Abstract: An exoskeleton joint self-locking mechanism, a knee joint and a bionic rehabilitation robot are provided. The self-locking mechanism comprises a first base, a rotating outward expanding locking member, a second base and a locking driving member; the rotating outward expanding locking member comprises a first rotating frame and a second rotating frame, and outer sides of the first rotating frame and the second rotating frame have a first friction surface; one end of the first rotating frame is pivoted with one end of the second rotating frame; the second base is rotationally mounted on the first base, and an inner wall of the second base defines a second friction surface enclosing the first friction surface; the locking driving member applies/removes a force pushing away from free ends of the first rotating frame and the second rotating frame, to make the first friction surface lock/unlock the second friction surface.

Abstract: A knee joint mechanism includes a thigh support assembly, a connecting base, a shank support assembly and a locking mechanism. The thigh support assembly is fixed at a thigh of an exoskeleton robot, a first angle sensor is disposed on a hip, and power is provided from the hip. The connecting base is mounted with a second angle sensor. The locking mechanism includes a motor, a worm gear assembly, a locking member, an unlocking member, and a first limiting member. The unlocking member and the first limiting member firmly fix the locking member to maintain the thigh support assembly, the connecting base and the shank support assembly at an ergonomic angle. The motor drives the unlocking member to rotate through the worm gear assembly to realize unlocking. The second angle sensor controls the unlocking member to lock the locking block.

Abstract: A rotating cushioning and assisting mechanism comprises a rotating outward expanding member, an elastic return member, and an inner support heterogeneous member; the rotating outward expanding member comprises a first rotating member and a second rotating member, which enclose to form an expandable compartment; the elastic return member is connected to the free ends of the first rotating member and the second rotating member; and the inner support heterogeneous member is rotationally disposed in the expandable compartment. When an external force drives the inner support heterogeneous member to rotate in the expandable compartment, a work done by the force exerted by the inner support heterogeneous member is converted into elastic potential energy to be stored; when the external force is over, the elastic potential energy is released and converted into kinetic energy to help the free ends of the two rotating members to move close.

Abstract: An ankle joint device comprises a base, an angle adjusting assembly, and a foot support member; the angle adjusting assembly comprises a rotation member and an anti-rotation member, wherein the rotation member is rotationally mounted on the base, and the anti-rotation member is slidably and detachably locked to the rotation member along the axial direction defined by the rotation member; the foot support member is mounted to the anti-rotation member, after the anti-rotation member slides away from the rotation member in the axial direction by a predetermined distance, the foot support member is allowed to rotate at a predetermined angle, and the foot support member is locked to the rotation member to rotate with the rotation member relative to the base after the anti-rotation member slides close to the rotation member in the axial direction by a predetermined distance in a state of being maintained at the predetermined angle.

Abstract: A rotating cushioning and assisting mechanism comprises a rotating outward expanding member, an elastic return member, and an inner support heterogeneous member; the rotating outward expanding member comprises a first rotating member and a second rotating member, which enclose to form an expandable compartment; the elastic return member is connected to the free ends of the first rotating member and the second rotating member; and the inner support heterogeneous member is rotationally disposed in the expandable compartment. When an external force drives the inner support heterogeneous member to rotate in the expandable compartment, a work done by the force exerted by the inner support heterogeneous member is converted into elastic potential energy to be stored; when the external force is over, the elastic potential energy is released and converted into kinetic energy to help the free ends of the two rotating members to move close.

Abstract: An ankle joint device comprises a base, an angle adjusting assembly, and a foot support member; the angle adjusting assembly comprises a rotation member and an anti-rotation member, wherein the rotation member is rotationally mounted on the base, and the anti-rotation member is slidably and detachably locked to the rotation member along the axial direction defined by the rotation member; the foot support member is mounted to the anti-rotation member, after the anti-rotation member slides away from the rotation member in the axial direction by a predetermined distance, the foot support member is allowed to rotate at a predetermined angle, and the foot support member is locked to the rotation member to rotate with the rotation member relative to the base after the anti-rotation member slides close to the rotation member in the axial direction by a predetermined distance in a state of being maintained at the predetermined angle.

Abstract: The present application discloses rehabilitation exercise equipment and a rope transmission device, comprising a device main body, a transmission assembly, a rope winding shaft, an oscillating piece, and two ropes. The transmission assembly is provided in the device main body, the rope winding shaft is rotatably connected to the transmission assembly, at least one continuous rope winding spiral groove is provided along the peripheral edge of the outer wall of the rope winding shaft, the rope winding spiral groove has an inner end close to the transmission assembly and an outer end remote from the transmission assembly, and the oscillating piece is provided in the device main body in such a manner that the oscillating shaft around which the oscillating piece oscillates is collinear with the rotation axis of the rope winding shaft.

Abstract: An exoskeleton joint self-locking mechanism, a knee joint and a bionic rehabilitation robot are provided. The self-locking mechanism comprises a first base, a rotating outward expanding locking member, a second base and a locking driving member; the rotating outward expanding locking member comprises a first rotating frame and a second rotating frame, and outer sides of the first rotating frame and the second rotating frame have a first friction surface; one end of the first rotating frame is pivoted with one end of the second rotating frame; the second base is rotationally mounted on the first base, and an inner wall of the second base defines a second friction surface enclosing the first friction surface; the locking driving member applies/removes a force pushing away from free ends of the first rotating frame and the second rotating frame, to make the first friction surface lock/unlock the second friction surface.

Abstract: A knee joint mechanism without a power source is provided. The knee joint mechanism includes a thigh support assembly, a connecting base, a shank support assembly and a locking mechanism. The thigh support assembly is fixed at a thigh of an exoskeleton robot, a first angle sensor is disposed on a hip, and power is provided from the hip. The connecting base is mounted with a second angle sensor; the locking mechanism includes a motor, a worm gear, a locking member, an unlocking member, and a first limiting member. The unlocking member and the first limiting member firmly fix the locking member to maintain the thigh support assembly, the connecting base and the shank support assembly at an ergonomic angle; the motor drives the unlocking member to rotate through the worm gear to realize unlocking, and the second angle sensor controls the unlocking member to lock the locking block.