Knee joint assisting device

Abstract

The invention provides knee joint power assisting equipment, and relates to the technical field of rehabilitation equipment, and the knee joint power assisting equipment comprises a thigh support, a shank support, a myoelectricity assembly, a power assisting mechanism, a sensor and a controller; the shank support is rotationally connected with the thigh support, and the myoelectricity assembly is used for obtaining myoelectricity signals of muscle force; the power-assisted mechanism and the sensor are both arranged between the shank support and the thigh support, the power-assisted mechanism has a one-way power-assisted state for limiting the thigh support to rotate close to the shank support in a one-way mode and a two-way power-assisted state for cancelling limitation on the thigh support, and the sensor is used for obtaining an angle signal of rotation of the shank support relative to the thigh support; the controller is used for controlling the power assisting mechanism to be switched between a one-way power assisting state and a two-way power assisting state according to the angle signals and the electromyographic signals. According to the knee joint power assisting device, the power assisting mechanism can be switched to a proper state at a proper time, accurate power assisting is provided, and the use experience of a user is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and in particular to a knee joint assisting device. Background Art

[0002] For hemiplegic patients and people with weak knee joint function, many patients find it difficult to complete sitting and standing movements. Due to weak knees, patients need assistance from others when sitting and standing. Protecting and assisting the knee joint can effectively help such people restore their ability to walk and improve the smooth progress of their daily activities.

[0003] Existing passive knee joint assist devices provide assistance to the knee joint through energy storage devices such as springs. However, such devices cannot accurately match the patient's movements, and the energy storage device is always in an energy storage or non-energy storage state. When sitting, the energy storage device may put the patient's knee joint in an assisting straightening state, causing the flexed knee joint to always bear external force, which is not conducive to the patient's comfortable use in a sitting position.

[0004] Therefore, for knee joint assistance devices that require sitting and standing assistance, it is particularly important to be able to provide accurate assistance at critical moments. Summary of the invention

[0005] The purpose of the present invention is to provide a knee joint assist device, which can enable the assist mechanism to switch to a suitable state at a suitable time, provide precise assist, and optimize the user experience.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a knee joint power-assisting device, comprising a thigh support, a calf support, an electromyographic component, a power-assisting mechanism, a sensor and a controller;

[0008] The calf support is rotatably connected to the thigh support, the myoelectric component is connected to the calf support and / or the thigh support, and the myoelectric component is used to obtain myoelectric signals of muscle force;

[0009] The power-assisting mechanism and the sensor are both arranged between the calf support and the thigh support, the power-assisting mechanism has a one-way power-assisting state for limiting the thigh support to rotate in one direction close to the calf support and a two-way power-assisting state for canceling the restriction on the thigh support, and the sensor is used to obtain an angle signal of the calf support relative to the thigh support;

[0010] The myoelectric component, the sensor and the power-assisting mechanism are all connected to the controller, and the controller is used to control the power-assisting mechanism to switch between the unidirectional power-assisting state and the bidirectional power-assisting state according to the angle signal and the myoelectric signal.

[0011] Furthermore, when the thigh support rotates in a direction gradually approaching the calf support and the angle exceeds a first threshold, the controller is also used to control the myoelectric component to obtain the myoelectric signal of muscle force according to the angle signal and to control the power assist mechanism to switch from the bidirectional power assist state to the unidirectional power assist state.

[0012] Furthermore, when the rotation angle exceeds a first threshold and the patient's muscles exert force to rotate the thigh support in a direction gradually away from the calf support, the controller is used to control the power assist mechanism to switch from the unidirectional power assist state to the bidirectional power assist state according to the angle signal and the electromyographic signal.

[0013] Further, the power-assisting mechanism includes a power-assisting elastic member and a one-way locking assembly, wherein the power-assisting elastic member is used to continuously apply power to the calf support and the thigh support, and the one-way locking assembly has a first position for limiting the thigh support to rotate in one direction close to the calf support and a second position for canceling the restriction on the thigh support;

[0014] When the one-way locking assembly is in the first position, the power-assisting mechanism is in the one-way power-assisting state; when the one-way locking assembly is in the second position, the power-assisting mechanism is in the two-way power-assisting state.

[0015] Furthermore, the power-assisting mechanism further includes a swinging member, a transmission assembly, a ratchet and a fixed plate;

[0016] The swing member is fixedly connected to the transmission assembly, and the transmission assembly is transmission-connected between the calf support and the thigh support, and the transmission assembly is used to drive the swing member to follow the thigh support and rotate relative to the calf support;

[0017] The boosting elastic member is arranged between the swinging member and the calf support;

[0018] The ratchet and the fixed plate are rotationally matched, and the ratchet and the thigh support are fixedly connected, the fixed plate and the calf support are fixedly connected, the one-way locking component is arranged on the fixed plate, and the one-way locking component includes a pawl with adjustable position; when the one-way locking component is in the first working position, the pawl cooperates with the ratchet; when the one-way locking component is in the second working position, the pawl cancels the cooperation with the ratchet.

[0019] Furthermore, the one-way locking assembly also includes a driver, a mounting seat and a resetting elastic member;

[0020] The fixing plate is concavely provided with a guide groove, and the mounting seat is slidably matched with the guide groove;

[0021] The driver is mounted on the fixed plate and connected to the mounting seat to drive the mounting seat to slide relative to the guide groove;

[0022] The pawl is rotatably connected to the mounting seat, and the resetting elastic member is arranged between the pawl and the mounting seat.

[0023] Furthermore, a limit assembly is provided between the thigh support and the calf support, and the limit assembly includes a limit surface provided on one of the thigh support and the calf support, and also includes a limit block provided on the other, and the limit surface is used to limit the rotation angle of the limit block.

[0024] Furthermore, the myoelectric component includes a thigh myoelectric patch and a calf myoelectric patch, the thigh myoelectric patch is connected to the thigh bracket, and the calf myoelectric patch is connected to the calf bracket.

[0025] Furthermore, it also includes a wearing sleeve, which is connected to the thigh support and the calf support, and forms a space for leg wearing between the thigh support and the calf support.

[0026] Furthermore, it also includes a thigh strap, a calf strap and a knee pad strap, and the thigh strap, the calf strap and the knee pad strap are all tied to the outer surface of the wearing sleeve.

[0027] The knee joint assist device provided by the present invention can produce the following beneficial effects:

[0028] When the knee joint assist device provided by the present invention is in use, the assist of the assist mechanism can be transmitted to the patient's thigh and calf through the thigh support and the calf support, providing assist support for the patient when the patient changes from a standing position to a sitting position, and providing assist for the patient to stand up when the patient changes from a sitting position to a standing position. The knee joint assist device provided by the present invention is provided with an electromyographic component, a sensor and a controller, and the controller can control the assist mechanism to switch between a unidirectional assist state and a bidirectional assist state according to the angle signal detected by the sensor and the electromyographic signal detected by the electromyographic component. For example, when the patient is in a sitting position, the patient's thigh and calf are stationary at a certain bending angle, the controller controls the assist mechanism to be in a unidirectional assist state, and the thigh support is restricted to rotate in one direction close to the calf support. The patient does not need to always resist the assist of the assist mechanism to maintain the bending state, which is conducive to the patient's comfortable use in a sitting position.

[0029] Compared with the prior art, the knee joint assist device provided by the present invention performs dual detection of angle signals and electromyographic signals, so that the assist mechanism can switch to the appropriate state at the appropriate time, provide precise assist, and optimize the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A schematic diagram of a partial three-dimensional structure of a knee joint assist device provided by an embodiment of the present invention;

[0032] Figure 2 An exploded view of the rotational fit of the thigh support and the calf support provided in an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the three-dimensional structure of the rotational cooperation between the thigh support and the calf support provided in an embodiment of the present invention;

[0034] Figure 4 An exploded view of the mating position of the ratchet, the fixed disk and the one-way locking assembly provided in an embodiment of the present invention;

[0035] Figure 5 A partial cross-sectional view of the mating position of the ratchet, the fixed disk and the one-way locking assembly provided in an embodiment of the present invention Figure 1 ;

[0036] Figure 6 A schematic cross-sectional view of the rotational fit of a thigh support and a calf support provided in an embodiment of the present invention;

[0037] Figure 7 A schematic longitudinal section diagram of the rotational fit of a thigh support and a calf support provided in an embodiment of the present invention;

[0038] Figure 8 The myoelectric component, controller, sensor and Figure 7 Schematic diagram of the control principle when the A position is coordinated;

[0039] Fig. 9 This is a schematic diagram of the distribution of leg muscle groups in the human body;

[0040] Fig.10 A schematic diagram of the three-dimensional structure of a knee joint assist device provided by an embodiment of the present invention;

[0041] Fig.11 A schematic diagram of the three-dimensional structure of the knee joint assist device provided by an embodiment of the present invention when worn.

[0042] Icons: 1-thigh support; 11-limiting surface; 12-main shaft; 13-planetary gear shaft; 2-calf support; 21-limiting block; 22-internal gear; 3-electromyographic component; 31-thigh electromyographic patch; 32-calf electromyographic patch; 4-power-assisting mechanism; 41-power-assisting elastic member; 42-one-way locking component; 421-ratchet; 422-driver; 423-mounting seat; 424-reset elastic member; 43-swinging member; 44-transmission component; 441-planetary gear set; 442-center gear; 45-ratchet; 46-fixed plate; 461-guide groove; 47-housing; 471-status indicator light; 472-switch; 5-controller; 6-sensor; 7-thigh strap; 8-calf strap; 9-knee strap; 10-hamstring muscle group; 011-gastrocnemius muscle group; 012-wearing sleeve. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0044] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0047] This embodiment provides a knee joint assist device, such as Figure 1and Figure 2 As shown, it includes a thigh support 1, a calf support 2, an electromyographic component 3, a power assist mechanism 4, a controller 5 and a sensor 6;

[0048] The calf support 2 is rotatably connected to the thigh support 1, the myoelectric component 3 is connected to the calf support 2 and / or the thigh support 1, and the myoelectric component 3 is used to obtain the myoelectric signal of muscle force;

[0049] The power-assist mechanism 4 and the sensor 6 are both arranged between the calf support 2 and the thigh support 1. The power-assist mechanism 4 has a one-way power-assist state for limiting the thigh support 1 to rotate in one direction close to the calf support 2 and a two-way power-assist state for canceling the restriction on the thigh support 1. The sensor 6 is used to obtain the angle signal of the calf support 2 relative to the thigh support 1.

[0050] The myoelectric component 3, the sensor 6 and the power-assisting mechanism 4 are all connected to the controller 5. The controller 5 is used to control the power-assisting mechanism 4 to switch between a unidirectional power-assisting state and a bidirectional power-assisting state according to the angle signal and the myoelectric signal.

[0051] In the knee joint assist device provided in the above-mentioned embodiment, the assisting force of the assisting mechanism 4 can be transmitted to the patient's thigh and calf through the thigh support 1 and the calf support 2. During use, the patient is not always assisted by the assisting mechanism 4. The controller 5 can control the assisting mechanism 4 to switch between a one-way assisting state and a two-way assisting state according to the angle signal and the electromyographic signal, so that the assisting mechanism 4 does not always apply assisting force to the patient's thigh and calf to straighten the legs through the thigh support 1 and the calf support 2, which is convenient for the patient to keep the legs bent in a sitting state, and the legs do not need to be always subjected to external force, which is conducive to the patient's comfortable use in a sitting state.

[0052] In an optional embodiment, the patient's upright state is taken as the initial point. At this time, the rotation angle of the thigh support 1 relative to the calf support 2 is 0°. When the rotation angle of the thigh support 1 in the direction of gradually approaching the calf support 2 exceeds a first threshold, the controller 5 is also used to control the myoelectric component 3 to obtain the myoelectric signal of muscle force according to the angle signal and control the power assist mechanism 4 to switch from a bidirectional power assist state to a unidirectional power assist state.

[0053] In the above embodiment, the working state of the myoelectric component 3 and the assisting state of the assisting mechanism 4 can be controlled according to the rotation angle of the thigh support 1 relative to the calf support 2, so that the device is more energy-efficient and the patient can walk more smoothly when using the device. For example: when the rotation angle of the thigh support 1 in the direction gradually approaching the calf support 2 is less than the first threshold, the myoelectric component 3 may not acquire the myoelectric signal, which is more energy-efficient, and the power-assisting mechanism 4 is in a two-way power-assisting state. Within this angle, the patient can walk upright; when the rotation angle of the thigh support 1 in the direction gradually approaching the calf support 2 exceeds the first threshold, it can be regarded as the patient is ready to change from a standing position to a sitting position. The controller 5 can control the myoelectric component 3 to acquire the myoelectric signal of muscle force and control the power-assisting mechanism 4 to switch from a two-way power-assisting state to a one-way power-assisting state according to the angle signal. At this time, the thigh support 1 cannot rotate in the direction away from the calf support 2. In the relaxed muscle state, the power-assisting mechanism applies to the thigh support 1 and the calf support 2 to straighten the two, which will not directly act on the patient's thigh and calf. The patient does not need to always resist the power-assisting mechanism to keep the legs bent, which is convenient for the patient to keep the legs bent when sitting, and is conducive to the patient's comfortable use in a sitting position.

[0054] Therefore, the setting of the above-mentioned first threshold preferably satisfies that the rotation angle of the thigh support 1 relative to the calf support 2 is less than the first threshold when the person is walking upright, and the rotation angle of the thigh support 1 relative to the calf support 2 is greater than the first threshold when the patient is sitting. The first threshold can be selected between 45° and 55°, specifically 45°, 48°, 50°, 52° or 55°.

[0055] In daily life, the active angle of the knee joint in a sitting position usually reaches 80-90°, while when walking, the active angle of the knee joint is maintained between 0-40°. Therefore, in a preferred embodiment, the first threshold is 50°.

[0056] It is set that the maximum rotation angle of the thigh support 1 relative to the calf support 2 is 100°. The above angle can meet the movement requirements of the knee joint in a sitting position. Then, when the knee joint is in the range of 0-50°, the myoelectric component 3 does not acquire the myoelectric signal, and the power-assisting mechanism 4 is in a two-way power-assisting state; in the range of 50-100°, the myoelectric component 3 acquires the myoelectric signal, and the power-assisting mechanism 4 is in a unidirectional power-assisting state.

[0057] Based on the above embodiments, when the rotation angle of the thigh support 1 relative to the calf support 2 exceeds a first threshold value, and the patient's muscles exert force to rotate the thigh support 1 in a direction gradually away from the calf support 2, that is, when the patient exerts muscle force to prepare to get up, the controller 5 controls the power-assisting mechanism 4 to switch from a unidirectional power-assisting state to a bidirectional power-assisting state according to the angle signal and the electromyographic signal.

[0058] When the patient is in a sitting position, the muscles do not exert force or basically do not exert force, and the controller 5 controls the power-assisting mechanism 4 to remain in a unidirectional power-assisting state. When the patient's muscles exert force to prepare to change from a sitting position to a standing position, since the power-assisting mechanism 4 is in a unidirectional power-assisting state, the thigh support 1 cannot rotate in a direction away from the calf support 2, and the angle signal remains unchanged. The controller 5 controls the power-assisting mechanism 4 to switch from the unidirectional power-assisting state to the bidirectional power-assisting state according to the above-mentioned angle signal and the electromyographic signal detected by the electromyographic component 3 in the force-exerting state. Subsequently, the power-assisting mechanism 4 allows the thigh support 1 to rotate in a direction gradually away from the calf support 2, thereby helping the patient to stand up.

[0059] In the above embodiment, when the thigh support 1 rotates in the direction gradually approaching the calf support 2 and the angle is within the range of 50-100°, the controller 5 will not control the power-assisting mechanism 4 to switch from the one-way power-assisting state to the two-way power-assisting state when the angle continues to change. Only when the knee joint angle is stable and the electromyographic signal recognizes the patient's force, the power-assisting mechanism 4 will be controlled to switch from the one-way power-assisting state to the two-way power-assisting state, ensuring that the power-assisting mechanism 4 can be started at the right time, providing accurate power assistance and optimizing the user experience.

[0060] When the patient changes from a sitting position to a standing position, when the thigh support 1 rotates in a direction gradually away from the calf support 2 and the angle exceeds a certain value, the controller 5 is also used to control the myoelectric component 3 to stop acquiring the myoelectric signals of muscle force according to the angle signal, so that the myoelectric component 3 stops acquiring the myoelectric signals when the patient walks, thereby saving more electricity.

[0061] The above angle value can be set according to actual needs, and can be 30°-60°, specifically 30°, 40°, 50° or 60°.

[0062] Among them, the sensor 6 may include an absolute value encoder, which may be a magnetic encoder or an optical encoder, and can read the movement angle of the thigh support 1 relative to the calf support 2 in real time.

[0063] The structure of the assist mechanism 4 is described in detail below:

[0064] In an optional embodiment, if Figure 2 and Figure 4 As shown, the power-assisting mechanism 4 includes a power-assisting elastic member 41 and a one-way locking assembly 42, wherein:

[0065] The power-assisting elastic member 41 is used to continuously apply power-assisting force to the calf support 2 and the thigh support 1, and the power-assisting force may be a thrust force that prevents the thigh support 1 from rotating in a direction close to the calf support 2 and pushes the thigh support 1 to rotate in a direction away from the calf support 2, or a pulling force that prevents the thigh support 1 from rotating in a direction close to the calf support 2 and pulls the thigh support 1 to rotate in a direction away from the calf support 2;

[0066] The one-way locking assembly 42 has a first position for limiting the thigh support 1 to rotate in one direction close to the calf support 2 and a second position for canceling the restriction on the thigh support 1.

[0067] When in use, the power-assisting elastic member 41 continuously applies power to the calf support 2 and the thigh support 1. When the one-way locking component 42 is in the first position, the power-assisting mechanism 4 is in a one-way power-assisting state, and the thigh support 1 can rotate unidirectionally close to the calf support 2. When the one-way locking component 42 is in the second position, the power-assisting mechanism 4 is in a two-way power-assisting state, and the thigh support 1 can rotate close to the calf support 2 or away from the calf support 2.

[0068] Existing active knee joint assist devices usually provide assistance to the knee joint through a motor, and the assistance is driven by the motor. However, patients with limb disabilities often find it difficult to complete a normal gait. In addition, the support of the knee joint is crucial when standing, and the knee joint requires a large torque when walking. Therefore, the required assist motor is large in size and heavy in weight, and tying it to the patient's leg may increase the burden.

[0069] The above embodiment provides assistance to the patient through the assisting elastic member 41. Compared with using an assisting motor, it is small in size and light in weight, and the burden on the patient during use is smaller. At the same time, it can solve the problem that the patient needs to always bear external force when sitting.

[0070] In an optional embodiment, if Figures 2 to 5 As shown, the power-assisting mechanism 4 also includes a swinging member 43, a transmission assembly 44, a ratchet 45 and a fixed plate 46, wherein: the swinging member 43 is fixedly connected to the transmission assembly 44, the transmission assembly 44 is transmission-connected between the calf support 2 and the thigh support 1, and the transmission assembly 44 is used to drive the swinging member 43 to follow the thigh support 1 to rotate relative to the calf support 2; the power-assisting elastic member 41 is arranged between the swinging member 43 and the calf support 2; the ratchet 45 and the fixed plate 46 are rotationally matched, and the ratchet 45 is fixedly connected to the thigh support 1 by a connecting member such as a screw, and the fixed plate 46 is fixedly connected to the calf support 2 by a screw or a colloid, and the one-way locking assembly 42 is arranged on the fixed plate 46, and the one-way locking assembly 42 includes a ratchet 421 with an adjustable position.

[0071] like Figure 3As shown, when the thigh support 1 rotates counterclockwise relative to the calf support 2, and the angle is less than the first threshold, the patient is ready to change from a standing position to a sitting position, and the swing member 43 follows the thigh support 1 to rotate counterclockwise relative to the calf support 2, and the swing member 43 stretches the assisting elastic member 41, and the assisting elastic member 41 provides assisting support for the patient to sit down, and the one-way locking component 42 is in the second position, and the pawl 421 cancels the cooperation with the ratchet 45; when the angle is greater than the first threshold, the controller 5 controls the electromyographic component 3 to obtain the electromyographic signal of the muscle force and controls the one-way locking component according to the angle signal. 42 is in the first position, and the pawl 421 cooperates with the ratchet 45; when the angle is greater than the first threshold, and the patient's muscles exert force to make the thigh support 1 rotate in the direction gradually away from the calf support 2, that is, when the patient exerts muscle force to prepare to get up, since the one-way locking component 42 is in the first position at this time, the thigh support 1 cannot rotate in the direction away from the calf support 2, and the angle signal remains unchanged. The controller 5 controls the one-way locking component 42 to switch from the first position to the second position according to the above-mentioned angle signal and electromyographic signal, and the pawl 421 cancels the cooperation with the ratchet 45, helping the patient to get up.

[0072] In the above embodiment, the direction of rotation of the thigh support 1 relative to the calf support 2 is limited by the one-way locking and releasing of the ratchet 45 and the fixed plate 46, so that the structure of the power-assisting mechanism 4 can be integrated into the end of the thigh support 1 and the calf support 2 for rotational cooperation, and the structure is more compact. On this basis, the coordination and cancellation of the coordination between the pawl 421 and the ratchet 45 are achieved by means of a position-adjustable pawl 421, which makes it easier to switch the power-assisting mechanism 4 between the two states and is easy to implement.

[0073] Among them, Figure 2 , Figure 3 and Figure 6 As shown, the transmission assembly 44 includes a planetary gear set 441 and a central gear 442. A main shaft 12 and a planetary gear shaft 13 arranged around the main shaft 12 are provided on one side of the end of the thigh support 1. The planetary gear set 441 is sleeved on the planetary gear shaft 13. The central gear 442 is connected to the swing member 43 through a spline and sleeved on the main shaft 12 together. A circle of internal gears 22 is provided on the side of the end of the calf support 2 facing the end of the thigh support 1. The internal gear 22 is meshed with the planetary gear set 441, and the planetary gear set 441 is meshed with the central gear 442.

[0074] When the thigh support 1 rotates, it drives the planetary gear set 441 to rotate, and the planetary gear set 441 further drives the central gear 442 to rotate. The central gear 442 then drives the swing member 43 to rotate relative to the calf support 2, thereby stretching the assisting elastic member 41 to store energy.

[0075] Specifically, the assisting elastic member 41 may include a coil spring, such as Figure 3As shown, the coil spring can be configured in plurality, a concave cavity is provided on the side of the end of the calf support 2 facing away from the thigh support 1, a first limit plate is provided in the concave cavity, the swing member 43 is rotatably configured in the concave cavity, the swing member 43 is provided with a second limit plate extending in a direction perpendicular to its own rotation axis, one end of the plurality of coil springs is connected to the first limit plate, and the other end is connected to the second limit plate, and the plurality of coil springs are distributed in sequence at intervals along a direction gradually away from the rotation axis of the swing member 43.

[0076] In addition, the ratchet 45 is fixedly connected to the side of the end of the thigh support 1 facing away from the calf support 2, and the fixing plate 46 is located on the side of the ratchet 45 facing away from the thigh support 1.

[0077] In an optional embodiment, if Figure 4 and Figure 5 As shown, the one-way locking assembly 42 also includes a driver 422, a mounting seat 423 and a reset elastic member 424; the fixed disk 46 is recessed with a guide groove 461, and the mounting seat 423 slidably cooperates with the guide groove 461; the driver 422 is installed on the fixed disk 46 and connected to the mounting seat 423 to drive the mounting seat 423 to slide relative to the guide groove 461; the pawl 421 is rotatably connected to the mounting seat 423, and the reset elastic member 424 is arranged between the pawl 421 and the mounting seat 423.

[0078] When using, Figure 7 and Figure 8 As shown, when the ratchet 45 rotates counterclockwise, the oblique teeth on the ratchet 45 overcome the elastic force of the reset elastic member 424 and move the pawl 421. At this time, the boost elastic member 41 is stretched; when the ratchet 45 rotates clockwise, the pawl 421 and the oblique teeth are stuck to each other, the boost elastic member 41 is compressed, and the pawl 421 and the structure on the mounting seat 423 are mutually limited, and the ratchet 45 cannot rotate at this time. When the patient walks, the sensor 6 identifies the patient's state, the controller 5 issues an instruction, and the driver 422 retracts the mounting seat 423 to move the pawl 421 away from the ratchet 45. When the patient sits down, the angle exceeds 50°, the sensor 6 identifies the state, the controller 5 issues an instruction, and the driver 422 pushes the mounting seat 423 out, so that the pawl 421 is moved. At this time, the elastic force of the boost elastic member 41 will not cause the ratchet 45 to rotate clockwise. When the patient sits firmly and wants to stand up, the muscles start to exert force, and the electromyographic signal is transmitted to the controller 5, which controls the driver 422 to retract the pawl 421, and the assisting elastic member 41 assists the knee joint to rotate and complete standing.

[0079] In the above embodiment, the guide groove 461 guides the movement of the mounting seat 423, thereby ensuring the stability of the movement of the mounting seat 423 and reducing the bending moment acting on the driver 422 when the pawl 421 and the ratchet 45 are locked.

[0080] The driver 422 is a micro electric push rod.

[0081] like Figure 2 As shown, the power assist mechanism 4 also includes a housing 47 , on which a status indicator light 471 and a switch 472 are provided. The status indicator light 471 is arranged around the switch 472 , and a controller 5 is installed inside the housing 47 , and the controller 5 is fixed on a fixed plate 46 .

[0082] In an optional embodiment, a limit assembly is provided between the thigh support 1 and the calf support 2, and the limit assembly is used to limit the movable angle of the thigh support 1 relative to the calf support 2 so that it conforms to the natural limit angle of the human body.

[0083] Specifically, Figure 1 As shown, the limiting assembly includes a limiting surface 11 arranged on one of the thigh support 1 and the calf support 2, and also includes a limiting block 21 arranged on the other one. The limiting surface 11 is used to limit the rotation angle of the limiting block 21.

[0084] During use, when the patient is in a standing position and the thigh is straightened relative to the calf, the limit block 21 is against the limit surface 11. In this state, the position of the thigh support 1 relative to the calf support 2 is limited by a mechanical hard limit to meet the patient's use requirements. At the same time, in this state, if the power-assisting mechanism 4 still retains a certain amount of power, the above-mentioned mechanical limit can replace the patient to resist the above-mentioned power, and the patient's calves and thighs are not subject to additional external forces, bringing a better user experience.

[0085] Specifically, Figure 1 As shown, the calf support 2 may include two oppositely disposed first support rods and two oppositely disposed second support rods of the thigh support 1. The two first support rods and the two second support rods are rotatably matched one by one, and the two first support rods are located on the inner side of the two second support rods.

[0086] Among them, a first support rod is provided with a limit block 21, and a second support rod rotatably matched with it has a protrusion, and the protrusion has a limit surface 11, and the sensor 6 can be arranged between the above-mentioned first support rod and the second support rod; another power-assisting mechanism 4 is provided between the ends of the first support rod and the second support rod, and the power-assisting mechanism 4 is integrated at the ends of the above-mentioned first support rod and the second support rod, which is convenient for patients to wear and has better equipment integration.

[0087] In an optional embodiment, the myoelectric component 3 includes at least one of a thigh myoelectric patch 31 and a calf myoelectric patch 32. Figure 1 As shown, the myoelectric component 3 includes a thigh myoelectric patch 31 and a calf myoelectric patch 32 . The thigh myoelectric patch 31 is connected to the thigh support 1 , and the calf myoelectric patch 32 is connected to the calf support 2 .

[0088] like Fig. 9As shown, the thigh EMG patch 31 can fit the hamstring muscle group 10 of the thigh, and the calf EMG patch 32 can fit the gastrocnemius muscle group 011 of the calf, which can be used to determine the switching state of the knee joint when the patient changes from a sitting position to a standing position.

[0089] In an optional embodiment, if Fig.10 and Fig.11 As shown, the knee joint assist device also includes a wearing sleeve 012, which is connected to the thigh support 1 and the calf support 2, and a space for wearing on the legs is formed between the wearing sleeve 012 and the thigh support 1 and the calf support 2.

[0090] When in use, the patient's legs can be worn through the wearing sleeve 012, which has a rod sleeve covering the outside of the first support rod and the second support rod. The wearing sleeve 012 may include a cushion made of a breathable and thin composite material that fits the skin and provides a comfortable wearing experience.

[0091] In an optional embodiment, if Fig.10 and Fig.11 As shown, the knee joint assist device also includes a thigh strap 7, a calf strap 8 and a knee pad strap 9, and the thigh strap 7, the calf strap 8 and the knee pad strap 9 are all tied to the outer surface of the wearing sleeve 012.

[0092] The thigh strap 7 and the calf strap 8 can firmly fix the device on the patient's leg, and the knee strap 9 is used to ensure the correct positioning of the knee joint and provide cushioning protection to prevent incorrect operation during wearing and sliding of the binding fabric.

[0093] The thigh strap 7 includes a thigh silicone pad, which is coated on the outside of the thigh electromyographic patch 31. The calf strap 8 includes a calf silicone pad, which is coated on the outside of the calf electromyographic patch 32. After the leg is worn, the entire device can be easily worn close to the body, making it convenient for users to wear clothes outside.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A knee joint assist device, characterized in that: It comprises a thigh support (1), a calf support (2), a myoelectric component (3), a power-assisting mechanism (4), a controller (5) and a sensor (6); The calf support (2) is rotatably connected to the thigh support (1), the myoelectric component (3) is connected to the calf support (2) and / or the thigh support (1), and the myoelectric component (3) is used to obtain myoelectric signals of muscle force; The power-assisting mechanism (4) and the sensor (6) are both arranged between the calf support (2) and the thigh support (1); the power-assisting mechanism (4) has a one-way power-assisting state for limiting the thigh support (1) to rotate in a one-way direction close to the calf support (2) and a two-way power-assisting state for canceling the restriction on the thigh support (1); the sensor (6) is used to obtain an angle signal of the rotation of the calf support (2) relative to the thigh support (1); The myoelectric component (3), the sensor (6) and the power-assisting mechanism (4) are all connected to the controller (5), and the controller (5) is used to control the power-assisting mechanism (4) to switch between the unidirectional power-assisting state and the bidirectional power-assisting state according to the angle signal and the myoelectric signal.

2. The knee joint assist device according to claim 1, characterized in that: When the thigh support (1) rotates in a direction gradually approaching the calf support (2) and the angle exceeds a first threshold, the controller (5) is also used to control the myoelectric component (3) to obtain the myoelectric signal of muscle force according to the angle signal and to control the power assist mechanism (4) to switch from the bidirectional power assist state to the unidirectional power assist state.

3. The knee joint assist device according to claim 2, characterized in that: When the rotation angle exceeds a first threshold value and the patient's muscles exert force to rotate the thigh support (1) in a direction gradually away from the calf support (2), the controller (5) is used to control the power-assisting mechanism (4) to switch from the unidirectional power-assisting state to the bidirectional power-assisting state according to the angle signal and the electromyographic signal.

4. The knee joint assist device according to claim 1, characterized in that: The power-assisting mechanism (4) comprises a power-assisting elastic member (41) and a one-way locking assembly (42), wherein the power-assisting elastic member (41) is used to continuously apply power-assisting force to the calf support (2) and the thigh support (1), and the one-way locking assembly (42) has a first position for limiting the thigh support (1) to rotate in a one-way direction close to the calf support (2) and a second position for canceling the restriction on the thigh support (1); When the one-way locking component (42) is in the first position, the power-assisting mechanism (4) is in the one-way power-assisting state; when the one-way locking component (42) is in the second position, the power-assisting mechanism (4) is in the two-way power-assisting state.

5. The knee joint assist device according to claim 4, characterized in that: The power-assisting mechanism (4) further comprises a swinging member (43), a transmission assembly (44), a ratchet wheel (45) and a fixed plate (46); The swing member (43) is fixedly connected to the transmission assembly (44), and the transmission assembly (44) is transmission-connected between the calf support (2) and the thigh support (1), and the transmission assembly (44) is used to drive the swing member (43) to follow the thigh support (1) to rotate relative to the calf support (2); The boosting elastic member (41) is arranged between the swing member (43) and the calf support (2); The ratchet (45) and the fixed plate (46) are rotatably matched, and the ratchet (45) and the thigh support (1) are fixedly connected, and the fixed plate (46) and the calf support (2) are fixedly connected, and the one-way locking component (42) is arranged on the fixed plate (46), and the one-way locking component (42) includes a pawl (421) with adjustable position; when the one-way locking component (42) is in the first working position, the pawl (421) cooperates with the ratchet (45); when the one-way locking component (42) is in the second working position, the pawl (421) cancels the cooperation with the ratchet (45).

6. The knee joint assist device according to claim 5, characterized in that: The one-way locking assembly (42) further comprises a driver (422), a mounting seat (423) and a resetting elastic member (424); The fixing plate (46) is recessed with a guide groove (461), and the mounting seat (423) is slidably matched with the guide groove (461); The driver (422) is mounted on the fixed plate (46) and connected to the mounting seat (423) to drive the mounting seat (423) to slide relative to the guide groove (461); The ratchet pawl (421) is rotatably connected to the mounting seat (423), and the resetting elastic member (424) is arranged between the ratchet pawl (421) and the mounting seat (423).

7. The knee joint assist device according to any one of claims 1 to 6, characterized in that: A limiting assembly is provided between the thigh support (1) and the calf support (2), and the limiting assembly includes a limiting surface (11) provided on one of the thigh support (1) and the calf support (2), and also includes a limiting block (21) provided on the other, and the limiting surface (11) is used to limit the rotation angle of the limiting block (21).

8. The knee joint assist device according to any one of claims 1 to 6, characterized in that: The myoelectric component (3) comprises a thigh myoelectric patch (31) and a calf myoelectric patch (32); the thigh myoelectric patch (31) is connected to the thigh support (1), and the calf myoelectric patch (32) is connected to the calf support (2).

9. The knee joint assist device according to any one of claims 1 to 6, characterized in that: It also includes a wearing sleeve (012), which is connected to the thigh support (1) and the calf support (2) and forms a space for wearing on the legs between the thigh support (1) and the calf support (2).

10. The knee joint assist device according to claim 9, characterized in that: It also includes a thigh strap (7), a calf strap (8) and a knee strap (9), wherein the thigh strap (7), the calf strap (8) and the knee strap (9) are all tied to the outer surface of the wearing sleeve (012).

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