CN111773026A - A multi-joint rigid-flexible combined lower extremity exoskeleton - Google Patents

Abstract

The application relates to the technical field of joint assistance, and particularly discloses a multi-joint rigid-flexible combined assistance lower limb exoskeleton. The multi-joint rigid-flexible combined power-assisted lower limb exoskeleton comprises: hip joint ties up system and shank braced system, and the hip joint ties up the system and ties up the drive assembly who ties up on the piece including hip joint and setting, and the shank braced system includes: the first rope, the second rope, the thigh component, the knee joint component and the shank component are matched with each other to support the legs of the human body and assist the human body to stand; the thigh component and the shank component are connected to the driving assembly through a first rope and a second rope respectively, and the driving assembly is used for driving the thigh component and the shank component to move correspondingly through the first rope and the second rope respectively. Through the mode, human shank and the swing bucking for knee joint part provide the helping hand can be supported in this application, and the structure is retrencied stably, and the quality is light.

Description

A multi-joint rigid-flexible combined lower extremity exoskeleton

technical field

The present application relates to the technical field of joint assist, and in particular, to a multi-joint rigid-flexible assist lower extremity exoskeleton.

Background technique

The multi-joint rigid-flexible lower extremity exoskeleton provides assistance to human actions by applying torque to the joints. With the advancement of technology, the multi-joint rigid-flexible lower extremity exoskeleton is more and more used in industrial manufacturing, military, medical rehabilitation and other fields. more and more.

During long-term research, the inventor of the present application found that the flexible lower limb exoskeleton in the prior art can only provide assistance for the swinging of human joints, but cannot provide auxiliary support for human joints. The fatigue caused by supporting the body limits the efficiency of walking assistance. In the prior art, the rigid lower extremity exoskeleton is usually directly connected to the transmission mechanism at the knee joint component to provide assistance, and the rigid lower extremity exoskeleton is equipped with multiple sets of driving mechanisms. Such a design is easy to increase the volume and weight of the lower extremity exoskeleton. The comfort of wearing will also have an impact, and it is easy to cause the corresponding increase in manufacturing and maintenance costs. On the other hand, the joint rotation center of the rigid lower extremity exoskeleton needs to be consistent with the physiological joints of the human body, so it is necessary to configure auxiliary mechanisms to eliminate the joint deviation between the human and the machine, otherwise it is easy to cause secondary damage. On the other hand, due to the high rigidity of the rigid lower extremity exoskeleton, healthy people can usually only perform limited movement when wearing it, which is inconvenient for the wearer to control flexibly and easily brings inconvenience to the wearer.

SUMMARY OF THE INVENTION

The present application provides a multi-joint rigid-flexible power-assisted lower extremity exoskeleton to at least solve some of the above-mentioned problems.

In order to solve the above-mentioned technical problems, a technical solution adopted in the present application is to provide a multi-joint rigid-flexible combined lower extremity exoskeleton, including: a hip joint binding system, including a hip joint binding member and a hip joint binding member. The drive assembly on the hip joint binding piece can be worn on the waist of the human body; and the leg support system is connected to the hip joint binding system, and the leg support system can be worn on the leg of the human body; wherein, the leg support system includes : The first rope, the second rope, the thigh part, the knee joint part and the calf part, the thigh part, the knee joint part and the calf part cooperate with each other to support the human body's legs and assist the human body to stand; the thigh part and the calf part pass through the first The rope and the second rope are connected to the driving component, and the driving component is used for respectively driving the thigh part and the calf part to make corresponding movements through the first rope and the second rope.

The beneficial effects of the present application are: different from the situation in the prior art, the present application supports the legs of the human body through the mutual cooperation of the thigh part, the knee joint part and the calf part, so that the joints of the human body can be relieved from supporting the body during weight-bearing walking or standing. resulting fatigue. In addition, since the driving assembly can respectively actively drive the thigh part and the calf part to perform corresponding movements through the first rope and the second rope, it can provide assistance for the swing and flexion of the knee joint part. At the same time, because the present application is only provided with a driving component at the hip joint binding system, the structure is simplified and stable, the weight is light, the volume is small, the restriction on the natural movement of the normal human body is small, and the power assisting efficiency is high, which solves the problem of the flexible lower limb exoskeleton in the prior art. The standing phase cannot assist in support, and the problem of excessive weight when the rigid lower limb exoskeleton is assisted by multiple joints.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. in:

1 is a schematic structural diagram of a multi-joint rigid-flexible lower limb exoskeleton provided by an embodiment of the present application;

FIG. 2 is another schematic structural diagram of a multi-joint rigid-flexible combined lower extremity exoskeleton provided by an embodiment of the present application;

FIG. 3 is another structural schematic diagram of a multi-joint rigid-flexible power lower limb exoskeleton provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a multi-joint rigid-flexible power-assisted lower extremity exoskeleton provided by an embodiment of the present application.

The multi-joint rigid-flexible power lower extremity exoskeleton 100 is a non-invasive mechanical device directly equipped on the human body. After the user wears the multi-joint rigid-flexible lower extremity exoskeleton 100, the multi-joint rigid-flexible lower extremity exoskeleton 100 can play the role of supporting the human body, assisting the human body to move, and reducing the sense of weight.

As shown in FIG. 1 , the multi-joint rigid-flexible power-assisted lower limb exoskeleton 100 includes: a hip joint binding system 10 and a leg support system 20, the leg support system 20 is connected to the hip joint binding system 10, and the hip joint binding system 10 The system 10 includes a hip joint binding member 2 and a driving assembly 1 disposed on the hip joint binding member 2. The hip joint binding member 2 can be worn on the waist of the human body, and the leg support system 20 can be worn on the human body's legs.

The leg support system 20 includes: a first rope 12, a second rope 9, a thigh part 21, a knee joint part 22 and a calf part 23, and the thigh part 21, the knee joint part 22 and the calf part 23 cooperate with each other to support the body's Legs and assist the body to stand. The thigh part 21 and the calf part 23 are connected to the drive assembly 1 through the first rope 12 and the second rope 9 respectively, and the drive assembly 1 is used to drive the thigh part 21 and the calf part 23 respectively through the first rope 12 and the second rope 9 to make corresponding exercise.

In this embodiment, when the user wears the multi-joint rigid-flexible lower limb exoskeleton 100, the hip joint binding member 2 can be bound to the waist of the user.

Optionally, the hip joint binding member 2 can be made of textile fibers, leather and other materials, so that the hip joint binding member 2 has a certain strength and flexibility, thereby increasing the relationship between the hip joint binding system 10 and the user's waist. binding effect.

Different from the situation in the prior art, the present application supports the legs of the human body through the mutual cooperation of the thigh part 21 , the knee joint part 22 and the calf part 23 , so it can relieve the fatigue of the human body joints caused by supporting the body when walking or standing under load. . In addition, since the driving assembly 1 can actively drive the thigh part 21 and the calf part 23 to perform corresponding movements through the first rope 12 and the second rope 9 respectively, it provides assistance for the swing and flexion of the knee joint part 22 . At the same time, because the present application is only provided with the driving component 1 at the hip joint binding system 10, the structure is compact and stable, the weight is light, the volume is small, the restriction on the natural movement of the normal human body is small, and the power assisting efficiency is high, which solves the problem of the flexible lower limbs in the prior art. The standing phase of the exoskeleton cannot assist in support, and the weight of the rigid lower extremity exoskeleton is too large when it is assisted by multiple joints.

Please continue to refer to FIG. 1 , the thigh part 21 includes a thigh support 3 and a thigh binding part 4 , and the calf part 23 includes a calf binding 5 and a calf support 6 . The lower end of the thigh support 3 and the upper end of the calf support 6 are connected by a knee joint member 22 .

Wherein, the thigh binding member 4 is arranged on the thigh supporting member 3 , and the thigh binding member 4 is connected to the driving assembly 1 through the first rope 12 . The lower leg binding member 5 is arranged on the lower leg support member 6 , and the lower leg binding member 5 is connected to the driving assembly 1 through the second rope 9 .

In this embodiment, when the user wears the multi-joint rigid-flexible lower limb exoskeleton 100, the thigh binding member 4 can be bound to the user's left thigh and/or right thigh, and the calf binding member 5 can be bound to the user's left thigh and/or right thigh. the left calf and/or the right calf.

Optionally, the thigh binding member 4 and the calf binding member 5 can be made of textile fibers, leather and other materials, so that the thigh binding member 4 and the calf binding member 5 have a certain strength and flexibility, thereby increasing the thigh. The binding effect between the part 21, the lower leg part 23 and the user's leg.

It should be noted that the "user" in the embodiments of the present application is generally an adult, and there may be differences in gender, height, weight, etc. of different users, so that the binding positions may also be different.

Please also refer to FIG. 2 . FIG. 2 is another structural schematic diagram of the multi-joint rigid-flexible power-assisted lower limb exoskeleton provided by an embodiment of the present application.

A mounting boss 301 is provided on one end of the thigh support 3 connected with the knee joint part 22 , and a first mounting hole 809 and a second mounting hole 808 are opened at the end of the calf support 6 connected with the knee joint part 22 .

The knee joint component 22 includes a knee joint assembly 8, and the knee joint assembly 8 includes a housing 801, first screws 802, 803, rolling bearings 804, 805, a torsion spring 806, and a joint bearing 807, and the first screws 802, 803 are fixed by the rolling bearings 804, 805 In the first installation hole 809 , the torsion spring 806 is disposed in the second installation hole 808 , and the joint bearing 807 is sleeved on the installation boss 301 . The mounting boss 301 is provided with a rotating shaft 302 , and the rotating shaft 302 passes through the torsion spring 806 and the through hole of the housing 801 in sequence.

Specifically, the two rolling bearings 804 and 805 are placed on both sides of the first slot 810 respectively, and the two first screws 802 and 803 are fixed to the calf support 6 on the calf assembly through the rolling bearings 804 and 805 .

Please continue to refer to FIG. 2 , a first engaging slot 810 is provided on the periphery of the end of the lower leg support 6 connected with the knee joint component 22 . The knee joint part 22 further includes a push rod assembly 7, the push rod assembly 7 includes a fixed structural member 701, a push rod 702 and a rotating elastic member 703, the fixed structural member 701 is fixedly connected to the thigh support 3, and the push rod 702 is arranged on the fixed structural member 701 Above, the rotating elastic member 703 is connected with the push rod 702 , and the end of the rotating elastic member 703 away from the push rod 702 can be clamped in the first locking slot 810 .

Specifically, the first rope 12 and the second rope 9 are driven by the driving assembly 1 of the hip joint binding system 10 to actively stretch the leg support system 20 , so as to realize the swing of the knee joint component 22 .

Through the cooperation of the push rod assembly 7 at the end of the thigh support 3 with the first locking groove 810 , in the standing phase, the knee joint part 22 is flexed to a preset angle and then locked to achieve auxiliary support.

After entering the swing phase, the push rod assembly 7 is separated from the first slot 810, and the rolling bearings 804 and 805 are inserted between the rotating elastic member 703 at the end of the push rod assembly 7 and the first slot 810. When the knee joint part 22 is unlocked, due to The friction is the rolling friction between the push rod 702 and the rolling bearings 804 and 805, which can be quickly unlocked by a small force.

Among them, the swing phase of the knee joint part 22 is divided into two stages: swing flexion and swing extension. During the swing and flexion process, the first rope 12 and the second rope 9 are driven by the driving component 1 to bind the thigh binding member 4 and the calf binding. The component 5 is stretched, thereby realizing the compression and energy storage of the built-in torsion spring 806. During the swing and extension process, the driving component 1, the first rope 12 and the second rope 9 have no effect on the knee joint component 22. At this time, the built-in torsion spring 806 Stretch releases the stored energy and assists the knee joint part 22 to swing and stretch.

The above structure can provide active assistance for the swing and flexion of the knee joint part 22 through flexible driving while realizing the lightweight and unpowered auxiliary support, and when the knee joint part 22 swings and flexes, it can be driven by the drive assembly 1 of the hip joint binding system 10. The first rope 12 and the second rope 9 stretch the thigh binding member 4 and the calf binding member 5, and then utilize the built-in torsion spring 806 to actively store energy. When the knee joint member 22 swings and stretches, the torsion spring 806 releases the stored energy. It can provide passive assistance for the swing extension of the knee joint part 22 .

In one embodiment, the push rod 702 is a screw drive member or an electromagnetic push rod. The screw drive includes: at least one of an electromagnet, a linear motor or a rotary motor; and at least one of a ball screw or a trapezoidal screw.

Further, the electromagnetic push rod can be a normally extended push rod or a normally retracted push rod. When the electromagnetic push rod is a normally extended push rod, that is, the rotating elastic member 703 is located in the first slot 810 when the power is not turned on. When the heel enters the standing phase, the electromagnetic push rod is not energized, and the rotating elastic member 703 on the push rod assembly 7 is located in the first slot 810. Since the elastic body is compressible, the knee joint member 22 can be locked after rotating a certain angle. At the same time, the torsion spring 806 in the knee joint part 22 is compressed, the energy of the torsion spring 806 is released when the knee joint stands and stretches, and the torsion spring 806 passively assists the knee joint stand and stretch, and the first shock absorbing member 11 touches the ground for shock absorption and storage. Part of the energy is released during the swing period to assist; when the heel lifts off the ground and enters the swing period, the electromagnetic push rod is energized, and the electromagnetic push rod on the push rod assembly 7 retracts, driving the rotating elastic member 703 upward to separate from the first slot 810, and the second There are two rolling bearings 804 and 805 on both sides of a locking groove 810 , so that the friction when the rotating elastic member 703 leaves the first locking groove 810 is rolling friction. At the same time, the forward rotation of the motor in the drive assembly 1 drives the second rope 9 to stretch, and then the knee joint part 22 is actively flexed and rotated through the calf binding part 5, and the torsion spring 806 in the knee joint part 22 is compressed and stored for energy. During the extension period, the motor in the drive assembly 1 reverses and drives the first rope 12 to stretch, and actively assists the flexion of the hip joint through the thigh binding member 4. At the same time, the second rope 9 relaxes, and the torsion spring 806 in the knee joint part 22 Energy release passively assists knee swing extension.

When the electromagnetic push rod is a normally retractable push rod, that is, the rotating elastic member 703 is located outside the first slot 810 when the power is not turned on. When the heel enters the standing phase, the electromagnetic push rod is energized and extended, which drives the rotating elastic member 703 to enter downward. In the first slot 810, since the elastic body is compressible, the knee joint part 22 can be locked after a certain angle of rotation, forming a variable resistance auxiliary support, and at the same time, the torsion spring 806 in the knee joint part 22 is compressed, standing on the knee joint. When stretching, the energy of the torsion spring 806 is released to passively assist the knee joint to stand and stretch, the first shock absorber 11 touches the ground to absorb shock and store part of the energy, and is released to assist in the swing period; when the heel lifts off the ground and enters the swing period, the electromagnetic push rod is powered off and retracted , to drive the rotating elastic member 703 upward to separate from the first slot 810 , there are two rolling bearings 804 and 805 on both sides of the slot, so that the friction when the rotating elastic member 703 leaves the slot is rolling friction. At the same time, the forward rotation of the motor in the drive assembly 1 drives the second rope 9 to stretch, and then the knee joint part 22 is actively flexed and rotated through the calf binding part 5, and the torsion spring 806 in the knee joint part 22 is compressed and stored for energy. During the extension period, the motor in the drive assembly 1 reverses and drives the first rope 12 to stretch, and actively assists the flexion of the hip joint through the thigh binding member 4. At the same time, the second rope 9 relaxes, and the torsion spring 806 in the knee joint part 22 Energy release passively assists knee swing extension.

In this embodiment, after the user wears the multi-joint rigid-flexible lower extremity exoskeleton 100, the user can go from a standing or upright state to a state where the heel is lifted off the ground. The above processes will be described in detail below.

The leg support system 20 provided in the embodiment of the present application is provided with two sets, namely the left leg exercise system and the right leg exercise system, which are respectively installed on the outer sides of the left and right legs of the human body, and the structures of the leg support systems 20 on each side are symmetrical to each other. In this embodiment, the structure of only one side is described.

When the heel of the human body enters the standing state, the push rod 702 extends and drives the rotating elastic member 703 to move downward until the rotating elastic member 703 on the push rod assembly 7 is located in the first slot 810 on the calf support member 6. When the rotation elastic member 703 is compressible, the knee joint part 22 can be locked after rotating a preset angle to form variable resistance to achieve auxiliary support. When the component 22 stands and stretches, the torsion spring 806 releases the stored energy and provides passive assistance for the standing and stretching action of the knee joint component 22, so as to realize the self-locking of the knee joint component 22.

Wherein, since different joints need to rotate at different angles, in order to make the knee joint component 22 suitable for various groups of people, the preset angles can be 40°-50°, 50°-60°, 55°-65° °, 100°-120° or 110°-120°.

When the heel of the human body is lifted, it enters the swing extension period, the push rod 702 retracts and drives the rotating elastic member 703 to move upward, so that the rotating elastic member 703 is separated from the first slot 810, and at the same time, the motor in the driving assembly 1 rotates forward and The second rope 9 is driven to stretch, and then the knee joint part 22 is driven to actively flex and rotate through the calf binding member 5. At this time, the torsion spring 806 is compressed and stores energy.

It should be noted that there are two rolling bearings 804 and 805 on both sides of the first locking groove 810 , so that the friction when the rotating elastic member 703 is separated from the first locking groove 810 is rolling friction.

During the swing and extension period, the drive assembly 1 drives the first rope 12 to stretch, the motor in the drive assembly 1 reverses and drives the first rope 12 to stretch, thereby providing active assistance for the flexion of the hip joint through the thigh binding member 4 At the same time, the second rope 9 is loosened, the torsion spring 806 releases the stored energy and provides passive assistance for the swinging and extending action of the knee joint part 22, and the knee joint part 22 swings and extends.

Please also refer to FIG. 3 . FIG. 3 is another structural schematic diagram of the multi-joint rigid-flexible power-assisted lower limb exoskeleton provided by an embodiment of the present application.

In one embodiment, the hip joint binding member 2 includes: a binding belt 202 and a waist fixing plate 202 arranged on the binding belt 202. The waist fixing plate 202 is provided with an adjustable buckle 203, and the waist fixing plate 202 can be It is fixedly connected to the strap 202 through the adjustable buckle 203 . The binding belt 202 is bound on the waist of the human body, so that the waist fixing plate 202 is fixed on the back waist of the human body through the adjustable buckle 203, and the adjustable buckle 203 is used to tighten and relax the binding belt 202 and the waist of the human body.

The drive assembly 1 includes: second screws 102 , 103 , rope fixing blocks 104 , 105 , a wire reel 106 , a wire tube 108 , a motor 113 fixing block 109 , a reducer 112 , a motor 113 , and a motor shaft end cover 101 . The motor shaft end cover 101 and the wire reel 106 are connected by screws.

The drive assembly 1 is fixed to the binding belt 202 by the waist fixing plate 202 , the motor 113 and the reducer 112 are fixed on the waist fixing plate 202 by the fixing block 109 of the motor 113 , and the rope fixing blocks 104 and 105 are fixed by the second screws 102 and 103 It is connected to the wire reel 106, the motor 113 is connected to the input shaft of the reducer 112, the output of the reducer 112 is connected to the axis plate 106, the wire reel 106 is connected to the motor shaft end cover 101, and the cylindrical body on the wire tube 108 is clamped on the wire in the second slot on the disk 106 .

Specifically, the input end of the reducer 112 is connected to the output shaft of the motor 113 , and the output end of the reducer 112 is connected to the reel 106 . When the motor 113 starts to rotate clockwise from the static state, since the input end of the reducer 112 is connected with the output shaft of the motor 113 , the reducer 112 also rotates clockwise in synchronization with the motor 113 .

The reducer 112 may be a harmonic reducer 112. In the embodiment of the present application, by setting the reducer 112, the torque transmitted to the reel 106 is increased by using the principle of deceleration and torque increase, so that the received power of the motor 113 is used to drive the reel. 106 spins.

The first rope 12 and the second rope 9 are wound around the wire tube 108. The first rope 12 and the second rope 9 are usually made of soft materials, and have the characteristics of low quality and low elasticity. One end of the two ropes 9 is fixed on the wire tube 108, and after the wire tube 108 is wound several times, the other ends are respectively connected to the thigh binding member 4 and the calf binding member 5. For example, one end of the first rope 12 and the second rope 9 is fixed on the wire tube 108 by a pin on the wire tube 108, and the other ends are respectively connected with the thigh binding member 4 and the calf binding member 5, so as to wear the driving force to the human body , when the user's thigh moves forward, the first rope 12 and the second rope 9 can pull the leg wearing part to achieve the purpose of walking assistance.

In one embodiment, the lower leg part 23 further includes a first shock absorbing part 11 , and the first shock absorbing part 11 is disposed at the lower end of the lower leg support part 6 away from the knee joint part 22 . When the heel of the human body hits the ground, the first shock absorbing member 11 hits the ground to absorb shock and store energy. During the swing extension period, the first shock absorber 11 releases the stored energy and provides assistance for the swing extension action of the knee joint part 22 . Wherein, the material of the first shock absorbing member 11 may be rubber.

In one embodiment, the first rope 12 and the second rope 9 are at least one of Bowden rope, steel wire, and strong horse wire.

In one embodiment, a second shock absorbing member (not shown in the figure) is provided inside the lower leg support member 6 .

In one embodiment, the leg support system 20 further includes a foot support (not shown) connected to an end of the calf support 6 remote from the knee joint member 22 . A third shock absorbing member (not shown in the figure) is arranged on the foot support to absorb the impact force of the ground.

Different from the situation in the prior art, the present application supports the legs of the human body through the mutual cooperation of the thigh part 21 , the knee joint part 22 and the calf part 23 , so it can relieve the fatigue of the human body joints caused by supporting the body when walking or standing under load. . In addition, since the driving assembly 1 can actively drive the thigh part 21 and the calf part 23 to perform corresponding movements through the first rope 12 and the second rope 9 respectively, it provides assistance for the swing and flexion of the knee joint part 22 . At the same time, because the present application is only provided with the driving component 1 at the hip joint binding system 10, the structure is compact and stable, the weight is light, the volume is small, the restriction on the natural movement of the normal human body is small, and the power assisting efficiency is high, which solves the problem of the flexible lower limbs in the prior art. The standing phase of the exoskeleton cannot assist in support, and the weight of the rigid lower extremity exoskeleton is too large when it is assisted by multiple joints.

The above are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied in other related technical fields, All are similarly included in the scope of patent protection of the present application.

Claims (11)

1. A multi-joint rigid-flexible power-assisted lower limb exoskeleton is characterized by comprising:

the hip joint binding system comprises a hip joint binding piece and a driving assembly arranged on the hip joint binding piece, wherein the hip joint binding piece can be worn on the waist of a human body; and

a leg support system connected to the hip joint cinching system, the leg support system wearable to a leg of a human body;

wherein the leg support system comprises: a first cord, a second cord, a thigh component, a knee component, and a calf component, the thigh component, the knee component, and the calf component cooperating with each other to support a leg of a human body;

the thigh part and the shank part are respectively connected to the driving assembly through the first rope and the second rope, and the driving assembly is used for driving the thigh part and the shank part to do corresponding movement through the first rope and the second rope.

2. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the thigh member includes: a thigh support and a thigh ligature disposed on the thigh support, the thigh ligature connected to the drive assembly by the first cable;

the lower leg member includes: the lower end of the thigh support part is connected with the upper end of the calf support part through the knee joint part, and the calf binding part is connected to the driving assembly through the second rope.

3. The multi-joint rigid-flexible power-assisted lower limb exoskeleton as claimed in claim 2, wherein a mounting boss is arranged at one end of the thigh support connected with the knee joint part, a rotating shaft is arranged on the mounting boss, and a first mounting hole and a second mounting hole are arranged at one end of the shank support 6 connected with the knee joint part;

the knee joint component comprises a knee joint component, the knee joint component comprises a shell, a first screw, a rolling bearing, a torsional spring and a joint bearing, the first screw is fixed in the first mounting hole through the rolling bearing, the torsional spring is arranged in the second mounting hole, and the joint bearing is sleeved on the mounting boss;

the rotating shaft sequentially penetrates through the torsion spring and the through hole of the shell.

4. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 3,

a first clamping groove is formed in the peripheral edge of one end, connected with the knee joint component, of the shank support part 6;

the knee joint part still includes push rod assembly, push rod assembly includes fixed knot spare, push rod and rotates the elastic component, fixed knot spare fixed connection thigh support piece, the push rod sets up fixed knot spare is last, rotate the elastic component with the push rod is connected, just it keeps away from to rotate the elastic component the one end of push rod can block and establish in the first draw-in groove.

5. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 4,

when a human body is in a standing state, the push rod extends out and drives the rotating elastic part to move downwards until the rotating elastic part is clamped in the first clamping groove, at the moment, the rotating elastic part can be compressed, the knee joint part can be locked after rotating for a preset angle, and meanwhile, the energy of the torsion spring is released and provides passive power for the standing and extending action of the knee joint;

when the heel of a human body is lifted, the human body enters a swinging and stretching period, the push rod retracts and drives the rotating elastic piece to move upwards so that the rotating elastic piece is separated from the first clamping groove, meanwhile, the driving assembly drives the second rope to stretch so that the shank binding piece drives the knee joint part to actively bend and rotate, and the torsion spring is compressed and stores energy;

during the swing extension period, the driving assembly drives the first rope to stretch, so that the thigh binding piece provides active assistance for the bending action of the hip joint, meanwhile, the second rope is loosened, and the torsion spring releases stored energy and provides passive assistance for the swing extension action of the knee joint component.

6. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 4,

the lower leg component further includes: a first shock absorber disposed at a lower end of the calf support remote from the knee joint component;

when the heel of the human body falls to the ground, the first shock absorption piece lands to absorb shock and store energy;

during the swing extension period, the first shock absorption piece releases stored energy and provides assistance for the swing extension action of the knee joint component.

7. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 4,

the push rod is a lead screw transmission piece or an electromagnetic push rod;

wherein, the lead screw transmission part includes:

at least one of an electromagnet, a linear motor, or a rotary motor; and

at least one of a ball screw or a trapezoidal screw.

8. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the drive assembly includes: the second screw, the rope fixing block, the wire coil, the wire pipe, the motor fixing block, the speed reducer, the motor and the motor shaft end cover;

the hip joint binding comprises: the binding belt comprises a binding belt, a waist fixing plate and an adjustable buckle, wherein the waist fixing plate and the adjustable buckle are arranged on the binding belt, and the adjustable buckle is used for realizing tightening and loosening of the binding belt and the waist of a human body;

the driving assembly is fixed to the binding belt through the waist fixing plate, the motor and the speed reducer are fixed to the waist fixing plate through the motor fixing block, the rope fixing block is connected with the wire coil through the second screw, the motor is connected with the input shaft of the speed reducer, the output of the speed reducer is connected with the wire coil, the wire coil is connected with the motor shaft end cover, and the columnar body on the wire pipe is clamped in the second clamping groove on the wire coil.

9. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the first rope and the second rope are at least one of Bowden ropes, steel wires and strong force horse wires.

10. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 2,

a second shock absorbing member is arranged inside the shank support member.

11. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 2,

the leg support system further comprises: a foot support connected to an end of the calf support distal from the knee joint component;

a third cushioning member is provided on the foot support.

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