Joint device

Abstract

An electrically powered artificial leg (1) has a lower-knee-side member (10), an upper-knee-side member (20), a knee joint mechanism (30) that connects the lower-knee-side member (10) and the upper-knee-side member (20) and is capable of changing an angle formed by the lower-knee-side member (10) and the upper-knee-side member (20), and a telescopic device (40) that is capable of changing the angle formed by the lower-knee-side member (10) and the upper-knee-side member (20) by telescoping. The telescopic device (40) has a motor (M) and a transmission (T) that transmits power of the motor (M). The transmission (T) has a first transmission mechanism (T1) that transmits power of the motor (M) at a first transmission ratio and a second transmission mechanism (T2) that transmits power of the motor (M) at a second transmission ratio different from the first transmission ratio.

Description

Technical Field

[0001] This invention relates to a connector device. Background Technology

[0002] Conventionally, as a connector for connecting two components, a type of connector with a telescopic device capable of changing the angle formed by the two components is known. For example, a prosthesis for the knee joint is such a connector. Patent Document 1 describes a system in which a sensor is installed in the thigh cavity of the prosthesis mounted on the severed end of the leg to detect the contraction of the muscles at the severed end of the leg, and the throttling degree of a variable valve of a hydraulic cylinder is controlled based on the detection information from the sensor to adjust the resistance to bending and extending at the knee joint.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 11-19105 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, in the prosthesis described in Patent Document 1, even though it can generate resistance to flexion and extension, it cannot generate the power for flexion and extension. In particular, in order to smoothly climb stairs, the knee joint needs to be extended under a load.

[0008] The present invention provides a connector device that can extend and bend the connecting part by means of power from a power source.

[0009] Methods for solving problems

[0010] This invention provides a connector device comprising:

[0011] First component;

[0012] Second component;

[0013] A connecting portion that connects the first component and the second component and allows for changes in the angle formed between the first component and the second component; and

[0014] A telescopic device capable of changing the angle formed by the first component and the second component by telescoping, wherein,

[0015] The telescopic device includes:

[0016] Power source; and

[0017] A power transmission unit that transmits power from the power source.

[0018] The power transmission unit includes:

[0019] A first power transmission path that transmits the power at a first gear ratio; and

[0020] A second power transmission path that transmits the power at a second gear ratio different from the first gear ratio.

[0021] Invention Effects

[0022] According to the present invention, the connecting part can be extended and bent by a power transmission part that transmits power from a power source. Attached Figure Description

[0023] Figure 1 This is a perspective view of the electric prosthesis of the first embodiment of the present invention, viewed from a diagonal front.

[0024] Figure 2 Viewed from the oblique rear Figure 1 A 3D diagram of an electric prosthetic foot.

[0025] Figure 3 It is shown Figure 1 A diagram showing the internal structure of an electric prosthetic foot.

[0026] Figure 4 yes Figure 1 Enlarged view of the power transmission part of the electric prosthetic foot.

[0027] Figure 5A It is shown Figure 4 The diagram shows the power transmission of the power transmission unit when it is in the first gear shift state.

[0028] Figure 5B It is shown Figure 4 The diagram shows the power transmission of the power transmission unit when it is in the second gear shift state.

[0029] Figure 5C It is shown Figure 4 The diagram shows the power transmission of the power transmission unit when it is in a free state.

[0030] Figure 6 This diagram illustrates the forces that extend the knee joint mechanism from a bent state when climbing stairs.

[0031] Figure 7 This diagram illustrates the forces that cause the knee joint mechanism to bend from an extended state when climbing stairs.

[0032] Figure 8 This is a perspective view of the power transmission section of the electric prosthesis according to the second embodiment of the present invention.

[0033] Figure 9 yes Figure 8 A cross-sectional view of the power transmission section. Detailed Implementation

[0034] Hereinafter, various embodiments of an electrically powered prosthesis, which is an example of the connector device of the present invention, will be described with reference to the accompanying drawings. In the following description, the forward-backward direction, left-right direction, and up-down direction are defined based on the user of the electrically powered prosthesis. In the drawings, the front of the electrically powered prosthesis is denoted as Fr, the rear as Rr, the left side as L, the right side as R, the top as U, and the bottom as D.

[0035] <First Implementation Method>

[0036] Electric Prosthetic Foot

[0037] like Figures 1-3 As shown, the electric prosthesis 1 of this embodiment is a prosthesis for people without knees. It includes a lower knee component 10 located below the knee, an upper knee component 20 located above the knee, a knee joint mechanism 30 that connects the lower knee component 10 and the upper knee component 20 and allows the angle between the lower knee component 10 and the upper knee component 20 to be changed, and a telescopic device 40 that can change the angle between the lower knee component 10 and the upper knee component 20 by telescopic movement.

[0038] The upper knee component 20 has an upper wall portion 22 with an adapter 21 connected to a receiving cavity (not shown) and a pair of upper side wall portions 23 extending downward from the left and right ends of the upper wall portion 22, and has a generally U-shaped opening downward when viewed from the front and rear directions.

[0039] The knee-side component 10 has a lower wall portion 12 on which a foot portion 11 is provided and a pair of lower side wall portions 13 extending upward from the left and right ends of the lower wall portion 12, and has a generally U-shaped opening that opens upward when viewed from the front and rear directions.

[0040] The lower knee component 10 has a pair of lower sidewall portions 13 rotatably connected to the upper knee component 20 between a pair of upper sidewall portions 23 with the rotating portion 35 as the center. Through this mechanism, the lower knee component 10 is connected to the upper knee component 20 and the angle between the lower knee component 10 and the upper knee component 20 can be changed, thus forming a knee joint mechanism 30.

[0041] In the space formed between the upper knee component 20 and the lower knee component 10, there is a telescopic device 40 that can change the angle between the lower knee component 10 and the upper knee component 20.

[0042] Reference Figure 4The telescopic device 40 includes: a motor M that outputs rotational power; a transmission T that transmits the power of the motor M; a first spindle unit SP1 that is connected to the transmission T in a manner capable of transmitting power and converts the rotational power output from the transmission T into translational motion; an intermittent mechanism 50 installed between the motor M and the first transmission mechanism T1 and the second transmission mechanism T2 of the transmission T (described later); and a second spindle unit SP2 that converts the rotational power output from the motor M into translational motion of the working member 55 of the intermittent mechanism 50.

[0043] The transmission T includes a top plate portion 61, a bottom plate portion 62, and a pair of side plate portions 63 connecting the left and right ends of the top plate portion 61 and the bottom plate portion 62, and has a transmission housing 60 with a rectangular shape when viewed from the front and rear directions. In the transmission housing 60, a pair of rotating vanes 64 extending downward from the bottom plate portion 62 are supported on a rotating support wall 14 extending upward from the lower wall portion 12 of the knee-side member 10 in a manner that allows them to swing around the lower swing portion 70 but cannot move.

[0044] The motor M is positioned in front of and above the top plate portion 61 of the transmission housing 60, with its output shaft 71 passing through the top plate portion 61 and protruding into the interior of the transmission housing 60. The first spindle unit SP1 is positioned on the opposite side of the motor M in the longitudinal direction, separated by the discontinuity mechanism 50. In other words, the motor M is positioned forward of the discontinuity mechanism 50 in the longitudinal direction, and the first spindle unit SP1 is positioned rearward of the discontinuity mechanism 50 in the longitudinal direction. Therefore, even when the motor M is mounted on the electric prosthesis 1, it is possible to maintain balance in the longitudinal direction while preventing the electric prosthesis 1 from becoming too large in the width direction.

[0045] The second spindle unit SP2, which converts the rotational power output from the motor M into the translational motion of the working part 55 of the intermittent mechanism 50, is arranged between the motor M and the first spindle unit SP1 in the front-rear direction. The output shaft 71 of the motor M, the first spindle 73 of the first spindle unit SP1, and the second spindle 75 of the second spindle unit SP2 are arranged parallel to each other and are arranged in a vertical direction when the knee joint mechanism 30 is fully extended.

[0046] The first spindle unit SP1 has a first spindle 73 with an external thread 73a and a sleeve 74 with an internal thread 74a. The sleeve 74 translates along the axis of the first spindle 73 as the first spindle 73 rotates. In this embodiment, the first spindle 73 receives rotational power from the motor M transmitted by the transmission T and rotates accordingly. On the other hand, the sleeve 74 is mounted on a pair of inner sidewalls 24 extending downward from the upper wall portion 22 of the knee-side member 20 in a manner that allows it to swing around the upper swing portion 25 but prevents it from moving. Therefore, when the first spindle 73 receives rotational power from the motor M transmitted by the transmission T and moves to one side (… Figure 5A When the first main shaft 73 rotates (in the direction of arrow D1), the sleeve 74 translates to move away from the transmission T, as the first main shaft 73 moves to the other side ( Figure 5B When the arrow D2 direction is rotated, the sleeve 74 translates to approach the transmission T.

[0047] That is, the distance between the sleeve 74 and the transmission T expands and contracts according to the rotation direction of the first main shaft 73. As described above, since the sleeve 74 is mounted on the upper knee member 20 in a non-movable manner, the distance between the sleeve 74 and the transmission T expands and contracts according to the rotation direction of the first main shaft 73. As a result, the lower knee member 10 on which the transmission T is mounted and the upper knee member 20 on which the sleeve 74 is mounted rotate around the rotating part 35. As a result, the angle between the upper knee member 20 and the lower knee member 10 changes.

[0048] like Figure 4 As shown, the transmission T includes: an output gear 72 disposed on the output shaft 71 of the motor M; an input gear 77 disposed approximately at the center of the second main shaft 75 of the second main shaft unit SP2 and meshing with the output gear 72; a first transmission mechanism T1; and a second transmission mechanism T2.

[0049] The first transmission mechanism T1 includes: a first drive gear 78 which is fixedly disposed on the upper side of the second spindle 75 of the second spindle unit SP2; and a first driven gear 79 which is disposed on the first spindle 73 of the first spindle unit SP1 in a manner that rotates integrally with the first spindle 73 and meshes with the first drive gear 78.

[0050] The second transmission mechanism T2 includes: a second drive gear 80 which is fixedly disposed on the lower side of the second spindle 75 of the second spindle unit SP2; and a second driven gear 81 which is disposed on the first spindle 73 of the first spindle unit SP1 in a manner that rotates integrally with the first spindle 73 and meshes with the second drive gear 80.

[0051] The first transmission mechanism T1 transmits power to the motor M at a first gear ratio. The second transmission mechanism T2 transmits power to the motor M at a second gear ratio different from the first gear ratio. The transmission T, by having two power transmission paths with different gear ratios, can switch the extension and flexion speeds of the knee joint mechanism 30 and generate power. The first and second gear ratios only need to be different; either the first transmission mechanism T1 or the second transmission mechanism T2 can be a reduction mechanism, and the other can be a speed-increasing mechanism; either one can be a constant-speed mechanism, and the other can be a reduction mechanism or a speed-increasing mechanism; both can be reduction mechanisms, or both can be speed-increasing mechanisms.

[0052] Preferably, the reduction ratio of the first gear ratio is larger than that of the second gear ratio. Therefore, the diameter of the first drive gear 78 is smaller than the diameter of the second drive gear 80, allowing the first drive gear 78 to be positioned close to the motor M. In this embodiment, the first gear transmission mechanism T1 is positioned closer to the motor M than the second gear transmission mechanism T2. More specifically, the motor M is positioned in front of the first drive gear 78, overlapping it vertically.

[0053] The first transmission mechanism T1 and the second transmission mechanism T2 are switched by the intermittent mechanism 50. The intermittent mechanism 50 includes: an upper clutch 50U installed between the motor M and the first transmission mechanism T1; a lower clutch 50D installed between the motor M and the second transmission mechanism T2; and a working piece 55 that rotates integrally with the input gear 77.

[0054] The upper clutch 50U is an engaging clutch comprising a first engaging member 51 serving as an engaging member on the motor M side and a second engaging member 52 serving as an engaging member on the first transmission mechanism T1 side. More specifically, the first engaging member 51 is disposed above the working member 55 and the input gear 77 in a manner that allows it to rotate integrally with the input gear 77. The second engaging member 52 is disposed in a manner that allows it to engage with the first engaging member 51 and rotate integrally with the first drive gear 78 below the first drive gear 78. The second engaging member 52 and the first drive gear 78 are mounted above the second spindle 75 of the second spindle unit SP2 in a manner that allows them to rotate freely relative to the second spindle 75 but prevents them from moving.

[0055] The lower clutch 50D is an engaging clutch comprising a third engaging member 53 serving as an engaging member on the motor M side and a fourth engaging member 54 serving as an engaging member on the second transmission mechanism T2 side. More specifically, the third engaging member 53 is disposed below the working member 55 and the input gear 77 in a manner that allows it to rotate integrally with the input gear 77. The fourth engaging member 54 is disposed above the second drive gear 80 and rotates integrally with the second drive gear 80. The fourth engaging member 54 and the second drive gear 80 are mounted below the second spindle 75 of the second spindle unit SP2 in a manner that allows them to rotate freely relative to the second spindle 75 but prevents them from moving.

[0056] The working piece 55 is mounted on the input gear 77 in a manner that allows it to rotate integrally with the input gear 77, as described above. The first engaging member 51 and the third engaging member 53 are mounted on its upper and lower parts in a manner that allows them to rotate integrally. The working piece 55 is mounted approximately at the center of the second spindle 75, that is, between the first drive gear 78 and the second drive gear 80 in the vertical direction. Here, the working piece 55 is the lead screw nut 76 of the second spindle unit SP2. The second spindle unit SP2 has a second spindle 75 with external threads and a lead screw nut 76 (working piece 55) with internal threads. As the input gear 77 rotates, the lead screw nut 76 (working piece 55) rotates and translates along the axis of the second spindle 75.

[0057] In the first direction of motor M ( Figure 5A When the screw nut 76 (working part 55) rotates in the direction of arrow D1, it moves upward in the vertical direction, which is the direction of translational motion, and in the second direction (direction opposite to the first direction) of the motor M. Figure 5B When the screw nut 76 (working part 55) rotates in the direction of arrow D2, it moves downward in the vertical direction. Thus, by changing the rotation direction of the motor M, the direction of movement of the working part 55 can be changed.

[0058] By having the working piece 55 translate along the axis of the second main shaft 75, the intermittent mechanism 50 can have three states: a first speed change state, a second speed change state, and a free state.

[0059] In the first gear shift state, such as Figure 5A As shown, motor M moves in the first direction ( Figure 5ARotating in the direction of arrow D1, the lead screw nut 76 (working part 55) moves upward, thereby connecting the first engaging member 51 and the second engaging member 52, and disengaging the third engaging member 53 and the fourth engaging member 54. In other words, the upper clutch 50U is engaged, and the lower clutch 50D is released. In the first gear shift state, the power of the motor M is transmitted to the output gear 72, the input gear 77, the working part 55, the first engaging member 51, the second engaging member 52, the first drive gear 78, the first driven gear 79, and the first spindle unit SP1.

[0060] In the second gear shift state, such as Figure 5B As shown, motor M moves in the second direction ( Figure 5B As the screw rotates (in the direction of arrow D2), the lead screw nut 76 (working part 55) moves downward, thereby disengaging the first engaging member 51 and the second engaging member 52, and engaging the third engaging member 53 and the fourth engaging member 54. In other words, the upper clutch 50U is released, and the lower clutch 50D is engaged. In the second gear shift state, the power of the motor M is transmitted to the output gear 72, the input gear 77, the working part 55, the third engaging member 53, the fourth engaging member 54, the second drive gear 80, the second driven gear 81, and the first main shaft unit SP1.

[0061] In a free state, such as Figure 5C As shown, the first engaging member 51 and the second engaging member 52 are in a disengaged state, and the third engaging member 53 and the fourth engaging member 54 are also in a disengaged state. In other words, the upper clutch 50U is released, and the lower clutch 50D is also released. In the free state, the motor M stops, and the first driven gear 79 and the second driven gear 81 rotate through the rotation of the first main shaft unit SP1. Although the rotation of the first main shaft unit SP1 is transmitted to the first driven gear 79, the first drive gear 78, and the second engaging member 52, it is not transmitted to the first engaging member 51. Similarly, although the rotation of the first main shaft unit SP1 is transmitted to the second driven gear 81, the second drive gear 80, and the fourth engaging member 54, it is not transmitted to the third engaging member 53.

[0062] It should be noted that, in Figures 4-5C In the attached drawing, reference numeral D represents a rotary damper that applies moderate resistance to the second spindle 75 of the second spindle unit SP2 when the motor M rotates, so that the lead screw nut 76 (working part 55) can reliably translate. The rotary damper D includes: a first damping gear 86 disposed on the rotating shaft of the rotary damper D; and a second damping gear 87 disposed on the second spindle 75 of the second spindle unit SP2 in a manner that rotates integrally with the second spindle 75, and meshing with the first damping gear 86. The rotary damper D is positioned in front of and above the bottom plate portion 62 of the transmission housing 60, and below the motor M.

[0063] In this electrically powered prosthesis 1, the step-climbing motion that was previously required to be performed one step at a time with the non-prosthetic foot in a passive prosthesis equipped with a passive shock absorber can be performed smoothly.

[0064] Specifically, such as Figure 6 As shown, when the electric prosthesis 1 is extended forward to climb the steps, a large amount of power is required to extend the knee joint mechanism 30 from the bent state under the condition that the electric prosthesis 1 is under load.

[0065] At this time, as Figure 5A As shown, by moving the motor M in the first direction ( Figure 5A The motor M rotates in the direction of arrow D1, and the power of the motor M is transmitted from the output gear 72 to the input gear 77. The input gear 77 rotates in the second direction (…). Figure 5A The workpiece 55 rotates in the direction of arrow D2, thereby rotating around the second spindle 75 of the second spindle unit SP2 while being guided upward by the second spindle 75. Then, the first engaging member 51, located above the workpiece 55 and the input gear 77, engages with the second engaging member 52, located below the first drive gear 78, and the intermittent mechanism 50 enters the first speed change state.

[0066] When the intermittent mechanism 50 is in the first speed change state, the power of the motor M is transmitted to the output gear 72, input gear 77, working piece 55, first engaging piece 51, second engaging piece 52, first drive gear 78, first driven gear 79, and first spindle unit SP1. The first drive gear 78 and the input gear 77 move together in the second direction ( Figure 5A The first driven gear 79 rotates in the direction of arrow D2, thereby moving in the first direction ( Figure 5A Rotating in the direction of arrow D1, the first driven gear 79 rotates in the first direction ( Figure 5A Rotating in the direction of arrow D1, thereby causing the first spindle 73 of the first spindle unit SP1 to rotate in the first direction ( Figure 5A Rotate in the direction of arrow D1. As a result, the sleeve 74 translates away from the transmission T, and the upper knee component 20 on which the sleeve 74 is mounted rotates about the rotating part 35 relative to the lower knee component 10 on which the transmission T is mounted, thereby extending the knee joint mechanism 30.

[0067] On the other hand, in order to smoothly perform the step-climbing action, such as Figure 7 As shown, when a load is applied to the healthy foot, the knee joint mechanism 30 needs to bend (lift) from the extended state. Bending the knee joint mechanism 30 from the extended state does not require a large amount of force, but rather a rapid movement.

[0068] At this time, as Figure 5B As shown, by moving motor M in the second direction ( Figure 5B The motor M rotates in the direction of arrow D2, and the power of the motor M is transmitted from the output gear 72 to the input gear 77. The input gear 77 rotates in the first direction (…). Figure 5B The workpiece 55 rotates in the direction of arrow D1, thereby rotating around the second spindle 75 of the second spindle unit SP2 while being guided downward by the second spindle 75. Then, the third engaging member 53, located below the workpiece 55 and the input gear 77, engages with the fourth engaging member 54, located above the second drive gear 80, and the intermittent mechanism 50 enters the second speed change state.

[0069] When the intermittent mechanism 50 is in the second speed change state, the power of the motor M is transmitted to the output gear 72, input gear 77, working piece 55, third engaging piece 53, fourth engaging piece 54, second drive gear 80, second driven gear 81, and first main shaft unit SP1. The second drive gear 80 and the input gear 77 move together in the first direction ( Figure 5B The second driven gear 81 rotates in the direction of arrow D1, thereby rotating in the second direction ( Figure 5B The second driven gear 81 rotates in the second direction (direction of arrow D2) and rotates in the second direction (direction of arrow D2). Figure 5B Rotating in the direction of arrow D2, thereby causing the first spindle 73 of the first spindle unit SP1 to rotate in the second direction ( Figure 5B Rotate in the direction of arrow D2. As a result, the sleeve 74 translates to approach the transmission T, and the lower knee component 10 on which the transmission T is mounted rotates about the rotating part 35 relative to the upper knee component 20 on which the sleeve 74 is mounted, thereby bending the knee joint mechanism 30.

[0070] In addition, by freeing the discontinuous mechanism 50 during normal walking, the power transmission between the motor M and the transmission T can be cut off, thus preventing obstruction of walking.

[0071] In this electrically powered prosthetic foot 1, the knee joint mechanism 30 can be extended and flexed via a transmission T that transmits power from the motor M. The range of rotation of the knee joint mechanism 30 is limited to less than 180°. When the knee joint mechanism 30 is extended, the angle between the lower knee component 10 and the upper knee component 20 is approximately 180°. When the knee joint mechanism 30 is flexed, this angle is less than 180°.

[0072] Because the transmission T has two power transmission paths with different gear ratios, it is possible to switch the speed of extension and flexion of the knee joint mechanism 30 and the power generated. In particular, since the required speed of movement and power generation of the knee joint mechanism 30 during flexion and extension are different when climbing stairs, it is possible to change the power transmission path when the knee joint mechanism 30 is flexed and extended.

[0073] Furthermore, since the discontinuous mechanism 50 installed between the motor M and the transmission T has an upper clutch 50U installed between the motor M and the first transmission mechanism T1 and a lower clutch 50D installed between the motor M and the second transmission mechanism T2, it is possible to switch the two power transmission paths appropriately.

[0074] In particular, since the telescopic device 40 has a second main shaft unit SP2 that converts the rotational power output from the motor M into the translational motion of the working piece 55, it is possible to control the working piece 55 and the extension and flexion of the knee joint mechanism 30 using only one motor M. Furthermore, since the transmission T can be switched to the first gear shift state, the second gear shift state, and the free state via one working piece 55, it is possible to avoid the simultaneous connection of two power transmission paths.

[0075] Furthermore, when the knee joint mechanism 30 is extended, and the electric prosthesis 1 is observed along the rotation axis of the rotating part 35 of the knee joint mechanism 30, if the area where the angle between the lower knee component 10 and the upper knee component 20 is less than 180° is considered (compared to the area where the knee joint mechanism 30 is extended), the electric prosthesis 1 is considered to be extended. Figure 3 The area on the rear (calf) side of the line between the rotating part 35 and the lower swing part 70 is called the angle region. The region where the angle is 180° or more (compared to the connecting part) is considered an angle region. Figure 3 The area on the front (lower leg) side of the line between the rotating part 35 and the lower swing part 70 is called the wide-angle region, and the first main spindle unit SP1 is arranged in the included angle region. On the other hand, the motor M is arranged in the wide-angle region. In this way, by arranging the first main spindle unit SP1 in the included angle region and the motor M in the wide-angle region, the first main spindle unit SP1 and the motor M can be arranged in a balanced manner while maintaining balance across the rotating part 35 of the knee joint mechanism 30. Moreover, the transmission T and the discontinuation mechanism 50 are arranged between the motor M and the first main spindle unit SP1. Therefore, the motor M, the transmission T, the discontinuation mechanism 50, and the first main spindle unit SP1 can be arranged in a concentrated manner.

[0076] <Second Implementation Method>

[0077] The structure of the telescopic device 40 of the electric prosthesis 1 in the second embodiment differs from that in the electric prosthesis 1 of the first embodiment. More specifically, in the telescopic device 40 of the first embodiment, the translational movement of the working member 55 is achieved by the rotational power output from the motor M being converted by the second spindle unit SP2. In contrast, in the telescopic device 40 of the second embodiment, the translational movement of the working member 55 is achieved by a clutch actuator ACT, which is a different drive source from the motor M, and a clutch fork 90 that transmits the power of the clutch actuator ACT to the working member 55. In the following description, reference will be made to... Figure 8 as well as Figure 9The telescopic device 40 of the electric prosthesis 1 in the second embodiment will be described. For structures that are the same as or equivalent to the telescopic device 40 of the electric prosthesis 1 in the first embodiment, the same reference numerals will be marked in the figures and the description will be omitted. Only the differences will be described.

[0078] like Figure 8 as well as Figure 9 As shown, the telescopic device 40 of the second embodiment includes: a motor M that outputs rotational power; a transmission T that transmits the power of the motor M; a first main shaft unit SP1 that is connected to the transmission T in a manner capable of transmitting power and converts the rotational power output from the transmission T into translational motion; an intermittent mechanism 50 installed between the motor M and the first transmission mechanism T1 and the second transmission mechanism T2 of the transmission T; a support shaft 95 that is arranged parallel to the output shaft 71 of the motor M and the first main shaft 73 of the first main shaft unit SP1 and supports the intermittent mechanism 50; a clutch actuator ACT that performs translational motion; and a clutch fork 90 that transmits the power of the clutch actuator ACT to the working member 55 of the intermittent mechanism 50.

[0079] The clutch actuator ACT is a different power source from the motor M, and as... Figure 8 As indicated by arrow Y1, it translates along the axis (vertical direction) of the support shaft 95.

[0080] The clutch shift fork 90 is configured such that one end of the clutch shift fork 90 is connected to the clutch actuator ACT, and the middle part of the clutch shift fork 90 is supported on the swing shaft 65, thereby... Figure 8 As indicated by arrow Y2, the clutch fork 90 swings freely around the swing shaft 65. At the other end of the clutch fork 90, there is a branch 91 located on the opposite side of the swing shaft 65 from the clutch actuator ACT, branching into two arms 92 that extend in opposite directions in an arc shape. A connecting pin 93 is provided at the front end of each arm 92, engaging with the slipper clutch 56 described later. Therefore, when the clutch actuator ACT performs a translational movement, the clutch fork 90 swings around the swing shaft 65, and the connecting pin 93 of the clutch fork 90 swings up and down.

[0081] The transmission T includes: an output gear 72 disposed on the output shaft 71 of the motor M; a first input gear 77A and a second input gear 77B disposed approximately at the center of the support shaft 95 and meshing with the output gear 72; a first transmission mechanism T1; and a second transmission mechanism T2. The first input gear 77A and the second input gear 77B constitute an input gear 77.

[0082] The first transmission mechanism T1 includes: a first drive gear 78 which is fixedly disposed on the upper side of the support shaft 95; and a first driven gear 79 which is disposed on the first main shaft unit SP1 in a manner that rotates integrally with the first main shaft 73 and meshes with the first drive gear 78.

[0083] The second transmission mechanism T2 includes: a second drive gear 80 which is fixedly disposed on the lower side of the support shaft 95; and a second driven gear 81 which is disposed on the first main shaft unit SP1 in a manner that rotates integrally with the first main shaft 73 and meshes with the second drive gear 80.

[0084] Furthermore, the gear ratios of the first gear transmission mechanism T1 and the second gear transmission mechanism T2 are the same as in the first embodiment, therefore, their description is omitted here. The first gear transmission mechanism T1 and the second gear transmission mechanism T2 are switched by the intermittent mechanism 50. The intermittent mechanism 50 includes: an upper clutch 50U installed between the motor M and the first gear transmission mechanism T1; a lower clutch 50D installed between the motor M and the second gear transmission mechanism T2; and a working member 55.

[0085] The upper clutch 50U is an engaging clutch comprising a first engaging member 51 serving as an engaging member on the motor M side and a second engaging member 52 serving as an engaging member on the first transmission mechanism T1 side. More specifically, the first engaging member 51 is disposed above the first input gear 77A in a manner that allows it to rotate integrally with the first input gear 77A. The second engaging member 52 is disposed in a manner that allows it to engage with the first engaging member 51 and rotate integrally with the first drive gear 78 below the first drive gear 78. The second engaging member 52 and the first drive gear 78 are mounted above the support shaft 95 in a manner that allows them to rotate freely relative to the support shaft 95 but prevents them from moving.

[0086] The lower clutch 50D is an engaging clutch comprising a third engaging member 53 serving as an engaging member on the motor M side and a fourth engaging member 54 serving as an engaging member on the second transmission mechanism T2 side. More specifically, the third engaging member 53 is disposed below the second input gear 77B in a manner that allows it to rotate integrally with the second input gear 77B. The fourth engaging member 54 is disposed above the second drive gear 80 and rotates integrally with the second drive gear 80, engaging with the third engaging member 53. The fourth engaging member 54 and the second drive gear 80 are mounted below the support shaft 95 in a manner that allows them to rotate freely relative to the support shaft 95 but prevents them from moving.

[0087] The working part 55 has an annular sliding clutch 56 that is always engaged with the connecting pin 93 of the clutch shift fork 90 and a bearing 57 that moves in translational motion together with the sliding clutch 56, and is arranged in the vertical direction between the first input gear 77A and the second input gear 77B.

[0088] The sliding clutch 56 is provided with a connecting hole for engaging the connecting pin 93 of the clutch fork 90. ​​The connecting hole absorbs the swing of the clutch fork 90 and converts it into the translational motion of the sliding clutch 56 in the vertical direction.

[0089] The bearing 57 includes: an outer ring 57a supported on the sliding clutch 56 in a non-rotatable manner; an inner ring 57b configured to rotate integrally with a first input gear 77A provided with a first engagement member 51 and a second input gear 77B provided with a third engagement member 53; and a rolling element 57c disposed between the outer ring 57a and the inner ring 57b, allowing relative rotation between the outer ring 57a and the inner ring 57b.

[0090] The inner ring 57b, together with the first input gear 77A and the second input gear 77B, is supported on the outer periphery of the support flange 96, which is keyed to the support shaft 95, in a manner that allows it to translate in the vertical direction.

[0091] When one end of the clutch shift fork 90 moves downward via the clutch actuator ACT, the slipper clutch 56 and the bearing 57 (working member 55) move upward along the support shaft 95. Furthermore, a predetermined clearance is provided between the slipper clutch 56 and the outer ring 57a and the first input gear 77A in the vertical direction. The first input gear 77A is configured not to interfere with the slipper clutch 56 and the outer ring 57a, which are non-rotating components. Similarly, a predetermined clearance is provided between the slipper clutch 56 and the outer ring 57a and the second input gear 77B in the vertical direction. The second input gear 77B is configured not to interfere with the slipper clutch 56 and the outer ring 57a, which are non-rotating components.

[0092] The slip clutch 56 and bearing 57 (working part 55) move in a vertical direction along the axis of the support shaft 95, thereby enabling the intermittent mechanism 50 to have three states: a first speed change state, a second speed change state, and a free state.

[0093] In the first gear shift state, the slipper clutch 56 and bearing 57 (working part 55) move upwards, thereby engaging with... Figure 5ASimilarly, the first engagement piece 51 and the second engagement piece 52 are engaged, while the third engagement piece 53 and the fourth engagement piece 54 are disengaged. In other words, the upper clutch 50U is engaged, and the lower clutch 50D is disengaged. In the first gear shift state, the power of the motor M is transmitted to the output gear 72, the first input gear 77A (inner ring 57b and the second input gear 77B), the first engagement piece 51, the second engagement piece 52, the first drive gear 78, the first driven gear 79, and the first spindle unit SP1.

[0094] In the second gear shift state, the slipper clutch 56 and bearing 57 (working part 55) move downwards, thereby engaging with... Figure 5B Similarly, the first engagement piece 51 and the second engagement piece 52 are disengaged, while the third engagement piece 53 and the fourth engagement piece 54 are engaged. In other words, the upper clutch 50U is released, and the lower clutch 50D is engaged. In the second gear shift state, the power of the motor M is transmitted to the output gear 72, the second input gear 77B (inner ring 57b and the first input gear 77A), the third engagement piece 53, the fourth engagement piece 54, the second drive gear 80, the second driven gear 81, and the first main shaft unit SP1.

[0095] In a state of freedom, with Figure 5C Similarly, the first engaging member 51 and the second engaging member 52 are disengaged, and the third engaging member 53 and the fourth engaging member 54 are also disengaged. In other words, the upper clutch 50U is released, and the lower clutch 50D is also released. In the free state, the motor M stops, and the first driven gear 79 and the second driven gear 81 rotate through the rotation of the first main shaft unit SP1. Although the rotation of the first main shaft unit SP1 is transmitted to the first driven gear 79, the first drive gear 78, and the second engaging member 52, it is not transmitted to the first engaging member 51. Similarly, although the rotation of the first main shaft unit SP1 is transmitted to the second driven gear 81, the second drive gear 80, and the fourth engaging member 54, it is not transmitted to the third engaging member 53.

[0096] In the electrically powered prosthesis 1 configured in this way, similarly to the first embodiment, the knee joint mechanism 30 can be extended and flexed via the transmission T that transmits the power of the motor M, and the effects described in the electrically powered prosthesis 1 of the first embodiment can be obtained. Furthermore, in the electrically powered prosthesis 1 of the second embodiment, the working member 55 is switched using a clutch actuator ACT, which is a different power source from the motor M used to extend and flex the knee joint mechanism 30, thus enabling more stable switching of the working member 55.

[0097] Furthermore, the present invention is not limited to the above-described embodiments, and can be appropriately modified or improved.

[0098] For example, in the above embodiments, an electric prosthetic foot is shown as one embodiment of the connector device of the present invention, but the present invention is not limited thereto, and can also be applied to the upper limb (wrist joint), to other animals other than humans, and to robots.

[0099] In addition, in the above embodiment, the power of a motor M is transmitted to the first transmission mechanism T1 and the second transmission mechanism T2 via the intermittent mechanism 50. However, the present invention is not limited to this, and intermittent mechanisms may also be provided between the two power sources and the first transmission mechanism T1 and the second transmission mechanism T2 respectively.

[0100] In addition, the discontinuous mechanism 50 is not limited to a meshing clutch, but can also be other clutch mechanisms such as a friction clutch or a centrifugal clutch, or a clutchless mechanism such as a continuous gear ratio switching mechanism.

[0101] In addition, at least the following items are described in this specification. (The elements corresponding to the foregoing embodiments are shown in parentheses, but the present invention is not limited thereto.)

[0102] (1) A connector device (electric prosthesis 1), comprising:

[0103] First component (below knee component 10);

[0104] Second component (upper knee component 20);

[0105] A connecting portion (knee joint mechanism 30) that connects the first component and the second component and allows for changes in the angle formed between the first component and the second component; and

[0106] A telescopic device (telescopic device 40) capable of changing the angle formed by the first component and the second component by telescoping, wherein,

[0107] The telescopic device includes:

[0108] Power source (motor M); and

[0109] A power transmission unit (gearbox T) that transmits power from the power source.

[0110] The power transmission unit includes:

[0111] A first power transmission path (first transmission mechanism T1) that transmits the power at a first gear ratio; and

[0112] A second power transmission path (second transmission mechanism T2) that transmits the power at a second gear ratio different from the first gear ratio.

[0113] According to (1), the connecting part can be extended and bent by the power transmission part that transmits power from the power source. In addition, since the power transmission part has two power transmission paths with different speed ratios, it is possible to switch the speed of extension and bending of the connecting part and generate power.

[0114] (2) The connector device according to (1), wherein,

[0115] The power source outputs rotational power.

[0116] The telescopic device also includes a motion conversion mechanism (first main shaft unit SP1), which is connected to the power transmission unit in a manner that can transmit power and converts the rotational power output from the power transmission unit into translational motion.

[0117] According to (2), by having a motion conversion mechanism that converts rotational motion into translational motion, it is possible to convert small rotational power into large extensional force.

[0118] (3) The connector device according to (1) or (2), wherein,

[0119] The telescopic device also includes an intermittent mechanism (intermittent mechanism 50) installed between the power source and the power transmission unit.

[0120] The discontinuous mechanism has the following features:

[0121] A first intermittent mechanism (upper clutch 50U) installed between the power source and the first power transmission path; and

[0122] A second discontinuous mechanism (lower clutch 50D) is installed between the power source or other power source and the second power transmission path.

[0123] According to (3), since the intermittent mechanism installed between the power source and the power transmission unit has a first intermittent mechanism installed between the power source and the first power transmission path and a second intermittent mechanism installed between the power source or other power source and the second power transmission path, it is possible to switch the two power transmission paths appropriately.

[0124] (4) The connector device according to (3), wherein,

[0125] The first intermittent mechanism includes a first engaging member (first engaging member 51) serving as the engaging member on the power source side and a second engaging member (second engaging member 52) serving as the engaging member on the first power transmission path side.

[0126] The second intermittent mechanism includes a third engaging member (third engaging member 53) serving as an engaging member on the power source side and a fourth engaging member (fourth engaging member 54) serving as an engaging member on the second power transmission path side.

[0127] The discontinuous mechanism also includes a working component (working component 55).

[0128] The working piece is configured to switch between a first state (first shift state) in which the first engaging member and the second engaging member are connected and the third engaging member and the fourth engaging member are disconnected, and a second state (second shift state) in which the first engaging member and the second engaging member are disconnected and the third engaging member and the fourth engaging member are connected.

[0129] According to (4), since the intermittent mechanism also has a working part configured to switch between a first state in which the first locking member and the second locking member are connected and the third locking member and the fourth locking member are disconnected, and a second state in which the first locking member and the second locking member are disconnected and the third locking member and the fourth locking member are connected, it is possible to prevent the two power transmission paths from being connected at the same time.

[0130] (5) The connector device according to (4), wherein,

[0131] The workpiece switches between the first state and the second state through translational movement.

[0132] The telescopic device also includes a second motion conversion mechanism (second spindle unit SP2) that converts the rotational power output from the power source into the translational motion of the workpiece.

[0133] According to (5), since the telescopic device also has a second motion conversion mechanism that converts the rotational power output from the power source into the translational motion of the workpiece, it is possible to control the workpiece and the extension and bending of the connecting part through a single power source.

[0134] (6) The connector device according to (5), wherein,

[0135] When the power source rotates in the first direction, the working part moves to one side in the translational direction of the translational motion.

[0136] When the power source rotates in a second direction opposite to the first direction, the workpiece moves to the other side in the translational direction.

[0137] According to (6), the direction of movement of the workpiece can be changed by changing the rotation direction of the power source.

[0138] (7) The connector device according to (4), wherein,

[0139] The workpiece switches between the first state and the second state through translational movement.

[0140] The telescopic device also includes:

[0141] A second power source (clutch actuator ACT) different from the aforementioned power source; and

[0142] The power from the second power source is transmitted to the second power transmission part (clutch fork 90) of the working part.

[0143] According to (7), the actuator is switched using a different power source than the power source used to extend and bend the connecting part, thus enabling more stable switching of the actuator.

[0144] (8) The connector device according to (7), wherein,

[0145] The working piece has the following features:

[0146] An intermediate transmission component (slippery clutch 56) that is always engaged with the second power transmission unit; and

[0147] The bearing (bearing 57) that performs the translational movement together with the intermediate transmission component.

[0148] The bearing has the following features:

[0149] It is supported in a non-rotatable manner on the outer ring (outer ring 57a) of the intermediate transmission component;

[0150] An inner ring (inner ring 57b) is configured to rotate integrally with the first and third locking members; and

[0151] A rolling element (rolling element 57c) disposed between the outer ring and the inner ring, allowing relative rotation between the outer ring and the inner ring.

[0152] According to (8), the intermediate transmission component and the bearing perform translational movements, thereby enabling the switching between the first state and the second state. On the other hand, since the rotation of the first engaging member and the third engaging member is not transmitted to the intermediate transmission component, the degree of freedom in the configuration of the second power transmission unit and the second power source is increased.

[0153] (9) The connector device according to any one of (4) to (8), wherein,

[0154] The working piece is configured to switch between the first state, the second state, and the third state (free state).

[0155] The third state is a state in which the first engaging member is disconnected from the second engaging member and the third engaging member is disconnected from the fourth engaging member.

[0156] According to (9), in addition to the first state and the second state, the actuator is also in a third state in which the power source and the power transmission part are separated, thereby cutting off the power transmission between the power source and the power transmission part.

[0157] (10) The connector device according to any one of (1) to (9), wherein,

[0158] The reduction ratio of the first gear ratio is greater than the reduction ratio of the second gear ratio.

[0159] The first power transmission path is positioned closer to the power source than the second power transmission path.

[0160] According to (10), the drive gear of the first power transmission path with a large reduction ratio is small, so it can be configured close to the power source. Therefore, even when the joint device is used as an electric prosthesis and the drive source is mounted, the large size of the joint device can be prevented.

[0161] (11) The joint device according to (10) is wherein,

[0162] When the connecting part is extended from a bent state, the power of the power source is transmitted via the first power transmission path.

[0163] According to (11), when climbing stairs, since more power is required to extend the knee from a bent state, when extending the connecting part, the power of the power source is transmitted through the first power transmission path with a larger deceleration ratio, thereby enabling smooth climbing of stairs.

[0164] (12) The connector device according to any one of (1) to (11), wherein,

[0165] The telescopic device also includes a motion conversion mechanism (first main shaft unit SP1).

[0166] The motion conversion mechanism is connected to the power transmission unit in a manner capable of transmitting power, and converts the rotational power output from the power transmission unit into translational motion.

[0167] When viewed along the rotation axis of the connecting part, the motion conversion mechanism is located in the included angle region where the angle is less than 180° when the connecting part is bent, and in the wide-angle region where the angle is greater than 180°.

[0168] According to (12), since the motion conversion mechanism is located in the angled region, the bending and stretching of the connecting part can be achieved by the translational motion of the motion conversion mechanism.

[0169] (13) The connector device according to (12), wherein,

[0170] The power source is located in the wide-angle region.

[0171] According to (13), by arranging the motion conversion mechanism in the included angle region and the power source in the wide angle region, the motion conversion mechanism and the power source can be arranged in a balanced manner through the rotating part of the connecting part.

[0172] (14) The connector device according to (13), wherein,

[0173] The power transmission unit is disposed between the power source and the motion conversion mechanism.

[0174] According to (14), by placing the power transmission unit between the power source and the motion conversion mechanism, these power sources, power transmission units and motion conversion mechanisms can be centrally configured.

[0175] (15) The connector device according to (14), wherein,

[0176] The telescopic device also includes an intermittent mechanism (intermittent mechanism 50) installed between the power source and the power transmission unit, the intermittent mechanism being disposed between the power source and the motion conversion mechanism.

[0177] According to (15), by arranging the discontinuous mechanism between the power source and the motion conversion mechanism, these power sources, power transmission parts, discontinuous mechanisms and motion conversion mechanisms can be centrally arranged.

[0178] (16) The connector device according to any one of (1) to (15), wherein,

[0179] The connector device is an electric prosthesis.

[0180] According to (16), since the required speed of motion and the generation of power are different when the knee is bent and extended during climbing stairs, it is possible to change the power transmission path when the knee is bent and extended.

[0181] Furthermore, this application is based on Japanese patent application filed on August 29, 2019 (Japanese Patent Application No. 2019-157358), the contents of which are incorporated herein by reference.

[0182] Explanation of reference numerals in the attached figures

[0183] 1. Electric prosthetic foot (joint device)

[0184] 10. Lower knee component (first component)

[0185] 20. Upper knee component (second part)

[0186] 30. Knee joint mechanism (connection)

[0187] 40 Telescopic device

[0188] 50D Lower Clutch (Second Discontinuous Mechanism)

[0189] 50U Upper clutch (first discontinuous mechanism)

[0190] 50 Discontinuous mechanisms

[0191] 51 First Card Assembly

[0192] 52 Second Card Assembly

[0193] 53 Third Card Assembly

[0194] 54 Fourth Card Assembly

[0195] 55 workpieces

[0196] 56. Slippery clutch (intermediate transmission component)

[0197] 57 bearing

[0198] 57a outer ring

[0199] 57b Inner Ring

[0200] 57c Rolling element

[0201] 90 Clutch shift fork (second power transmission unit)

[0202] ACT clutch actuator (second power source)

[0203] M motor (power source)

[0204] T-type transmission (power transmission unit)

[0205] T1 First transmission mechanism (first power transmission path)

[0206] T2 Second Transmission Mechanism (Second Power Transmission Path)

[0207] SP1 First Main Spindle Unit (Motion Conversion Mechanism)

[0208] SP2 Second Main Spindle Unit (Other Motion Conversion Mechanisms).

Claims

1. A connector device, comprising: First component; Second component; A connecting portion that connects the first component and the second component and allows for changes in the angle formed between the first component and the second component; and A telescopic device capable of changing the angle formed by the first component and the second component by telescoping, wherein, The telescopic device includes: Power source; and A power transmission unit that transmits power from the power source. The power transmission unit includes: A first power transmission path that transmits the power from the power source at a first gear ratio; and A second power transmission path that transmits the power from the power source at a second gear ratio different from the first gear ratio. The telescopic device also includes an intermittent mechanism installed between the power source and the power transmission unit. The discontinuous mechanism has the following features: A first intermittent mechanism installed between the power source and the first power transmission path; and A second intermittent mechanism is installed between the power source or other power source and the second power transmission path. The first intermittent mechanism includes a first engaging member serving as an engaging member on the power source side and a second engaging member serving as an engaging member on the first power transmission path side. The second intermittent mechanism includes a third engaging member serving as an engaging member on the power source side and a fourth engaging member serving as an engaging member on the second power transmission path side. The intermittent mechanism also has working parts. The working component is configured to switch between a first state in which the first locking component and the second locking component are connected and the third locking component and the fourth locking component are disconnected, and a second state in which the first locking component and the second locking component are disconnected and the third locking component and the fourth locking component are connected. The workpiece switches between the first state and the second state through translational movement. The telescopic device also includes a second motion conversion mechanism that converts the rotational power output from the power source into the translational motion of the workpiece.

2. The connector device according to claim 1, wherein, The power source outputs rotational power. The telescopic device also includes a motion conversion mechanism, which is connected to the power transmission unit in a manner that can transmit power, and converts the rotational power output from the power transmission unit into translational motion.

3. The connector device according to claim 1, wherein, When the power source rotates in the first direction, the working part moves to one side in the translational direction of the translational motion. When the power source rotates in a second direction opposite to the first direction, the workpiece moves to the other side in the translational direction.

4. The connector device according to claim 1, wherein, The telescopic device also includes: A second power source different from the aforementioned power source; and The power from the second power source is transmitted to the second power transmission part of the working piece.

5. The connector device according to claim 4, wherein, The working piece has the following features: An intermediate transmission component that is always engaged with the second power transmission unit; and The bearing that performs the translational movement together with the intermediate transmission component. The bearing has the following features: It is supported on the outer ring of the intermediate transmission component in a non-rotatable manner; An inner ring configured to rotate integrally with the first and third locking components; and A rolling element disposed between the outer ring and the inner ring, allowing relative rotation between the outer ring and the inner ring.

6. The connector device according to any one of claims 1 to 5, wherein, The working piece is configured to switch between the first state, the second state, and the third state. The third state is a state in which the first engaging member is disconnected from the second engaging member and the third engaging member is disconnected from the fourth engaging member.

7. The connector device according to claim 1 or 2, wherein, The reduction ratio of the first gear ratio is greater than the reduction ratio of the second gear ratio. The first power transmission path is positioned closer to the power source than the second power transmission path.

8. The connector device according to claim 7, wherein, When the connecting part is extended from a bent state, the power of the power source is transmitted via the first power transmission path.

9. The connector device according to claim 1 or 2, wherein, The telescopic device also includes a motion conversion mechanism. The motion conversion mechanism is connected to the power transmission unit in a manner capable of transmitting power, and converts the rotational power output from the power transmission unit into translational motion. When viewed along the rotation axis of the connecting part, the motion conversion mechanism is located in the included angle region where the angle is less than 180° when the connecting part is bent, and in the wide-angle region where the angle is greater than 180°.

10. The connector device according to claim 9, wherein, The power source is located in the wide-angle region.

11. The connector device according to claim 10, wherein, The power transmission unit is disposed between the power source and the motion conversion mechanism.

12. The connector device according to claim 11, wherein, The intermittent mechanism is positioned between the power source and the motion conversion mechanism.

13. The connector device according to claim 1 or 2, wherein, The connector device is an electric prosthesis.

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