Joint power assisting device

Abstract

The utility model discloses a joint power assisting device, relates to wearable exoskeleton technical field, the joint power assisting device comprises a first joint component and a second joint component, the first joint component is provided with a first wearing component, and the second joint component is provided with a second wearing component. The first joint component is slidably connected with the first wearing assembly, and / or the second joint component is slidably connected with the second wearing assembly, so that the first joint component and the second joint component can be connected with the first wearing assembly in a sliding mode in the process of assisting joint movement of a wearer. The first joint component and the first wearing assembly and / or the second joint component and the second wearing assembly can slide relatively, so that the problem of potential difference caused by the fact that the joint power assisting device cannot completely fit the human body joint rotation form is solved, and it is ensured that the joint power assisting device and a wearer are relatively stable; and the boosting effect can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wearable exoskeletons, and in particular to a joint assisting device. Background Art

[0002] A joint support device is a device designed according to bionic principles and ergonomics. It is worn on two adjacent limbs at the joints of the human body to support and fix the corresponding joints, thereby reducing the burden on the joints.

[0003] However, when the joint assist device needs to be configured at different joints and to provide assistance to wearers of different heights and body shapes, the restraint points of the wearable components on the wearer's limbs will be different. In addition, since most human joints are synovial structures, during the movement of human joints, the joint rotation center and the rotation center of the joint assist device will produce relative displacement. The joint assist device cannot completely fit the synovial structure, resulting in the restraint points of the wearable components of the joint assist device moving relative to the wearer's limbs during this process. This not only affects the human-computer interaction of the joint assist device, reduces the assist effect provided by the joint assist device to the joints, but also causes discomfort to the wearer and shortens the wearing time of the device. Utility Model Content

[0004] The purpose of the embodiments of the present utility model is to provide a joint assisting device that can solve the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] Provided is a joint assist device, comprising:

[0007] A first joint component is provided with a first wearing component; and

[0008] a second joint component, the second joint component being provided with a second wearable component and being rotatably connected to the first joint component;

[0009] The first joint component is slidably connected to the first wearable component; and / or

[0010] The second joint component is slidably connected to the second wearable component.

[0011] The first joint component and the first wearable component and / or the second joint component and the second wearable component can slide relative to each other, which makes it suitable for wear on different joints of the human body while meeting the wearing needs of wearers of different heights and body shapes. It also compensates for the position deviation caused by the relative movement between the joint power assist device and the human body, ensuring the relative stability of the joint power assist device and the wearer.

[0012] As an optional embodiment, the second joint component is fixedly connected to the second wearable component, and the first joint component is slidably connected to the first wearable component; or,

[0013] The first joint component is fixedly connected to the first wearable component, and the second joint component is slidably connected to the second wearable component.

[0014] Ensure that the rotational connection between the first joint component and the second joint component remains in a position that basically fits the wearer's joint, ensure the assisting effect of the joint assist device, and enable the joint assist device to have the ability to compensate for position deviations generated during movement.

[0015] As an optional embodiment, when the first wearable component is slidably disposed on the first joint component, the first wearable component can slide relative to the first joint component along the length direction of the first joint;

[0016] In the case where the second wearing component is slidably provided on the second joint component, the second wearing component can slide relative to the second joint component along the length direction of the second joint.

[0017] The relative movement direction between the first wearable component and the first joint component and / or between the second wearable component and the wearable component matches the extension and contraction direction of the wearer's limbs during movement, thereby reducing the force applied to the wearer's limbs during position compensation, ensuring smooth movement between components and reducing the burden on the wearer.

[0018] As an optional embodiment, the first wearing component is arranged at an end of the first joint component away from the second joint component, and the second wearing component is arranged at an end of the second joint component away from the first joint component.

[0019] By extending the force arm acting on the wearer's limbs, the torque of the joint power assist device acting on the wearer's limbs is increased, thereby improving the assisting effect of the joint power assist device.

[0020] As an optional implementation, it also includes:

[0021] The power assist mechanism has a first end and a second end that can move relative to each other. The power assist mechanism is connected to the first joint component and the second joint component through the first end and the second end respectively, and is used to drive the first joint component and the second joint component to rotate relative to each other.

[0022] The joint assist device is not limited to providing support and guidance for the wearer's joints, but also has a corresponding assist effect.

[0023] As an optional embodiment, the first joint component is detachably connected to the first end of the power-assisting mechanism, and the second joint component is detachably connected to the second end of the power-assisting mechanism.

[0024] This design facilitates replacement of first joint components and second joint components of different specifications to match different wearing joints or different height groups.

[0025] As an optional embodiment, the first wearing component includes a first guard plate and a first strap, wherein the first strap is connected to the first guard plate to cooperate to define a first limb wearing space that can surround one limb of the wearer;

[0026] The second wearing component includes a second guard plate and a second strap, and the second strap is connected to the second guard plate to cooperate to define a second limb wearing space that can be wrapped around the other limb of the wearer.

[0027] The stability of the first wearable component and the second wearable component on the corresponding limbs of the wearer is improved by the first guard plate and the second guard plate, and the versatility of the joint assist device is improved by the adjustability of the first strap and the second strap.

[0028] An end of the first guard plate close to the second guard plate forms a first binding end, and an end of the first guard plate away from the second guard plate forms a second binding end. The first binding end and the second binding end are connected by a first binding surface, and the first binding surface is inclined outward from the first binding end to the second binding end.

[0029] The end of the second guard plate close to the first guard plate forms a third binding end, and the end of the second guard plate away from the first guard plate forms a fourth binding end. The third binding end and the fourth binding end are connected by a second binding surface, and the second binding surface is inclined outward from the fourth binding end toward the third binding end.

[0030] The structures of the first wearable component and the second wearable component are ergonomically designed, allowing the joint assist device to be worn more stably on the wearer's limb structure.

[0031] As an optional embodiment, when the first wearable component is slidably disposed on the first joint component, the first joint component and the first wearable component are slidably engaged with each other through a guide groove and a guide block;

[0032] When the second wearing component is slidably arranged on the second joint component, the second joint component and the second wearing component are slidably matched through the guide groove and the guide block.

[0033] Through a simple and compact guide structure, the joint power assist device can smoothly compensate for position deviations while effectively controlling the production cost of the joint power assist device.

[0034] As an optional embodiment, one end of the guide block forms a guide end, the guide block slides in cooperation with the guide groove through the guide end, and the other end of the guide block extends from the notch of the guide groove and forms a connecting end;

[0035] A limiting portion is convexly provided on at least one side of the guide end, and the side of the limiting portion away from the connecting end forms a guide plane that slides with the bottom of the guide groove, and the side of the limiting portion close to the connecting end forms a constraint inclined surface inclined to the guide plane.

[0036] The guide blocks and guide grooves have good guiding capabilities for the joint components and wearable components while ensuring effective connection between the two, making the assisting effect of the joint assisting device more stable.

[0037] As an optional embodiment, one end of the guide groove is further provided with a flaring structure, and the guide block can be placed into or detached from the guide groove through the flaring structure.

[0038] The wearable components can be disassembled from the corresponding joint components to facilitate the replacement of the wearable components and the inspection and maintenance of the joint power assist device.

[0039] The beneficial effects of the present invention are as follows: the joint assist device is configured to slideably fit between the first joint component and the first wearable component, and / or the second joint component and the second wearable component, so that the joint assist device can adapt to the structure of the corresponding limb when worn on different joints of the human body, and the position of the wearable component can be adjusted according to the structure of the corresponding limb. In addition, the movable first wearable component and the second wearable component can also better adapt to wearers of different heights and body shapes, thereby improving the versatility of the joint assist device.

[0040] When assisting the wearer's joint movement, the first joint component and the second joint component can slide relative to each other, thereby compensating for the position difference caused by the joint assist device not being able to fully fit the rotation form of the human joint, ensuring the relative stability of the joint assist device and the wearer, and helping to improve the assist effect.

[0041] At the same time, since the first joint component and / or the second joint component can compensate for the movement position difference between the joint assist device and the wearer, the first wearable component and the second wearable component can also be stably tied to two adjacent limbs of the wearer during joint movement, avoiding the movement of the wearable components and the wearer's limbs, thereby improving the wearing comfort of the joint assist device, allowing the wearing time of the device to be extended, and meeting the usage needs of different users. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0043] Figure 1 This is a structural diagram of the joint assist device according to an embodiment of the present utility model;

[0044] Figure 2 This is one of the schematic diagrams of the joint assist device in the wearing state according to an embodiment of the present utility model;

[0045] Figure 3 This is the second schematic diagram of the joint assist device in the wearing state according to the embodiment of the present utility model;

[0046] Figure 4 for Figure 3 A partial enlarged view of the AA direction section;

[0047] Figure 5 for Figure 3 A partial enlarged view of the BB direction section.

[0048] In the figure: 10, first joint component; 11, guide groove; 111, flaring structure; 20, first wearing component; 21, first guard plate; 211, first binding end; 212, second binding end; 213, first binding surface; 22, guide block; 221, guide end; 2211, limiting portion; 2212, guide plane; 2213, constraint slope; 222, connecting end; 30, second joint component; 40, second wearing component; 41, second guard plate; 411, third binding end; 412, fourth binding end; 413, second binding surface; 50, power assist mechanism. DETAILED DESCRIPTION

[0049] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention are described in further detail below. Obviously, the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0050] In the description of this utility model, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0051] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0052] From the background technology, we can know that the joint assist device, as a wearable device in the wearable exoskeleton, is designed to use mechanical structure to provide joint support and assistance to users. It is mainly based on the principles of ergonomics and mechanical mechanics, and transmits force to the joints through the mechanical structure, thereby effectively supporting and fixing the joints, thereby achieving the effect of reducing the burden on the joints.

[0053] Generally speaking, a joint assist device consists of skeletal supports that are attached to two adjacent limbs of the wearer. The skeletal supports are connected by a rotational connection to accommodate the joint movement between the two adjacent limbs. The joint assist device applies a force to the two skeletal supports, causing them to move relative to each other. This allows the corresponding skeletal support to assist the wearer's limb movement, causing one limb to swing relative to the other limb about its corresponding joint. However, when the joint assist device is deployed at different joints and provides assistance to wearers of different heights and body types, the attachment points of the wearable components on the wearer's limbs may vary. Furthermore, because most human joints (such as the knee) are synovial, the position of the joint's instantaneous center (instantaneous center of rotation) changes continuously during flexion and extension, and the total length between the two adjacent limbs also changes with the joint's bending angle. However, the joint portion of the joint assist device utilizes a single-point hinge structure with a fixed center of rotation. Therefore, the total length of the two skeletal supports remains unchanged during flexion and extension. This results in the joint assist device not being fully compatible with the human body, meaning that the joint assist device cannot match the natural shape and motion trajectory of the human joint. In this way, when the wearer wears the joint assist device and performs flexion and extension exercises, he will obviously feel that the wearable parts of the joint assist device will move up and down on the legs of the body. This not only affects the human-computer interaction of the joint assist device, reduces the assist effect provided by the joint assist device to the joints, but also causes discomfort to the wearer. The user cannot wear the joint assist device for a long time, which reduces the wearer's recovery efficiency (or work efficiency, etc.).

[0054] In view of this, the present embodiment provides a joint assist device, which changes the coordination mode between the joint component and the wearable component so that the two can slide relative to each other under the action of external force, thereby making the wearable component suitable for wearing on different limbs and wearers, and making position compensation for the movement of the joint assist device relative to the wearer's legs, thereby solving a series of technical problems such as the unsatisfactory assist effect of the joint assist device.

[0055] Please refer to the instruction manual Figure 1-Figure 3The joint assist device includes a first joint component 10 and a second joint component 30, and the first joint component 10 and the second joint component 30 are connected to each other by a rotatable connection. The first joint component 10 is usually located at the upper part of the joint assist device. Taking the embodiment in which the joint assist device is worn on the user's leg as a knee assist device as an example, the first joint component 10 corresponds to the user's thigh part. The first joint component 10 is also provided with a first wearable component 20, and the first joint component 10 is tied to the wearer's thigh part through the first wearable component 20. The second joint component 30 is located at the lower part of the joint assist device, corresponding to the user's calf part. In this embodiment, the second joint component 30 is provided with a second wearable component 40, and the second joint component 30 is tied to the wearer's calf part through the second wearable component 40, and cooperates with the first wearable component 20 to provide a stable support point for the joint assist device.

[0056] It can be understood that the second joint component 30 is tied to the wearer's calf, mainly used to bear the weight from the first joint component 10 and the body, and to accept the force applied to it by the power-assisting mechanism 50, so that the second joint component 30 can drive the wearer's calf to flex and extend relative to the thigh around the knee joint.

[0057] In some specific embodiments, when the joint assist device is worn on the human body, in order to improve the wearing stability between the joint assist device and the wearer, the first joint component 10 and the second joint component 30 of the joint assist device are respectively arranged along the directions in which the wearer's thigh and calf extend, and the rotational connection between the first joint component 10 and the second joint component 30 corresponds to one side of the wearer's knee joint.

[0058] This embodiment does not impose strict limitations and requirements on the specific structures of the first wearable component 20 and the second wearable component 40. It should be understood that the first wearable component 20 and the second wearable component 40 can adopt, but are not limited to, one or more structures such as elastic strap structures and baffle structures, as long as the wearable components can stably bind the corresponding joint components to the corresponding limbs of the human body.

[0059] Based on the above, this embodiment provides at least the following three technical solutions for solving the problem of poor fit between the joint assist device and the human body:

[0060] 1. The first joint component 10 is slidably connected to the first wearable component 20, and the second joint component 30 is fixedly connected to the second wearable component 40;

[0061] 2. The second joint component 30 is slidably connected to the second wearable component 40, and the first joint component 10 is fixedly connected to the first wearable component 20;

[0062] 3. The first joint component 10 is slidably connected to the first wearable component 20 , and the second joint component 30 is slidably connected to the second wearable component 40 .

[0063] By setting at least one joint component and a wearable component in a slidable fit, when the joint assist device is worn on different joints of the human body (such as the elbow joint, knee joint, etc.), the first wearable component 20 and the second wearable component 40 can adjust their respective restraint points on the corresponding limbs of the wearer according to the total length of the corresponding limbs of the human body. In addition, the movable first wearable component 20 and the second wearable component 40 can also be suitable for the wearing needs of wearers of different heights and body shapes for different restraint positions, compensating for the body shape differences of different wearers to a certain extent, so that the wearer can wear the joint assist device more comfortably and reduce the discomfort caused by insufficient fit, which can effectively improve the versatility of the joint assist device.

[0064] In addition, the above-mentioned setting allows the joint assist device to ensure that when the wearer's joints perform flexion and extension movements, there is a certain degree of freedom of movement between at least one joint component (the first joint component 10, the second joint component 30) and the wearable component (the first wearable component 20, the second wearable component 40), so that the joint assist device and the human body can make corresponding position compensation through the relative movement of the two during this process.

[0065] It is also worth mentioning that in order to solve the problem of low fit between the above-mentioned joint assist device and the human joint, there is a solution for the joint part of the traditional wearable exoskeleton to adapt to the instantaneous center trajectory of the human knee joint through a four-bar mechanism. However, due to the complex structure and poor compactness of this solution, it has high requirements for the assembly accuracy between parts, resulting in high production costs and greater assembly difficulty for traditional joint assist devices. Moreover, as can be seen from the above content, due to individual differences, the instantaneous center trajectories of the corresponding joints of different joints and different wearers are also different. Therefore, the relatively fixed four-bar mechanism is also difficult to meet the dynamic needs of the knee joints of many users. There is still the possibility of a series of problems caused by insufficient fit between the wearer and the joint assist device.

[0066] Continuing with the implementation example of the joint assist device being a knee assist device, when the joint assist device is worn by the human body, during the process of the wearer's leg flexing and extending from an upright state to a bent knee state, the total length of the wearer's leg will gradually increase. When the positions of the first wear component 20 and the second wear component 40 on the wearer's thigh and calf respectively remain unchanged, the distance between the first wear component 20 and the second wear component 40 along the extension direction of the wearer's leg will also increase accordingly. It can be understood that the total length of the component composed of the first joint component 10 and the second joint component 30 is unchanged, and at least two of the first wear component 20 and the first joint component 10 and the second wear component 40 and the second joint component 30 will therefore slide relative to each other, causing the first wear component 20 and the second wear component 40 to move away from each other. This ensures that the first wear component 20 and the second wear component 40 are stably worn on the wearer's leg, avoiding the problem of movement caused by position deviation between the wearer's leg and the joint component.

[0067] Vice versa, during the process of flexion and extension of the wearer's legs from a bent knee state to an upright state, the total length of the wearer's legs will gradually decrease. While the positions of the first wearable component 20 and the second wearable component 40 on the wearer's thigh and calf respectively remain unchanged, the distance between the first wearable component 20 and the second wearable component 40 along the extension direction of the wearer's legs will also decrease accordingly. In this way, relative sliding will occur between at least two of the first wearable component 20 and the first joint component 10 and the second wearable component 40 and the second joint component 30, allowing the first wearable component 20 and the second wearable component 40 to move toward each other. This ensures that the first wearable component 20 and the second wearable component 40 are stably worn on the wearer's legs, avoids the problem of movement caused by position deviation between the wearer's legs and the joint components, ensures the relative stability of the joint assist device and the wearer, and helps to improve the assist effect.

[0068] Since the first wearable component 20 and the second wearable component 40 can be stably tied to the wearer's thigh and calf during knee joint movement, the wearable components and the wearer's legs are prevented from moving. Therefore, the joint assist device also meets the needs of different users, allowing different users to unify and improve the wearing comfort of the joint assist device.

[0069] From the above content, it can be understood that the joint assist device adopts a situation in which the first joint component 10 is slidably connected to the first wearable component 20, and the second joint component 30 is slidably connected to the second wearable component 40. When this technical solution is adopted, the first joint component 10 and the second joint component 30 will slide down (fall) along the wearer's limbs (such as legs) due to their own weight in the absence of other external forces. In this way, the rotation axis between the first joint component 10 and the second joint component 30 cannot maintain a state of basically matching the wearer's knee joint rotation center, which affects the assist effect.

[0070] Because of this, the joint assist device of this embodiment can adopt the form that the second joint component 30 is fixedly connected to the second wearable component 40, and the first joint component 10 is slidably connected to the first wearable component 20, so that the second joint component 30 can serve as the support base of the first joint component 10, so that the second joint component 30 and the wearer's calf are in a basically fixed state, ensuring that the rotation center of the joint assist device remains in a state that basically fits the rotation center of the wearer's knee joint, and the position deviation between the joint assist device and the wearer is compensated through the relative sliding of the first joint component 10 and the first wearable component 20. The first wearable component 20 will move relative to the first joint component 10 in a specific direction during the left flexion and extension movement of the wearer's knee joint, so as to move in the direction of approaching and moving away from the second wearable component, while the second joint component 30 will remain relatively fixed with the second wearable component 40. This solves the problem of the wearable component being misaligned on the wearer's leg and ensures the fit between the joint assist device and the wearer's leg, making the relative movement between the joint assist device and the wearer more fitting, thereby ensuring the assist effect while improving wearing comfort.

[0071] Of course, setting the first joint component 10 and the first wearable component 20 to be relatively fixed and setting the second joint component 30 and the second wearable component 40 to be relatively slidable can also achieve a technical effect similar to the above. However, in this embodiment, the joint assist device will be affected by the thigh structure (gradually narrowing from the leg root to the knee joint) and cannot provide stable support for the joint assist device as a whole, which will affect the wearing stability of the joint assist device on the human body to a certain extent.

[0072] In one embodiment, the first joint component 10 and the second joint component 30 can be set as a straight rod structure that adapts to the extension trend of the human leg. The straight rod structure in this embodiment refers to a structural form with a straight shape and mainly bears tensile or compressive loads. The first joint component 10 and the second joint component 30 with a straight rod structure can make the overall structure of the joint assist device more fit to the human body itself, reduce the cumbersome feeling generated by the joint assist device when worn on the human body, and avoid interference with the wearer's limbs as much as possible.

[0073] Furthermore, the characteristics of the straight rod structure enable the first joint component 10 and the second joint component 30 to better withstand the loads in the tensile or compressive directions during the process of supporting the wearer, thereby improving the assistive effect that the joint assist device can provide to the wearer.

[0074] Of course, in other embodiments, the first joint component 10 and the second joint component 30 can also be configured to have other shapes that can match the human body structure, such as a curved structure according to the actual shape of the wearer's thigh and calf, or a structure that can wrap around part of the user's thigh and calf. This embodiment has no strict limitations or requirements on this.

[0075] For this reason, in one embodiment, in order to allow the joint assist device to better adapt to the displacement relationship between the human body and the joint assist device when the human body performs knee flexion and extension movements, when the first wearable component 20 is slidably arranged on the first joint component 10, the first wearable component 20 can slide relative to the first joint component 10 along the length direction of the first joint component 10, and when the first joint component 10 is worn on the human body through the first wearable component 20, the relative sliding direction of the first wearable component 20 and the first joint component 10 is close to the extension direction of the wearer's thigh, so that the first joint component 10 slides more smoothly relative to the first wearable component 20, reducing the tangential force exerted by the first joint component 10 on the wearer's thigh through the first wearable component 20, conforming to ergonomics, and reducing the friction generated by the first wearable component 20 and the first joint component 10 during exercise, ensuring that the joint assist device has a high degree of wearing comfort.

[0076] Similarly, when the second wearable component 40 is slidably disposed on the second joint component 30, the second wearable component 40 can slide relative to the second joint component 30 along the length direction of the second joint component 30, and when the second joint component 30 is worn on the human body through the second wearable component 40, the relative sliding direction of the second wearable component 40 and the second joint component 30 is approximately consistent with the extension direction of the wearer's calf.

[0077] In the above scheme, whether it is the first wearable component 20 and the first joint component 10, or the second wearable component 40 and the second joint component 30, they can conform to the natural movement trajectory of the legs and the stretching and contraction direction of the wearer's legs, reduce resistance and obstacles during movement, reduce losses during force transmission, and enable the joint assist device to better assist the user in knee joint movement.

[0078] Please continue to refer to the instructions attached Figure 1-Figure 3 In one embodiment, the first wearable component 20 is arranged at an end of the first joint component 10 away from the second joint component 30, and the second wearable component 40 is arranged at an end of the second joint component 30 away from the first joint component 10, so that the first wearable component 20 and the second wearable component 40 are respectively located at ends relatively away from the first joint component 10 and the calf component. Through the above arrangement, the lever arm of the first joint component 10 acting on the wearer's thigh through the first wearable component 20, and the lever arm of the second joint component 30 acting on the wearer's calf through the second wearable component 40 will both be increased, which means that by increasing the lever arm, the joint assist device can produce a greater rotation effect, thereby more effectively assisting the user's leg movement and improving the assist effect that the joint assist device can provide to the wearer.

[0079] In addition, by increasing the initial distance between the first wearable component 20 and the second wearable component 40, the force exerted by the joint assist device on the legs can be more effectively dispersed, avoiding discomfort or injury caused by excessive concentration of force, and optimizing the wearing comfort of the joint assist device.

[0080] It can be understood that in order for the joint assist device to provide an assisting effect to the wearer's legs normally, the joint assist device also includes an assisting mechanism 50, which has a first end and a second end that can move relative to each other. The assisting mechanism 50 is connected to the first joint component 10 and the second joint component 30 through the first end and the second end respectively. The assisting mechanism 50 drives the first joint component 10 and the second joint component 30 to rotate relative to each other through the relative movement of its first end and the second end.

[0081] It can be understood that the power assist mechanism 50 can be set as a motor, and the first end and the second end of the power assist mechanism 50 can be understood as the stator and mover of the motor. When the motor is powered, the mover moves relative to the stator to drive the relative rotation of the first joint component 10 and the second joint component 30.

[0082] In addition to being configured as a motor, the power assist mechanism 50 may also adopt various structures in other embodiments to provide driving force to the first joint component 10 and the second joint component 30, including but not limited to adopting an elastic energy storage structure (such as a spring device, an elastic pull belt, etc.).

[0083] Of course, it should be understood that the joint assisting device may also omit the assisting mechanism 50 so as to only provide guidance and support for the user's knee flexion movement.

[0084] In some embodiments, the first joint component 10 is detachably connected to the first end of the power-assisting mechanism 50, and the second joint component 30 is detachably connected to the second end of the power-assisting mechanism 50. This design facilitates replacement of first and second joint components of different specifications to accommodate different wearer joints or different height groups.

[0085] In one embodiment, if Figure 1-Figure 3 As shown, the first wearable component 20 includes a first protective plate 21 and a first strap (not shown). The first strap is connected to the first protective plate 21 to cooperate with defining a first limb wearing space that can be wrapped around one limb of the wearer (such as the thigh). Correspondingly, the second wearable component 40 includes a second protective plate 41 and a second strap (not shown). The second strap is connected to the second protective plate 41 to cooperate with defining a second limb wearing space that can be wrapped around another limb of the wearer (such as the calf).

[0086] In this embodiment, the first guard plate 21 and the second guard plate 41 are respectively supported on the outer peripheral surfaces of part of the wearer's thigh and part of the calf, and fit the thigh and calf structure to improve comfort and wearing stability, and one end of the first strap is connected to one end of the first guard plate 21, and the other end of the first strap is detachably connected to the first guard plate 21, and one end of the second strap is connected to the second guard plate 41, and the other end of the second strap is detachably connected to the second guard plate 41. In this way, the first wearable component 20 and the second wearable component 40 can be opened by disassembling the first strap on the first guard plate 21 and disassembling the second strap on the second guard plate 41, so as to facilitate the wearer to put on and take off the joint assist device.

[0087] Based on the above form, as a specific structure of this form, please continue to refer to the attached Figure 1 、 Figure 4-Figure 5 The end of the first guard plate 21 close to the second guard plate 41 forms a first binding end 211, and the end of the first guard plate 21 away from the second guard plate 41 forms a second binding end 212. The first binding end 211 and the second binding end 212 are connected by a first binding surface 213, and the first binding surface 213 is inclined outward from the first binding end 211 to the second binding end 212.

[0088] The end of the second guard plate 41 close to the first guard plate 21 forms a third binding end 411, and the end of the second guard plate 41 away from the first guard plate 21 forms a fourth binding end 412. The third binding end 411 and the fourth binding end 412 are connected by a second binding surface 413, and the second binding surface 413 is inclined outward from the fourth binding end 412 toward the third binding end 411.

[0089] In the above content, the first binding surface 213 and the second binding surface 413 can both be set as arc surfaces, so that the first wearable component 20 and the second wearable component 40 can better fit the wearer's thigh surface and calf surface. By increasing the contact surface between the first wearable component 20 and the wearer's thigh, and increasing the contact surface between the second wearable component 40 and the wearer's calf, the comfort of the joint assist device when worn by the human body can be effectively improved, and the auxiliary force provided by the joint assist device can be more evenly transmitted to the wearer's thigh and calf, thereby improving the assist efficiency and auxiliary effect.

[0090] The first binding surface 213 and the second binding surface 413 are both arranged to be inclined outward from bottom to top, so that the first guard plate 21 and the second guard plate 41 can further fit the human thigh structure and calf structure, conforming to the ergonomic design, further improving the above-mentioned effect. At the same time, when the joint assist device is worn on the human body, the second binding surface 413 can be attached to the position below the wearer's calf. Since the human calf structure is a "thin and thick" structure from top to bottom, the calf part can well restrain the first wear component 20 in the direction of approaching the wearer's knee joint. In this way, even if the first wear component 20 and the second wear component 40 have a tendency to approach each other under the action of the first joint component 10 and the second joint component 30, the second wear component 40 can also be stably maintained in the specific wearing position of the wearer's calf, playing a good supporting and positioning role for the joint assist device as a whole, ensuring that the rotation center between the first joint component 10 and the second joint component 30 is always in a position that basically fits the rotation center of the wearer's knee joint, ensuring that the joint assist device can provide a good assist effect.

[0091] It should be explained that the direction "outward" described in the above embodiment refers to the direction extending from one end of the wearer's leg axis to the end away from the leg axis, that is, when the first guard plate 21 and the second guard plate 41 are worn on the human body, the first binding surface 213 is inclined from the first binding end 211 to the second binding end 212 in the direction away from the wearer's leg axis, and the second binding surface 413 is inclined from the fourth binding end 412 to the third binding end 411 in the direction away from the wearer's leg axis.

[0092] Based on any of the above embodiments, when the first wearing component 20 is slidably disposed on the first joint component 10 , the first joint component 10 and the first wearing component 20 are slidably matched through the guide groove 11 and the guide block 22 .

[0093] It is understandable that when the first joint component 10 is provided with the guide groove 11, the guide block 22 is provided on the first wearable component 20, and when the first joint component 10 is provided with the guide block 22, the guide groove 11 is provided on the first wearable component 20. The guide block 22 is slidably provided in the guide groove 11 to restrict the first wearable component 20 on the first joint component 10 and constrain the relative movement direction of the first wearable component 20 and the first joint component 10.

[0094] Correspondingly, when the second wearable component 40 is slidably arranged on the second joint component 30, the second joint component 30 and the second wearable component 40 are slidably matched through the guide groove 11 and the guide block 22. When the second joint component 30 is provided with the guide groove 11, the guide block 22 is provided on the second wearable component 40, and when the second joint component 30 is provided with the guide block 22, the guide groove 11 is provided on the second wearable component 40.

[0095] It is worth mentioning that in the embodiment in which both the first joint component 10 and the second joint component 30 adopt a straight rod structure, the first joint component 10 and the second joint component 30 can provide a relatively ample installation space and position for the guide groove 11. Therefore, in the above embodiment, the method of setting the guide groove 11 on the first joint component 10 and the second joint component 30 of the straight rod structure can make the structure of the joint assisting device more compact, and the guide groove 11 can be directly opened on the inner side of the first joint component 10 and the second joint component 30, thereby improving the structural integrity of the joint assisting device. In addition, when the length of the guide groove 11 is greater than the size of the first wearable component 20 and the second wearable component 40, setting the guide groove 11 on the first joint component 10 and the second joint component 30 is also conducive to improving the assembly stability of the guide groove 11 on the joint assisting device.

[0096] From the above content, it can be understood that the guide groove 11 can guide the movement direction of the guide block. Therefore, the guide groove 11 can be set as a straight guide groove 11 according to the above-mentioned limitation on the movement direction of the joint component and the wearable component, or it can be set as an arc guide groove 11 according to the actual needs of the wearer. This embodiment does not have strict limitations and requirements for this.

[0097] Furthermore, a guide end 221 is formed at one end of the guide block 22. When in cooperation with the guide groove 11, the guide block 22 slides with the guide groove 11 through the guide end 221, and the other end of the guide block 22 extends from the notch of the guide groove 11 and forms a connecting end 222, which is used to provide a corresponding assembly position for one of the first joint component 10, the second joint component 30, the first wearable component 20, and the second wearable component 40 according to the specific parts connected to the guide block 22.

[0098] In the embodiment where the first wearable component 20 and the second wearable component 40 respectively include a first guard plate 21 and a second guard plate 41, since the structural strength of the first guard plate 21 and the second guard plate 41 is relatively high, the guide groove 11 or the guide block 22 can be arranged on the first guard plate 21 and the second guard plate 41.

[0099] Specifically, with Figure 4 As shown, the guide block 22 is provided on the first wearable component 20, and the guide groove 11 is provided on the first joint component 10. For example, the guide end 221 of the guide block 22 is located on the side (outer side) away from the first wearable component 20, and the guide groove 11 is provided on the inner side of the first joint component 10. Figure 4 A limiting portion 2211 is convexly provided on the front and / or rear side of the guide groove 11, and a side (outer side) of the limiting portion 2211 away from the connecting end 222 forms a guide plane 2212 that slides with the bottom of the guide groove 11, and a side (inner side) of the limiting portion 2211 close to the connecting end 222 forms a constraining inclined surface 2213 inclined to the guide plane 2212. It can be understood that in the embodiment in which the front and rear sides of the guide block 22 are both provided with a limit portion 2211, the cross-sectional shape of the guide block 22 is close to a "T"-shaped structure, and the guide end 221 cooperates with its guide plane 2212 and the constraint slope 2213 to constrain the directions of the guide groove 11 and the guide block 22 approaching and moving away from each other (inside and outside directions), so that the guiding movement of the guide block 22 and the guide groove 11 is smoother, and the guide block 22 also constrains the front and rear directions of the guide groove 11 to the guide block 22 through the part of the connecting end 222 extending out of the notch of the guide groove 11 and the edge of the notch of the guide groove 11, ensuring good guidance and stability between the first wearable component 20 and the first joint component 10.

[0100] It is worth mentioning that, during the use of the joint assist device, due to factors such as weight, the first joint component 10 will most likely be subjected to forces in a direction away from each other, and the constraint bevel 2213 of the limiting portion 2211 will have more conflicts with the groove wall of the guide groove 11 close to the groove opening. Therefore, the side of the limiting portion 2211 close to the connecting end 222 is set to a constraint bevel 2213 inclined to the guide plane 2212, which can effectively reduce the friction between the limiting portion 2211 and the groove wall of the guide groove 11, thereby ensuring that the guide block 22 can slide smoothly in the guide groove 11, thereby improving the position compensation effect of the wearer during exercise.

[0101] Continuing with the above-mentioned implementation method in which a guide groove 11 and a guide block 22 are provided between the first wearable component 20 and the first joint component 10 and / or between the second wearable component 40 and the second joint component 30, a flaring structure 111 is further provided at one end of the guide groove 11. The flaring structure 111 is larger than the guide block 22, so that the guide block 22 can be placed in the guide groove 11 or detached from the guide groove 11 through the flaring structure 111, thereby facilitating the disassembly, assembly and replacement of the wearable component on the joint component and the inspection and maintenance of the joint power assist device.

[0102] The first wearable component 20 and the second wearable component 40 can be removed from the first joint component 10 and the second joint component 30 respectively. The joint assist device can also replace the first wearable component 20 and the second wearable component 40 according to the wearing conditions of different limbs and the wearing needs of wearers of different heights and body shapes, which is conducive to improving the versatility of the joint assist device.

[0103] To sum up, the joint assist device compensates for the difference between the joint assist device and the human body's movement mode by setting the joint components (first joint component 10 and / or second joint component 30) to be relatively slidable with the wearable component (first wearable component 20 and / or second wearable component 40) without changing the movable connection structure of the first joint component 10 and the second joint component 30, thereby ensuring that the wearable component can be stably worn on the wearer's leg, and making the assist effect provided by the joint assist device to the wearer more stable, which is conducive to long-term wear and tear by the human body and improves the corresponding rehabilitation efficiency and work efficiency.

[0104] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other positions or relationships are used solely for ease of description and simplified operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0105] Throughout this specification, references to terms such as "one embodiment" and "example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0106] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0107] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and should not be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will be able to devise other specific implementations of the present invention without inventive effort, and such implementations will fall within the scope of protection of the present invention.

Claims

1. A joint assist device, characterized in that: include: A first joint component (10) is provided with a first wearing component (20); as well as a second joint component (30), the second joint component (30) being provided with a second wearable component (40) and being rotatably connected to the first joint component (10); The first joint component (10) is slidably connected to the first wearable component (20); and / or The second joint component (30) is slidably connected to the second wearing component (40).

2. The joint assist device according to claim 1, characterized in that: The second joint component (30) is fixedly connected to the second wearing component (40), and the first joint component (10) is slidably connected to the first wearing component (20); or, The first joint component (10) is fixedly connected to the first wearable component (20), and the second joint component (30) is slidably connected to the second wearable component (40).

3. The joint assist device according to claim 1, wherein: When the first wearing component (20) is slidably arranged on the first joint component (10), the first wearing component (20) can slide relative to the first joint component (10) along the length direction of the first joint component (10); When the second wearing component (40) is slidably arranged on the second joint component (30), the second wearing component (40) can slide relative to the second joint component (30) along the length direction of the second joint component (30).

4. The joint assist device according to claim 1, wherein: The first wearing component (20) is arranged at one end of the first joint component (10) away from the second joint component (30), and the second wearing component (40) is arranged at one end of the second joint component (30) away from the first joint component (10).

5. The joint assist device according to claim 1, wherein: Also includes: The power-assisting mechanism (50) has a first end and a second end capable of relative movement. The power-assisting mechanism (50) is connected to the first joint component (10) and the second joint component (30) via the first end and the second end, respectively, and is used to drive the first joint component (10) and the second joint component (30) to rotate relative to each other.

6. The joint assist device according to claim 5, characterized in that: The first joint component (10) is detachably connected to a first end of the power-assisting mechanism (50), and the second joint component (30) is detachably connected to a second end of the power-assisting mechanism (50).

7. The joint assist device according to claim 1, wherein: The first wearing component (20) includes a first guard plate (21) and a first strap, wherein the first strap is connected to the first guard plate (21) to cooperate with each other to define a first limb wearing space that can surround one limb of the wearer; The second wearing component (40) includes a second guard plate (41) and a second strap, wherein the second strap is connected to the second guard plate (41) to cooperate with each other to define a second limb wearing space that can be wrapped around another limb of the wearer; An end of the first guard plate (21) close to the second guard plate (41) forms a first binding end (211), and an end of the first guard plate (21) away from the second guard plate (41) forms a second binding end (212). The first binding end (211) and the second binding end (212) are connected via a first binding surface (213), and the first binding surface (213) is inclined outward from the first binding end (211) toward the second binding end (212). The end of the second guard plate (41) close to the first guard plate (21) forms a third binding end (411), and the end of the second guard plate (41) away from the first guard plate (21) forms a fourth binding end (412). The third binding end (411) and the fourth binding end (412) are connected via a second binding surface (413), and the second binding surface (413) is inclined outward from the fourth binding end (412) toward the third binding end (411).

8. The joint assist device according to any one of claims 1 to 7, characterized in that: When the first wearing component (20) is slidably arranged on the first joint component (10), the first joint component (10) and the first wearing component (20) are slidably matched through the guide groove (11) and the guide block (22); When the second wearing component (40) is slidably arranged on the second joint component (30), the second joint component (30) and the second wearing component (40) are slidably matched through the guide groove (11) and the guide block (22).

9. The joint assist device according to claim 8, characterized in that: One end of the guide block (22) forms a guide end (221), the guide block (22) is slidably engaged with the guide groove (11) through the guide end (221), and the other end of the guide block (22) extends from the notch of the guide groove (11) to form a connecting end (222); A limiting portion (2211) is convexly provided on at least one side of the guide end (221), and a side of the limiting portion (2211) facing away from the connecting end (222) forms a guide plane (2212) that slides with the bottom of the guide groove (11), and a side of the limiting portion (2211) close to the connecting end (222) forms a constraining inclined surface (2213) inclined to the guide plane (2212).

10. The joint assist device according to claim 8, wherein: One end of the guide groove (11) is further provided with a flaring structure (111), and the guide block (22) can be placed into the guide groove (11) or detached from the guide groove (11) through the flaring structure (111).

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