Exoskeleton joint self-locking mechanism, knee joint, and bionic rehabilitation robot

An exoskeleton joint self-locking mechanism, characterized in comprising:

• a first base having a first compartment;
• a rotating outward expanding locking member disposed in the first compartment, the rotating outward expanding locking member comprising a first rotating frame and a second rotating frame, and an outer side of the first rotating frame and an outer side of the second rotating frame correspondingly having a first friction surface;
• each of one end of the first rotating frame and one end of the second rotating frame is provided with a lug, the lug defines a hole, and two lugs are stacked together and inserted and mounted by a pivot mounting shaft, and another end of the first rotating frame and another end of the second rotating frame being relatively free ends;
• a second base having a second compartment;
• the second base being rotationally mounted on the first base, and an inner wall of the second compartment enclosing the rotating outward expanding locking member and defining a second friction surface matching with the first friction surface;
• and
• a locking driving member capable of applying/removing a force pushing away from the free end of the first rotating frame and the free end of the second rotating frame, to make the first friction surface close contact to lock/unlock the second friction surface;
• further, the free end of the first rotating frame and/or the free end of the second rotating frame being correspondingly provided with a stress slope surface, the locking driving member comprising a driving motor and a telescopic locking portion, the telescopic locking portion having a force applying slope surface, and the force applying slope surface applying force to the stress slope surface along with the telescopic locking portion,
• wherein the driving motor comprises a miniature direct current (DC) motor, a reduction gearbox, and a mounting bearing, the reduction gearbox is mounted on the miniature DC motor, the driving motor is mounted in the first base, and the first base defines a groove adapted to the driving motor in shape and position to mount and limit the driving motor.