Segmented assisted knee device

Abstract

The application discloses a segmented assisted knee joint device, which comprises a thigh plate, a shank plate and a segmented assisted knee joint assembly.The thigh plate is used for connecting with a human thigh; the shank plate is used for connecting with a human shank; and the segmented assisted knee joint assembly is arranged between the thigh plate and the shank plate and used for providing segmented assistance for the human knee joint.The segmented assisted knee joint assembly is arranged between the thigh plate and the shank plate, and the segmented assisted knee joint assembly is used for providing segmented assistance for the human knee joint.The application has the advantages that when a person walks or squats, the human body does not generate excessive force to resist the assistance, and the technical effect that when a person walks or squats, the human body does not generate excessive force to resist the assistance is achieved.

Description

Technical Field

[0001] This invention relates to the fields of mechanical manufacturing and exoskeleton technology, and more specifically, to a segmented assistive knee joint device. Background Technology

[0002] Currently, most existing exoskeleton knee joints mainly use linear springs and cables. This type of method takes up a lot of space and has a relatively simple assist mode. When the human body needs to squat down completely for a long time, the human body will generate extra force to resist the assist effect of the knee joint.

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

[0004] It takes up a lot of space; the assist mode is limited; prolonged squatting puts pressure on the knee joint. Summary of the Invention

[0005] The main objective of this invention is to provide a segmented assistive knee joint device to solve the problems of large space occupation, single assist mode, and resistance to knee joint assistance during prolonged squatting in the prior art.

[0006] To achieve the above objectives, according to one aspect of the present invention, a segmented assisted knee joint device is provided, comprising:

[0007] Thigh plate, the thigh plate being used to connect to the human thigh;

[0008] Lower leg plate, the lower leg plate being used to connect to the human lower leg;

[0009] The segmented assistive knee joint assembly is disposed between the thigh plate and the calf plate, and is used to provide segmented assistance to the human knee joint.

[0010] Preferably, the segmented assistive knee joint assembly includes: a rotating spindle, a tapered bushing, a limiting block, a torque chamber, a first slide groove, a wire slider, a second slide groove, a slide groove cover, a roller, a roller bushing, a roller support, an arc-shaped spring, an anchor point, an anchor point wire-hanging shaft, a wire-passing shaft sleeve, a spring chamber cover, and a knee joint chamber cover. These components are assembled sequentially. By setting the segmented assistive knee joint assembly between the thigh plate and the calf plate, the assembly provides segmented assistance to the human knee joint. This design ensures that the human body does not generate excessive force to resist the assistance during daily walking or squatting.

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

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

[0013] Preferably, the hanging slider slides within the first-stage groove.

[0014] Preferably, when the rotation angle is greater than 45°, the hanging slider is stuck in the inflection point of the groove. 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.

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

[0016] Preferably, when standing up, the pull direction of the 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 lower leg.

[0017] Preferably, the hanging slider slides within the first and second slide grooves, and when the human body reaches an upright position, the hanging slider returns to its initial position.

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

[0019] The technical solution of this 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. The hanging slider slides within the first-stage slide. When the rotation angle is greater than 45°, the hanging slider is engaged in the inflection point of the slide. As the thigh guard's movement angle 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 slider, due to the direction of the rope tension, will disengage from the second-stage slide and instantly enter the third-stage slide, at which point the knee joint torque returns to 0 Nm. During the standing process, because the direction of the hanging slider's pull line always passes through the knee joint axis, its torque on the knee joint is 0 Nm. As the thigh rotates relative to the calf, the hanging slider slides within the cam slide. When the body reaches an upright position, the hanging slider returns to the initial position of the slide. By setting a segmented assisted knee joint component between the thigh and calf guards, this component provides segmented assistance to the human knee joint. It has the technical effect of not requiring the human body to generate excessive force to resist assistance when walking or squatting. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0022] Figure 1 A schematic diagram of the segmented assistive knee joint device according to the present invention is shown;

[0023] Figure 2 It shows Figure 1 Exploded view of the slide wire structure of the segmented assisted knee joint device in the image.

[0024] Figure 3 It shows Figure 1 A cross-sectional schematic diagram of the rotating shaft structure of the segmented assistive knee joint device in the image.

[0025] Figure 4 It shows Figure 1 A schematic diagram of the knee joint rotation to 0° in a segmented assisted knee joint device.

[0026] Figure 5 It shows Figure 1 A partial schematic diagram of the knee joint rotation at 0° in the segmented assisted knee joint device.

[0027] Figure 6 It shows Figure 1 A schematic diagram of a segmented assisted knee joint device rotating the knee joint at 45°.

[0028] Figure 7 It shows Figure 1 A partial schematic diagram of the knee joint rotation at 45° in the segmented assisted knee joint device.

[0029] Figure 8 It shows Figure 1 A schematic diagram of a segmented assisted knee joint device rotating the knee joint 135°.

[0030] Figure 9 It shows Figure 1 A partial schematic diagram of the knee joint rotation of the segmented assisted knee joint device at 135°.

[0031] Figure 10 It shows Figure 1 A schematic diagram of a segmented assisted knee joint device rotating the knee joint 155°.

[0032] Figure 11 It shows Figure 1 A schematic diagram of a segmented assisted knee joint device rotating the knee joint 155°.

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

[0034] 1. Thigh guard; 2. Segmented assistive knee joint assembly; 201. Rotating spindle; 202. Tapered bushing; 203. Limiting block; 204. Deep groove ball bearing; 205. Torque chamber seat; 206. Slide groove; 207. Slide groove; 208. Wire hanging slider; 209. Slide groove cover; 210. Roller; 211. Roller bushing; 212. Roller support; 213. Curved spring; 214. Anchor point; 215. Anchor point wire hanging shaft; 216. Wire guide shaft sleeve; 217. Spring chamber cover; 218. Knee joint chamber cover; 3. Lower leg guard. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] like Figures 1 to 11 As shown, this embodiment of the invention provides a segmented assist knee joint device, including: a thigh plate for connecting to the human thigh; a calf plate for connecting to the human calf; and a segmented assist knee joint assembly 2 disposed between the thigh plate and the calf plate, the segmented assist knee joint assembly 2 being used to provide segmented assistance to the human knee joint.

[0037] In this embodiment, the segmented knee-assisting component 2 is used to connect the thigh plate and the calf plate. The segmented knee-assisting component 2 is disposed between the thigh plate and the calf plate. The segmented knee-assisting component 2 is used to provide segmented assistance to the human knee joint. The segmented knee-assisting component 2 includes: a rotating spindle 201, a tapered bushing 202, a limiting block 203, a torque chamber seat 205, a first slide groove 206, a pull-wire slider, a second slide groove 207, a slide groove cover 209, a roller 210, a roller bushing 211, a roller support 212, and an arc-shaped... The components 213, 214, 215, 216, 217, and 218 are sequentially assembled, including the main rotating shaft 201, conical bushing 202, limiting block 203, torque chamber seat 205, first slide groove 206, pull wire slider, second slide groove 207, slide groove cover 209, roller 210, roller bushing 211, roller support 212, arc spring 213, anchor point 214, 215, 216, 217, and 218. This assembly provides segmented assistance to the human knee joint, ensuring that the body does not generate excessive force to resist the assistance during daily walking or squatting. A segmented knee-assist component 2 is installed between the thigh plate and the calf plate to provide segmented assistance to the human knee joint. This component ensures that the human body does not generate excessive force resistance during daily walking or squatting.

[0038] In this embodiment, a pull wire is also included. One end of the pull wire is fixed to the hanging slider 208 and placed in the overall slide groove formed by the combination of the first slide groove 206 and the second slide groove 207. The pull wire passes around the roller bushing 211 and sequentially through the threaded shaft sleeve 216, the arc spring 213, the anchor point 214, and the anchor point hanging shaft 215, and is fixed to the anchor point 214. The arc spring 213 is in a compressed state of different lengths as the wire moves. The arc spring 213 is compressed by pulling the wire. The thigh guard plate 1 rotates relative to the calf guard plate 3, and the cam slide groove rotates synchronously. The hanging slider 208 slides in the first stage slide groove, and the pull wire pulls the slider to slide in the first stage slide groove.

[0039] In this embodiment, when the rotation angle is greater than 45°, the hanging slider 208 is engaged in the inflection point of the slide groove. As the movement angle of the thigh guard plate 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 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 0 Nm. When standing up, the direction of the pulling line of the hanging slider 208 always passes through the knee joint axis, and the torque on the knee joint is 0 Nm, rotating with the rotation of the thigh relative to the lower leg. The hanging slider slides in the first slide groove 206 and the second slide groove 207. When the human body reaches the upright position, the hanging slider returns to the initial position. The elastic element is the arc spring 213, and the bearing adopts... deep 204 grooved ball bearing .

[0040] In this embodiment, the device is positioned on the outer side of the human knee joint and moves with the knee joint during flexion.

[0041] Working principle:

[0042] During the squatting process, the thigh guard plate 1 rotates relative to the calf guard plate 3, and the cam slide groove rotates synchronously. The hanging slider 208 slides within the first-stage slide groove. When the rotation angle is greater than 45°, the hanging slider 208 is engaged in the inflection point of the slide groove. As the movement angle of the thigh guard plate 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 hanging slider 208 will disengage from the second-stage slide groove due to the direction of the rope tension and instantly enter the third-stage slide groove. At this time, the knee joint torque returns to 0 Nm. During the standing process, since the direction of the hanging slider 208's pull line always passes through the knee joint axis, its torque on the knee joint is 0 Nm. As the thigh rotates relative to the calf, the hanging slider 208 slides within the cam slide groove. When the body reaches an upright position, the hanging slider 208 also returns to the initial position of the slide groove.

[0043] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0044] During the squatting process, the thigh guard plate 1 rotates relative to the calf guard plate 3, and the cam slide groove rotates synchronously. The hanging slider 208 slides within the first-stage slide groove. When the rotation angle is greater than 45°, the hanging slider 208 is engaged in the inflection point of the slide groove. As the movement angle of the thigh guard plate 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 hanging slider 208 will disengage from the second-stage slide groove due to the direction of the rope tension and instantly enter the third-stage slide groove. At this time, the knee joint torque returns to 0 Nm. During the standing process, since the direction of the hanging slider 208's pull line always passes through the knee joint axis, its torque on the knee joint is 0 Nm. As the thigh rotates relative to the calf, the hanging slider 208 slides within the cam slide groove. When the body reaches an upright position, the hanging slider 208 also returns to the initial position of the slide groove. A segmented knee-assist component 2 is installed between the thigh plate and the calf plate to provide segmented assistance to the human knee joint. This design ensures that the human body does not generate excessive force to resist the assistance during daily walking or squatting.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A segmented assisted knee joint device, characterized in that, include: Thigh guard, the thigh guard being used to connect to the human thigh; Lower leg guard, the lower leg guard being used to connect to the human lower leg; The segmented assistive knee joint assembly is disposed between the thigh guard and the calf guard, and is used to provide segmented assistance to the human knee joint. The segmented assistive knee joint assembly includes: a rotating spindle, a tapered bushing, a limiting block, a torque chamber, a first slide groove, a wire-hanging slider, a second slide groove, a slide groove cover, a roller, a roller bushing, a roller support, an arc spring, an anchor point, an anchor point wire-hanging shaft, a wire-passing shaft sleeve, a spring chamber cover, and a knee joint chamber cover. The rotating spindle, tapered bushing, limiting block, torque chamber, first slide groove, wire-hanging slider, second slide groove, slide groove cover, roller, roller bushing, roller support, arc spring, anchor point, anchor point wire-hanging shaft, wire-passing shaft sleeve, spring chamber cover, and knee joint chamber cover are assembled sequentially. A pull line, one end of which is fixed to the hanging slider, is placed in the overall slide groove formed by the combination of the first and second slide grooves. The pull line rope passes around the roller bushing and sequentially passes through the roller bushing, the arc spring, the anchor point, and the anchor point hanging shaft, and is fixed to the anchor point. The arc spring is in a compressed state of different lengths as the rope moves. The hanging slider slides within the first-stage groove. When the rotation angle is greater than 45°, the hanging slider is stuck in the inflection point of the groove. 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°, under the tension of the rope, the hanging slider disengages from the second-stage groove and instantly enters the third-stage groove. At this time, the knee joint torque is 0 Nm.

2. The segmented assistive knee joint device as described in claim 1, characterized in that, The thigh guard plate rotates relative to the calf guard plate, and the cam groove formed by the combination of the first groove and the second groove rotates synchronously.

3. The segmented assistive knee joint device as described in claim 1, characterized in that, When standing up, the direction of the pull line of the 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 lower leg.

4. The segmented assistive knee joint device as described in claim 1, characterized in that, The hanging slider slides within the first and second slide grooves, and returns to its initial position when the human body reaches an upright position.

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