Exoskeleton power knee joint structure

Abstract

The invention discloses an exoskeleton power knee joint structure. The exoskeleton power knee joint structure is characterized in that bending and extension motion of a knee joint is achieved througha crank sliding block mechanism principle; a screw rod rotates to drive an elastic sliding block assembly to slide along the screw rod; a sliding block and a knee joint rotating body are in series elastic drive flexible transmission; when being acted by external force, an output end can react in a highly dynamic form, a mechanism is protected, impact of uncertain environments to the mechanism is reduced, and force output of bending and extension motion to human bodies can be accurately controlled; bending and extension motion of the knee joint is achieved through a crank sliding block mechanism, linear springs are adopted in a transmission chain, and the mechanism can perform flexible outward drive; and an elastic body is introduced, and when the mechanism performs bending and extension motion, the springs are compressed and released, so that overload energy can be stored in the springs and is released when the springs return to the initial state, peak power of power drive can be reduced, force output is more smooth, and power assisting efficiency is greatly improved.

Description

technical field [0001] The invention belongs to the field of mechanical joint units, and in particular relates to an exoskeleton dynamic knee joint structure. Background technique [0002] As a part of the power-assisted exoskeleton, the knee joint of the exoskeleton mainly provides power for the knee joint movement of the wearer. The traditional exoskeleton knee joint mainly considers the degree of freedom of the curling and stretching movement of the human leg. After the motor and the reducer are connected in series The scheme of direct connection with the executive part does not consider the movement of other degrees of freedom of the human knee joint. The knee joint part of the exoskeleton is rigid and not compliant, which limits the flexibility and comfort of the wearer; at the same time, the knee joint is driven linearly Generally, the linear motor is hinged between the thigh and the calf, which is bulky and the electromechanical structure is not compact enough. Cont...

AI Technical Summary

Problems solved by technology

[0002] As a part of the power-assisted exoskeleton, the knee joint of the exoskeleton mainly provides power for the knee joint movement of the wearer. The traditional exoskeleton knee joint mainly considers the degree of freedom of the curling and stretching movement of the human leg. After the motor and the reducer are connected in series The scheme of direct connection with the executive part does not consider the movement of other degrees of freedom of the human knee joint. The knee joint part of the exoskeleton is rigid and not compliant, which limits the flexibility and comfort of the wearer; at the same time, the knee joint is driven linearly Generally, the linear motor is hinged between the thigh and the calf, which is bulky and the electromechanical structure is not compact enough.

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