CN110478199A - Booster type knee joint ectoskeleton - Google Patents

Abstract

The invention provides a power-assisted knee joint exoskeleton, which includes a wearing component, a power-assisted component and a power device. The wearing component includes a waist wearing part bound to the waist, a thigh wearing part bound to the thigh, and a The calf wearer, the power unit is connected to the waist wearer; the power-assisted component includes a Bowden core for pulling the calf wearer and a Bowden wire sleeve for guiding the stretching of the Bowden wire core, and the top end of the Bowden wire sleeve is fixed On the power device, the bottom end of the Bowden wire sleeve is fixed on the thigh wearer, and the two ends of the Bowden wire core are respectively connected with the output end of the power device and the calf wearer. Then, when wearing and using, the power device drives the Bowden core to pull the calf wearing part, so as to assist the stretching motion of the knee joint. The power-assisted knee joint exoskeleton provided by the present invention has compact structure, small size and light weight, which reduces the influence and restriction on the normal walking gait of the human body.

Description

Assisted knee exoskeleton

technical field

The invention belongs to the technical field of wearable exoskeleton, and more specifically relates to a power-assisted knee joint exoskeleton.

Background technique

In recent years, with the gradual increase of the aging population in society, limb movement dysfunction caused by natural aging and diseases of the human body has affected the daily life and travel of more and more elderly people. Therefore, walking assistance and auxiliary rehabilitation training for the elderly The mechanically assisted exoskeleton developed by et al. has been widely used. Mechanically assisted exoskeleton can be understood as a wearable robot in general. It has exoskeleton limbs and exoskeleton joint structure. The exoskeleton limbs are made of rigid materials such as metal and connected by exoskeleton joints. Under the driving action, the exoskeleton joints drive the exoskeleton limbs to drive the wearer's limbs to move, thus achieving a good assisting effect on the walking of the elderly.

However, the current wearable exoskeleton knee joint assisting robot usually uses a hydraulic device to directly assist the human knee joint, which requires a large power motor drive, resulting in a large moment of inertia of the leg and poor stability, which affects the leg. Normal free activities destroy the natural biomechanical characteristics of human walking, resulting in clumsy movements; large body, heavy weight, and strong sense of weight on the legs, resulting in poor coordination between the knee joint movement of the human body and the exoskeleton knee joint movement, making it difficult for the elderly to People or other people with weak walking ability maintain a natural gait and walk.

Contents of the invention

The purpose of the present invention is to provide a power-assisted knee joint exoskeleton, which aims to solve the problem of wearable exoskeleton knee joint power-assisted robots in the prior art, which are large in size and heavy in weight, and have relatively little influence and restriction on the normal walking gait of the human body. Big question.

In order to achieve the above object, the technical solution adopted by the present invention is to provide a power-assisted knee joint exoskeleton, including a wearable component for wearing, a power-assisted component for providing assistance to the extension of the knee joint, and a power-assisted component for providing assistance to the knee joint. The booster assembly provides a power device for driving power, and the wearing assembly includes a waist wearing part for wearing and binding on the waist, a thigh wearing part for wearing and binding on the thigh, and a wearing part for wearing and binding on the calf The calf wearing part, the power device is connected with the waist wearing part; the booster assembly includes a Bowden wire core for pulling the calf wearing part and the thigh wearing part to move relative to the knee joint and A Bowden wire sheath used to guide the stretching of the Bowden wire core, the top end of the Bowden wire sheath is fixed on the power device, and the bottom end of the Bowden wire sheath is fixed on the thigh wearing piece , one end of the Bowden wire core is connected to the output end of the power device, and the other end of the Bowden wire core is connected to the calf wearer.

Further, the booster assembly also includes an elastic knee joint support plate for supporting on the knee, one end of the knee joint support plate is fixedly connected with the thigh wearing piece, and the other end of the knee joint support plate It is slidably connected with the calf wearer, and the part of the Bowden wire core protruding from the Bowden wire sleeve is supported on the knee joint support plate.

Further, the knee joint support plate is provided with a guide groove for limiting the Bowden wire core, and the part of the Bowden wire core protruding from the Bowden wire sleeve is placed in the guide groove.

Further, the knee joint support plate is provided with crimping lines for defining the Bowden wire cores in the guide grooves.

Further, the power-assisted knee exoskeleton also includes a connecting seat fixed on the calf wearer, the other end of the Bowden wire core is connected to the connecting seat, and the connecting seat is provided with a The chute into which the knee joint support plate is slidably inserted at one end away from the thigh wearing piece.

Further, the knee joint support plate includes a support plate and a connecting arm integrally formed with the support plate, the end of the support plate away from the connecting arm is fixedly connected with the thigh wearing piece, and the connecting arm is slidably inserted in the chute.

Further, a guide bump is protruded from the inner side wall of the chute, and a guide groove matching the guide bump is provided on the connecting arm.

Further, the power-assisted knee exoskeleton also includes a fixing base fixed on the thigh wearing part and a force transmission strap connected to the fixing base, and the end of the power transmission strap is far away from the fixing base It is connected with the waist wearing part, and the bottom end of the Bowden wire sheath is connected with the fixing seat, and the end of the knee joint support plate away from the calf wearing part is connected with the fixing seat.

Further, the power device includes a driving motor connected to the waist wearing piece and a winding wheel connected to the output shaft of the driving motor, and one end of the Bowden core is fixed on the winding wheel.

Further, at least one of the waist wearing part, the thigh wearing part and the calf wearing part is a flexible strap.

The beneficial effect of the power-assisted knee exoskeleton provided by the present invention is that compared with the prior art, the power-assisted knee exoskeleton provided by the present invention, when worn and used, the power device drives the Bowden wire core of the power-assisted component, and the Bowden wire core of the power-assisted component is During the process of relative movement between the wearing part of the calf and the wearing part of the thigh when the boarding core pulls the wearing part of the calf, the calf driven by the wearing part of the calf produces a stretching movement relative to the thigh, which can generate an assisting moment at the knee joint to force the human body to extend the knee joint, so as to It helps the stretching of the knee joint and assists normal walking, thereby reducing the energy consumed by walking and making the user's walking gait lighter and more natural; and the knee joint is small in size and light in weight, which can well match the normal walking process of the human body The physiological movement characteristics of the middle knee joint reduce the impact and restriction on the normal walking gait of the human body, so that it can maintain a natural and efficient gait for steady walking.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is a three-dimensional structural schematic diagram 1 of the power-assisted knee joint exoskeleton provided by the embodiment of the present invention;

Fig. 2 is a three-dimensional structural schematic diagram II of the power-assisted knee exoskeleton provided by the embodiment of the present invention;

3 is a schematic diagram of the exploded structure of the power-assisted knee exoskeleton provided by the embodiment of the present invention;

Fig. 4 is the partially enlarged structural schematic diagram in Fig. 3;

Fig. 5 is a three-dimensional schematic diagram of the knee joint support plate of the power-assisted knee joint exoskeleton provided by the embodiment of the present invention;

Fig. 6 is a schematic perspective view of the connection seat of the power-assisted knee joint exoskeleton provided by the embodiment of the present invention.

Among them, the main marks of each accompanying drawing in the figure are:

1-assist assembly; 11-Bowden wire core; 12-Bowden wire sleeve; 13-knee joint support plate; 131-positioning slot; 132-support plate; 133-connecting arm; ;

2-power device; 21-drive motor; 22-box body;

3-waist wearer; 4-thigh wearer; 5-calf wearer;

6-connecting seat; 61-sliding groove; 62-guiding bump;

7-fixed seat; 8-power transmission strap.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

It should be noted that when an element is referred to as being “connected to” or “disposed on” another element, it may 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 indirectly connected to the other element.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. "Several" means one or more than one, unless otherwise clearly and specifically defined.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection, or integral connection; it may be mechanical connection or electrical connection; it may be direct connection or indirect connection through an intermediary, and it may be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

Please refer to FIG. 1 to FIG. 6 together, and now the power-assisted knee joint exoskeleton provided by the present invention will be described. The power-assisted knee joint exoskeleton provided by the present invention includes a wearable component for the user to wear, a power-assisted component 1 for providing assistance to the extension movement of the user's knee joint, and a power device 2 for providing driving power to the power-assisted component 1 , the wearing assembly includes a waist wearing part 3 for wearing and binding to the user's waist, a thigh wearing part 4 for wearing and binding on the user's thigh, and a calf wearing part 5 for wearing and binding on the user's calf , the power device 2 is connected with the waist wearing part 3; the booster assembly 1 includes a Bowden wire core 11 for pulling the calf wearing part 5 and a thigh wearing part 4 to move relative to the user's knee joint and for guiding the Bowden wire core 11 stretched Bowden wire sheath 12, the top of Bowden wire sheath 12 is fixed on the power unit 2, the bottom end of Bowden wire sheath 12 is fixed on the thigh wearer 4, and one end of the Bowden wire core 11 is connected to the power unit 2, the other end of the Bowden wire core 11 is connected to the calf wearer 5.

The basic working principle of the power-assisted knee exoskeleton provided by the present invention: after the user wears the power-assisted knee exoskeleton, the power device 2 is bound to the user's waist through the waist wearer 3 worn on the user's waist. After the power device 2 is energized, it drives the Bowden core 11 to pull the calf wearer 5 worn on the user's calf, and the calf wearer 5 moves relative to the thigh wearer 4 worn on the user's thigh. During the relative movement between the calf wearable part 5 and the thigh wearable part 4, the calf wearable part 5 drives the user's calf to produce a stretching motion, which can generate an assisting moment at the user's knee joint to force the human knee joint to extend, thereby completing Assisting in the user's knee extension movement. The power-assisted knee exoskeleton provided by the present invention uses Bowden cables to provide flexible assistance to the user's knee joint extension movement, reduces the moment of inertia of the leg, has good stability, and does not affect the normal free movement of the leg. Destroying the natural biomechanical characteristics of human walking, it is easy to move. Moreover, the power-assisted knee joint exoskeleton provided by the present invention has the advantages of simple and compact structure, small size, light weight, high wearing comfort, greatly reducing the load on the legs, and making the human knee joint and knee joint exoskeleton move Better coordination, enabling the elderly or those with other weak walking disabilities to maintain a natural gait.

Compared with the prior art, the power-assisted knee exoskeleton provided by the present invention includes a wearable component, a power-assisted component 1 and a power device 2. The thigh wearing part 4 bound on the user's thigh and the calf wearing part 5 wearable and bound on the user's calf, and the power device 2 is bound to the user's waist through the waist wearing part 3 . Then when wearing and using, the power device 2 drives the Bowden core 11 of the power-assisted component 1, and the Bowden core 11 pulls the calf wearable part 5 and the thigh wearable part 4 in the process of relative movement, and the calf wearable part 5 drives the user's calf When the stretching motion is generated, the power-assisted torque that forces the human knee joint to stretch can be generated at the user's knee joint, so as to assist the stretching motion of the user's knee joint and assist the user to walk normally, thereby reducing the energy consumed by the user's walking. Make the user's walking gait more light and natural. Moreover, the power-assisted knee joint exoskeleton provided by the present invention is compact in structure, small in size and light in weight compared with the structure in which the power device 2 is used to directly drive the knee joint. Physiological motion characteristics reduce the impact and restrictions on the normal walking gait of the human body, so that users can maintain a natural and efficient gait for steady walking.

In order to make the wearable components of the knee joint exoskeleton realize fast wearing and disarming when wearing, and to achieve the best power-assisted effect while improving comfort, the waist wearing part 3, the thigh wearing part 4 and the calf wearing part 5 Both feature wearable straps that are easily attached to the body. Preferably, the two ends of the wearable strap are connected by velcro (magic buckle), so as to facilitate quick wearing and adjustment.

Preferably, the waist wearing part 3 is a waist belt, and the waist belt adopts a flexible strap, so as to minimize the impact of the wearing components on the normal movement of the human body when assisting the knee joint, and improve the assisting effect and the comfort of wearing and using. And on the waist wearing part 3, reinforcing ribs are set, and the reinforcing ribs are nylon webbings of "V" structure sewn on the flexible straps (waist wearing parts 3), to enhance the rigidity and power decomposition of the flexible straps. Wherein, the waist wearing part 3 realizes the fixing of the waist through a hook and loop structure such as Velcro, so as to meet the wearing needs of different users.

Preferably, the thigh wearer 4 adopts a flexible strap, so as to minimize the impact of the wearing component on the normal movement of the human body when assisting the knee joint, and improve the assisting effect and the comfort of wearing and using. And on the thigh wearing part 4, be provided with reinforcing rib, and reinforcing rib is the nylon webbing of " inverted V " type and " one " structure that are sewn on the flexible strap (thigh wearing part 4), to strengthen the flexible strap. Decomposition of stiffness and force. Among them, the thigh wearing part 4 realizes fixing the user's thigh through a hook and loop structure such as Velcro, so as to meet the wearing needs of different users.

Preferably, the calf wearer 5 adopts a flexible strap, so as to minimize the impact of the wearing component on the normal movement of the human body when assisting the knee joint, and improve the assisting effect and the comfort of wearing and using. And the calf wearing part 5 is provided with a reinforcing rib, and the reinforcing rib is a nylon webbing of an "X" structure sewn on the flexible strap (calf wearing part 5) to enhance the rigidity of the flexible strap and the decomposition of force . Among them, the calf wearable part 5 realizes the fixation of the user's calf through a hook and loop structure such as Velcro, so as to meet the wearing needs of different users.

Further, please refer to Fig. 2 and Fig. 3 together. As a specific embodiment of the power-assisted knee exoskeleton provided by the present invention, the power-assisted component 1 also includes an elastic knee joint support for supporting the user's knee Plate 13, one end of the knee joint support plate 13 is fixedly connected with the thigh wearer 4, the other end of the knee joint support plate 13 is slidably connected with the calf wearer 5, and the Bowden wire core 11 extends out of the partial support of the Bowden wire sleeve 12 On the knee support plate 13.

In this embodiment, an elastic knee joint support plate 13 is connected between the thigh wearing part 4 and the calf wearing part 5, and the elastic knee joint support plate 13 is supported on the user's knee, and then the Bowden wire core 11 The part protruding from the Bowden wire cover 12 is supported on the knee joint support plate 13 to form a support for the Bowden wire core 11 when assisting and increase the contact area with the human body. In the case of a relatively high pressure (on the user's knee), reducing the pressure of the Bowden core 11 on the knee joint can protect the knee joint well without affecting the user's wearing comfort. Moreover, the knee joint support plate 13 is an elastic support plate made of carbon fiber material, which can be bent and deformed with the extension of the knee joint during the process of pulling the Bowden wire core 11 to assist the knee joint, and can be well matched to the human body. The physiological movement characteristics of the knee joint during normal walking reduces the influence and restriction on the normal walking gait of the human body, so that the user can maintain a natural and efficient gait for light walking.

Further, please refer to FIG. 3 and FIG. 5 together. As a specific embodiment of the power-assisted knee joint exoskeleton provided by the present invention, the knee joint support plate 13 is provided with a positioning groove 131 for positioning the Bowden wire core 11 The part of the Bowden wire core 11 protruding from the Bowden wire sheath 12 is placed in the positioning groove 131 .

In this embodiment, a positioning groove 131 for limiting the Bowden wire core 11 is provided on the knee joint support plate 13, and the part of the Bowden wire core 11 protruding from the Bowden wire sleeve 12 is placed in the positioning groove 131, Therefore, the knee joint support plate 13 can play a good role in supporting and guiding the Bowden wire core 11 in the stretched state, so that the power device 2 can drive the calf wearing part 5 and the thigh wearing part 4 more stably and efficiently. Relative movement occurs, which has a good boosting effect on the user's knee joint, and avoids serious positional deviation of the Bowden core 11 when the power device 2 drives the Bowden core 11 to pull the calf wearer 5, which affects the power of the knee joint. Stability, reduce boost effect.

Further, please refer to FIG. 3 and FIG. 5 together. As a specific embodiment of the power-assisted knee joint exoskeleton provided by the present invention, the knee joint support plate 13 is provided with a positioning groove for limiting the Bowden wire core 11 to the positioning groove. The pressure line 135 in 131 is used to limit the Bowden wire core 11 in the positioning groove 131 through the pressure line 135. On the one hand, it prevents the Bowden wire core 11 from breaking away from the knee joint support plate 13 when the human knee joint is stretched, which is harmful to the user. On the other hand, prevent the Bowden wire core 11 from detaching from the positioning groove 131 on the knee joint support plate 13 and cause serious positional deviation, which will affect the stability of the knee joint power assist. and reduce the boosting effect.

Further, please refer to Fig. 3 to Fig. 6 together. As a specific embodiment of the power-assisted knee exoskeleton provided by the present invention, the power-assisted knee exoskeleton also includes a connecting seat 6 fixed on the calf wearing part 5 , the other end of the Bowden wire core 11 is connected to the connecting seat 6, and the connecting seat 6 is provided with a slide groove 61 for slidingly inserting the end of the knee joint support plate 13 away from the thigh wearer 4.

In this embodiment, a connecting seat 6 is provided on the calf wearer 5, and the other end of the Bowden core 11 is connected to the connecting seat 6, and the connecting seat 6 is provided with a support plate 13 for the knee joint to be worn away from the thigh. One end of piece 4 slides into the chute 61. Then when in use, the end of the knee joint support plate 13 away from the thigh wearing part 4 is slid and inserted into the chute 61 of the connecting seat 6, and when the Bowden wire core 11 pulls the calf wearing part 5 to move toward the thigh wearing part 4, through the sliding The sliding fit structure of the groove 61 and the knee joint support plate 13 realizes expansion and contraction, which can avoid the interference of the knee joint support plate 13 when the Bowden core 11 pulls the calf wearer 5 to move, ensures the natural movement of the knee joint of the human body, and improves the power of the knee joint. Stability and boost effect.

Further, please refer to FIGS. 3 to 6 together. As a specific embodiment of the power-assisted knee joint exoskeleton provided by the present invention, the knee joint support plate 13 includes a support plate 132 and a connecting arm integrally formed with the support plate 132 133 , the end of the support plate 132 away from the connecting arm 133 is fixedly connected with the thigh wearer 4 , and the connecting arm 133 is slidably inserted into the chute 61 .

In this embodiment, the knee joint support plate 13 includes a support plate 132 and a connecting arm 133 integrally formed with the support plate 132, and the connecting arm with a cross-sectional area smaller than the cross-sectional area of the support plate 132 is slid and inserted into the chute 61 of the connecting seat 6, through The support plate 132 supports the Bowden wire core 11 and plays a good protective role on the knee joint, and realizes expansion and contraction through the sliding structure in which the connecting arm 133 cooperates with the chute 61 of the connecting seat 6, which can not only avoid the impact of the knee joint support plate 13 on the abalone. The interference when the boarding core 11 pulls the movement of the calf wearer 5 ensures the natural movement of the human knee joint; it can also enhance the smoothness and flexibility of the knee joint support plate 13 sliding and stretching relative to the connecting seat 6, and further improve the stability of the knee joint assist Sexuality and boosting effect.

Further, please refer to Fig. 4 and Fig. 6 together. As a specific embodiment of the power-assisted knee joint exoskeleton provided by the present invention, a guiding lug 62 protrudes from the inner side wall of the chute 61, and the connecting arm 133 A guide groove 134 for matching with the guide protrusion 62 is provided.

In this embodiment, a guide bump 62 is protruded on the inner side wall of the chute 61, and a guide groove 134 matching the guide bump 62 is provided on the connecting arm 133, so as to pass through the connection between the guide bump 62 and the guide groove 134. The sliding fit makes the knee joint support plate 13 always slip along its length direction when the Bowden wire core 11 pulls the calf wearable part 5 towards the thigh wearable part 4, which can effectively prevent the Bowden wire core 11 from slipping on the human body. When the knee joint is stretched, the position shifts, which affects the stability of the knee joint and reduces the power assist effect.

Further, please refer to FIG. 1 and FIG. 3 together. As a specific embodiment of the power-assisted knee joint exoskeleton provided by the present invention, the power-assisted knee joint exoskeleton also includes a fixing seat 7 fixed on the thigh wearing part 4 And the force transmission strap 8 connected with the fixed seat 7, the end of the force transmission strap 8 away from the fixed seat 7 is connected with the waist wearing part 3, and the bottom end of the Bowden wire cover 12 is connected with the fixed seat 7, and the knee joint support plate 13 is connected to the fixing seat 7 at an end far away from the calf wearing part 5 .

In this embodiment, a fixing seat 7 is fixedly arranged on the thigh wearing part 4 , and a force transmission strap 8 is arranged between the fixing seat 7 and the waist wearing part 3 . Then when in use, the force-transmitting straps are divided into two from the upper part of the user's knee joints to bypass both sides of the thighs, and are fixed below the buttocks, so that the force acting on the thigh wearing part 4 is decomposed to the waist wearing part 3, and then The waist wearing part 3 acts on the pelvis of the human body, thereby reducing the force of the thigh wearing part 4 on the user's thigh, enhancing the wearing comfort of the user's legs, and greatly reducing the normal impact of the power-assisted knee joint exoskeleton on the human leg. The impact of free movement, so as not to disrupt the natural biomechanical properties of human walking.

Preferably, the force transmission strap 8 is connected to the waist wearing part 3 through a sun-shaped buckle.

Further, please refer to FIG. 1 and FIG. 3 together. As a specific embodiment of the power-assisted knee exoskeleton provided by the present invention, the power device 2 includes a drive motor 21 connected to the waist wearing part 3 and a drive motor 21 The winding wheel (not shown in the figure) that the output shaft is connected, and one end of the Bowden core 11 is fixed on the winding wheel.

In this embodiment, the power device 2 includes a drive motor 21 connected to the waist wearer 3 and a winding wheel connected to the output shaft of the drive motor 21. The output shaft of the drive motor 21 is connected with a winding wheel. The motor 21 drives the winding wheel to wind the Bowden wire core 11, so that the Bowden wire core 11 drives and pulls the calf wearing part 5 worn on the user's calf, and then the calf wearing part 5 drives the human body's calf to stretch to realize the knee joint. Boost, improve the transmission speed and transmission efficiency of the Bowden wire core 11.

Further, please refer to FIG. 1 and FIG. 3 together. As a specific embodiment of the power-assisted knee exoskeleton provided by the present invention, the power device 2 also includes a box body 22 for accommodating the drive motor 21 and a The battery (not shown) that provides power to the drive motor 21, the drive motor 21 is placed in the box body 22, and the box body 22 is fixed on the waist of the user through the waist belt (waist wearer 3). Moreover, the waist belt is an elastic strap, and the box body 22 and the battery are symmetrically distributed on the front and rear sides (or left and right sides) of the waist through the elastic strap, which is convenient for wearing and dismounting, and is conducive to the power unit 2. The uniform distribution of the overall weight and the human body load can effectively reduce the adverse effects and discomfort caused by the portable power device 2 to the normal walking of the human body, so that it can better maintain a natural and efficient gait for walking.

Of course, the driving motor 21 can also be replaced by a driving mechanism such as an air motor, a pneumatic driving mechanism or a hydraulic driving mechanism, so as to realize the driving function of the power device 2 driving the Bowden wire core, which can be selected according to actual needs, and is not uniquely limited here. . In addition, the Bowden wire core can use one of steel wire rope, Kevlar rope or carbon fiber rope, but it is not limited to steel wire rope, Kevlar rope or carbon fiber rope. It can be selected according to actual needs, and there is no unique limitation here. .

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. A power-assisted knee joint exoskeleton, characterized in that: it includes a wearable component for the user to wear, a power-assisted component for providing power to the extension of the knee joint, and a power-assisted component for providing driving power to the power-assisted component. The power device, the wearing assembly includes a waist wearing part for wearing and binding on the waist, a thigh wearing part for wearing and binding on the thigh, and a calf wearing part for wearing and binding on the calf, so The power device is connected with the waist wearing part; the booster assembly includes a Bowden wire core for pulling the calf wearing part to move relative to the thigh wearing part and for guiding the Bowden wire core to stretch Bowden cable cover, the top end of the Bowden cable cover is fixed on the power device, the bottom end of the Bowden cable cover is fixed on the thigh wearer, and one end of the Bowden cable core is connected to the The output end of the power device is connected, and the other end of the Bowden core is connected with the calf wearer. 2. The power-assisted knee joint exoskeleton according to claim 1, characterized in that: the power-assisted assembly also includes an elastic knee joint support plate for supporting the knee, one end of the knee joint support plate is connected to The thigh wearing part is fixedly connected, the other end of the knee joint support plate is slidably connected to the calf wearing part, and the part of the Bowden wire core protruding from the Bowden wire sleeve is supported on the knee joint support board. 3. The power-assisted knee joint exoskeleton as claimed in claim 2, characterized in that: said knee joint support plate is provided with a guide groove for positioning said Bowden wire core, and said Bowden wire core protrudes from the The part of the Bowden wire cover is placed in the guide groove. 4. The power-assisted knee joint exoskeleton according to claim 3, characterized in that: said knee joint support plate is provided with crimping lines for limiting said Bowden wire cores to said guide grooves. 5. The power-assisted knee joint exoskeleton according to claim 2, characterized in that: the power-assisted knee joint exoskeleton also includes a connecting seat fixed on the calf wearer, and the other part of the Bowden wire core One end is connected with the connection seat, and the connection seat is provided with a slide groove for slidingly inserting the end of the knee joint support plate away from the thigh wearer. 6. The power-assisted knee joint exoskeleton according to claim 5, wherein the knee joint support plate comprises a support plate and a connecting arm integrally formed with the support plate, and the support plate is far away from the connecting arm One end of the arm is fixedly connected with the thigh wearing piece, and the connecting arm is slidably inserted into the chute. 7. The power-assisted knee joint exoskeleton according to claim 6, characterized in that: the inner side wall of the chute is provided with a guide bump, and the connecting arm is provided with a guide that cooperates with the guide bump. groove. 8. The power-assisted knee joint exoskeleton according to claim 2, characterized in that: the power-assisted knee joint exoskeleton also includes a fixing seat fixed on the wearing part of the thigh and a transmission link connected with the fixing seat. A power strap, the end of the force transmission strap far away from the fixing seat is connected to the waist wearer, and the bottom end of the Bowden wire sleeve is connected to the fixing seat, and the knee joint support plate is far away from the fixing seat. One end of the calf wearing part is connected with the fixing seat. 9. The power-assisted knee joint exoskeleton as claimed in claim 1, characterized in that: the power device comprises a driving motor connected to the waist wearing part and a winding wheel connected to the output shaft of the driving motor, One end of the Bowden core is fixed on the winding wheel. 10. The power-assisted knee joint exoskeleton according to any one of claims 1 to 9, wherein at least one of the wearing parts at the waist, the wearing parts at the thigh and the wearing parts at the lower legs is a flexible strap .