Joint device

Abstract

An electric prosthetic leg (1) is provided with: a below-knee member (110); a above-knee member (120); a knee joint mechanism (130) that connects the below-knee member (110) and the above-knee member (120) so that the included angle between the two members can be changed; and an expansion / contraction device (200) that can expand and contract the included angle. The expansion and contraction device (200) is provided with a motor (M) and a transmission (T). A transmission (T) is provided with: a first transmission mechanism (T1) that transmits power from a motor (M) at a first gear ratio; and a second transmission mechanism (T2) that transmits power of the motor (M) at a second gear ratio different from the first gear ratio. The expansion / contraction device (200) is provided with: a first interrupting mechanism (210) for switching between the interruption and connection of the power in the first transmission mechanism (T1); and a second interrupting mechanism (220) that switches between power interruption and power connection in the second transmission mechanism (T2).

Description

Technical Field

[0001] The present invention relates to a joint device. Background Art

[0002] Conventionally, a joint device used to connect two components, equipped with a telescopic mechanism capable of changing the angle between the two components, is known. An example of such a joint device is a prosthetic leg for a knee joint. Patent Document 1 describes a sensor installed in the thigh socket of a prosthetic leg attached to an amputated leg to detect muscle contraction. Based on this sensor's detection information, the throttling level of a variable valve in a hydraulic cylinder that adjusts the resistance to flexion and extension of the knee joint is controlled.

[0003] Prior art literature

[0004] Patent Literature

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

[0006] Problems to be solved by the invention

[0007] Yet, in the artificial leg of patent document 1, even can produce the resistance of bending and stretching, can not produce the power of bending and stretching. Particularly, in order to go up stairs smoothly, need to stretch knee joint under the state of load effect.

[0008] The present invention provides a joint device capable of utilizing the power of a power source to stretch and bend a connection part.

[0009] Solutions to Problems

[0010] The present invention is a joint device comprising:

[0011] first component;

[0012] Second component;

[0013] a connecting portion connecting the first component and the second component in a manner capable of changing an angle between the first component and the second component; and

[0014] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0015] The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source.

[0016] The power transmission unit has:

[0017] a first power transmission path for transmitting the power at a first speed ratio; and

[0018] a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio,

[0019] The expansion and contraction device has:

[0020] a first intermittent mechanism that switches between disconnection and connection of power on the first power transmission path; and

[0021] The second intermittent mechanism switches between disconnection and connection of the power on the second power transmission path.

[0022] Effects of the Invention

[0023] According to the present invention, the connection portion can be extended and bent via the power transmission portion that transmits power from the power source. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a perspective view of an electric prosthetic leg 1 according to an embodiment of the present invention, viewed from an oblique rear side.

[0025] Figure 2 yes Figure 1 Side view of the electric prosthetic leg 1.

[0026] Figure 3 Can be carried on Figure 1 A perspective view of the expansion and contraction device 200 of the first embodiment of the electric prosthetic leg 1 is shown.

[0027] Figure 4 yes Figure 3 A cross-sectional view of the expansion and contraction device 200.

[0028] Figure 5 Is assembled Figure 3 sectional perspective view of the knee joint mechanism 130 of the electric prosthetic leg 1 with the expansion and contraction device 200 .

[0029] Figure 6 It is a cross-sectional view of the two-way clutch 280 .

[0030] Figure 7 It is a perspective view of the retainer 282 .

[0031] Figure 8 The figures show the operation of the operating mechanism 240. (A) shows the intermittent portion 212 and the intermittent portion 222 in the OFF state, (B) shows the intermittent portion 212 in the OFF state and the intermittent portion 222 in the ON state, and (C) shows the intermittent portion 212 in the ON state and the intermittent portion 222 in the OFF state.

[0032] Figure 9(A) is a cross-sectional view showing the intermittent portion 222 in the OFF state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0033] Figure 10 (A) is a cross-sectional view showing that the intermittent portion 222 is operated from the OFF state to the ON state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0034] Figure 11 (A) is a cross-sectional view showing the intermittent portion 222 in the forward rotation ON state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0035] Figure 12 (A) is a cross-sectional view showing the inversion ON state of the intermittent portion 222 , and (B) is a diagram showing the position of the operating lever 241 at this time.

[0036] Figure 13 (A) is a cross-sectional view showing that the intermittent portion 222 is operated from the ON state to the OFF state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0037] Figure 14 Can be carried on Figure 1 A perspective view of an expansion and contraction device 200A of a second embodiment of the electric prosthetic leg 1 is shown.

[0038] Figure 15 yes Figure 14 A cross-sectional view of the expansion and contraction device 200A.

[0039] Figure 16 This is a cross-sectional perspective view of the knee joint mechanism 130 of the electric prosthetic leg 1 to which the expansion and contraction device 200A according to the second embodiment is incorporated.

[0040] Figure 17 Can be carried on Figure 1 A perspective view of an expansion and contraction device 200B of a third embodiment of the electric prosthetic leg 1 is shown.

[0041] Figure 18 yes Figure 17 A cross-sectional view of the expansion and contraction device 200B.

[0042] Figure 19 yes Figure 18 An enlarged view of the planetary gear mechanism 260 in the expansion and contraction device 200B.

[0043] Figure 20 It is along Figure 19 A cross-sectional view along line BB.

[0044] Figure 21 1 is a diagram showing the motion of a user and an electric prosthetic leg when climbing stairs (stair climbing motion).

[0045] Figure 22 1 and 2 are diagrams showing the motions of a user and an electric prosthetic leg when walking on level ground (level ground walking motion). DETAILED DESCRIPTION

[0046] The following describes an electric prosthetic leg, which is one embodiment of the joint device of the present invention, with reference to the accompanying drawings. In the following description, the front-to-back, left-to-right, and up-to-down directions are defined with reference to the user of the electric prosthetic leg. In the accompanying drawings, the front of the electric prosthetic leg is represented as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0047] like Figure 1 As shown, the electric prosthetic leg 1 is a prosthetic leg that is mounted on the leg of a person without a knee. The prosthetic leg comprises: a below-knee member 110 located below the knee; an above-knee member 120 mounted on the thigh and located above the knee; a knee joint mechanism 130 that connects the below-knee member 110 and the above-knee member 120 so that the angle between them can be changed; an expansion and contraction device 200 that can expand and contract the angle between the below-knee member 110 and the above-knee member 120; and a battery B that supplies power to the expansion and contraction device 200 and other components.

[0048] Also refer to Figure 5 The knee-side member 120 comprises: a connector 121 connected to a receiving cavity (not shown); an upper wall portion 125 to which the connector 121 is mounted; and a pair of left and right side walls 126L, 126R connected to the upper wall portion 125. The receiving cavity is provided on the thigh portion 123 (refer to Figure 21 、 Figure 22 ) of the joint component, by connecting the connector 121 to the receiving cavity, the above-knee side component 120 and the thigh part 123 are integrated.

[0049] The below-knee member 110 includes a box-shaped main frame 111 with an opening at the rear, a detachable rear cover 113 that opens and closes to cover the rear opening of the main frame 111 , and an adapter 122 attached to the lower surface of the main frame 111 .

[0050] The above-knee member 120 is provided on the upper portion of the main frame 111 of the below-knee member 110 via a connecting shaft 135 constituting the knee joint mechanism 130 , and the downwardly extending leg portion 114 is connected to a joint 122 of the main frame 111 .

[0051] An expansion and contraction device 200 is provided within the space formed by the above-knee member 120 and the below-knee member 110. The expansion and contraction device 200 is configured to expand and contract the angle between the below-knee member 110 and the above-knee member 120 by meshing gears.

[0052] (First embodiment)

[0053] like Figure 3 and Figure 4 As shown, the expansion and contraction device 200 includes: a motor M that outputs rotational power; a transmission T that transmits the power of the motor M; a bevel gear mechanism 140 that can expand and contract the angle between the below-knee side component 110 and the above-knee side component 120; and a first intermittent mechanism 210 and a second intermittent mechanism 220 provided on the transmission T.

[0054] The motor M is, for example, a permanent magnet motor, and is disposed behind and below the transmission T. The motor M is a gear-mechanism-integrated motor including a motor body 171, a gear mechanism 172 for reducing the output rotation of the motor body 171, and an output shaft 170 having a rotation axis Pm.

[0055] The bevel gear mechanism 140 includes a first bevel gear 141, which is arranged in the power transmission path of the motor M, located on the side opposite to the motor M relative to the transmission T, and is supported by the below-knee member 110; and a second bevel gear 142, which can mesh with the first bevel gear 141 to transmit rotation, and is supported by the above-knee member 120. The first bevel gear 141 and the second bevel gear 142 constitute the bevel gear mechanism 140, each having a tooth profile formed on a conical or truncated cone outer surface.

[0056] The rotation axis P1 of the first bevel gear 141 and the rotation axis P2 of the second bevel gear 142 are arranged to extend in mutually orthogonal directions. In other words, the first and second bevel gears 141 and 142 are configured to transmit rotation using a meshing mechanism of conical gears. In this embodiment, rotation transmission is achieved through meshing of the two gears, but rotation transmission can also be achieved through friction between two rollers. In other words, "rotation transmission" can refer to transmission through meshing of the gears or friction between rollers. The rotation axis P1 of the first bevel gear 141 and the rotation axis P2 of the second bevel gear 142 can be coplanar or non-coplanar. A bevel gear mechanism 140 in which the two rotation axes P1 and P2 are non-coplanar, as in this embodiment, is known as a hypoid gear (registered trademark). The rotation axis P1 of the first bevel gear 141 and the rotation axis P3 of the second shaft 182, described later, are coplanar. The rotation axis P2 of the second bevel gear 142 and the axis P4 of the connecting shaft 135 are coplanar.

[0057] Furthermore, in relation to the rotation axis Pm of the motor M, the rotation axis P1 of the first bevel gear 141 (second shaft 182 ) is arranged to extend in a direction parallel to the rotation axis Pm of the motor M, and the rotation axis P2 of the second bevel gear 142 is arranged to extend in a direction orthogonal (perpendicular) to the rotation axis Pm of the motor M. The motor M is arranged in a position that overlaps with at least a portion of the second bevel gear 142 when viewed in a vertical direction orthogonal to the rotation axis P2 of the second bevel gear 142 .

[0058] The first bevel gear 141 is configured to be rotatable integrally with a second shaft 182 , which is an output element of a transmission T described later. The first bevel gear 141 transmits the power of the motor M transmitted via the transmission T to the second bevel gear 142 .

[0059] The second bevel gear 142 is configured to be rotatable relative to the connecting shaft 135 and to be integrally rotatable with the upper knee member 120. Figure 2 As shown, the connecting shaft 135 is prevented from rotating by fitting the protrusion 135a of the connecting shaft 135 into the recess 115a of the through hole of the connecting shaft support plate 115 provided on the main frame 111 and through which the connecting shaft 135 passes. Figure 5 As shown, the second bevel gear 142 is integrally fastened to the right side wall portion 126R of the above-knee member 120 via bolts 127. Side walls 126L and 126R are configured to rotate relative to the connecting shaft 135 via bearings (not shown). Consequently, the rotation of the second bevel gear 142, which meshes with the first bevel gear 141, causes the above-knee member 120 to rotate about the connecting shaft 135. Consequently, the angle between the above-knee member 120 and the below-knee member 110 changes.

[0060] Here, if Figure 2As shown, the angle between the above-knee component 120 and the below-knee component 110 is defined by a first imaginary line L1 and a second imaginary line L2. The first imaginary line L1 connects the axis P4 of the connecting shaft 135 of the knee joint mechanism 130 and the joint 121 of the above-knee component 120. The second imaginary line L2 passes through the axis P4 of the connecting shaft 135 of the knee joint mechanism 130 and the below-knee component 110 and extends vertically downward. The angle between the below-knee component 110 and the above-knee component 120, centered around the connecting shaft 135 of the knee joint mechanism 130, is defined as a first angle θ1 on one side of the circle and a second angle θ2 on the other side. When the second angle θ2 is the smaller of the first angle θ1 and the second angle θ2, the angle on the popliteal side of the user of the electric prosthetic leg 1 (popliteal angle) becomes the second angle θ2. The first angle θ1 takes a value of approximately 175 [deg] to 300 [deg], and the second angle θ2 takes a value of approximately 60 [deg] to 185 [deg].

[0061] Figure 2 The figure shows the knee joint mechanism 130 in an extended state, with the first angle θ1 being approximately 175 degrees and the second angle θ2 being approximately 185 degrees. The second bevel gear 142 may be formed with teeth along its entire circumference, but in this embodiment, teeth are formed only on a portion of the circumference to accommodate the movable range of the second angle θ2.

[0062] return Figure 3 and Figure 4 The transmission T includes a first speed change mechanism T1 that transmits the power of the motor M to the first bevel gear 141 at a first speed ratio; and a second speed change mechanism T2 that transmits the power of the motor M to the first bevel gear 141 at a second speed ratio different from the first speed ratio. The first speed change mechanism T1 and the second speed change mechanism T2 are switched between a disconnected state and a connected state by the intermittent mechanisms 210 and 220, thereby switching between a power non-transmittable state and a power transmittable state.

[0063] Such a transmission T, by providing two power transmission paths with different speed ratios, can switch the speed of extension and flexion movements and the power generated in the knee joint mechanism 130. The first speed ratio and the second speed ratio can be different. The first speed change mechanism T1 and the second speed change mechanism T2 can have one of them be a speed reduction mechanism and the other a speed increase mechanism, or one of them be a constant speed mechanism and the other a speed reduction mechanism or a speed increase mechanism, or both can be speed reduction mechanisms or both can be speed increase mechanisms.

[0064] The first speed ratio is the ratio of the rotational speed on the opposite side of the motor M (the first bevel gear 141 side) in the first speed change mechanism T1, i.e., the rotational speed after the shift, to the rotational speed on the motor M side of the first speed change mechanism T1, i.e., the rotational speed before the shift. The second speed ratio is the ratio of the rotational speed on the opposite side of the motor M (the first bevel gear 141 side) in the second speed change mechanism T2, i.e., the rotational speed after the shift, to the rotational speed on the motor M side of the second speed change mechanism T2, i.e., the rotational speed before the shift.

[0065] For example, when the first speed ratio of the first speed change mechanism T1 is less than 1, the rotational speed on the side opposite to the motor M (on the side with the first bevel gear 141) is lower than the rotational speed on the side with the motor M, increasing torque. When the second speed ratio of the second speed change mechanism T2 is greater than 1, the rotational speed on the side opposite to the motor M (on the side with the first bevel gear 141) is higher than the rotational speed on the side with the motor M, decreasing torque. In this embodiment, the first speed ratio is set to be less than 1 and the second speed ratio is set to be greater than 1, and the first speed change mechanism T1 is positioned above the second speed change mechanism T2.

[0066] The first and second speed change mechanisms T1 and T2 include a first shaft 181 connected to the output shaft 170 of the motor M for integral rotation therewith, extending from the upper portion thereof; and a second shaft 182 connected to the first bevel gear 141 for integral rotation therewith, extending from the lower portion thereof. In the power flow from the motor M to the bevel gear mechanism 140 via the transmission T, the first shaft 181 serves as the input element of the transmission T, and the second shaft 182 serves as the output element of the transmission T.

[0067] The first speed change mechanism T1 includes a first drive gear 183 and a first driven gear 184 that mesh with each other. The first drive gear 183 is supported on the first shaft 181 for integral rotation, while the first driven gear 184 is supported on the second shaft 182 for relative rotation. The rotation axis P5 of the first drive gear 183 and the first shaft 181 coincides, while the rotation axis P3 of the first driven gear 184 and the second shaft 182 coincides. The first speed change mechanism T1 of this embodiment is a speed reduction transmission mechanism in which the diameter of the first drive gear 183 is smaller than that of the first driven gear 184. This allows the first bevel gear 141 to extend and retract at low speed and high torque.

[0068] The second speed change mechanism T2 includes a second drive gear 185 and a second driven gear 186 that mesh with each other. The second drive gear 185 is supported on the first shaft 181 so as to be rotatable as a whole, and the second driven gear 186 is supported on the second shaft 182 so as to be rotatable relative to each other. The rotation axis P5 of the second drive gear 185 and the first shaft 181 are consistent with each other, and the rotation axis P3 of the second driven gear 186 and the second shaft 182 are consistent with each other. The second speed change mechanism T2 of this embodiment is a speed-increasing transmission mechanism in which the diameter of the second drive gear 185 is larger than that of the second driven gear 186, and can enable the first bevel gear 141 to perform telescopic movements at high speed and low torque. In addition, in this embodiment, the second speed change mechanism T2 is arranged on the lower side of the first speed change mechanism T1, but the second speed change mechanism T2 can also be arranged on the upper side of the first speed change mechanism T1.

[0069] In this embodiment, the first drive gear 183 and the second drive gear 185, which are supported for integral rotation on the first shaft 181, are integrally formed and configured to rotate integrally. Furthermore, as described above, the rotation axis P3 of the first driven gear 184 and the second driven gear 186, which share a rotation axis with the second shaft 182, is collinear with the rotation axis P1 of the first bevel gear 141. The first bevel gear 141, the first driven gear 184, and the second driven gear 186 are arranged in this order from the top. Furthermore, the rotation axis P5 of the first drive gear 183 and the second drive gear 185, which share a rotation axis with the first shaft 181, is collinear with the rotation axis Pm of the motor M. The first drive gear 183, the second drive gear 185, and the motor M are arranged in this order from the top.

[0070] The first intermittent mechanism 210 includes an intermittent portion 212 disposed between the first driven gear 184 and the second shaft 182. The second intermittent mechanism 220 includes an intermittent portion 222 disposed between the second driven gear 186 and the second shaft 182. These intermittent portions 212, 222 are arranged on the rotation axis P3 of the second shaft 182. The intermittent portions 212, 222 have a common structure and are each configured to be switchable between a disconnected state in which the power transmission path is disconnected and a connected state in which the power transmission path is connected. The intermittent portions 212, 222 will be described in detail later.

[0071] like Figure 2 and Figure 3 As shown, the expansion and contraction device 200 is unitized and housed in the interior space of the main frame 111. The expansion and contraction device 200 is fixed to the main frame 111 via a bracket (not shown), except for the second bevel gear 142. A battery B is fixed below the expansion and contraction device 200 in the interior space of the main frame 111.

[0072] Next, refer to Figure 6The details of the intermittent portions 212 and 222 will be described in detail in the following figures.

[0073] Each of the intermittent portions 212 and 222 has a common structure and is configured to be switchable between a disconnection state in which the power transmission path is disconnected and a connection state in which the power transmission path is connected. Figure 6 As shown, each intermittent portion 212, 222 of this embodiment is constructed using a two-way clutch 280 with a forced release function. The two-way clutch 280 includes: a plurality (three in this embodiment) of rollers 281 disposed between the outer circumference of the second shaft 182 and the inner circumference of the gears 184, 186; a retainer 282 that holds the rollers 281 at a predetermined interval; an operating mechanism 240; a plurality (three in this embodiment) of pins 283 that radially penetrate the second shaft 182 and are operated by the operating mechanism 240 to a forced release position and a forced release release position; and a plurality (three in this embodiment) of guides 284 provided on the retainer 282 to control the relative rotational position of the retainer 282 with respect to the second shaft 182 when the pins 283 are in the forced release position. The rollers 281 may be balls or wedges.

[0074] The radial distance A between the outer circumferential surface of the second shaft 182 and the inner circumferential surfaces of the gears 184 and 186 is smaller than the diameter B of the roller 281. Furthermore, flat portions 182a are formed at predetermined intervals along the circumferential direction on the outer circumferential portion of the second shaft 182. The distance A is larger than the diameter B at the circumferential center of the flat portion 182a.

[0075] That is, when the roller 281 is maintained in the circumferential center of the flat portion 182a, the roller 281 does not engage with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 (non-engaged state), allowing relative rotation between the second shaft 182 and the gears 184 and 186 (forced free state).

[0076] On the other hand, in a state where the roller 281 is allowed to move circumferentially relative to the second shaft 182, the roller 281 is engaged with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 (engaged state), and the second shaft 182 and the gears 184 and 186 are connected in a manner that allows them to rotate as a whole in two directions (forced free release state).

[0077] like Figure 7 As shown, the retainer 282 is annular and rotatable relative to the second shaft 182 and the gears 184 and 186 , and has a plurality of roller retaining portions 282 a for retaining the rollers 281 and a plurality of guide retaining portions 282 b for retaining the guides 284 .

[0078] Furthermore, multiple rubber balls 282c are embedded in the outer circumferential surface of retainer 282 at predetermined intervals along the circumferential direction. These rubber balls 282c create moderate friction between gears 184, 186 and retainer 282, thereby preventing unintended idling when the forced free release state is in effect. The components creating friction between gears 184, 186 and retainer 282 are not limited to rubber balls 282c; O-rings may also be used.

[0079] return Figure 6 Pin 283 has a conical protrusion 283a at its radially outer end, and guide 284 has a conical recess 284a on its radially inner end surface that engages with protrusion 283a. When protrusion 283a of pin 283 engages recess 284a of guide 284, the guide action of pin 283 and guide 284 positions retainer 282 relative to second shaft 182 at a predetermined position where it is in a forced free state.

[0080] The operating mechanism 240 includes: an operating rod 241 configured to intermittently operate the intermittent portions 212 and 222; and a servo motor 242 (see FIG. 242 ) that linearly moves the operating rod 241. Figure 3 The servo motor 242 and the motor M are arranged adjacent to each other. That is, the servo motor 242 is arranged on the same side as the motor M with respect to the transmission T. Alternatively, the servo motor 242 and the motor M may be unitized.

[0081] The second shaft 182 is a hollow shaft having an internal space S extending in the rotation axis direction (also referred to as the vertical direction), and the operating rod 241 is disposed in the internal space S. The operating rod 241 is provided with a rack 241a at the lower end exposed from the internal space S. Figure 3 As shown, a pinion 243 provided on an output shaft 242 a of the servo motor 242 meshes with the rack 241 a , and the position of the operating lever 241 in the vertical direction is switched according to the driving of the servo motor 242 .

[0082] The outer periphery of the operating lever 241 is formed with small-diameter portions 241b1, 241b2 and large-diameter portions 241c1-241c3, which will be described later, and abuts against the inner diameter end of the pin 283. Depending on the position of the operating lever 241, the small-diameter portions 241b1, 241b2 and large-diameter portions 241c1-241c3 cause the pin 283 to move forward and backward in the radial direction of the second shaft 182, thereby switching the state of the intermittent portions 212, 222.

[0083] To be more specific, Figure 8As shown, the outer periphery of the operating lever 241 is formed with a first larger diameter portion 241c1, a first smaller diameter portion 241b1, a second larger diameter portion 241c2, a second smaller diameter portion 241b2, and a third larger diameter portion 241c3 in order from above at predetermined lengths and intervals. The operating lever 241 is configured to simultaneously control both intermittent portions 212 and 222, but may also be configured separately for each intermittent portion 212 and 222.

[0084] In the following description, refer to Figure 8 The operation of the operating mechanism 240 for simultaneously controlling the intermittent units 212 and 222 will be described.

[0085] like Figure 8 As shown, the intermittent portions 212 and 222 are switched between a forced free state (hereinafter referred to as an OFF state as appropriate) and a forced free released state (hereinafter referred to as an ON state as appropriate) by an operating mechanism 240 .

[0086] When the operating rod 241 of the operating mechanism 240 is in Figure 8 When the intermittent portion 212 is in the upper position shown in (A), the second large diameter portion 241c2 pushes the pin 283 of the intermittent portion 212 outwardly, and the third large diameter portion 241c3 pushes the pin 283 of the intermittent portion 222 outwardly, thereby setting the intermittent portion 222 and the intermittent portion 212 to the OFF state.

[0087] In addition, when the operating rod 241 of the operating mechanism 240 is in Figure 8 When in the intermediate position shown in (B), the first small diameter portion 241b1 allows the pin 283 of the intermittent portion 212 to return in the inner diameter direction, and at the same time, the third large diameter portion 241c3 pushes the pin 283 of the intermittent portion 222 in the outer diameter direction, thereby setting the intermittent portion 212 to the ON state and the intermittent portion 222 to the OFF state.

[0088] In addition, when the operating rod 241 of the operating mechanism 240 is in Figure 8 When the intermittent portion 212 is in the lower position shown in (C), the first large diameter portion 241c1 pushes the pin 283 of the intermittent portion 212 in the outer diameter direction, and the second small diameter portion 241b2 allows the pin 283 of the intermittent portion 222 to return in the inner diameter direction, thereby setting the intermittent portion 212 to the OFF state and the intermittent portion 222 to the ON state.

[0089] Specifically, in the two-way clutch 280 that constitutes the intermittent sections 212 and 222, the roller 281 is the engaging member, and the operating lever 241, pin 283, guide 284, and retainer 282 serve as the operating unit that operates the engaging member (roller 281) between the engaged and disengaged states. Furthermore, among the elements that constitute the operating unit, the pin 283, guide 284, and retainer 282 serve as the operating member that moves the engaging member (roller 281), and the operating lever 241 serves as the operating member that operates the operating member. Furthermore, among the elements that constitute the operating member, the pin 283 serves as the retractable member configured for radial forward and retractable movement, while the guide 284 and retainer 282 serve as the retainer that holds the retractable member (pin 283) in such a manner.

[0090] Next, taking the intermittent portion 212 as an example, refer to Figures 9 to 13 The operation of the two-way clutch 280 will be described. In the following example, the intermittent portion 212 is Figure 8 The following is an example of the case where (A) is transferred to (C) via (B).

[0091] like Figure 9 As shown in Figures (A) and (B), when the second large-diameter portion 241c2 of the operating lever 241 pushes the pin 283 of the intermittent portion 212 outward, the protrusion 283a of the pin 283 engages with the recess 284a of the guide 284, and the relative rotational position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position. In this state, the roller 281 is retained at the circumferential center of the flat portion 182a, preventing the roller 281 from meshing with the outer circumference of the second shaft 182 or the inner circumference of the first driven gear 184. This results in an OFF state, allowing relative rotation between the second shaft 182 and the first driven gear 184.

[0092] Figure 10 (A) and (B) show a state where the operating lever 241 moves from the position where the second large diameter portion 241c2 pushes the pin 283 of the intermittent portion 212 outward in the radial direction to the position where the first small diameter portion 241b1 allows the pin 283 to return in the radial direction.

[0093] like Figure 11 As shown in Figures (A) and (B), when the second shaft 182 and the first driven gear 184 rotate relative to each other in the forward direction, as indicated by the arrow in the figure, while the pin 283 is allowed to return radially inward, the retainer 282, rotating in conjunction with the first driven gear 184, causes the roller 281 to move in the forward direction relative to the second shaft 182. This causes the roller 281 to mesh with the outer circumference of the second shaft 182 and the inner circumference of the first driven gear 184, resulting in a forward ON state in which the second shaft 182 and the first driven gear 184 rotate integrally in the forward direction.

[0094] like Figure 12 As shown in Figures (A) and (B), when the second shaft 182 and the first driven gear 184 rotate relative to each other in the reverse direction indicated by the arrow in the figure while the pin 283 is allowed to return in the inner diameter direction, the retainer 282, rotating in conjunction with the first driven gear 184, causes the roller 281 to move in the reverse direction relative to the second shaft 182. As a result, the roller 281 meshes with the outer circumference of the second shaft 182 and the inner circumference of the first driven gear 184, resulting in a reverse ON state in which the second shaft 182 and the first driven gear 184 rotate integrally in the reverse direction.

[0095] like Figure 13 As shown in Figures (A) and (B), when the operating lever 241 moves from a position where the first smaller diameter portion 241b1 allows the pin 283 of the intermittent portion 212 to return radially inward to a position where the first larger diameter portion 241c1 pushes the pin 283 radially outward, the protrusion 283a of the pin 283 engages with the recess 284a of the guide 284. The guide action of the pin 283 and the guide 284 secures the relative rotational position of the retainer 282 with respect to the second shaft 182 at a predetermined position. In this position, the roller 281 is retained at the circumferential center of the flat portion 182a, preventing the roller 281 from meshing with the outer circumference of the second shaft 182 or the inner circumference of the first driven gear 184. This results in an OFF position, allowing relative rotation between the second shaft 182 and the first driven gear 184.

[0096] In the above embodiment, the intermittent portions 212 and 222 are provided on the second shaft 182 side, but they may also be provided on the first shaft 181 side. That is, the intermittent portion 212 of the first intermittent mechanism 210 is provided between the first drive gear 183 and the first shaft 181, and the intermittent portion 222 of the second intermittent mechanism 220 is provided between the second drive gear 185 and the first shaft 181. Furthermore, the intermittent portions 212 and 222 may be provided on both the second shaft 182 side and the first shaft 181 side.

[0097] The electric prosthetic leg 1 constructed in this manner can smoothly perform the step-climbing action, whereas when using the existing passive prosthetic leg with a passive damper, the user has to climb the stairs one step at a time using the leg on the non-prosthetic leg side. Figure 21 1 is a diagram showing the movement of the user and the electric prosthetic leg 1 when climbing stairs (stair climbing movement). Figure 21 (A) to (D) are diagrams showing the standing stage, (D) to (E) are diagrams showing the transition stage from standing to the early stage of leg lifting, (E) to (G) are diagrams showing the early stage of leg lifting, (G) is a diagram showing the transition stage from the early stage of leg lifting to the late stage of leg lifting and the late stage of leg lifting, and (H) is a diagram showing the transition stage from the late stage of leg lifting to standing and the standing stage.

[0098] Specifically explain, such as Figure 21 As shown in (A) to (D), when the electric prosthetic leg 1 is extended forward and a load is applied to the electric prosthetic leg 1 when stepping onto a step (climbing a step), a large power is required to extend the knee joint mechanism 130 from the flexed state.

[0099] At this time, the transmission T is set to the middle position ( Figure 8 In this speed change state, the intermittent portion 212 is in the ON state and the intermittent portion 222 is in the OFF state, and the motor M and the bevel gear mechanism 140 are in the power transmission state via the first speed change mechanism T1.

[0100] In this state, when the motor M is rotated in the forward direction, the power of the motor M is transmitted to the first shaft 181, the first drive gear 183, the first driven gear 184, the intermittent portion 212 of the first intermittent mechanism 210, the second shaft 182, and the bevel gear mechanism 140. As the first bevel gear 141 fixed to the below-knee member 110 rotates, the second bevel gear 142 fixed to the above-knee member 120 rotates, causing the above-knee member 120 to rotate relative to the below-knee member 110 about the connecting shaft 135, extending the knee joint mechanism 130. Furthermore, this extension power is generated by increasing the torque during deceleration by the first speed change mechanism T1. Therefore, even when a large load is applied to the electric prosthetic leg 1 when the electric prosthetic leg 1 is extended forward and steps are stepped on, the knee joint mechanism 130 can be reliably extended from a flexed state.

[0101] On the other hand, in order to smoothly perform the step-up action, such as Figure 21 As shown in (E) to (H), the knee joint mechanism 130 needs to be bent (raised) from the extended state while a load is applied to the healthy leg. When the knee joint mechanism 130 is bent from the extended state, a large force is not required, but a quick action is required.

[0102] At this time, the transmission T is set to have the operating lever 241 in the lower position ( Figure 8 In the second speed change state, the intermittent portion 212 is in the OFF state and the intermittent portion 222 is in the ON state, and the motor M and the bevel gear mechanism 140 are in a power transmission state via the second speed change mechanism T2.

[0103] In this state, when the motor M is rotated in the reverse direction, the power of the motor M is transmitted to the first shaft 181, the second drive gear 185, the second driven gear 186, the intermittent portion 222 of the second intermittent mechanism 220, the second shaft 182, and the bevel gear mechanism 140. As the first bevel gear 141 fixed to the below-knee member 110 rotates, the second bevel gear 142 fixed to the above-knee member 120 rotates, causing the above-knee member 120 to rotate relative to the below-knee member 110 about the connecting shaft 135, causing the knee joint mechanism 130 to bend. Furthermore, this bending power is a power that has been reduced to a low torque when the speed is increased by the second speed change mechanism T2, enabling the knee joint mechanism 130 to bend rapidly.

[0104] Figure 22 1 and 2 are diagrams showing the motions of a user and an electric prosthetic leg when walking on level ground (level ground walking motion). Figure 22 (A) to (D) are diagrams showing the standing phase, (D) is a diagram showing the transition phase from standing to leg raising, (E) to (H) are diagrams showing the leg raising phase, and (H) is a diagram showing the transition phase from leg raising to standing and the standing phase.

[0105] exist Figure 22 When walking on flat ground and going down stairs, as shown Figure 22 As shown in (A) to (D), when a load is applied to the electric prosthetic leg 1, the transmission T is set so that the operating lever 241 is in the lower position ( Figure 8 The second speed change state (C) is achieved. In the second speed change state, the intermittent unit 212 is OFF and the intermittent unit 222 is ON, and the motor M and the bevel gear mechanism 140 are in a power transmission state via the second speed change mechanism T2. When the motor M is deactivated in this state, external forces acting on the electric prosthetic leg 1 in the bending direction are transmitted from the bevel gear mechanism 140 to the motor M via the second speed change mechanism T2. Therefore, friction between the motor M and the transmission T attenuates the external forces in the bending direction, preventing knee buckling.

[0106] In addition, if Figure 22 As shown in (D) to (H), in a state where a load is applied to the healthy leg, the transmission T is set so that the operating lever 241 is in the upper position ( Figure 8 In this state, the intermittent portion 212 is in the OFF state and the intermittent portion 222 is in the OFF state, and the motor M and the bevel gear mechanism 140 are in a power-untransmittable state. As a result, the user of the electric prosthetic leg 1 can swing the foot smoothly.

[0107] The expansion and contraction device 200 of the first embodiment is configured to expand and contract the angle between the below-knee component 110 and the above-knee component 120 using a rotational system including a bevel gear mechanism 140, rather than a retractable mechanism such as a spindle mechanism. This allows the length of the electric prosthetic leg 1 in the longitudinal (vertical) direction to be shortened. Furthermore, the rotational system is implemented by the bevel gear mechanism 140, which meshes with the first bevel gear 141 and the second bevel gear 142, thus avoiding structural complexity. Furthermore, the motor M is positioned so as to overlap at least a portion of the second bevel gear 142 when viewed in a vertical direction perpendicular to the rotation axis P2 of the second bevel gear 142. This prevents extension of the motor M, further miniaturizing the electric prosthetic leg 1.

[0108] (Second embodiment)

[0109] Next, refer to Figures 14 to 16 An expansion and contraction device 200A according to the second embodiment will be described.

[0110] like Figure 14 and Figure 15 As shown, the expansion and contraction device 200A includes: a motor M that outputs rotational power; a transmission T that transmits the power of the motor M; a worm gear mechanism 150 that can increase and decrease the angle between the below-knee member 110 and the above-knee member 120; and a first intermittent mechanism 210 and a second intermittent mechanism 220 provided on the transmission T. The structure other than the worm gear mechanism 150 is the same as that of the expansion and contraction device 200 of the first embodiment, and therefore its description is omitted.

[0111] The worm gear mechanism 150 comprises a worm 151, which is positioned in the power transmission path of the motor M, on the opposite side of the transmission T from the motor M, and is supported by the below-knee member 110; and a worm wheel 152, which is capable of meshing with the worm 151 to transmit rotation and is supported by the above-knee member 120. The worm 151 and worm wheel 152 constitute the worm gear mechanism 150 (helical gear mechanism), each having a tooth profile formed on its cylindrical outer surface. Alternatively, the worm wheel (helical gear) can be replaced with a thinner spur gear.

[0112] The rotation axis P1 of the worm 151 (second shaft 182) and the rotation axis P2 of the worm wheel 152 are arranged to extend in directions perpendicular to each other. Furthermore, with respect to the rotation axis Pm of the motor M, the rotation axis P1 of the worm 151 is arranged to extend parallel to the rotation axis Pm of the motor M, while the rotation axis P2 of the worm wheel 152 is arranged to extend perpendicular to (orthogonal to) the rotation axis Pm of the motor M. The motor M is arranged so as to overlap at least a portion of the worm wheel 152 when viewed in a vertical direction perpendicular to the rotation axis P2 of the worm wheel 152.

[0113] The worm 151 is configured to be rotatable integrally with the second shaft 182 , which is an output element of the transmission T. The worm 151 transmits the power of the motor M transmitted via the transmission T to the worm wheel 152 .

[0114] The worm gear 152 is provided so as to be able to rotate relative to the connecting shaft 135 and to rotate integrally with the knee-side member 120. Similar to the second bevel gear 142 of the first embodiment, the worm gear 152 is provided so as to be able to rotate relative to the connecting shaft 135 which is stopped from rotating by the connecting shaft support plate 115 of the main frame 111 and to rotate integrally with the knee-side member 120. Figure 16 As shown, worm wheel 152 is integrally fastened to left side wall portion 126L via bolts 127. Side walls 126L and 126R are configured to rotate relative to connecting shaft 135 via bearings (not shown). Consequently, as worm wheel 152, meshing with worm 151, rotates, the above-knee member 120 rotates about connecting shaft 135. Consequently, the angle between above-knee member 120 and below-knee member 110 changes.

[0115] The expansion and contraction device 200A of the second embodiment is configured to expand and contract the angle between the below-knee component 110 and the above-knee component 120 using a rotational system including a worm gear mechanism 150, rather than a retractable mechanism such as a spindle mechanism. This allows the length of the electric prosthetic leg 1 in the longitudinal (vertical) direction to be shortened. Furthermore, since the rotational system is implemented by the worm gear mechanism 150, which meshes with the worm 151 and worm wheel 152, structural complexity can be avoided. Furthermore, the motor M is positioned so that it overlaps at least a portion of the worm wheel 152 when viewed in a vertical direction perpendicular to the rotation axis P2 of the worm wheel 152. This prevents extension of the motor M, further miniaturizing the electric prosthetic leg 1.

[0116] (Third embodiment)

[0117] Next, refer to Figures 17 to 20 An expansion and contraction device 200B according to the third embodiment will be described.

[0118] like Figure 17 and Figure 18 As shown, the expansion and contraction device 200B includes: a motor M that outputs rotational power; a transmission T that transmits the power of the motor M; a spur gear mechanism 160 that can expand and contract the angle between the below-knee member 110 and the above-knee member 120; an intermediate gear mechanism 270 provided between the transmission T and the spur gear mechanism 160; and a first intermittent mechanism 210 and a second intermittent mechanism 220 provided on the transmission T.

[0119] In the expansion and contraction apparatus 200B of the third embodiment, the structures of the motor M and the transmission T are the same as those of the first and second embodiments, but the layout of the motor M and the transmission T is different. Specifically, in the expansion and contraction apparatus 200 of the first and second embodiments, the rotation axis Pm of the motor M and the rotation axis P5 of the first shaft 181 and the rotation axis P3 of the second shaft 182 of the transmission T are arranged so as to be orthogonal to the axis P4 of the connecting shaft 135. However, in the expansion and contraction apparatus 200B of the third embodiment, the rotation axis Pm of the motor M and the rotation axis P5 of the first shaft 181 and the rotation axis P3 of the second shaft 182 of the transmission T are arranged so as to extend parallel to the axis P4 of the connecting shaft 135.

[0120] Specifically, in the expansion and contraction apparatus 200 of the first embodiment and the expansion and contraction apparatus 200A of the second embodiment, the rotation axis Pm of the motor M and the rotation axes P5 and P3 of the first shaft 181 and the second shaft 182 of the transmission T are arranged so as to extend in the vertical direction relative to the axis P4 of the connecting shaft 135 extending in the horizontal direction. However, in the expansion and contraction apparatus 200B of the third embodiment, the rotation axis Pm of the motor M and the rotation axes P5 and P3 of the first shaft 181 and the second shaft 182 of the transmission T are arranged so as to extend in the horizontal direction relative to the axis P4 of the connecting shaft 135 extending in the horizontal direction. The structures of the motor M and the transmission T are the same as those of the first and second embodiments, and therefore a detailed description thereof will be omitted.

[0121] The spur gear mechanism 160 includes: a pinion 161, which is arranged on the power transmission path of the motor M and is located on the opposite side of the motor M relative to the transmission T, and is supported by the lower-knee side component 110; and a knee shaft gear 162, which can engage with the pinion 161 for rotation transmission and is supported by the upper-knee side component 120.

[0122] The rotation axis P1 of the pinion gear 161 and the rotation axis P2 of the knee gear 162 are arranged to extend parallel to each other. Specifically, the pinion gear 161 and the knee gear 162 are configured to transmit rotation using a meshing mechanism of spur gears. In this embodiment, rotation transmission occurs through the meshing of the two gears, but rotation transmission can also occur through friction between two rollers. In other words, "rotation transmission is possible" can refer to transmission through meshing of the gears, friction between the rollers, or other similar mechanisms.

[0123] In addition, in relation to the rotation axis Pm of the motor M, the rotation axis P1 of the pinion gear 161 and the rotation axis P2 of the knee gear 162 are configured to extend in a direction parallel to the rotation axis Pm of the motor M.

[0124] The pinion 161 is configured to rotate integrally with the planetary carrier 264, which is an output element of the planetary gear mechanism 260 described later. The pinion 161 transmits the power of the motor M transmitted via the transmission T and the intermediate gear mechanism 270 to the knee shaft gear 162. The pinion 161 is configured to be included in the extension direction length of the connecting shaft 135 when viewed in the vertical direction perpendicular to the rotation axis P1 of the pinion 161. The extension direction length of the connecting shaft 135 is Figure 16 The distance between the left and right ends of the connecting shaft 135 is shown.

[0125] Similar to the second bevel gear 142 of the first embodiment and the worm gear 152 of the second embodiment, the knee shaft gear 162 is configured to rotate relative to the connecting shaft 135, which is fixed by the connecting shaft support plate 115 of the main frame 111, and to rotate integrally with the upper-knee member 120. The knee shaft gear 162 is a spur gear, with teeth formed only in a portion of the circumference to satisfy the aforementioned range of motion of the second angle θ2. The circular spur gear is fan-shaped, with most of the circumference missing. Consequently, the rotation of the knee shaft gear 162, meshing with the pinion gear 161, causes the upper-knee member 120 to rotate about the connecting shaft 135. Consequently, the angle between the upper-knee member 120 and the lower-knee member 110 changes.

[0126] The intermediate gear mechanism 270 includes an intermediate drive gear 273 that rotates integrally with the second shaft 182, the output element of the transmission T; an intermediate shaft 274 having a rotation axis P6 parallel to the rotation axis P3 of the second shaft 182; and an intermediate driven gear 275 mounted for integral rotation with the intermediate shaft 274 and meshing with the intermediate drive gear 273. The rotation axis P6 of the intermediate shaft 274 coincides with the rotation axis P1 of the pinion gear 161. The intermediate drive gear 273 and the intermediate driven gear 275 are arranged so as to be within the extended length of the connecting shaft 135 when viewed in a vertical direction perpendicular to the rotation axis P1 of the pinion gear 161.

[0127] like Figure 19 and Figure 20 As shown, planetary gear mechanism 260 is arranged on the rotation axis P6 of intermediate shaft 274. Planetary gear mechanism 260 includes a sun gear 261 and a ring gear 262, which share the same rotation axis as intermediate shaft 274; a plurality of planetary gears 263 meshing with sun gear 261 and ring gear 262; and a planetary carrier 264 capable of supporting the plurality of planetary gears 263 in both rotation and orbital motion. The rotational speeds of the three rotating elements, comprising sun gear 261, ring gear 262, and planetary carrier 264, are such that they are always collinear on a single straight line in a velocity collinearity diagram. Planetary gear mechanism 260 is arranged so that it is within the extended length of connecting shaft 135 when viewed in a vertical direction perpendicular to the rotation axis P1 of pinion gear 161.

[0128] The left and right pair of carrier plates 264L and 264R of the planetary carrier 264 are connected by left and right connecting shafts 264a. The planetary gears 263 are supported between the carrier plates 264L and 264R via the pinion rotating shaft 263a, allowing for both rotation and revolution. In the planetary gear mechanism 260, the sun gear 261 is connected to the intermediate shaft 274 for integral rotation, and the planetary carrier 264 is connected to the pinion gear 161 for integral rotation. The ring gear 262 is provided with a ring fixing hole 262a and is fixed to the main frame 111. Thus, the power of the motor M, transmitted from the transmission T via the intermediate gear mechanism 270, is input into the sun gear 261 of the planetary gear mechanism 260. Furthermore, in the planetary gear mechanism 260, the rotation of the sun gear 261 is reduced in speed and transmitted to the planetary carrier 264, and then transmitted to the knee shaft gear 162 via the pinion gear 161.

[0129] The expansion and contraction device 200B of the third embodiment is configured to expand and contract the angle between the below-knee component 110 and the above-knee component 120 using a rotational system including a planetary gear mechanism 260, rather than an expansion and contraction mechanism such as a spindle mechanism. This allows the electric prosthetic leg 1 to be shortened in its longitudinal (vertical) length. Furthermore, the rotational system is implemented by the planetary gear mechanism 260, the intermediate gear mechanism 270, and the spur gear mechanism 160, thus avoiding structural complexity. Furthermore, the pinion gear 161, the intermediate drive gear 273, the intermediate driven gear 275, and the planetary gear mechanism 260 are each arranged to be within the extension length of the connecting shaft 135 when viewed in a vertical direction perpendicular to the rotation axis P1 of the pinion gear 161. This allows the electric prosthetic leg 1 to be further miniaturized in the direction in which the connecting shaft 135 extends (the horizontal direction in this embodiment).

[0130] While various embodiments have been described above with reference to the accompanying drawings, the present invention is not limited to these embodiments. Those skilled in the art will appreciate that various variations or modifications are readily conceivable within the scope of the technical solutions described, and these variations or modifications are also within the technical scope of the present invention. Furthermore, the various components of the above embodiments may be arbitrarily combined without departing from the spirit of the invention.

[0131] For example, the above embodiment illustrates a prosthetic leg device (electric prosthetic leg) applied to a knee joint as one embodiment of the present invention's joint device using a discontinuous device. However, the present invention is not limited thereto and may also be applied to a prosthetic limb device (electric prosthetic limb) applied to an elbow joint. The subject of application may be an animal other than a human or a robot. In the case of an elbow joint application, the below-knee component 110 of the above-knee component 120 serves as the distal end of the subject of application, i.e., the forearm.

[0132] The present specification includes at least the following matters: Although corresponding components and the like in the above-described embodiment are shown in parentheses, the present invention is not limited thereto.

[0133] 1. A joint device (electric prosthetic leg 1), comprising:

[0134] First component (below-knee component 110);

[0135] The second component (the above-knee side component 120);

[0136] a connecting portion (knee joint mechanism 130 ) connecting the first component and the second component in a manner capable of changing the angle between the first component and the second component; and

[0137] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0138] The expansion and contraction device includes a power source (motor M) and a power transmission unit (transmission T) for transmitting power from the power source.

[0139] The power transmission unit has:

[0140] a first power transmission path (first speed change mechanism T1 ) for transmitting the power at a first speed ratio; and

[0141] a second power transmission path (second speed change mechanism T2) that transmits the power at a second speed ratio different from the first speed ratio,

[0142] The expansion and contraction device has:

[0143] a first intermittent mechanism (first intermittent mechanism 210 ) for switching between disconnection and connection of power on the first power transmission path; and

[0144] The second intermittent mechanism (the second intermittent mechanism 220 ) switches between disconnection and connection of the power on the second power transmission path.

[0145] According to (1), the connecting portion can be extended and bent via the power transmission portion that transmits power from the power source. In addition, the power transmission portion has two power transmission paths with different speed ratios, so the movement speed and generated power of the extension and bending in the connecting portion can be switched.

[0146] (2) The joint device according to (1), wherein:

[0147] The expansion and contraction device has:

[0148] a first rotating body (a first bevel gear 141 , a worm 151 , and a pinion 161 ) disposed on the power transmission path on the opposite side of the power transmission portion from the power source and supported by the first member; and

[0149] The second rotating body (the second bevel gear 142 , the worm gear 152 , and the knee gear 162 ) is arranged so as to be capable of transmitting rotation to the first rotating body and is supported by the second member.

[0150] According to (2), the expansion and contraction of the included angle of the expansion and contraction device is achieved by the rotation transmission between the first rotating body supported by the first component and the second rotating body supported by the second component. Therefore, the joint device can be miniaturized compared to the spindle mechanism. It should be noted that "can be rotated" can be based on the meshing of gears or the friction between rollers.

[0151] (3) The joint device according to (2), wherein:

[0152] The first rotating body and the second rotating body are arranged so that a first rotation axis (rotation axis P1 ) of the first rotating body and a second rotation axis (rotation axis P2 ) of the second rotating body extend in directions orthogonal to each other.

[0153] According to (3), rotation transmission can be performed using a meshing mechanism of conical gears or a mechanism of conical friction wheels.

[0154] (4) The joint device according to (3), wherein:

[0155] The first rotating body and the second rotating body constitute a bevel gear mechanism (bevel gear mechanism 140 ) having a tooth profile formed on a conical or truncated cone-shaped outer surface.

[0156] According to (4), it is possible to reduce the manufacturing cost of the joint device by using a highly versatile mechanism.

[0157] (5) The joint device according to (3), wherein:

[0158] The first rotating body and the second rotating body constitute a helical gear mechanism (worm gear mechanism 150 ) having a tooth profile formed on a cylindrical outer surface.

[0159] According to (5), it is possible to reduce the manufacturing cost of the joint device by using a highly versatile mechanism.

[0160] (6) The joint device according to any one of (3) to (5), wherein:

[0161] The power source is a rotary power source (motor M),

[0162] The third rotation axis (rotation axis Pm), which is the rotation axis of the rotary power source, is arranged to extend parallel to the first rotation axis.

[0163] According to (6), the expansion and contraction device can be simply configured.

[0164] (7) The joint device according to (2), wherein:

[0165] The first rotating body and the second rotating body are arranged so that a first rotation axis (rotation axis P1 ) of the first rotating body and a second rotation axis (rotation axis P2 ) of the second rotating body extend in parallel with each other.

[0166] According to (7), rotation transmission can be performed using a gear meshing mechanism, a cylindrical friction wheel, or a grooved friction wheel mechanism.

[0167] (8) The joint device according to (7), wherein:

[0168] The power source is a rotary power source (motor M),

[0169] The third rotation axis (rotation axis Pm), which is the rotation axis of the rotary power source, is arranged to extend in a direction parallel to the first rotation axis and the second rotation axis.

[0170] According to (8), the expansion and contraction device can be simply configured.

[0171] (9) The joint device according to any one of (2) to (8), wherein:

[0172] The power transmission unit has:

[0173] a third rotating body (first driving gear 183 ), which is disposed on the first power transmission path;

[0174] a fourth rotating body (second driving gear 185 ) disposed on the second power transmission path and disposed on a fourth rotation axis (rotation axis P5 ) identical to the axis of the third rotating body;

[0175] a fifth rotating body (first driven gear 184 ) disposed on the first power transmission path and configured to transmit rotation to the third rotating body; and

[0176] The sixth rotating body (second driven gear 186 ) is arranged on the second power transmission path and on the fifth rotation axis (rotation axis P3 ) which is the same as the axis of the fifth rotating body, and is arranged to transmit rotation to the fourth rotating body.

[0177] According to (9), by making the rotation axes of the third rotating body and the fourth rotating body the same, and making the rotation axes of the fifth rotating body and the sixth rotating body the same, the expansion and contraction device can be miniaturized.

[0178] (10) The joint device according to (9), wherein:

[0179] The first rotation axis (rotation axis P1 ), which is the rotation axis of the first rotating body, and the fifth rotation axis are arranged on the same axis.

[0180] According to (10), by making the rotation axes of the first rotating body, the fifth rotating body, and the sixth rotating body the same, the expansion and contraction device can be miniaturized.

[0181] (11) The joint device according to (10), wherein:

[0182] The first rotating body, the fifth rotating body, and the sixth rotating body are arranged in this order from one side on the same axis.

[0183] According to (11), the first power transmission path and the second power transmission path can be arranged close to each other.

[0184] (12) The joint device according to any one of (9) to (11), wherein:

[0185] The power source is a rotary power source (motor M),

[0186] The third rotation axis (rotation axis Pm), which is the rotation axis of the rotary power source, and the fourth rotation axis are arranged on the same axis.

[0187] According to (12), by making the rotation axes of the power source, the third rotating body, and the fourth rotating body the same, the expansion and contraction device can be miniaturized.

[0188] (13) The joint device according to (12), wherein:

[0189] The third rotating body, the fourth rotating body, and the rotational power source are arranged in this order from one side on the same axis.

[0190] According to (13), the first power transmission path and the second power transmission path can be arranged close to each other.

[0191] (14) The joint device according to any one of (9) to (13), wherein:

[0192] The power transmission unit includes a seventh rotating body (second shaft 182 ), and the seventh rotating body is connected to the fifth rotating body via the first intermittent mechanism, and is connected to the sixth rotating body via the second intermittent mechanism.

[0193] According to (14), the first intermittent mechanism and the second intermittent mechanism can be concentrated around the seventh rotating body.

[0194] (15) The joint device according to (14), wherein:

[0195] The first intermittent mechanism and the second intermittent mechanism are arranged on the fifth rotation axis.

[0196] According to (15), the first intermittent mechanism and the second intermittent mechanism can be concentrated on the fifth rotation axis.

[0197] (16) The joint device according to (14) or (15), wherein:

[0198] The first intermittent mechanism comprises:

[0199] A first engaging member (roller 281 ) is disposed between the fifth rotating body and the seventh rotating body; and

[0200] The first operating portion (operating lever 241, pin 283, guide 284, holder 282) operates the first engaging member to an engaged state and an unengaged state.

[0201] The second intermittent mechanism has:

[0202] A second engaging member (roller 281 ) is disposed between the sixth rotating body and the seventh rotating body; and

[0203] The second operating portion (operating lever 241 , pin 283 , guide 284 , holder 282 ) operates the second engaging member to an engaged state and a disengaged state.

[0204] According to (16), the OFF state / ON state of the first intermittent mechanism can be switched by the first operating portion, and the OFF state / ON state of the second intermittent mechanism can be switched by the second operating portion.

[0205] (17) The joint device according to (16), wherein:

[0206] The first operating unit has:

[0207] A first working member (pin 283, guide member 284, retainer 282) for moving the first engaging member; and

[0208] A first operating member (operating lever 241 ) is provided to operate the first working member.

[0209] The second operating unit has:

[0210] A second working member (pin 283, guide member 284, retainer 282) for moving the second engaging member; and

[0211] A second operating member (operating lever 241 ) is provided to be able to operate the second operating member.

[0212] According to (17), the first operating member and the first working member constitute the first operating portion, and the second operating member and the second working member constitute the second operating portion.

[0213] (18) The joint device according to (17), wherein:

[0214] The first working piece has:

[0215] a first advancing and retreating member (pin 283 ) configured to be capable of advancing and retreating in a radial direction relative to the fifth rotation axis; and

[0216] The first holder (guide 284, holder 282) holds the first advancing and retracting member so that it can move forward and backward.

[0217] The second working piece has:

[0218] A second advancing and retreating member (pin 283) is configured to be able to advance and retreat in a radial direction relative to the fifth rotation axis; and

[0219] The second holder (guide 284, holder 282) holds the second advancing and retracting member so that it can move forward and backward.

[0220] The first operating member is configured to be capable of advancing and retreating along the fifth rotation axis, and the outer periphery of the first operating member is configured to abut against an end portion of the first advancing and retreating member on the fifth rotation axis side.

[0221] The second operating member is provided so as to be movable forward and backward along the fifth rotation axis, and an outer periphery of the second operating member is provided so as to abut against an end portion of the second advancing and retracting member on the fifth rotation axis side.

[0222] According to (18), by setting a first operating member capable of moving forward and backward along the rotation axis, the first advance and retreat member can be moved forward and backward in the radial direction, and by setting a second operating member capable of moving forward and backward along the same rotation axis, the second advance and retreat member can be moved forward and backward in the radial direction.

[0223] (19) The joint device according to (17) or (18), wherein:

[0224] The seventh rotating body is hollow so as to have an inner space (inner space S) extending in the direction of the rotation axis of the seventh rotating body.

[0225] The first operating member and the second operating member are integrally formed and are configured to be located in the internal space.

[0226] According to (19), the first operating member and the second operating member are formed integrally, so the number of parts can be reduced.

[0227] (20) The joint device according to (19), wherein:

[0228] The expansion and contraction device includes a driving unit (servo motor 242 ) that drives the first operating member and the second operating member that are integrally formed.

[0229] According to (20), the driving part can be one, so the expansion and contraction device can be constructed compactly.

[0230] (21) The joint device according to (20), wherein:

[0231] The driving portion and the power source are arranged adjacent to each other.

[0232] According to (21), the drive unit and the power source can be centrally arranged, thereby making the drive unit compact.

[0233] (22) The joint device according to any one of (9) to (21), wherein:

[0234] The third rotating body and the fourth rotating body are configured to be rotatable integrally.

[0235] According to (22), the number of parts can be further reduced.

[0236] (23) The joint device according to any one of (14) to (21), wherein:

[0237] The expansion and contraction device includes an eighth rotating body (intermediate driven gear 275 ) arranged on a sixth rotation axis (rotation axis P6 ) extending parallel to the fifth rotation axis and configured to transmit rotation to the seventh rotating body.

[0238] According to (23), the rotation of the seventh rotating body can be transmitted to the eighth rotating body.

[0239] (24) The joint device according to (23), wherein:

[0240] The expansion and contraction device includes a speed change mechanism (planetary gear mechanism 260 ) that is disposed on the sixth rotation axis and is configured to be capable of transmitting rotation to the eighth rotating body.

[0241] According to (24), the speed change mechanism can be used to change the speed of the rotation of the eighth rotating body.

[0242] (25) The joint device according to (24), wherein:

[0243] The first rotating body is arranged on the sixth rotation axis and is arranged to be capable of transmitting rotation to the speed change mechanism.

[0244] According to (25), the rotation of the eighth rotating body after the speed change can be transmitted to the first rotating body.

[0245] (26) The joint device according to any one of (23) to (25), wherein:

[0246] The first rotating body and the second rotating body are arranged so that the first rotating body's rotation axis (i.e., the first rotation axis) and the second rotating body's rotation axis (i.e., the second rotation axis) extend in parallel directions.

[0247] The first rotating body is arranged so as to be included in the extending direction length of the connection shaft (connection shaft 135 ) of the connection portion when viewed in a direction perpendicular to the first rotation axis.

[0248] According to (26), the joint device can be miniaturized in the extending direction of the connecting shaft.

[0249] (27) The joint device according to (26), wherein:

[0250] The eighth rotating body is arranged so as to be included in the extending direction length when viewed in a direction perpendicular to the first rotation axis.

[0251] According to (27), the joint device can be miniaturized in the extending direction of the connecting shaft.

[0252] (28) The joint device according to (26) dependent on (24), wherein:

[0253] The speed change mechanism is arranged so as to be included in the extension direction length when viewed in a direction perpendicular to the first rotation axis.

[0254] According to (28), the joint device can be miniaturized in the extending direction of the connecting shaft.

[0255] (29) The joint device according to any one of (3) to (6), wherein:

[0256] The power source is arranged at a position overlapping with at least a portion of the second rotating body when viewed in a direction perpendicular to the second rotation axis.

[0257] According to (29), the joint device can be miniaturized.

[0258] In addition, this application is based on the Japanese patent application (patent application number 2022-204448) filed on December 21, 2022, the contents of which are incorporated herein by reference.

[0259] Description of reference numerals:

[0260] 1: Electric prosthetic leg (joint device)

[0261] 110: Below-knee side part (first part)

[0262] 120: Above-knee side part (second part)

[0263] 130: Knee joint mechanism (connection)

[0264] 135: Connecting shaft

[0265] 140: Bevel gear mechanism

[0266] 141: First bevel gear (first rotating body)

[0267] 142: Second bevel gear (second rotating body)

[0268] 150: Worm gear mechanism

[0269] 151: Worm (first rotating body)

[0270] 152: Worm gear (second rotating body)

[0271] 160: Spur gear mechanism

[0272] 161: Pinion (first rotating body)

[0273] 162: Knee shaft gear (second rotating body)

[0274] 182: Second axis (seventh rotating body)

[0275] 183: First drive gear (third rotating body)

[0276] 184: First driven gear (fifth rotating body)

[0277] 185: Second drive gear (fourth rotating body)

[0278] 186: Second driven gear (sixth rotating body)

[0279] 200: Expansion and contraction device

[0280] 210: First intermittent mechanism

[0281] 220: Second intermittent mechanism

[0282] 241: Operating lever (first operating member, second operating member)

[0283] 242: Servo motor (drive unit)

[0284] 260: Planetary gear mechanism (speed change mechanism)

[0285] 275: Intermediate driven gear (eighth rotating body)

[0286] 281: Roller (first engaging member, second engaging member)

[0287] 282: Cage (first cage, second cage)

[0288] 283: Pin (first advance and retreat piece, second advance and retreat piece)

[0289] 284: Guide (first retainer, second retainer)

[0290] M: Motor (power source, rotating power source)

[0291] P1: Rotation axis (first rotation axis of the first rotating body)

[0292] P2: Rotation axis (second rotation axis of the second rotating body)

[0293] P3: Rotation axis (fifth rotation axis of the fifth and sixth rotating bodies)

[0294] P5: Rotation axis (the fourth rotation axis of the third and fourth rotating bodies)

[0295] P6: Rotation axis (the sixth rotation axis of the eighth rotating body)

[0296] Pm: Rotational axis (the third rotational axis of the rotary power source)

[0297] S: Internal space

[0298] T: Transmission (power transmission part)

[0299] T1: First speed change mechanism (first power transmission path)

[0300] T2: Second speed change mechanism (second power transmission path).

Claims

1. A joint device comprising: first component; Second component; a connecting portion connecting the first component and the second component in a manner capable of changing an angle between the first component and the second component; and An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source. The power transmission unit has: a first power transmission path for transmitting the power at a first speed ratio; and a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio, The expansion and contraction device has: a first intermittent mechanism that switches between disconnection and connection of power on the first power transmission path; and The second intermittent mechanism switches between disconnection and connection of the power on the second power transmission path.

2. The connector device according to claim 1, wherein: The expansion and contraction device has: a first rotating body disposed on a side of the power transmission portion opposite to the power source on the power transmission path and supported by the first member; as well as The second rotating body is arranged so as to be capable of transmitting rotation to the first rotating body and is supported by the second member.

3. The connector device according to claim 2, wherein: The first rotating body and the second rotating body are arranged so that a first rotation axis of the first rotating body and a second rotation axis of the second rotating body extend in directions orthogonal to each other.

4. The connector device according to claim 3, wherein: The first rotating body and the second rotating body constitute a bevel gear mechanism having teeth formed on a conical or truncated cone-shaped outer surface.

5. The connector device according to claim 3, wherein: The first rotating body and the second rotating body constitute a helical gear mechanism having a tooth shape formed on an outer surface of a cylindrical shape.

6. The connector device according to any one of claims 3 to 5, wherein: The power source is a rotational power source, The third rotation axis, which is the rotation axis of the rotary power source, is arranged to extend parallel to the first rotation axis.

7. The connector device according to claim 2, wherein: The first rotating body and the second rotating body are arranged so that a first rotation axis of the first rotating body and a second rotation axis of the second rotating body extend in parallel with each other.

8. The connector device according to claim 7, wherein: The power source is a rotational power source, The third rotation axis, which is the rotation axis of the rotary power source, is arranged to extend in a direction parallel to the first rotation axis and the second rotation axis.

9. The connector device according to any one of claims 2 to 8, wherein: The power transmission unit has: a third rotating body disposed on the first power transmission path; a fourth rotating body disposed on the second power transmission path and disposed on a fourth rotation axis that is the same as the axis of the third rotating body; a fifth rotating body disposed on the first power transmission path and configured to transmit rotation to the third rotating body; as well as The sixth rotating body is arranged on the second power transmission path and on a fifth rotation axis which is the same as the axis of the fifth rotating body, and is arranged to be capable of transmitting rotation to and from the fourth rotating body.

10. The connector device according to claim 9, wherein: The first rotation axis, that is, the rotation axis of the first rotating body and the fifth rotation axis are arranged on the same axis.

11. The connector device according to claim 10, wherein: The first rotating body, the fifth rotating body, and the sixth rotating body are arranged in this order from one side on the same axis.

12. The connector device according to any one of claims 9 to 11, wherein: The power source is a rotational power source, The third rotation axis, which is the rotation axis of the rotary power source, and the fourth rotation axis are arranged on the same axis.

13. The connector device according to claim 12, wherein: The third rotating body, the fourth rotating body, and the rotational power source are arranged in this order from one side on the same axis.

14. The connector device according to any one of claims 9 to 13, wherein: The power transmission unit includes a seventh rotating body connected to the fifth rotating body via the first intermittent mechanism, and connected to the sixth rotating body via the second intermittent mechanism.

15. The connector device according to claim 14, wherein: The first intermittent mechanism and the second intermittent mechanism are arranged on the fifth rotation axis.

16. The connector device according to claim 14 or 15, wherein: The first intermittent mechanism comprises: a first engaging member disposed between the fifth rotating body and the seventh rotating body; and a first operating portion for operating the first engaging member to an engaged state and an unengaged state; The second intermittent mechanism has: a second engaging member, disposed between the sixth rotating body and the seventh rotating body; as well as The second operating portion operates the second engaging member to an engaged state and a disengaged state.

17. The connector device according to claim 16, wherein: The first operating unit has: A first working member that moves the first engaging member; and A first operating member configured to operate the first working member, The second operating unit has: a second working member for moving the second engaging member; as well as A second operating member is provided to be capable of operating the second working member.

18. The connector device according to claim 17, wherein: The first working piece has: a first advancing and retracting member configured to be capable of advancing and retracting in a radial direction relative to the fifth rotation axis; and a first retainer that retains the first advancing and retracting member so as to be able to move forward and backward; The second working piece has: a second advancing and retreating member, configured to be capable of advancing and retreating in a radial direction relative to the fifth rotation axis; as well as a second retainer that retains the second advancing and retreating member so as to be able to move forward and backward; The first operating member is configured to be capable of advancing and retreating along the fifth rotation axis, and the outer periphery of the first operating member is configured to abut against an end portion of the first advancing and retreating member on the fifth rotation axis side. The second operating member is provided so as to be movable forward and backward along the fifth rotation axis, and an outer periphery of the second operating member is provided so as to abut against an end portion of the second advancing and retracting member on the fifth rotation axis side.

19. The connector device according to claim 17 or 18, wherein: The seventh rotating body is configured to be hollow so as to have an inner space extending in the direction of the rotation axis of the seventh rotating body. The first operating member and the second operating member are integrally formed and are configured to be located in the internal space.

20. The connector device according to claim 19, wherein The expansion and contraction device includes a driving portion that drives the first operating member and the second operating member that are integrally formed.

21. The connector device according to claim 20, wherein: The driving portion and the power source are arranged adjacent to each other.

22. A connector device according to any one of claims 9 to 21, wherein: The third rotating body and the fourth rotating body are configured to be rotatable integrally.

23. A connector device according to any one of claims 14 to 21, wherein: The expansion and contraction device includes an eighth rotating body that is arranged on a sixth rotation axis extending parallel to the fifth rotation axis and is arranged so as to be capable of transmitting rotation to the seventh rotating body.

24. The connector device according to claim 23, wherein: The expansion and contraction device includes a speed change mechanism that is disposed on the sixth rotation axis and is configured to be capable of transmitting rotation to the eighth rotating body.

25. The connector device according to claim 24, wherein The first rotating body is arranged on the sixth rotation axis and is arranged to be capable of transmitting rotation to the speed change mechanism.

26. A connector device according to any one of claims 23 to 25, wherein: The first rotating body and the second rotating body are arranged so that the first rotating body's rotation axis (i.e., the first rotation axis) and the second rotating body's rotation axis (i.e., the second rotation axis) extend in parallel directions. The first rotating body is arranged so as to be included in the extending direction length of the connection shaft of the connection portion when viewed in a direction perpendicular to the first rotation axis.

27. The connector device according to claim 26, wherein The eighth rotating body is arranged so as to be included in the extending direction length when viewed in a direction perpendicular to the first rotation axis.

28. A connector arrangement according to claim 26 when appended to claim 24, wherein The speed change mechanism is arranged so as to be included in the extension direction length when viewed in a direction perpendicular to the first rotation axis.

29. A connector device according to any one of claims 3 to 6, wherein: The power source is arranged at a position overlapping with at least a portion of the second rotating body when viewed in a direction perpendicular to the second rotation axis.

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