Sectional type power-assisted knee joint device

Abstract

The invention discloses a sectional type assisting knee joint device which comprises a thigh plate used for being connected with a thigh of a human body. The shank plate is used for being connected with a shank of a human body; the sectional type assistance knee joint assembly is arranged between the thigh plate and the shank plate, and the sectional type assistance knee joint assembly is used for providing sectional type assistance for the knee joint of the human body. A sectional type assistance knee joint assembly is arranged between a thigh plate and a shank plate, and the sectional type assistance knee joint assembly is arranged between the thigh plate and the shank plate and used for providing sectional type assistance for the knee joint of the human body. Compared with the prior art, the technical effect that the human body does not generate excessive force for resisting assistance during daily walking or squatting is achieved, and the technical effect that the human body does not generate excessive force for resisting assistance during daily walking or squatting is achieved.

Description

Technical Field

[0001] The invention relates to the technical fields of mechanical manufacturing and exoskeleton, and in particular to a segmented power-assisted knee joint device. Background Art

[0002] At present, most of the existing exoskeleton knee joints are based on linear springs and pull wires. This type of method takes up a large space and has a relatively single power assistance mode. When the human body needs to squat completely for a long time, the human body will generate excessive extra force to counteract the power assistance effect of the knee joint.

[0003] In summary, there is at least one of the following technical problems:

[0004] It takes up a lot of space; the power assist mode is single; it provides power assist for the knee joints when squatting for a long time. Summary of the invention

[0005] The main purpose of the present invention is to provide a segmented power-assisted knee joint device to solve the problems in the prior art of occupying a large space; having a single power-assisted mode; and resisting the power-assisted effect on the knee joint during long squatting.

[0006] In order to achieve the above object, according to one aspect of the present invention, a segmented power-assisted knee joint device is provided, comprising:

[0007] A thigh board, the thigh board is used to be connected to a human thigh;

[0008] A calf plate, the calf plate is used to be connected to the calf of a human body;

[0009] A segmented power-assisted knee joint assembly is provided between a thigh plate and a calf plate, and is used for providing segmented power assistance to a human knee joint.

[0010] Preferably, the segmented power-assisted knee joint assembly includes: a rotating spindle, a conical sleeve, a limit block, a torque chamber seat, a first slide, a wire slider, a second slide, a slide cover, a roller, a roller sleeve, a roller support, an arc spring, an anchor point, an anchor wire shaft, a wire sleeve, a spring chamber cover, and a knee joint chamber cover. The rotating spindle, conical sleeve, limit block, torque chamber seat, a first slide, a wire slider, a second slide, a slide cover, a roller, a roller sleeve, a roller support, an arc spring, an anchor point, an anchor wire shaft, a wire sleeve, a spring chamber cover, and a knee joint chamber cover are assembled in sequence. By arranging the segmented power-assisted knee joint assembly between the thigh plate and the calf plate, the segmented power-assisted knee joint assembly is arranged between the thigh plate and the calf plate, and the segmented power-assisted knee joint assembly is used to provide segmented power assistance to the human knee joint. It has the technical effect that the human body will not generate too much force to resist the power assistance during daily walking or squatting.

[0011] Preferably, it also includes a pull wire, one end of which is fixed on the wire hanging slider and placed in the overall slide groove formed by the combination of the first slide groove and the second slide groove. The pull wire rope passes around the roller sleeve and passes through the wire sleeve, arc spring, anchor point and anchor point wire hanging shaft in sequence, and is fixed on the anchor point; the arc spring is in a compressed state of different lengths as the rope moves.

[0012] Preferably, the thigh guard plate rotates relative to the calf guard plate, and the cam groove rotates synchronously therewith.

[0013] Preferably, the wire hanging slider slides in the first stage sliding groove.

[0014] Preferably, when the rotation angle is greater than 45°, the wire hanging slider is stuck in the inflection point of the slide groove. As the movement angle of the thigh guard increases, the compression amount of the arc spring increases, and the torque generated by the knee joint also increases.

[0015] Preferably, when the rotation angle is greater than 135°, under the tension of the rope, the wire hanging slider disengages from the second-stage chute and instantly enters the third-stage chute. At this time, the knee joint torque is 0 Nm.

[0016] Preferably, when standing up, the wire pulling direction of the wire hanging slider always passes through the axis of the knee joint, the torque on the knee joint is 0 Nm, and it rotates with the rotation of the thigh relative to the calf.

[0017] Preferably, the wire hanging slider slides in the first sliding groove and the second sliding groove, and when the human body reaches an upright state, the wire pulling slider returns to an initial position.

[0018] Preferably, the elastic element is an arc spring.

[0019] The application of the technical solution of the present invention has the following technical effects:

[0020] During the squatting process, the thigh guard rotates relative to the calf guard, and the cam slide rotates synchronously, and the hanging line slider slides in the first stage slide; when the rotation angle is greater than 45°, the hanging line slider is stuck in the inflection point of the slide, and as the movement angle of the thigh guard increases, the compression of the arc spring increases, and the torque generated by the knee joint also increases; when the rotation angle is greater than 135°, the hanging line slider will be separated from the second stage slide due to the direction of the rope tension, and instantly enter the third stage slide, at which time the knee joint torque returns to 0Nm. During the standing process, since the pulling direction of the hanging line slider always passes through the axis of the knee joint, its torque on the knee joint is 0Nm, and as the thigh rotates relative to the calf, the hanging line slider slides in the cam slide, and when the human body reaches the upright state, the hanging line slider also returns to the initial position of the slide. By setting a segmented power-assisted knee joint assembly between the thigh plate and the calf plate, the segmented power-assisted knee joint assembly is set between the thigh plate and the calf plate, and the segmented power-assisted knee joint assembly is used to provide segmented power assistance to the human knee joint. It has the technical effect that the human body will not generate excessive force to resist the power assistance during daily walking or squatting. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It shows a schematic structural diagram of a segmented power-assisted knee joint device according to the present invention;

[0023] Figure 2 Shows Figure 1 An exploded view of the slideway cable structure of the segmented power-assisted knee joint device;

[0024] Figure 3 Shows Figure 1 A schematic cross-sectional diagram of the rotating shaft structure of the segmented power-assisted knee joint device;

[0025] Figure 4 Shows Figure 1 Schematic diagram of 0° rotation of the knee joint of the segmented power-assisted knee joint device;

[0026] Figure 5 Shows Figure 1 A partial schematic diagram of a knee joint rotation of 0° in a segmented power-assisted knee joint device;

[0027] Figure 6 Shows Figure 1 Schematic diagram of a 45° rotation of the knee joint of the segmented power-assisted knee joint device;

[0028] Figure 7 Shows Figure 1 A partial schematic diagram of a 45° rotation of the knee joint of the segmented power-assisted knee joint device;

[0029] Figure 8 Shows Figure 1 Schematic diagram of a 135° rotation of the knee joint of the segmented power-assisted knee joint device;

[0030] Fig. 9 Shows Figure 1 A partial schematic diagram of a 135° rotation of the knee joint of the segmented power-assisted knee joint device;

[0031] Fig.10 Shows Figure 1 Schematic diagram of a 155° rotation of the knee joint of the segmented power-assisted knee joint device;

[0032] Fig.11 Shows Figure 1 Schematic diagram of 155° rotation of the knee joint of the segmented power-assisted knee joint device.

[0033] The above drawings include the following reference numerals:

[0034] 1. Thigh guard; 2. Segmented power-assisted knee joint assembly; 201. Rotating spindle; 202. Conical bushing; 203. Limit block; 204. Deep groove ball bearing; 205. Torque chamber seat; 206. Slide; 207. Slide; 208. Wire hanging slider; 209. Slide cover; 210. Roller; 211. Roller bushing; 212. Roller support; 213. Arc spring; 214. Anchor point; 215. Anchor point wire hanging shaft; 216. Wire passing shaft sleeve; 217. Spring chamber cover; 218. Knee joint chamber cover; 3. Calf guard. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] like Figures 1 to 11 As shown, an embodiment of the present invention provides a segmented power-assisted knee joint device, comprising: a thigh plate, which is used to connect to the human thigh; a calf plate, which is used to connect to the human calf; a segmented power-assisted knee joint assembly 2, which is arranged between the thigh plate and the calf plate, and the segmented power-assisted knee joint assembly 2 is used to provide segmented power assistance to the human knee joint.

[0037] In this embodiment, the segmented power-assisted knee joint assembly 2 is used to connect the thigh plate and the calf plate. The segmented power-assisted knee joint assembly 2 is arranged between the thigh plate and the calf plate. The segmented power-assisted knee joint assembly 2 is used to provide segmented power assistance for the human knee joint. The segmented power-assisted knee joint assembly 2 includes: a rotating spindle 201, a conical sleeve 202, a limit block 203, a torque compartment seat 205, a first slide 206, a wire slider, a second slide 207, a slide cover 209, a roller 210, a roller sleeve 211, a roller support 212, an arc The spring 213, anchor point 214, anchor point hanging wire shaft 215, wire passing shaft sleeve 216, spring cabin cover 217, knee joint cabin cover 218, the rotating main shaft 201, the conical shaft sleeve 202, the limit block 203, the torque cabin seat 205, the first slide 206, the wire pulling slider, the second slide 207, the slide cover 209, the roller 210, the roller sleeve 211, the roller support 212, the arc spring 213, the anchor point 214, the anchor point hanging wire shaft 215, the wire passing shaft sleeve 216, the spring cabin cover 217, and the knee joint cabin cover 218 are sequentially assembled. It is used to provide segmented assistance to the human knee joint, and the human body will not generate too much force to resist the assistance during daily walking or squatting. By arranging a segmented power-assisted knee joint assembly 2 between the thigh plate and the calf plate, the segmented power-assisted knee joint assembly 2 is used to provide segmented power assistance for the human knee joint, so that the human body will not generate too much force to resist the power assistance during daily walking or squatting.

[0038] In this embodiment, a pull line is also included, one end of which is fixed on the wire hanging slider 208 and placed in the overall slider after the first slider 206 and the second slider 207 are combined. The pull line rope passes through the roller sleeve 211 and passes through the wire sleeve 216, the arc spring 213, the anchor point 214 and the anchor point wire hanging shaft 215 in sequence, and is fixed on the anchor point 214; the arc spring 213 is in a compressed state of different lengths with the movement of the rope. The arc spring 213 is compressed by pulling the wire. The thigh guard 1 rotates relative to the calf guard 3, and the cam slider rotates synchronously therewith. The wire hanging slider 208 slides in the first stage slider, and the pull line pulls the slider to slide in the first stage slider again.

[0039] In this embodiment, when the rotation angle is greater than 45°, the wire hanging slider 208 is stuck in the inflection point of the slide groove. As the movement angle of the thigh guard 1 increases, the compression of the arc spring 213 increases, and the torque generated by the knee joint also increases. When the rotation angle is greater than 135°, under the tension of the rope, the wire hanging slider 208 disengages from the second stage slide groove and instantly enters the third stage slide groove. At this time, the knee joint torque is 0Nm. When standing up, the wire pulling direction of the wire hanging slider 208 always passes through the axis of the knee joint. The torque on the knee joint is 0Nm, and it rotates with the rotation of the thigh relative to the calf. The wire slider slides in the first slide groove 206 and the second slide groove 207. When the human body reaches an upright state, the wire pulling slider returns to the initial position. The elastic element is an arc spring 213, and the bearing adopts deep Groove ball bearing 204 .

[0040] This embodiment is integrally arranged on the outside of the human knee joint and performs flexion movement along with the human knee joint.

[0041] Working principle:

[0042] During squatting, the thigh guard 1 rotates relative to the calf guard 3, and the cam slide rotates synchronously, and the wire hanging slider 208 slides in the first stage slide; when the rotation angle is greater than 45°, the wire hanging slider 208 is stuck in the inflection point of the slide, and as the movement angle of the thigh guard 1 increases, the compression of the arc spring 213 increases, and the torque generated by the knee joint also increases; when the rotation angle is greater than 135°, the wire hanging slider 208 will be separated from the second stage slide due to the direction of the rope tension, and instantly enter the third stage slide, at which time the knee joint torque returns to 0Nm. During standing up, since the wire pulling direction of the wire hanging slider 208 always passes through the axis of the knee joint, its torque on the knee joint is 0Nm, and as the thigh rotates relative to the calf, the wire hanging slider 208 slides in the cam slide, and when the human body reaches the upright state, the wire hanging slider 208 also returns to the initial position of the slide.

[0043] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0044] During squatting, the thigh guard 1 rotates relative to the calf guard 3, and the cam slide rotates synchronously, and the wire hanging slider 208 slides in the first stage slide; when the rotation angle is greater than 45°, the wire hanging slider 208 is stuck in the inflection point of the slide, and as the movement angle of the thigh guard 1 increases, the compression of the arc spring 213 increases, and the torque generated by the knee joint also increases; when the rotation angle is greater than 135°, the wire hanging slider 208 will be separated from the second stage slide due to the direction of the rope tension, and instantly enter the third stage slide, at which time the knee joint torque returns to 0Nm. During standing up, since the wire pulling direction of the wire hanging slider 208 always passes through the axis of the knee joint, its torque on the knee joint is 0Nm, and as the thigh rotates relative to the calf, the wire hanging slider 208 slides in the cam slide, and when the human body reaches the upright state, the wire hanging slider 208 also returns to the initial position of the slide. The segmented power-assisted knee joint assembly 2 is arranged between the thigh plate and the calf plate, and the segmented power-assisted knee joint assembly 2 is arranged between the thigh plate and the calf plate, and the segmented power-assisted knee joint assembly 2 is used to provide segmented power assistance for the human knee joint. It has the technical effect that the human body will not generate too much force to resist the power assistance during daily walking or squatting.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A segmented power-assisted knee joint device, characterized in that: include: A thigh board, the thigh board is used to be connected to a human thigh; A calf plate, the calf plate is used to be connected to the calf of a human body; A segmented power-assisted knee joint assembly is provided between a thigh plate and a calf plate, and is used for providing segmented power assistance to a human knee joint.

2. The segmented power-assisted knee joint device according to claim 1, characterized in that: The segmented assisted knee joint assembly includes: a rotating spindle, a conical sleeve, a limit block, a torque cabin seat, a first slide groove, a wire pull slider, a second slide groove, a slide groove cover, a roller, a roller sleeve, a roller support, an arc spring, an anchor point, an anchor point hanging wire shaft, a wire passing sleeve, a spring cabin cover, and a knee joint cabin cover. The rotating spindle, conical sleeve, a limit block, a torque cabin seat, a first slide groove, a wire pull slider, a second slide groove, a slide groove cover, a roller, a roller sleeve, a roller support, an arc spring, an anchor point, an anchor point hanging wire shaft, a wire passing sleeve, a spring cabin cover, and a knee joint cabin cover are assembled in sequence.

3. The segmented power-assisted knee joint device according to claim 2, characterized in that: It also includes a pull wire, one end of which is fixed on the wire hanging slider and placed in the overall slide groove formed by the combination of the first slide groove and the second slide groove. The pull wire rope passes around the roller sleeve and passes through the wire sleeve, the arc spring, the anchor point and the anchor point wire hanging shaft in sequence, and is fixed on the anchor point; the arc spring is in a compressed state of different lengths as the rope moves.

4. The segmented power-assisted knee joint device according to claim 1, characterized in that: The thigh guard plate rotates relative to the calf guard plate, and the cam slide groove rotates synchronously therewith.

5. The segmented power-assisted knee joint device according to claim 1, characterized in that: The wire hanging slide block slides in the first stage slide groove.

6. The segmented power-assisted knee joint device according to claim 1, characterized in that: When the rotation angle is greater than 45°, the wire hanging slider is stuck in the inflection point of the slide groove. As the movement angle of the thigh guard increases, the compression amount of the arc spring increases, and the torque generated by the knee joint also increases.

7. The segmented power-assisted knee joint device according to claim 1, characterized in that: When the rotation angle is greater than 135°, under the tension of the rope, the wire hanging slider disengages from the second-stage chute and instantly enters the third-stage chute. At this time, the knee joint torque is 0Nm.

8. The segmented power-assisted knee joint device according to claim 1, characterized in that: When standing up, the wire pulling direction of the wire hanging slider always passes through the axis of the knee joint, the torque on the knee joint is 0Nm, and it rotates with the rotation of the thigh relative to the calf.

9. The segmented power-assisted knee joint device according to claim 1, characterized in that: The wire hanging slider slides in the first sliding groove and the second sliding groove, and when the human body reaches an upright state, the wire pulling slider returns to an initial position.

10. The segmented power-assisted knee joint device according to claim 1, characterized in that: The elastic element is an arc spring.

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