A clutch-type muscle-like assisting device with adjustable knee joint stiffness

Abstract

The present invention discloses a clutch-type muscle-like power-assisting device with adjustable variable stiffness of the knee joint. It relates to the field of medical rehabilitation power-assisting technology, including: a knee joint power-assisting component, the knee joint power-assisting component includes a fixed disk, a variable stiffness energy storage mechanism, a clutch mechanism and an oil-free bearing, the variable stiffness energy storage mechanism and the clutch mechanism are both arranged in the fixed disk, the variable stiffness energy storage mechanism and the clutch mechanism are connected by a sliding connection block, and the oil-free bearing is arranged between the fixed disk and the clutch mechanism; a fixed component includes a thigh connecting rod and a calf connecting rod, the thigh connecting rod is connected to the fixed disk, the calf connecting rod is connected to the clutch mechanism, and the thigh connecting rod and the calf connecting rod are both provided with a fixing belt and an adjustment belt, and the two ends of the fixing belt and the adjustment belt are connected in an enclosed manner. The present invention realizes energy recovery and compliant impedance of large-angle flexion of the knee joint in the "closed" state through the clutch mechanism, and realizes the power-assisting effect of increasing the weight of the human body in the "disconnected" state when the knee joint is extended.

Description

Technical Field

[0001] The invention relates to the technical field of medical rehabilitation assistance, and more particularly to a clutch-type muscle-mimicking assistance device with adjustable knee joint stiffness. Background Art

[0002] For patients with hemiplegia or amputation, the knee joint movement function is limited due to the damage to the thigh skeletal muscle group, which seriously affects the patient's normal daily self-care ability. In recent years, auxiliary devices for knee joint movement have attracted much attention and have achieved certain results, but most of these devices are active and achieve the power-assisting effect through the supplement of motor energy. However, due to the introduction of the motor, the overall weight of the mechanism is caused, which affects the gait effect in human-computer interaction.

[0003] In response to these problems, some researchers have designed passive knee joint assist devices, but they have not fully considered the variable stiffness characteristics of bionic joints, resulting in the failure of this type of passive knee joint assist state to effectively match the gait, and this type of constant stiffness assist device is not suitable for use in people with individual differences.

[0004] Therefore, how to provide a compact, lightweight clutch-type muscle-mimicking assist device with adjustable knee joint stiffness is a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, the present invention provides a clutch-type muscle-mimicking assist device with adjustable knee joint stiffness, aiming to solve one of the problems in the above-mentioned background technology and achieve a compact and lightweight structure.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A clutch-type muscle-like power-assisting device with adjustable knee joint stiffness, comprising:

[0008] A knee joint booster assembly, the knee joint booster assembly comprising a fixed plate, a variable stiffness energy storage mechanism, a clutch mechanism and an oil-free bearing, the variable stiffness energy storage mechanism and the clutch mechanism are both arranged in the fixed plate, the variable stiffness energy storage mechanism and the clutch mechanism are connected by a sliding connection block, and the oil-free bearing is arranged between the fixed plate and the clutch mechanism;

[0009] The fixing assembly comprises a thigh connecting rod and a calf connecting rod, wherein the thigh connecting rod is connected to the fixing plate, and the calf connecting rod is connected to the clutch mechanism. Both the thigh connecting rod and the calf connecting rod are provided with a fixing belt and an adjusting belt, and the two ends of the fixing belt and the adjusting belt are enclosed and connected.

[0010] Furthermore, the variable stiffness energy storage mechanism includes an adjustable crank, an adjusting handle, an embossed screw, a connecting seat and a sliding rod, the adjustable crank is connected to the fixed disk, the adjusting handle, the embossed screw and the connecting rod are all connected to the adjustable crank, the adjustable crank is connected to the connecting seat through a connecting rod, the connecting seat is threadedly connected to the sliding rod, a spring is sleeved on the sliding rod, two ends of the spring are respectively in contact with the connecting seat and the sliding connecting block, and the sliding connecting block cooperates with the sliding rod to form a moving pair.

[0011] Furthermore, the adjustable crank is connected to the fixed plate through screws and nuts, a spacer is provided between the adjustable crank and the screw, the connecting rod is connected to the adjustable crank through the screws and nuts, the adjusting handle and the embossed screw are threadedly connected to the adjustable crank, and the connecting seat is fixedly connected to the connecting rod through the screws and nuts.

[0012] Furthermore, the clutch mechanism includes a ratchet, a fixed seat and a tooth block, the ratchet is connected to the calf connecting rod, the fixed seat and the tooth block are both located inside the ratchet, the fixed seat is connected to the fixed disk, the tooth block fits against the inner side of the ratchet, the tooth block is connected to the fixed seat through a tension spring, the tooth block and the sliding connecting block form a rotating pair, and the oil-free bearing is arranged between the fixed disk and the ratchet.

[0013] Furthermore, the fixing seat is connected to the fixing plate via the screw, one end of the tension spring is connected to the tooth block via the screw, and the other end of the tension spring is fixedly connected to the fixing seat via the screw.

[0014] Furthermore, a hinge is provided at one end of the fixing belt and the adjusting belt close to the fixing plate, and the hinge is arranged between the fixing belt and the adjusting belt.

[0015] It can be seen from the above technical scheme that, compared with the prior art, the present invention discloses a clutch-type muscle-like assisting device with adjustable variable stiffness of the knee joint, which realizes energy recovery and compliant impedance of large-angle flexion of the knee joint in the "closed" state through the clutch mechanism, and realizes the assisting effect of increasing the weight of the human body in the "disconnected" state when the knee joint is extended; different from the existing active knee joint assisting device, the assisting device is a passive mechanism with the characteristics of compact structure and lightweight, and based on the variable stiffness energy storage mechanism and the calf connecting rod, the variable stiffness functional characteristics of the energy device during the assisting period can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of a clutch-type muscle-mimicking power-assisting device with adjustable knee joint stiffness provided by the present invention;

[0018] Figure 2 A three-dimensional assembly diagram of the knee joint power-assisting assembly provided by the present invention;

[0019] Figure 3 A three-dimensional assembly diagram of the variable stiffness energy storage mechanism provided by the present invention;

[0020] Figure 4 This is a schematic structural diagram of the clutch mechanism provided by the present invention.

[0021] Among them: 1 is the knee joint assist component; 2 is the thigh connecting rod; 3 is the hinge; 4 is the adjustment belt; 5 is the fixing belt; 6 is the calf connecting rod;

[0022] 11 is a fixed plate; 12 is a variable stiffness energy storage mechanism; 13 is a sliding connection block; 14 is a clutch mechanism; 15 is an oil-free bearing;

[0023] 121 is an adjustable crank; 122 is a spring; 123 is a slide rod; 124 is a connecting seat; 125 is a connecting rod; 126 is an adjustment handle; 127 is an embossed screw; 128 is a screw; 129 is a spacer; 130 is a nut;

[0024] 141 is a ratchet; 142 is a fixing seat; 143 is a tension spring; 144 is a tooth block; 145 is a tooth block screw. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figure 1-4 The embodiment of the present invention discloses a clutch-type muscle-like assisting device with adjustable knee joint stiffness, comprising:

[0027] A knee joint booster assembly 1, the knee joint booster assembly 1 comprises a fixed plate 11, a variable stiffness energy storage mechanism 12, a clutch mechanism 14 and an oil-free bearing 15, the variable stiffness energy storage mechanism 12 and the clutch mechanism 14 are both arranged in the fixed plate 11, the variable stiffness energy storage mechanism 12 and the clutch mechanism 14 are connected by a sliding connection block 13, and the oil-free bearing 15 is arranged between the fixed plate 11 and the clutch mechanism 14;

[0028] The fixing assembly includes a thigh connecting rod 2 and a calf connecting rod 6. The thigh connecting rod 2 is connected to a fixing plate 11, and the calf connecting rod 6 is connected to a clutch mechanism 14. Both the thigh connecting rod 2 and the calf connecting rod 6 are provided with a fixing belt 5 and an adjusting belt 4. The two ends of the fixing belt 5 and the adjusting belt 4 are enclosed and connected; the adjusting belt 4 and the fixing belt 5 can realize the tightness of the thigh or calf in the form of a buckle.

[0029] In this embodiment, the variable stiffness energy storage mechanism 12 includes an adjustable crank 121, an adjusting handle 126, an embossed screw 127, a connecting seat 124 and a sliding rod 123. The adjustable crank 121 is connected to the fixed disk 11, and the adjusting handle 126, the embossed screw 127 and the connecting rod 125 are all connected to the adjustable crank 121. The adjustable crank 121 is connected to the connecting seat 124 through the connecting rod 125. The connecting seat 124 is threadedly connected to the sliding rod 123. A spring 122 is sleeved on the sliding rod 123. The two ends of the spring 122 are respectively in contact with the connecting seat 124 and the sliding connecting block 13. The sliding connecting block 13 cooperates with the sliding rod 123 to form a moving pair.

[0030] In this embodiment, the adjustable crank 121 is connected to the fixed plate 11 through a screw 128 and a nut 129, a spacer sleeve 130 is provided between the adjustable crank 121 and the screw 128, the connecting rod 125 is connected to the adjustable crank 121 through the screw 128 and the nut 129, the adjusting handle 126 and the embossed screw 127 are threadedly connected to the adjustable crank 121, and the connecting seat 124 is fixedly connected to the connecting rod 125 through the screw 128 and the nut 129.

[0031] In this embodiment, the clutch mechanism 14 includes a ratchet 141, a fixed seat 142 and a tooth block 144. The ratchet 141 is connected to the calf connecting rod 6. The fixed seat 142 and the tooth block 144 are both located in the ratchet 141. The fixed seat 142 is connected to the fixed plate 11. The tooth block 144 fits the inner side of the ratchet 141. The tooth block 144 is connected to the fixed seat 142 through a tension spring 143. The tooth block 144 forms a rotating pair with the sliding connecting block 13. One end of the tooth block 144 is limited in axial movement by a tooth block screw 145. An oil-free bearing 15 is arranged between the fixed plate 11 and the ratchet 141; the knee flexion and extension movement function between the thigh connecting rod 2 and the calf connecting rod 6 is realized by the frictionless rotation of the ratchet 141 relative to the fixed plate 11; and the oil-free bearing 15 is arranged between the fixed plate 11 and the ratchet 141, so that the ratchet 141 can achieve frictionless rotation relative to the fixed plate 11.

[0032] In this embodiment, the fixing seat 142 is connected to the fixing plate 11 via a screw 128 , one end of the tension spring 143 is connected to the tooth block 144 via the screw 128 , and the other end of the tension spring 143 is fixedly connected to the fixing seat 142 via the screw 128 .

[0033] In this embodiment, hinges are provided at one end of the fixing belt 5 and the adjusting belt 4 close to the fixing plate 11 , and the hinges are arranged between the fixing belt 5 and the adjusting belt 4 .

[0034] In addition, in this embodiment, a light hole is provided on the fixing plate 11 , and the embossed screw 127 is threadedly connected to the adjustable crank 121 through the light hole on the fixing plate 11 .

[0035] Specific use principle

[0036] The adjustment belt 4 and the fixing belt 5 are arranged in a buckle form to realize the elastic binding of the thigh or calf;

[0037] The flexion and extension movement of the knee joint between the thigh link 2 and the shank link 6 is achieved by frictionless rotation of the ratchet 141 relative to the fixed plate 11;

[0038] When the shank link 6 performs knee flexion (counterclockwise) relative to the thigh link 2, the ratchet 141 rotates with the shank link 6. Due to the action of the tension spring 143, the ratchet 141 and the tooth block 144 fit tightly together, causing the teeth of the ratchet 141 to move obliquely upward against the tooth block 144, and then the tooth block 144 drives the sliding connection block 13 to move obliquely upward along the slide rod 123. As the knee flexion angle increases, the sliding connection block 13 compresses the spring 122 to achieve functions such as energy recovery and compliant impedance.

[0039] When the knee joint is stretched quickly (clockwise), the tooth block 144 fits tightly with the ratchet 141 and moves along the tangential direction. The tooth block 144 drives the sliding connection block 13 to quickly return to its original position, and the spring 122 releases energy to assist the joint stretching;

[0040] The energy recovery and assistance of the knee joint assisting device have good knee-like characteristics in terms of motion dynamics;

[0041] The embossed screw 127 is loosened, and the adjustment handle 126 is turned clockwise. The embossed screw 127 is fixedly connected to the adjustable crank 121 at the appropriate position by threads, so that the multi-stage variable stiffness characteristics can be adjusted, and the power assist device can be adapted to individual differences and a wide range of application scenarios.

[0042] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0043] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A clutch-type muscle-like assisting device with adjustable knee joint stiffness, characterized in that: include: A knee joint booster assembly, the knee joint booster assembly comprising a fixed plate, a variable stiffness energy storage mechanism, a clutch mechanism and an oil-free bearing, the variable stiffness energy storage mechanism and the clutch mechanism are both arranged in the fixed plate, the variable stiffness energy storage mechanism and the clutch mechanism are connected by a sliding connection block, and the oil-free bearing is arranged between the fixed plate and the clutch mechanism; A fixing assembly, comprising a thigh connecting rod and a calf connecting rod, wherein the thigh connecting rod is connected to the fixing plate, the calf connecting rod is connected to the clutch mechanism, and fixing parts are arranged on the thigh connecting rod and the calf connecting rod; The variable stiffness energy storage mechanism comprises an adjustable crank, an adjusting handle, an embossed screw, a connecting seat and a sliding rod, wherein the adjustable crank is connected to the fixed disk, the adjusting handle, the embossed screw and the connecting rod are all connected to the adjustable crank, the adjustable crank is connected to the connecting seat via a connecting rod, the connecting seat is threadedly connected to the sliding rod, a spring is sleeved on the sliding rod, two ends of the spring are respectively in contact with the connecting seat and the sliding connecting block, and the sliding connecting block cooperates with the sliding rod to form a moving pair; The clutch mechanism includes a ratchet, a fixed seat and a tooth block, the ratchet is connected to the calf connecting rod, the fixed seat and the tooth block are both located in the ratchet, the fixed seat is connected to the fixed disk, the tooth block fits the inner side of the ratchet, the tooth block is connected to the fixed seat through a tension spring, the tooth block and the sliding connecting block form a rotating pair, one end of the tooth block is limited in axial movement by a tooth block screw, and the oil-free bearing is arranged between the fixed disk and the ratchet.

2. A clutch-type muscle-like assisting device with adjustable knee joint stiffness according to claim 1, characterized in that: The adjustable crank is connected to the fixed plate through screws and nuts, a spacer is provided between the adjustable crank and the screw, the connecting rod is connected to the adjustable crank through the screws and nuts, the adjusting handle and the embossed screw are connected to the adjustable crank through threads, and the connecting seat is fixedly connected to the connecting rod through the screws and nuts.

3. The clutch-type muscle-like assisting device with adjustable knee joint stiffness according to claim 1, characterized in that: The fixing seat is connected to the fixing plate through the screw, one end of the tension spring is connected to the tooth block through the screw, and the other end of the tension spring is fixedly connected to the fixing seat through the screw.

4. The clutch-type muscle-like assisting device with adjustable knee joint stiffness according to claim 1, characterized in that: The fixing member comprises a fixing belt and an adjusting belt, and two ends of the fixing belt and the adjusting belt are connected by buckles.

5. A clutch-type muscle-like assisting device with adjustable knee joint stiffness according to claim 4, characterized in that: The fixing belt and the adjusting belt are provided with hinges at one end close to the fixing plate, and the hinges are arranged between the fixing belt and the adjusting belt.

6. A clutch-type muscle-like assisting device with adjustable knee joint stiffness according to claim 2, characterized in that: A light hole is arranged on the fixing plate, and the embossed screw passes through the light hole on the fixing plate and is connected with the adjustable crank by thread.

7. The clutch-type muscle-like assisting device with adjustable knee joint stiffness according to claim 4, characterized in that: The adjusting belt and the fixing belt are connected in a buckle form so that the enclosed size can be adjusted.

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