CN221655004U - Power-assisted joint structure and exoskeleton device adopting same - Google Patents

Abstract

The utility model relates to the technical field of medical rehabilitation assistance apparatuses, in particular to an assistance joint structure and an exoskeleton device adopting the same. The power-assisted joint structure is driven by a single motor of a waist driving component and comprises a power-assisted component and a knee joint component, wherein the power-assisted component comprises a pulling lasso and artificial muscles, and the top end and the bottom end of the pulling lasso are respectively connected with the waist driving component and the knee joint component; the artificial muscle comprises a chuck guide bracket, a connecting piece, a steel bar, a spring and an upper arm, wherein the steel bar is arranged on the chuck guide bracket, the chuck guide bracket is connected with the upper arm, the top end of the spring is fixed through the connecting piece, and the bottom end of the spring is connected with the chuck guide bracket; the pulling lasso is driven by the waist driving component to pass through the chuck guide bracket of the artificial muscle and realize the traction of the unilateral knee joint component. The exoskeleton device adopting the power-assisted joint structure can respectively draw the unilateral knee joint components, reduces complexity, simplifies control difficulty and has excellent buffering property.

Description

Power-assisted joint structure and exoskeleton device adopting same

Technical Field

The utility model relates to the technical field of medical rehabilitation assistance apparatuses, in particular to an assistance joint structure and an exoskeleton device adopting the same.

Background

The problem of aging of population is one of the high attention problems of countries in the world, and with the continuous aggravation of aging phenomenon, the decline of lower limb functions caused by diseases such as physiological function aging or cerebral apoplexy brings great trouble to the life of the elderly population. Existing medical resources and traditional rehabilitation devices have failed to meet their health needs. Thus, there is a strong market need for a device that enhances their lower limb locomotor ability and assists in performing scientific rehabilitation exercises.

With the continuous progress of modern technology and the improvement of health requirements of people, the technology of the lower limb exoskeleton robot has been remarkably developed in recent years. The lower limb exoskeleton robot is an intelligent wearing device, and can assist walking by cooperative movement with a human body, so that fatigue and damage are reduced, and body functions are improved. In addition, the lower limb exoskeleton technology has wide development prospect in the fields of military, industrial production and the like.

The development and production cost of the exoskeleton robot is high at present, in the aspect of overall structural design, the integrated design of the hip joint, the knee joint and the ankle joint is mostly concentrated, and the multi-joint integrated device is complex and difficult to control for some patients with special requirements while the cost is increased; in the aspect of a driving device, a plurality of motors are mostly adopted for driving, and the problem of control difficulty is also increased due to complex structure.

Disclosure of utility model

The utility model provides a power-assisted joint structure and an exoskeleton device adopting the power-assisted assembly, which solve the problems in the prior art.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

The power-assisted joint structure is driven by a waist driving component and comprises a power-assisted component and a knee joint component, wherein the power-assisted component comprises a pulling lasso and artificial muscles, the top end of the pulling lasso is connected with the output end of the waist driving component, and the bottom end of the pulling lasso is connected with the knee joint component; the artificial muscle comprises a chuck guide bracket, a connecting piece, a steel bar, a spring and an upper arm, wherein the steel bar is arranged on the chuck guide bracket; pulling the lasso to pass through the artificial muscle under the drive of the waist driving component and realize the traction of the unilateral knee joint component, wherein the artificial muscle plays a role in buffering the action of the knee joint in the traction process;

The knee joint assembly comprises a thigh fixing plate, a knee joint shaft, a lasso baffle, a first lasso disc, an angle sensor and a shank movable rod; the thigh fixing plate comprises a first thigh plate and a second thigh plate, the knee joint shaft is arranged between the first thigh plate and the second thigh plate, the bottom of the second thigh plate is fixedly sleeved on the knee joint shaft, the lasso baffle is fixedly sleeved on the outer side of the knee joint shaft, and the top of the second thigh plate is fixedly connected with the bottom of the upper arm; the knee joint shaft is externally connected with an angle sensor, a first lasso disc is arranged on one side, close to the lasso baffle, of a rotating shaft of the angle sensor, and a shank movable rod is fixedly connected to the outer side of the first lasso disc.

Further, the knee joint assembly further comprises a thigh cover plate and a shank cover plate, the shank cover plate is sleeved on the rotating shafts of the knee joint shaft and the angle sensor, and the shank cover plate is connected with the shank movable rod; one end of the knee joint shaft is rotatably connected to the first thigh plate; the thigh cover plate is used for wrapping artificial muscles and is rotationally connected between the knee joint rotating shaft and the rotating shaft of the angle sensor.

Further, the rotation shaft of the angle sensor is coaxially connected with the knee joint shaft.

Further, the outer end of the rotating shaft of the angle sensor is supported by the side wall of the lower leg cover plate.

Further, the artificial muscle is provided inside the thigh cover plate of the knee joint assembly.

Further, the power assisting component and the knee joint component which are in linkage are symmetrically arranged on two sides of the body.

Further, the pulling lasso comprises a bowden cable core and a bowden cable sleeve arranged on the outer side of the bowden cable core, two groups of pulling lasso are arranged, each group of pulling lasso consists of an upper pulling lasso connected with the waist driving component and a lower pulling lasso connected with the knee joint component, and the upper pulling lasso and the lower pulling lasso are respectively connected with the artificial muscle.

Further, the two groups of pulling lasso are arranged on the power-assisted joint structures on two sides of the human body.

Further, both the pull-up and pull-down lasso include two bowden cables.

Further, the chuck guide bracket comprises an upper seat and a lower seat which are arranged on the upper arm, wherein a steel rod is arranged between the upper seat and the lower seat in parallel, springs are sleeved outside the steel rod, the steel rod and the springs on the steel rod are arranged on two sides of the chuck guide bracket in a pairwise manner, the connecting pieces are arranged on the outer sides of the tops of the two springs on the same side, the connecting pieces are fastened through bolts, a torsion piece and a simulation chuck which are connected with each other are fixed on the inner sides of the connecting pieces, two pull lasso on the same side respectively penetrate through the upper seat, the connecting pieces and the lower seat, a sleeve is arranged at the bottom end of the lower seat, and the pull lasso on the two sides on the same side is fixedly connected in the sleeve; a lower pulling noose is secured to the bottom of each connector, and each lower pulling noose bypasses downwardly and is secured to the first noose plate of the knee joint assembly.

Further, the torsion piece and the simulation chuck in the connecting piece are arranged, so that the lasso is convenient to stably and smoothly pull up and down in the action process.

Further, the bottom end of each pull-down lasso is fixed in a winding groove arranged on the first lasso disc through a lasso fixing block, and the top end of each pull-down lasso is fixed at the bottom of the connecting piece through a lasso fixing block.

Further, a lasso clamp is provided at the bottom of the lumbar drive assembly through which the upper portion of the lasso is pulled upward.

Further, the waist driving component comprises a shell, a driving motor, a transmission component and an execution component are arranged in the shell, and the driving motor is in transmission connection with the execution component through the transmission component; the transmission assembly comprises two sets of gear transmission assemblies and a lasso pulling mechanism which are symmetrically arranged at two sides of the output end of the driving motor; the executing assembly comprises an upward pulling lasso arranged at the end part of each lasso pulling mechanism, and when the driving motor drives the transmission assembly, the two upward pulling lasso at the same side moves on the chuck guiding bracket of the artificial muscle and drives the two downward pulling lasso and the first lasso disk to act through the connecting piece.

Further, each upper pulling lasso passes through the chuck guide bracket of the artificial muscle, the spring is respectively stretched and contracted through the connecting piece, and then the lower pulling lasso is driven to pull the first lasso to rotate, and the lower leg movable plate moves along with the first lasso to realize traction of the unilateral knee joint component.

Further, a PCBA main control board is further arranged in the shell, a speed regulator is arranged at the rear side of the PCBA main control board, and the PCBA main control board is electrically connected with the driving motor and the speed regulator.

Further, the speed regulator is a C620 brushless motor speed regulator.

Further, the driving motor is connected with a first bevel gear through a speed reducer, and the gear transmission assemblies are arranged on two sides of the first bevel gear; the gear transmission assembly comprises a second bevel gear and a third bevel gear which are meshed with the first bevel gear, and the second bevel gear and the third bevel gear are respectively connected with a bevel gear shaft; a first straight gear is arranged on each bevel gear shaft, a straight gear shaft is arranged in a shell above the bevel gear shaft, and a second straight gear meshed with the first straight gear is arranged on the straight gear shaft;

The lasso pulling mechanism comprises a jaw clutch, a torsion spring and a second lasso disc which are arranged on a straight gear shaft at the outer side of the second straight gear, and a pull lasso is arranged on the second lasso disc; one side of the jaw clutch is connected with the second spur gear, the other side of the jaw clutch is connected with one side of the torsion spring, and the other side of the torsion spring is connected with the second lasso disc; the top ends of the two upward pulling lasso ropes arranged on the same second lasso disc are fixed with the winding grooves arranged on the second lasso disc through lasso fixing blocks, and the bottom ends of the upward pulling lasso ropes penetrate downwards out of the outer shell and pass through artificial muscles.

Further, when the jaw clutch is in an engaged or non-engaged state, the second straight gear is driven to rotate by the driving motor, and the second rope pulley connected with the other side of the jaw clutch is driven or not driven to rotate.

Further, bearings are arranged at both ends of the straight gear shaft and the outer ends of the bevel gear shafts.

Further, the jaw clutch can be controlled by adopting electromagnetic, mechanical, pneumatic and hydraulic operating structures.

Further, the battery pack is connected to the outer side of the bearing at the outer end of one of the bevel gear shafts.

Further, two vertical partition boards are arranged in the shell and are symmetrically arranged on two sides of the driving motor; one end of the straight gear shaft is connected with the vertical partition plate, and the other end of the straight gear shaft is connected with the side wall of the shell; the bevel gear shaft is connected with the vertical partition plate; the lasso clamp is also arranged at the inner bottom of the shell and is used for enabling the lasso on the second lasso disk to pull upwards to pass through and be connected with the artificial muscle.

Further, the number of lasso clamps is 4, the 4 lasso clamps are symmetrically arranged on the left side and the right side in the shell in pairs, and the two lasso clamps on the same side respectively realize that two lasso on the second lasso disc on the side pass through.

Further, a first rolling bearing is arranged on a rotating shaft of the angle sensor close to one side of the lasso baffle, the first lasso disc is sleeved outside the first rolling bearing, and a second rolling bearing is arranged outside the shank movable rod.

Further, a retainer ring is provided on one side of each rolling bearing.

The utility model adopts another technical scheme that:

an exoskeleton device comprising a power assisted joint structure as described above.

Further, a waist flexible strap and a back flexible strap are provided at the rear side of the waist driving unit, thigh wearing pieces are provided at the inner side of the thigh fixing plate, and shank wearing pieces are provided at the inner side of the shank cover plate.

The utility model has the beneficial effects that:

The power-assisted joint structure adopts parallel spring type artificial muscles, the artificial muscles simulate the muscle force of human thigh and are matched with the pulling lasso of the power-assisted assembly, and the rotation traction of the knee joint assembly by the pulling lasso under the driving and pulling of the waist driving assembly is well completed. The waist driving assembly adopts a single motor clutch type driving structure, a driving motor is arranged in the waist driving assembly above the symmetrical single knee joint device, and the driving motor drives a transmission assembly and an execution assembly which are symmetrically arranged on two sides of the driving motor, so that the unilateral knee joint assembly can be respectively pulled, and the force transmission of the exoskeleton device to the knee joint assembly is respectively realized. Compared with the driving device of the existing exoskeleton device, the driving device of the exoskeleton device adopts a multi-motor driving structure, reduces complexity and simplifies control difficulty. Because set up flexible bandage in back and the flexible bandage in waist on the waist drive assembly, increased this waist drive assembly and human area of contact, promoted comfort level and steadiness, more do benefit to and improve force transmission efficiency.

Drawings

FIG. 1 is a schematic illustration of the connection of the power assisted joint structure of the present utility model to a lumbar drive assembly;

FIG. 2 is a schematic diagram of the power assist assembly of FIG. 1;

FIG. 3 is a schematic view of the knee joint assembly of FIG. 1;

FIG. 4 is a schematic view of the cross-sectional structure of A-A in FIG. 3;

FIG. 5 is a schematic view of the lumbar drive assembly of FIG. 1;

FIG. 6 is an enlarged schematic view of the interior of the housing of FIG. 5;

FIG. 7 is a schematic view of the bottom structure of FIG. 6;

FIG. 8 is a schematic view of the construction of an exoskeleton device of the present utility model;

Fig. 9 is a reference schematic view of the exoskeleton device of the present utility model in use.

In the figures, a 1-collet guide bracket, a 101-upper seat, a 102-lower seat, a 103 torsion member, a 104 simulation collet, a 105 sleeve, a 2-connection member, a 3-steel bar, a 4-spring, a 5-upper arm, a 6-upper pull lasso, a 7-lower pull lasso, an 8-thigh fixing plate, a81 first thigh plate, a 82-second thigh plate, a 9-thigh cover plate, a 10-knee joint shaft, a 11-lasso baffle, a 12 first lasso plate, a 13-angle sensor, a 14-shank movable rod, a 15-shank cover plate, a 16 first lasso plate, a 17-lasso fixing block, a 18-shell, a 19-drive motor, a 20-speed reducer, a 21-first bevel gear, a 22-second bevel gear, a 23-third bevel gear, a 24-bevel gear shaft, a 25-first spur gear, a 26-spur gear shaft, a 27-second spur gear, a 28-dog clutch, a 29-torsion spring, a 30-second lasso plate, a 31-speed governor, a 32-vertical partition plate, a 33-lasso clamp, a 34 flexible waist, a 35-back flexible bandage, a 36-A main-control plate, a 37-thigh wearing member, and 38-shank wearing members.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present utility model will be described in detail below with reference to the accompanying drawings.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements 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 utility model.

Example 1

Referring to fig. 1, there is shown a power-assisted joint structure and a structure thereof connected with a waist driving assembly, wherein the power-assisted joint structure comprises a power-assisted assembly and a knee joint assembly, and the power-assisted assembly is driven by the waist driving assembly to realize traction of the knee joint assembly.

Referring to fig. 1-2, the power assisting assembly comprises a pulling lasso and artificial muscles, wherein the top end of the pulling lasso is connected with the output end of the waist driving assembly, and the bottom end of the pulling lasso is connected with the knee joint assembly; the artificial muscle comprises a chuck guide bracket 1, a connecting piece 2, a steel bar 3, springs 4 and an upper arm 5, wherein the steel bar is arranged on the chuck guide bracket, the chuck guide bracket 1 is fixedly connected with one side of the upper arm 5, the top ends of the two springs at the front side and the rear side are respectively fixed through the connecting piece 2, and the bottom ends of the springs are connected with the bottom of the chuck guide bracket. The pulling lasso passes through the artificial muscle under the driving of the waist driving component and realizes the traction of the unilateral knee joint component, and the artificial muscle buffers the action of the knee joint in the traction process. The pulling lasso comprises a bowden wire core and a bowden wire sleeve arranged on the outer side of the bowden wire core, wherein the pulling lasso is provided with two groups, each group of the pulling lasso consists of an upper pulling lasso 6 connected with a waist driving component and a lower pulling lasso 7 connected with a knee joint component, and the upper pulling lasso and the lower pulling lasso on the same side of a body are respectively connected with the artificial muscle. Pulling the lasso up and down achieves engagement at the artificial muscle structure.

As shown in fig. 1-2, the chuck guiding support 1 comprises an upper seat 101 and a lower seat 102 which are arranged on an upper arm 5, wherein a steel rod 3 is arranged in parallel between the upper seat and the lower seat, springs 4 are sleeved outside the steel rod, the steel rod and the springs on the steel rod are arranged on two sides of the chuck guiding support in pairs, connecting pieces 2 are arranged outside the tops of the two springs on the same side, the connecting pieces are fastened by bolts, torsion pieces 103 and simulation chucks 104 which are connected with each other are fixed on the inner sides of the connecting pieces, pull lasso 6 on the two same side respectively pass through the upper seat 101, the connecting pieces 2 and the lower seat 102, a sleeve 105 is arranged at the bottom end of the lower seat, and the pull lasso 6 on the two same side are fixedly connected in the sleeve, so that the pull lasso on the two pull lasso on the same side forms a closed loop. The bottoms of the two connecting pieces 2 on the same side are respectively fixed with a lower pulling lasso 7, each lower pulling lasso downwards bypasses and is fixed on a first lasso disc 11 of the knee joint assembly, the bottom end of each lower pulling lasso is fixed in a winding groove arranged on the first lasso disc through a lasso fixing block 17, and the top end of each lower pulling lasso is fixed on the bottom of the connecting piece 2 through a lasso fixing block.

A lasso clamp 33 is provided at the bottom of the lumbar drive assembly through which the upper portion of the pull-up lasso 6 is provided.

As shown in fig. 1, 3-4 and 9, the knee joint assembly includes a thigh fixing plate 8, a thigh cover plate 9, a knee joint shaft 10, a lasso baffle 11, a first lasso plate 12, an angle sensor 13, a shank movable rod 14 and a shank cover plate 15; the thigh fixing plate comprises a first thigh plate 81 and a second thigh plate 82, the knee joint shaft 10 is arranged between the first thigh plate and the second thigh plate, the bottom of the second thigh plate is fixedly sleeved on the knee joint shaft, the lasso baffle 11 is fixedly sleeved on the outer side of the knee joint shaft, and the top of the second thigh plate is fixedly connected with the bottom of the upper arm 5; the outer side of the knee joint shaft is connected with an angle sensor 13, and the rotating shaft of the angle sensor is coaxially connected with the knee joint shaft. A first rope pulley 16 is arranged on one side, close to the lasso baffle, of the rotating shaft of the angle sensor, and a shank movable rod 14 is fixedly connected to the outer side of the first rope pulley. The shank cover plate 15 is sleeved on the knee joint shaft and the rotating shaft of the angle sensor, and the shank cover plate is fixedly connected with the shank movable rod 14; the outer end of the rotating shaft of the angle sensor is supported by the side wall of the lower leg cover plate. The thigh cover plate 9 wraps the artificial muscle and is rotatably connected between the knee joint rotating shaft and the rotating shaft of the angle sensor.

The power assisting components and the knee joint components which are in linkage are symmetrically arranged on two sides of the body.

On the knee joint assembly, a first rolling bearing is arranged on a rotating shaft of an angle sensor close to one side of the lasso baffle 11, a first lasso disc 16 is sleeved outside the first rolling bearing, and a second rolling bearing is arranged outside the shank movable rod. And a bearing retainer ring is arranged on one side of each rolling bearing.

Referring to fig. 5-7, the waist driving assembly includes a housing 18, the lasso clamp 33 is fixed on the bottom wall of the housing, and a driving motor 19, a transmission assembly and an execution assembly are arranged in the housing, and the driving motor is in transmission connection with the execution assembly through the transmission assembly; the transmission assembly comprises two sets of gear transmission assemblies and a lasso pulling mechanism which are symmetrically arranged at two sides of the output end of the driving motor; the execution assembly comprises an upward pulling lasso 6 arranged at the end part of each lasso pulling mechanism, and when the driving motor 19 drives the transmission assembly, two upward pulling lasso on the same side of the body are connected in a closed loop through the chuck guide bracket 1 of the artificial muscle.

Each upward pulling lasso passes through the chuck guide bracket 1 of the artificial muscle, and the stretching or shrinking action of the two springs on the same side is realized through the connecting piece 2, so that the downward pulling lasso 7 connected with the connecting piece is driven to rotate by pulling the first lasso disc 12, and the pulling of the unilateral knee joint assembly is realized, see fig. 1 and 2. A PCBA main control board 36 is also provided in the housing 18, and a speed governor 31 is provided on the rear side of the PCBA main control board, which is electrically connected to the drive motor and the speed governor.

The driving motor 19 is connected with a first bevel gear 21 through a speed reducer 20, and the gear transmission assemblies are arranged on two sides of the first bevel gear; the gear transmission assembly comprises a second bevel gear 22 and a third bevel gear 23 which are meshed with the first bevel gear, and the second bevel gear and the third bevel gear are respectively connected with a bevel gear shaft 24; a first spur gear 25 is provided on each bevel gear shaft, a spur gear shaft 26 is provided in the housing above the bevel gear shaft, and a second spur gear 27 engaged with the first spur gear is provided on the spur gear shaft.

The lasso pulling mechanism comprises a jaw clutch 28, a torsion spring 29 and a second lasso disc 30 which are arranged on a spur gear shaft 26 outside the second spur gear, and two lasso 6 are pulled on the second lasso disc; one side of the jaw clutch is connected with a second spur gear 27, the other side of the jaw clutch is connected with one side of a torsion spring 29, and the other side of the torsion spring is connected with a second rope pulley 30; the top ends of the two pulling lasso arranged on the same second lasso disc are fixed with the winding grooves arranged on the second lasso disc through the lasso fixing blocks 17, and the bottom ends of the upper pulling lasso 6 downwards penetrate out of the lasso clamps 33 at the bottom of the shell 18 to enter the artificial muscle.

The jaw clutch drives or does not drive the second rope pulley connected with the other side of the jaw clutch to rotate when the driving motor drives the second straight gear to rotate under the engaged and non-engaged states.

Two vertical partition plates 32 are arranged in the shell and are symmetrically arranged on two sides of the driving motor 19; one end of the straight gear shaft is connected with the vertical partition plate, and the other end of the straight gear shaft is connected with the side wall of the shell; the bevel gear shaft is connected with the vertical partition plate; the number of lasso clamps 33 arranged at the bottom of the inner shell is 4, the lasso clamps are symmetrically arranged at the left side and the right side of the inner shell in pairs, and the two lasso clamps on each side are used for pulling lasso 6 to pass through on two lasso plates 30 on the second lasso plate 30 on the same side.

A PCBA main control board 36 is also provided in the housing 18, a speed governor 31 is provided on the back side of the PCBA main control board, and the PCBA main control board is electrically connected with a drive motor 19, the speed governor 31 and an angle sensor provided on the knee joint assembly of the exoskeleton device. The speed regulator is a C620 brushless motor speed regulator.

In the single-motor clutch type driving structure in the structure, the first bevel gear 21 is driven to move by adopting a single motor so as to drive the second bevel gear 22 and the third bevel gear 23 meshed with the first bevel gear to rotate, and the first straight gear 25 is arranged on the bevel gear shaft 24 so as to drive the second straight gear meshed with the first straight gear, so that the gear transmission is formed. Since one side of each dog clutch 28 is connected to the second spur gear 27, the other side is linked to the torsion spring 29; the other side of the torsion spring is directly connected with the second lasso disc 30 on the side of the torsion spring; under the drive of the driving motor, the jaw clutch in the engaged state drives one of the lasso discs connected with the second lasso disc to pull the lasso to pull the corresponding side knee joint to move. The driving motor starts to drive, and the rotation of the torsion spring plays a role in buffering.

Specifically, when the knee joint assembly 18 is required to drive the left calf of the human body to lift up to a preset angle, the jaw clutch 11 on the left side of the driving motor 2 is controlled to be engaged with each other, and the second spur gear 10 connected with the jaw clutch on the left side is driven by the driving motor to rotate, so that the lateral jaw clutch 11, the torsion spring 12 and the grommet disc 12 are driven to rotate; the pull-up lasso 6 on the second lasso disk is wound clockwise with the second lasso disk 30, and at the same time, the pull-up lasso is pulled on the other one connected with the pull-up lasso in the artificial muscle structure, and the two pull-up lasso is closed-loop connected at the sleeve 105 of the artificial muscle, so that the smoothness of the pull-up action is ensured, the pull-up action further respectively realizes the traction of the two lower pull-up lasso connected with the pull-up lasso through the connecting piece on the artificial muscle, and the two lower pull-up lasso actions realize the passive rotation of the first lasso disk 16 of the knee joint assembly, so that the shank movable rod connected with the first lasso disk is driven to rotate clockwise, and the shank of the human body is lifted. In the process of the shank lifting action, the thigh fixing plate 8 connected with the knee joint shaft 10 rotates along with the knee joint shaft, the first rolling bearing assists the rotation of the thigh fixing plate, and the second rolling bearing assists the rotation of the shank movable rod. The rotation amplitude of the shank movable rod 14 is determined by the angle sensor 13 according to the set threshold value, the jaw clutch 28 on the left side in the waist driving assembly is disconnected after the completion, the second rope reel is not driven to rotate by the driving motor any more, and the shank of the human body on the side is naturally dropped down to finish.

The above mentioned artificial muscle positions pull the lasso up and down to cooperate with the spring and knee joint assembly as follows: the pull-up lasso on the left side of the body is lifted up under the driving, the pull-up lasso on the other pull-up lasso which is connected with the pull-up lasso on the same side in a closed loop through the artificial muscle structure, the pull-up lasso on the first lasso is driven by the torsion head and the simulation chuck in each connecting piece, and the two connecting pieces 2 arranged on the spring further realize the lifting-up of one pull-up lasso as to drive the first lasso disc 12 to rotate, thereby the other pull-down lasso wound on the first lasso disc is pulled down, and the actions of the two pull-down lasso on the first lasso disc are consistent with the action change of the two connecting pieces along with the two pull-up lasso on the artificial muscle spring. In this process, the spring simulates an artificial muscle to act as a buffer.

In the above process, the jaw clutch at the right side of the driving mechanism in the waist driving component is in a non-meshing state, and the driving motor 19 drives the upward pulling lasso, artificial muscles and knee joint components at the right side, so that no influence and no action are caused. When the left human shank naturally falls down, the jaw clutch on the right side of the driving mechanism in the waist driving assembly is controlled to be meshed with each other, the driving motor drives the two upper pull lasso on the second lasso disc 30 on the right side to act, at the moment, the two connecting pieces 2 on the side artificial muscle are driven by the two upper pull lasso to respectively drive the two lower pull lasso to drive the first lasso disc 16 on the side to rotate, the driving of the right knee joint assembly is realized, when the angle sensor arranged on the right knee joint assembly reaches a threshold value, the jaw clutch on the right side can be disconnected, and the human shank on the side naturally falls down to finish the process.

Example 2

Referring to fig. 7-8, there is shown the overall construction of a single motor driven exoskeleton device employing the above-described power assisted articulation arrangement, with a lumbar flexible strap 34 and a back flexible strap 35 provided on the rear side of the lumbar drive assembly, a thigh wearing piece 37 provided on the inside of the thigh fixing plate, and a calf wearing piece 38 provided on the inside of the calf cover plate. The thigh fixing plate and the upper arm are fixed with the thigh of the human body through thigh wearing pieces 37, and the shank wearing pieces 38 on the outer side of the shank cover plate are tied with the shank of the human body.

The structural description and use of the exoskeleton device are described with reference to the description of the structures and the operation process in the foregoing embodiment 1, and will not be described in detail here.

The above embodiments are not to be taken as limiting the scope of the utility model, and any alternatives or modifications to the embodiments of the utility model will be apparent to those skilled in the art and fall within the scope of the utility model.

The present utility model is not described in detail in the present application, and is well known to those skilled in the art.

Claims (9)

1. The power-assisted joint structure is driven by a waist driving component and is characterized by comprising a power-assisted component and a knee joint component, wherein the power-assisted component comprises a pulling lasso and artificial muscles, the top end of the pulling lasso is connected with the output end of the waist driving component, and the bottom end of the pulling lasso is connected with the knee joint component; the artificial muscle comprises a chuck guide bracket, a connecting piece, a steel bar, a spring and an upper arm, wherein the steel bar is arranged on the chuck guide bracket; pulling the lasso to pass through the artificial muscle under the drive of the waist driving component and realize the traction of the unilateral knee joint component, wherein the artificial muscle plays a role in buffering the action of the knee joint in the traction process;

The knee joint assembly comprises a thigh fixing plate, a knee joint shaft, a lasso baffle, a first lasso disc, an angle sensor and a shank movable rod; the thigh fixing plate comprises a first thigh plate and a second thigh plate, the knee joint shaft is arranged between the first thigh plate and the second thigh plate, the bottom of the second thigh plate is fixedly sleeved on the knee joint shaft, the lasso baffle is fixedly sleeved on the outer side of the knee joint shaft, and the top of the second thigh plate is fixedly connected with the bottom of the upper arm; the knee joint shaft is externally connected with an angle sensor, a first lasso disc is arranged on one side, close to the lasso baffle, of a rotating shaft of the angle sensor, and a shank movable rod is fixedly connected to the outer side of the first lasso disc.

2. The power assisted joint structure of claim 1, wherein the pull lasso comprises a bowden cable core and a bowden cable sleeve arranged outside the bowden cable core, and the pull lasso is provided with two groups; each group of pulling lasso consists of an upper pulling lasso connected to the waist driving assembly and a lower pulling lasso connected to the knee joint assembly, and the upper and lower pulling lasso are respectively connected with the artificial muscles.

3. The power-assisted joint structure according to claim 2, wherein the chuck guide bracket comprises an upper seat and a lower seat which are arranged on the upper arm, the steel bar is arranged in parallel between the upper seat and the lower seat, springs are sleeved outside the steel bar, the steel bar and the springs thereon are arranged on two sides of the chuck guide bracket in pairs, the connecting pieces are arranged outside the tops of the two springs on the same side, each connecting piece is fastened by bolts, a torsion piece and a simulation chuck which are connected with each other are fixed on the inner side of each connecting piece, two upper pulling lasso on the same side respectively pass through the upper seat, the connecting piece and the lower seat, a sleeve is arranged at the bottom end of the lower seat, and the two upper pulling lasso on the same side are fixedly connected in the sleeve; a lower pulling noose is secured to the bottom of each connector, and each lower pulling noose bypasses downwardly and is secured to the first noose plate of the knee joint assembly.

4. The power assisted joint structure of claim 2, wherein the waist driving assembly comprises a housing, a driving motor, a transmission assembly and an execution assembly are arranged in the housing, and the driving motor is in transmission connection with the execution assembly through the transmission assembly; the transmission assembly comprises two sets of gear transmission assemblies and a lasso pulling mechanism which are symmetrically arranged at two sides of the output end of the driving motor; the executing assembly comprises an upward pulling lasso arranged at the end part of each lasso pulling mechanism, and when the driving motor drives the transmission assembly, the two upward pulling lasso at the same side moves on the chuck guiding bracket of the artificial muscle and drives the two downward pulling lasso and the first lasso disk to act through the connecting piece.

5. The power assisted joint structure of claim 4, wherein the driving motor is connected with a first bevel gear through a speed reducer, and the gear transmission assemblies are arranged at two sides of the first bevel gear; the gear transmission assembly comprises a second bevel gear and a third bevel gear which are meshed with the first bevel gear, and the second bevel gear and the third bevel gear are respectively connected with a bevel gear shaft; a first straight gear is arranged on each bevel gear shaft, a straight gear shaft is arranged in a shell above the bevel gear shaft, and a second straight gear meshed with the first straight gear is arranged on the straight gear shaft;

The lasso pulling mechanism comprises a jaw clutch, a torsion spring and a second lasso disc which are arranged on a straight gear shaft at the outer side of the second straight gear, and a pull lasso is arranged on the second lasso disc; one side of the jaw clutch is connected with the second spur gear, the other side of the jaw clutch is connected with one side of the torsion spring, and the other side of the torsion spring is connected with the second lasso disc; the top ends of the two upward pulling lasso ropes arranged on the same second lasso disc are fixed with the winding grooves arranged on the second lasso disc through lasso fixing blocks, and the bottom ends of the upward pulling lasso ropes penetrate downwards out of the outer shell and pass through artificial muscles.

6. The power-assisted joint structure according to claim 5, wherein two vertical partition plates are arranged in the shell, and the two vertical partition plates are symmetrically arranged on two sides of the driving motor; one end of the straight gear shaft is connected with the vertical partition plate, and the other end of the straight gear shaft is connected with the side wall of the shell; the bevel gear shaft is connected with the vertical partition plate; and a lasso clamp is arranged at the inner bottom of the shell and is used for enabling the lasso to be pulled upwards on the second lasso disc to pass through and be connected with the artificial muscle.

7. The power-assisted joint structure according to claim 1, wherein a first rolling bearing is arranged on a rotating shaft of the angle sensor at a side close to the lasso baffle, the first cable tray is sleeved outside the first rolling bearing, and a second rolling bearing is arranged outside the shank movable rod.

8. An exoskeleton device comprising the assisted joint structure of any one of claims 1 to 7.

9. The exoskeleton device of claim 8, wherein a waist flexible strap and a back flexible strap are provided on a rear side of the waist drive assembly, a thigh wearing member is provided on an inner side of the thigh fixing plate, and a calf wearing member is provided on an inner side of the calf cover plate.