of freedom is coaxial with the axis X of the joint base 102 and the joint rotating arm 101 only rotating around one degree of freedom, and particularly, the axis X of the degree of freedom is also coaxial with the axis of rotation of the knee joint and the waist joint of the human body, so that the axis X of the joint base 102 and the joint rotating arm 101 which rotate with each other is coaxial with the axis of rotation of the knee joint and the waist joint of the human body, so that the exoskeleton lower limb can be worn and completely integrated with the exoskeleton with high comfort, and therefore, the joint rotating arm 101 and the joint base 102 can provide a supporting function for the joint rotating node of the thigh structure 300 and the shank structure 200 of the exoskeleton lower limb connected with the exoskeleton lower limb. On the basis, a coil spring part 103 is arranged between the joint rotating arm 101 and the joint base 102 and is also arranged on the axis X of the degree of freedom, the coil spring part 103 fixes the joint rotating arm 101 and the joint base 102 in the direction of the axis X, and the coil spring part 103 is partially embedded and rotatably connected in the joint base 102, namely, the coil spring part 103 is mainly embedded in the joint base 102 and rotatably connected with the joint base 102 but is not movable in the direction of the axis X, more specifically, the rotary connection between the joint rotating arm 101 and the joint base 102 is connected through the coil spring part 103, and the coil spring part 103 is partially embedded in the joint base 102 and rotatably connected with the joint base. In order to enable the pretightening force of the coil spring part 103 to be adjusted through an external driving structure, a ratchet part 104 is arranged on one side of the joint base, the ratchet part 104 is fixedly connected with the coil spring part 103 embedded in the joint base 102, and the axis of the ratchet part 104 is coaxial with the axis X, namely the ratchet part 104 is arranged on the other side of the joint base 102 corresponding to the coil spring part 103 and is coaxial with the coil spring part 103 and the axis of the joint base 102 in rotation, and the axis is coaxial with the axis X, when the pretightening force of the coil spring part 103 is adjusted, the coil spring part 103 rotating in the joint base 102 can be driven to rotate through manual rotation of the ratchet part 104, and the coil spring part 103 is fixed in the radial rotation direction relative to the joint rotating arm 101, so that the pretightening force of the coil spring part 103 can be improved. In order to enable the pre-tightened coaxially fixed coil spring part 103 and the ratchet part 104 to release pre-tightening force relative to the joint rotating arm 101 and transmit the pre-tightening force to the joint base 102, so that the joint base 102 follows the movement rotation process of the ratchet part 104 driven by the pre-tightening force released by the coil spring part 103 in the direction of the axis X, a pawl locking part 105 is arranged above the joint base 102, the pawl locking part 105 can be in clutch fit with the ratchet part 104 and is used for transmitting the torque force converted by releasing the pre-tightening force of the coil spring part 103 to the joint base 102, so that the joint base 102 rotates in a reverse joint manner relative to the joint rotating arm 101, and the reduction of load feeling of wearing the knee joint and the waist joint can be assisted. It should be noted that the embodiments of the present invention include, but not limited to, embodiments, and any solution that adjusts the joint torque assisting force by the pre-tightening force on the same axis falls within the scope of the present invention.

Because the exoskeleton is worn on a human body, the connection relationship and the position between the joint base 102 and the joint rotating arm 101 are implemented as follows on the premise of ensuring the comfort in consideration of the comfort when the exoskeleton is worn specifically, and at least one joint base 102 is arranged, and only one joint rotating arm 101 is arranged and is positioned on at least one side of the joint rotating arm 101. Referring to fig. 2, one joint base 101 is arranged, the joint base 101 is arranged on one side of the joint rotating arm 101, which is the opposite side of the side contacting with the human body of the joint rotating arm 101, and the joint structure 100 can improve the comfort level and avoid the extrusion damage to the worn joint; referring to fig. 4, two joint bases 102 may be provided, and the joint bases 102 are symmetrically distributed on two sides of the joint rotation arm 101, such a joint structure 100 may increase the strength of the joint portion and the upper limit of torque force adjustment of the joint structure 100. Referring to fig. 5, two joint bases 102 may be provided, and the two joint bases 102 may be equidistantly arranged on one side of the joint rotation arm 101, which may increase the upper limit of the torque force adjustment of the joint structure 100.

Referring to fig. 6 and 7, the joint base 102 has at least one groove on two sides, in this embodiment, for example, two grooves are respectively formed on two sides of the joint base 102, the diameters of the two grooves are different, and the axial line is coaxial with the axis X, the groove 1022 with a large diameter is used for mounting the coil spring portion 103, that is, the coil spring portion 103 is inlaid and rotatably mounted in the groove 1022 with a large diameter, fixed in the groove 1022 in the direction of the axis X and rotatable in the radial direction, so that the coil spring portion 103 can realize adjusting pre-tightening force in a state that the joint base 102 is stationary, thereby self-adjusting pre-tightening force can be realized in a state that the joint base 102 is connected with the thigh structure 300 and the joint rotating arm 101 is connected with the shank structure 200 to be combined with the body of the wearer, and the pre-tightening force can be finally converted into torque force of the joint. The diameter of the other groove is smaller, in this embodiment, the diameter of the small-diameter groove 1021 is 1/2 of the large-diameter groove 1022, the small-diameter groove 1021 is communicated with the large-diameter groove 1022, the ratchet portion 104 is installed in the small-diameter groove 1021, so that the ratchet portion 104 is connected with the coil spring portion 103, and the coil spring portion 103 can be driven to rotate by operating the ratchet portion 104, so that the pre-tightening force can be added under the structural cooperation of the coil spring portion 103, and the problems that a partial coil spring pre-tightening force driving mode cannot be used for pre-tightening force addition, the coil spring is fixed, the pre-tightening force of the coil spring is not convenient and the like can be solved.

Referring to fig. 6 and 7, in the present embodiment, the coil spring part 103 has a coil spring seat 1038 which can be fittingly installed in the large diameter recess 1022, a coil spring 1036 installed in the coil spring seat 1036, a coil spring rotation shaft 1034 and a joint end cover 1031, i.e. the coil spring 1036 is snap-fitted into the coil spring seat 1038, and the coil spring seat 1038 is installed in the large diameter recess 1022 of the joint base 102 and can rotate integrally, in the present embodiment, the outer ring end of the coil spring 1036 is snap-fitted into a slit provided on the outer wall of the coil spring seat 1038 through the protruding end, a protruding end bent toward the center is provided on the center ring end of the coil spring 1036 to be snap-fitted into the coil spring rotation shaft 1034, in the embodiment, a slit for snap-fitting the protruding end of the center of the coil spring 1036 is provided on the end of the coil spring rotation shaft 1034, so that the coil spring rotation shaft 1034 penetrates through the center of the coil spring 1036 in the direction of the axis X and can also form a fixed connection with the radial rotation, in addition, in order to facilitate the installation of the coil spring rotating shaft 1034 which is directly positioned in the axis X direction and to stabilize the coil spring rotating shaft 1034 at an inner ring which is sleeved and clamped with the coil spring 1036, a stepped section 1035 with a larger diameter is formed on the coil spring rotating shaft 1034, so that the coil spring rotating shaft 1034 is inserted into the coil spring 1036 in the axis X direction, the stepped section 1035 is positioned in the coil spring 1036 to support the inner ring thereof, and the end part of the coil spring rotating shaft 1034 extends into the coil spring seat 1038 to be rotatably connected with the coil spring seat 1038 and fixed at the same time. The coil spring seat 1038 and the coil spring 1036 which are arranged in the large-diameter groove 1022 of the joint base 102 are packaged in the large-diameter groove 1022 through a joint end cover 1031, the center of the joint end cover 1031 is sleeved on the coil spring rotating shaft 1034 to be exposed for connecting with the joint rotating arm 101, and specifically, the diameter of the joint end cover 1031 is larger than that of the large-diameter groove 1022 and is connected with the end part of the joint base 1031 through screw holes and screws which are distributed axially.

Referring to fig. 6 and 7, in this embodiment, the ratchet part 104 has a fixing disc 1044, a ratchet 1042 and a ratchet turntable 1041, the fixing disc 1044 is a circular structure and can be embedded in the small-diameter recess 1021, and is fixedly connected to the coil spring seat 1038 through circumferentially arranged screw holes and screws, that is, under the coaxial rotation of the fixing disc 1044 and the coil spring seat 1038, the fixing disc 1044 is fixedly connected to the coil spring seat 1038 for leading the manual output rotation point of the coil spring seat 1038 to the outside of the joint base 102, the ratchet 1042 is installed on the fixing disc 1044 through circumferentially arranged screw holes and screws, the ratchet turntable 1041 is fixedly connected to the outside of the ratchet 1042 through circumferentially arranged screws, that is, when the coil spring seat 1038 needs to be rotated to drive the outer ring of the coil spring 1036 to rotate to increase the pre-tightening force, the ratchet is synchronously driven to rotate by the rotation of the handheld turntable 1041, that is able to drive the ratchet 1042 to rotate, The fixed disc 1044 and the coil spring seat 1036 rotate. Particularly, in this embodiment, for example, referring to fig. 8, three clamping grooves 1045 are formed on the side surface of the fixed tray 1044, the clamping grooves 1045 penetrate through the outside outline of the fixed tray 1044, that is, penetrate through the side surface and one end surface, in order to make the ratchet 1042 be fittingly installed on the fixed tray 1044, a circular hole matching with the whole fixed tray 1044 is formed at the center of the ratchet 1042, and a protrusion 1043 matching with the clamping groove 1045 is formed on the inner wall of the circular hole, therefore, when installing, the central circular hole and the protrusion 1043 of the ratchet 1042 are directly clamped on the whole fixed tray 1044 and in the clamping groove 1045, so that the ratchet 1042 can be stably clamped on the fixed tray 1044, and the end surface of the fixed tray 1044 can be directly contacted with the ratchet turntable 1041 and fixed by screws.

Referring to fig. 6 and 7, the pawl locking portion 105 of the present embodiment includes a pawl 1045, a pawl push rod 1045, a torsion spring transition plate 1056, a torsion spring 1053 and a fixing screw 1055, the torsion spring transition plate 1056 is installed at the middle of the upper side of the joint base 102, the positioning screw 1055 penetrates through the pawl 1045 and is rotatably connected with the pawl, the positioning screw 1055 penetrates through the torsion spring transition plate 1056 and is fixedly connected with the joint base 102, the torsion spring 1053 and a torsion spring sleeve 1052 which are located between the pawl 1045 and the joint base 102 are adjusted on the positioning screw 1055, the torsion spring 1053 is clamped between the torsion spring transition plate 1056, the pawl 1045 is in contact with a thorn of the ratchet 1042 to limit the rotation of the ratchet 1042 and transmit the torque force on the ratchet 1042 to the joint base 102, that is, the coil spring 103, the joint base 102 and the ratchet 104 are connected as a whole, so that the torque force of the joint structure can be adaptively adjusted.

Referring to fig. 6 and 7, it should be noted that, in order to reduce the rotational friction force and the service life between the coil spring rotation shaft 1034 and the knuckle end cover 1031 and the coil spring seat 1038, and ensure the stable release of the pre-tightening force of the coil spring 1036, so as to make the joint structure 100 rotate with its own lubricity, a self-lubricating bearing sleeve 1032 is disposed between the coil spring rotation shaft 1034 and the knuckle end cover 1031 and the coil spring seat 1038, and the self-lubricating bearing sleeve 1032 is synchronously sleeved in the central holes of the knuckle end cover 1031 and the coil spring seat 1038.

Referring to fig. 6 and 7, it should be noted that a reinforced portion 1011 is formed at the center of the joint rotation arm 101, and the reinforced portion 1011 is a polygon made of aluminum alloy or iron or carbon steel, in this embodiment, the reinforced portion 1011 is a hexagon made of aluminum alloy, so that the strength of the power connection between the coil spring rotation shaft 1034 and the joint rotation arm 101 is improved, because the joint rotation arm 101 is generally made of ABS material for improving wearing comfort, but in the case that the torque force of the coil spring rotation shaft 1034 is large, the central mounting portion of the joint rotation arm 101 is very easy to crack and slide when the rotation arm is short, which results in failure of the force transmission between the coil spring rotation shaft 1034 and the joint rotation arm 101. Of course, the specific shape and material of the reinforcing portion are not limited to the embodiment.

Referring to fig. 6 and 7, in particular, the junction of the coil spring rotation axis 1034 and the reinforcement 1011 forms a polygonal caulking portion, which is embodied as a polygonal hole 1012 at the center of the reinforcement 1011 of the joint rotation arm 101 and a polygonal shaft 1033 at the end of the coil spring rotation axis 1034 matching therewith, respectively, so that the power connection between the coil spring rotation axis 1034 and the joint rotation arm 101, and the convenience of the connection, are achieved.

The above is only a preferred embodiment of the present invention, and the scope of the present invention is defined by the appended claims, and several modifications and amendments made by those skilled in the art without departing from the spirit and scope of the present invention should be construed as the scope of the present invention.

Claims (10)

1. A joint structure capable of adjusting assistance force of a passive exoskeleton lower limb is characterized by comprising a joint base, a joint rotating arm, a coil spring part, a ratchet part and a pawl locking part;

a degree of freedom is formed between the joint base and the joint rotating arm, and the axis of the degree of freedom is coaxial with a human body joint, so that the joint between the big leg and the small leg of the exoskeleton lower limb connected with the joint base and the joint rotating arm can rotate according with human kinematics;

the coil spring part is arranged between the joint base and the joint rotating arm and used for fixing the joint base and the joint rotating arm in the axis direction of the degree of freedom; the coil spring part is at least partially embedded in the joint base and is in rotating connection with the joint base;

the ratchet wheel part is arranged outside the joint base, is fixedly connected with the side surface of the coil spring part inside the joint base and is used for driving the coil spring part to rotate to adjust pretightening force;

the pawl locking part is arranged above the joint base and used for transmitting pretightening force of the coil spring part to the joint base and converting the pretightening force into torque force, so that anti-joint torque force is formed between the joint base and the joint rotating arm.

2. The adjustable assistance force size passive exoskeleton lower limb joint structure of claim 1, wherein at least one joint base is arranged and is positioned on at least one side of the joint rotating arm;

and/or one joint base is arranged on the joint rotary arm, and the joint base is positioned on one side of the joint rotary arm away from the inner side of the human joint;

and/or two joint bases are arranged and distributed according to the axis of the degree of freedom and positioned on one side of the joint rotating arm away from the inner side of the human joint;

and/or two joint bases are arranged and are distributed on two sides of the joint rotating arm symmetrically according to the axis of the degree of freedom.

3. The passive exoskeleton lower limb joint structure with adjustable assistance force of claim 2, wherein grooves are formed on at least one side surface of the joint base, grooves are formed on two sides of the joint base, the grooves are circular, and the two grooves are coaxial in the degree of freedom but have different diameters; the groove with the large diameter is used for installing the coil spring part and is connected with the coil spring part in a rotating mode, and the groove with the small diameter is used for installing the ratchet part, so that the coil spring part and the ratchet part are connected into a whole;

and a reinforcing part is formed in the center of the joint rotating arm and fixedly connected with a coil spring part which is rotatably connected in the groove.

4. The adjustable assistance force size joint structure of a passive exoskeleton lower limb according to claim 3, wherein the reinforcing part is a polygon made of aluminum alloy, iron and carbon steel, and the shape of the reinforcing part is square or circular or hexagonal or triangular.

5. The passive exoskeleton lower limb joint structure with adjustable assistance force magnitude as claimed in claim 3, wherein the coil spring part comprises a joint end cover, a coil spring rotating shaft, a coil spring and a coil spring seat which are coaxial with the degree of freedom, the coil spring seat is used for wrapping and clamping the outer ring end of the coil spring and is rotatably installed in the groove with the large diameter, the central ring end of the coil spring is clamped with the coil spring rotating shaft, the joint end cover is used for sleeving and radially fixing the coil spring rotating shaft and is fixedly connected with the side face of the joint base, and one end of the coil spring rotating shaft extending out of the joint end cover is fixedly connected with the center of the reinforcing part.

6. The passive exoskeleton lower limb adjustable assistance-magnitude joint structure of claim 5, wherein the coil spring rotating shaft is formed with a step section, the diameter of the step section is larger than that of the coil spring rotating shaft, so that the coil spring rotating shaft is clamped with the positioning between the joint end cover and the coil spring seat; and self-lubricating bearing sleeves positioned on two sides of the stepped section are sleeved on the coil spring rotating shaft and are respectively used for bearing the joint end cover and the coil spring seat.

7. The passive exoskeleton lower limb adjustable power assist joint structure of claim 5, wherein a polygonal caulking part is formed at the joint of the coil spring rotating shaft and the reinforcing part, and comprises a polygonal shaft arranged at the end part of the coil spring rotating shaft and a polygonal hole penetrating through the center of the reinforcing part and matched with the polygonal shaft.

8. The joint structure of claim 3, wherein the ratchet portion comprises a fixed disk, a ratchet wheel and a ratchet wheel rotating disk, the fixed disk is coaxially arranged with the axis of the degree of freedom, the fixed disk is rotatably arranged in the groove with the small diameter through a plug type and is used for fixedly connecting the coil spring portion, a plurality of clamping grooves which are centrosymmetric are formed in the side surface of the fixed disk, the clamping grooves penetrate through the outer contour line of the fixed disk, the middle of the ratchet wheel rotating disk is sleeved with the whole fixed disk in a clamping mode, a protruding portion matched with the clamping grooves is arranged in the ratchet wheel, and the ratchet wheel rotating disk is fixedly connected to one side of the ratchet wheel;

the fixed disk and the coil spring part, the ratchet wheel and the fixed disk and the ratchet wheel rotary disk are fixedly connected through screws respectively.

9. The joint structure of claim 1, wherein the pawl locking portion comprises a pawl, a pawl push rod, a torsion spring transition plate, a torsion spring and a positioning screw, the torsion spring transition plate is mounted in the middle of the upper portion of the joint base, the positioning screw penetrates through the pawl and is rotatably connected with the pawl, the positioning screw penetrates through the torsion spring transition plate and is fixedly connected with the joint base, the torsion spring and a torsion spring sleeve between the pawl and the joint base are adjusted on the positioning screw, and the torsion spring is clamped between the pawl and the torsion spring transition plate.

10. A passive exoskeleton robot comprising a joint structure as claimed in any one of claims 1 to 9.

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