Joint device

Abstract

A motorized leg (1) is provided with a lower knee member (110), an upper knee member (120), a knee joint mechanism (130) coupling the lower knee member (110) and the upper knee member (120) such that the angle therebetween can be changed, and an extendable device (140) capable of changing the angle between the lower knee member (110) and the upper knee member (120) by extending and contracting. The extendable device (140) comprises a motor (M) and a transmission (T) that transmits power from the motor (M). The transmission (T) comprises a first transmission mechanism (T1) that transmits power from the motor (M) at a first gear ratio, and a second transmission mechanism (T2) that transmits power from the motor (M) at a second gear ratio different from the first gear ratio.

Description

Technical Field

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

Background Art

[0002] Conventionally, as a joint device used for a connecting portion that connects two members, there is known one provided with a telescopic device capable of changing the angle formed by the two members. As such a joint device, for example, there is a prosthetic leg used for a knee joint. Patent Document 1 describes that a sensor for detecting the contraction movement of the muscles of the stump end of a severed leg is provided in the thigh socket of the prosthetic leg attached to the stump end of the severed leg, and the throttle condition of the variable valve of the hydraulic cylinder that adjusts the resistance to flexion and extension of the knee joint portion is controlled by the detection information from the sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the prosthetic leg described in Patent Document 1, although it is possible to generate resistance to flexion and extension, it is not possible to generate power for flexion and extension. In particular, in order to smoothly ascend a staircase, it is necessary to extend the knee joint while a load is acting.

[0005] The present invention provides a joint device capable of extending and flexing a connecting portion by the power of a power source.

Means for Solving the Problems

[0006] The present invention includes a first member, a second member, a connecting portion that connects the first member and the second member so as to be able to change the angle formed therebetween, A joint device comprising a telescopic device capable of changing the angle formed by the first member and the second member by telescoping. The telescopic device comprises a power source, and a power transmission unit that transmits the power of the power source. The power transmission unit comprises a first power transmission path that transmits the power at a first speed ratio, and a second power transmission path that transmits the power at a second speed ratio different from the first speed ratio.

Advantages of the Invention

[0007] According to the present invention, the connecting portion can be extended and bent through a power transmission unit that transmits the power of the power source.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

Figure 26

Figure 27

Figure 28

Figure 29

Figure 30

Figure 31

Figure 32

[0009] Hereinafter, an electric prosthetic leg as an embodiment of the joint device of the present invention will be described with reference to the drawings. In the following description, the front-back direction, left-right direction, and up-down direction are defined based on the user of the electric prosthetic leg. In the drawings, the front of the electric prosthetic leg is shown as Fr, the rear as Rr, the left side as L, the right side as R, the upper side as U, and the lower side as D.

[0010] [Electric Prosthetic Leg] As shown in FIGS. 1 and 2, the prosthetic leg 1 of the first embodiment is a prosthetic leg worn on the leg of a person without a knee, and includes a below-knee member 110 located below the knee, an above-knee member 120 worn 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 as to be able to change the angle formed therebetween, a telescopic device 140 that can change the angle formed between the below-knee member 110 and the above-knee member 120 by expanding and contracting, and a battery (not shown).

[0011] The above-knee member 120 includes an upper wall portion 122 provided with an adapter 121 connected to a socket (not shown), and a pair of upper side wall portions 123 extending downward from both left and right ends of the upper wall portion 122, and has a substantially U-shaped cross-section that is open downward when viewed from the front-rear direction.

[0012] The below-knee member 110 includes a lower wall portion 112 provided with a leg portion 111, and a pair of lower side wall portions 113 extending upward from both left and right ends of the lower wall portion 112, and has a substantially U-shaped cross-section that is open upward when viewed from the front-rear direction.

[0013] Between the pair of upper side wall portions 123 of the above-knee member 120, the pair of lower side wall portions 113 of the below-knee member 110 are connected so as to be rotatable about a rotating portion 135. By this mechanism, the angle formed between the below-knee member 110 and the above-knee member 120 is connected so as to be changeable, and the knee joint mechanism 130 is configured.

[0014] In the space formed between the above-knee member 120 and the below-knee member 110, a telescopic device 140 that can change the angle formed between the below-knee member 110 and the above-knee member 120 is provided.

[0015] The telescopic device 140 includes a motor M that outputs rotational power, a transmission T that transmits the power of the motor M, a spindle unit SP that is connected to the transmission T so as to be capable of power transmission and converts the rotational power output from the transmission T into translational motion, a first intermittent mechanism 210 and a second intermittent mechanism 220 provided in the transmission T, a first operation mechanism 230 and a second operation mechanism 240 that perform a switching operation on the first intermittent mechanism 210 and the second intermittent mechanism 220, and a rotary damper 250 that attenuates an external force input from the spindle unit SP.

[0016] The transmission T has a top plate portion 161, a bottom plate portion 162, an intermediate plate portion 163 disposed in parallel between the top plate portion 161 and the bottom plate portion 162, and a pair of side plate portions 164 that connect the left and right ends of these top plate portion 161, bottom plate portion 162, and intermediate plate portion 163, and includes a transmission case 160 having a rectangular shape when viewed from the front-rear direction. The transmission case 160 is swingably and non-movably supported by a lower knee-side member 110 via a lower swing portion (not shown).

[0017] The motor M is disposed in front of and above the top plate portion 161 of the transmission case 160 such that the output shaft 171 penetrates the top plate portion 161 and protrudes into the transmission case 160. The spindle unit SP is disposed on the side opposite to the motor M in the front-rear direction. The spindle unit SP has a spindle 173 formed with a male thread and a sleeve 174 formed with a female thread, and the sleeve 174 performs translational motion along the axis of the spindle 173 due to the rotation of the spindle 173.

[0018] In this embodiment, the spindle 173 rotates in response to the rotational power of the motor M transmitted by the transmission T. On the other hand, the sleeve 174 has a base portion 174a thereof swingably and non - movably attached to a pair of inner side wall portions 124 extending downward from the upper wall portion 122 of the upper knee member 120 about the upper swing portion 125. Therefore, when the spindle 173 rotates to one side in response to the rotational power of the motor M transmitted by the transmission T, the sleeve 174 translates so as to move away from the transmission T, and when the spindle 173 rotates to the other side, the sleeve 174 translates so as to approach the transmission T. Note that the translational movement of the sleeve 174 away from the transmission T may be referred to as the extension operation of the spindle unit SP, and conversely, the translational movement of the sleeve 174 approaching the transmission T may be referred to as the contraction operation of the spindle unit SP.

[0019] That is, the distance between the sleeve 174 and the transmission T expands and contracts according to the rotational direction of the spindle 173. Since the sleeve 174 is non - movably attached to the upper knee member 120 as described above, the distance between the sleeve 174 and the transmission T expands and contracts according to the rotational direction of the spindle 173, so that the lower knee member 110 to which the transmission T is attached and the upper knee member 120 to which the sleeve 174 is attached rotate about the rotating portion 135. As a result, the angle formed by the upper knee member 120 and the lower knee member 110 changes. If the angle formed by the upper knee member 120 and the lower knee member 110 is the acute - angle side angle of the acute - angle side and obtuse - angle side angles, the knee joint mechanism 130 extends when the formed angle increases, and the knee joint mechanism 130 bends when the formed angle decreases.

[0020] As shown in FIGS. 2 to 6, the transmission T includes a first transmission mechanism T1 that transmits the power of the motor M to the spindle unit SP at a first gear ratio, and a second transmission mechanism T2 that transmits the power of the motor M to the spindle unit SP at a second gear ratio different from the first gear ratio. The power cut - off state and the connection state of the first transmission mechanism T1 are switched by the first intermittent mechanism 210, and the power cut - off state and the connection state of the second transmission mechanism T2 are switched by the second intermittent mechanism 220.

[0021] According to such a transmission T, by providing two power transmission paths with different speed ratios, it is possible to switch the operating speeds and generated powers of extension and flexion in the knee joint mechanism 130. The first speed ratio and the second speed ratio only need to be different. The first transmission mechanism T1 and the second transmission mechanism T2 may be such that either one is a speed reduction mechanism and the other is a speed increase mechanism, either one is a constant speed mechanism and the other is a speed reduction mechanism or a speed increase mechanism, both may be speed reduction mechanisms, or both may be speed increase mechanisms.

[0022] The first speed ratio is the ratio of the rotational speed after shifting, which is the rotational speed on the side opposite to the motor M (spindle unit SP side) in the first transmission mechanism T1, to the rotational speed before shifting, which is the rotational speed on the motor M side in the first transmission mechanism T1. The second speed ratio is the ratio of the rotational speed after shifting, which is the rotational speed on the side opposite to the motor M (spindle unit SP side) in the second transmission mechanism T2, to the rotational speed before shifting, which is the rotational speed on the motor M side in the second transmission mechanism T2.

[0023] For example, when the first speed ratio of the first transmission mechanism T1 is less than 1, the rotational speed on the side opposite to the motor M (spindle unit SP side) decreases compared to the rotational speed on the motor M side, and the torque increases. When the second speed ratio of the second transmission mechanism T2 is greater than 1, the rotational speed on the side opposite to the motor M (spindle unit SP side) increases compared to the rotational speed on the motor M side, and the torque decreases. In the present 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 drive gear 183 has a smaller diameter than the second drive gear 185. In the present embodiment, the first transmission mechanism T1 is disposed above the second transmission mechanism T2.

[0024] The first speed change mechanism T1 and the second speed change mechanism T2 include a first shaft 181 rotatably disposed on the downward extension line of the output shaft 171 of the motor M, and a second shaft 182 rotatably disposed on the downward extension line of the spindle 173 of the spindle unit SP. The first shaft 181 is integrally rotatably connected to the output shaft 171 of the motor M via a coupling 187 that allows an axial error, and the second shaft 182 is integrally rotatably connected to the spindle 173 of the spindle unit SP via a key 188 and key grooves 182a and 173a. Note that the output shaft 171 of the motor M and the first shaft 181 may be connected by key fitting or spline fitting without using the coupling 187. Further, the spindle 173 of the spindle unit SP and the second shaft 182 may be connected using spline fitting or a coupling instead of key fitting.

[0025] The first speed change mechanism T1 includes a first driving gear 183 and a first driven gear 184 that mesh with each other. The first driving gear 183 is supported by the first shaft 181 so as to be relatively rotatable, and the first driven gear 184 is supported by the second shaft 182 so as to be relatively rotatable. The first speed change mechanism T1 of the present embodiment is a speed reduction transmission mechanism in which the first driving gear 183 has a smaller diameter than the first driven gear 184, and the spindle unit SP can be expanded and contracted at a low speed and a high torque.

[0026] The second speed change mechanism T2 includes a second driving gear 185 and a second driven gear 186 that mesh with each other. The second driving gear 185 is supported by the first shaft 181 so as to be relatively rotatable, and the second driven gear 186 is supported by the second shaft 182 so as to be relatively rotatable. The second speed change mechanism T2 of the present embodiment is a speed increase transmission mechanism in which the second driving gear 185 has a larger diameter than the second driven gear 186, and the spindle unit SP can be expanded and contracted at a high speed and a low torque.

[0027] The first intermittent mechanism 210 includes a first intermittent portion 211 provided between the first driving gear 183 and the first shaft 181, and a second intermittent portion 212 provided between the first driven gear 184 and the second shaft 182.

[0028] The second intermittent mechanism 220 includes a third intermittent portion 221 provided between the second drive gear 185 and the first shaft 181, and a fourth intermittent portion 222 provided between the second driven gear 186 and the second shaft 182.

[0029] These intermittent portions 211, 212, 221, and 222 have a common configuration and are configured to be switchable between an interrupted state that interrupts power transmission and a power-transmissible state that can transmit rotational power in both the one direction and the other direction.

[0030] As shown in FIGS. 5 to 8, each of the intermittent portions 211, 212, 221, and 222 of the present embodiment is configured by combining two one-way clutches 270 having a forced-free function. Each one-way clutch 270 is disposed between the outer peripheral surface portions of the shafts 181 and 182 and the inner peripheral surface portions of the gears 183 to 186, and engages when rotational power in one direction is input from the shaft side or the gear side to transmit the rotational power, and becomes disengaged when rotational power in the other direction is input from the shaft side or the gear side to interrupt the rotational power. It includes a plurality of rollers 271, a retainer 274 that holds the plurality of rollers 271 at predetermined intervals, and a plurality of pins 272 that forcibly hold the plurality of rollers 271 in a disengaged position to interrupt rotational power in both the one direction and the other direction. In the figure, reference numeral 273 is a fixing pin that fixes the retainer 274 to the shafts 181 and 182, and reference numeral 275 is a spring that biases the roller 271 from the retainer 274 side toward the pin 272 side. Each of the intermittent portions 211, 212, 221, and 222 is configured by overlapping two one-way clutches 270 so that the rotational direction to be transmitted is reversed. According to such intermittent portions 211, 212, 221, and 222, it is possible to switch between an interrupted state in which the two one-way clutches 270 are forced to be free to interrupt power transmission and a power-transmissible state in which either one of the two one-way clutches 270 is engaged to transmit rotational power in both the one direction and the other direction.

[0031] The first operating mechanism 230 includes a first operating rod 231 that is provided so as to be able to operate the pin 272 of the first intermittent portion 211 of the first intermittent mechanism 210 and the pin 272 of the third intermittent portion 221 of the second intermittent mechanism 220, and a first servo motor 232 that linearly moves the first operating rod 231. Note that the operating rod provided so as to be able to operate the pin 272 of the first intermittent portion 211 and the operating rod provided so as to be able to operate the pin 272 of the third intermittent portion 221 are different from each other, and servo motors that linearly move the respective operating rods may be provided.

[0032] The second operating mechanism 240 includes a second operating rod 241 that is provided so as to be able to operate the pin 272 of the second intermittent portion 212 of the first intermittent mechanism 210 and the pin 272 of the fourth intermittent portion 222 of the second intermittent mechanism 220, and a second servo motor 242 that linearly moves the second operating rod 241. Note that the operating rod provided so as to be able to operate the pin 272 of the second intermittent portion 212 and the operating rod provided so as to be able to operate the pin 272 of the fourth intermittent portion 222 are different from each other, and servo motors that linearly move the respective operating rods may be provided.

[0033] The first shaft 181 is a hollow shaft having a first internal space S1 extending in the rotational axis direction, and the second shaft 182 is a hollow shaft having a second internal space S2 extending in the rotational axis direction. The first operating rod 231 is disposed in the first internal space S1 so as to be vertically movable, and the second operating rod 241 is disposed in the second internal space S2 so as to be vertically movable. The first shaft 181 and the second shaft 182 are disposed so as to extend in the vertical direction when the user of the powered prosthesis 1 is in an upright state.

[0034] The first operation rod 231 has a rack 231a on the lower end side. A pinion 233 provided on the output shaft 232a of the first servo motor 232 meshes with the rack 231a. In response to the drive of the first servo motor 232, the position of the first operation rod 231 is switched between the upper position shown in FIG. 3 and the lower position shown in FIG. 4. FIGS. 3 to 6 show the first operation mechanism 230, and the second operation mechanism 240 has a similar configuration. The reference numerals in parentheses in FIGS. 3 to 8 indicate the components of the second operation mechanism 240 corresponding to the components of the first operation mechanism 230.

[0035] The second operation rod 241 has a rack 241a on the lower end side. A pinion 243 provided on the output shaft 242a of the second servo motor 242 meshes with the rack 241a. In response to the drive of the second servo motor 242, the position of the second operation rod 241 is switched between the upper position and the lower position.

[0036] The pins 272 of the intermittent portions 211, 212, 221, and 222 are provided so as to be movable in the radial direction with respect to the rotation axes of the first shaft 181 and the second shaft 182. The first operation rod 231 and the second operation rod 241 are provided such that their outer peripheral portions contact the inner end portions of the pins 272. The outer peripheral portions of the first operation rod 231 and the second operation rod 241 have small-diameter portions 231b, 241b that position the pins 272 at the inner forced-free release position and large-diameter portions 231c, 241c that push the pins 272 to the outer forced-free position. An inclined portion that continuously connects the small-diameter portions 231b, 241b and the large-diameter portions 231c, 241c without a step is provided between the small-diameter portions 231b, 241b and the large-diameter portions 231c, 241c.

[0037] In this embodiment, a first shift state in which the first operation rod 231 and the second operation rod 241 are positioned at the upper position and a second shift state in which the first operation rod 231 and the second operation rod 241 are positioned at the lower position are presented. In the first shift state, as shown in FIGS. 3 and 5 to 8, the large-diameter portions 231c and 241c of the first operation rod 231 and the second operation rod 241 force the first intermittent portion 211 and the second intermittent portion 212 of the first intermittent mechanism 210 to be free, so that the motor M and the spindle unit SP are in a power transmission state via the second transmission mechanism T2. Further, in the second shift state, as shown in FIG. 4, the large-diameter portions 231c and 241c of the first operation rod 231 and the second operation rod 241 force the third intermittent portion 221 and the fourth intermittent portion 222 of the second intermittent mechanism 220 to be free, so that the motor M and the spindle unit SP are in a power transmission state via the first transmission mechanism T1.

[0038] A bending external force input from the spindle unit SP to the rotary damper 250 is transmitted via the first transmission mechanism T1. Specifically, an input gear 252 that meshes with the first drive gear 183 of the first transmission mechanism T1 is provided on the input shaft 251 of the rotary damper 250. Further, a one-way clutch 253 that transmits the rotation of the first transmission mechanism T1 in one direction to the rotary damper 250 and blocks the rotation in the opposite direction is provided between the input shaft 251 and the input gear 252. Thereby, even in the first shift state, the power transmission to the rotary damper 250 is blocked during the power running drive of the motor M, and the external force input from the spindle unit SP during the non-power running drive (zero torque control or regenerative control) of the motor M is transmitted to the rotary damper 250 and attenuated.

[0039] In the electric prosthetic leg 1 configured in this way, it is possible to smoothly perform the ascending operation of the stairs, which had to be ascended step by step with the non-prosthetic leg in the conventional passive prosthetic leg equipped with a passive damper.

[0040] Specifically, as shown in (A)→(B) of FIG. 9, when the powered prosthesis 1 is extended forward to climb stairs (ascend the stairs) and a load is applied to the powered prosthesis 1, a large amount of power is required when the knee joint mechanism 130 extends from a bent state.

[0041] At this time, the transmission T is in a second shift state in which the first operation rod 231 and the second operation rod 241 are positioned at the lower positions. In the second shift state, the large-diameter portions 231c and 241c of the first operation rod 231 and the second operation rod 241 force the third intermittent portion 221 and the fourth intermittent portion 222 of the second intermittent mechanism 220 to be free, so that the motor M and the spindle unit SP are in a power transmission state via the first transmission mechanism T1.

[0042] In this state, when the motor M is rotated in the first direction (the D1 direction in FIG. 10), the power of the motor M is transmitted to the first shaft 181, the first intermittent portion 211 of the first intermittent mechanism 210, the first drive gear 183, the first driven gear 184, the second intermittent portion 212 of the first intermittent mechanism 210, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 moves forward (extends) so as to separate from the transmission T, and the upper knee member 120 to which the sleeve 174 is attached rotates about the rotating portion 135 with respect to the lower knee member 110 to which the transmission T is attached, and the knee joint mechanism 130 extends. And since the power for extending this is the power that has been increased in torque when decelerated by the first transmission mechanism T1, even when a large load is applied to the powered prosthesis 1 when the powered prosthesis 1 is extended forward to climb stairs, the knee joint mechanism 130 can be surely extended from a bent state.

[0043] On the other hand, in order to smoothly perform the ascending operation of the stairs, as shown in (D)→(E) of FIG. 9, it is necessary to bend (lift) the knee joint mechanism 130 from an extended state when a load is applied to the healthy leg. When the knee joint mechanism 130 is bent from an extended state, a large amount of power is not required but a quick operation is required.

[0044] At this time, the transmission T is in a first shifting state in which the first operating rod 231 and the second operating rod 241 are positioned at the upper positions. In the first shifting state, the large-diameter portions 231c and 241c of the first operating rod 231 and the second operating rod 241 force the first intermittent portion 211 and the second intermittent portion 212 of the first intermittent mechanism 210 to be free, so that the motor M and the spindle unit SP are in a power transmission state via the second transmission mechanism T2.

[0045] In this state, when the motor M is rotated in the second direction (direction D2 in FIG. 11), the power of the motor M is transmitted to the first shaft 181, the third intermittent portion 221 of the second intermittent mechanism 220, the second driving gear 185, the second driven gear 186, the fourth intermittent portion 222 of the second intermittent mechanism 220, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 moves forward (shrinking operation) so as to approach the transmission T, and the lower knee member 110 to which the transmission T is attached rotates about the rotating portion 135 with respect to the upper knee member 120 to which the sleeve 174 is attached, and the knee joint mechanism 130 bends. And since the power for bending is the power whose torque is reduced when being increased in speed by the second transmission mechanism T2, the knee joint mechanism 130 can be bent quickly.

[0046] Also, when descending the stairs (descending) and during walking on flat ground as shown in FIG. 12, as shown in FIG. 13, by attenuating the external force in the bending direction input from the spindle unit SP with the rotary damper 250, smooth bending of the knee joint mechanism 130 becomes possible.

[0047] At this time, the transmission T is in a second shifting state in which the first operating rod 231 and the second operating rod 241 are positioned at the lower positions. In the second shifting state, the large-diameter portions 231c and 241c of the first operating rod 231 and the second operating rod 241 force the third intermittent portion 221 and the fourth intermittent portion 222 of the second intermittent mechanism 220 to be free, so that the motor M and the spindle unit SP are in a power transmission state via the first transmission mechanism T1.

[0048] In this state, when the motor M is subjected to zero torque control, the external force in the bending direction input from the spindle unit SP is transmitted to the second shaft 182, the second intermittent portion 212 of the first intermittent mechanism 210, the first driven gear 184, the first driving gear 183, the input gear 252, the one-way clutch 253, and the rotary damper 250. As a result, the external force in the bending direction input from the spindle unit SP is attenuated by the rotary damper 250, enabling smooth bending of the knee joint mechanism 130. Note that the motor M may be subjected to regeneration control instead of zero torque control. By doing so, the attenuation performance during bending can be enhanced.

[0049] Next, a modified example of the electric prosthetic leg 1 according to the first embodiment will be described with reference to FIG. 14. However, for the configurations common to the above-described embodiment, the description of the above-described embodiment may be incorporated by using the same reference numerals as those in the above-described embodiment.

[0050] As shown in FIG. 14, the electric prosthetic leg 1 of the modified example is different from the above-described embodiment in that it includes a second rotary damper 260 that attenuates the external force in the extension direction input from the spindle unit SP during flat walking.

[0051] The external force in the extension direction input from the spindle unit SP is transmitted to the second rotary damper 260 via the second speed change mechanism T2. Specifically, an input gear 262 that meshes with the second driving gear 185 of the second speed change mechanism T2 is provided on the input shaft 261 of the second rotary damper 260. Further, a one-way clutch 263 that transmits the one-way rotation of the second speed change mechanism T2 to the second rotary damper 260 and blocks the rotation in the opposite direction is provided between the input shaft 261 and the input gear 262. Thereby, even in the first speed change state, the power transmission to the second rotary damper 260 is blocked during the power running drive of the motor M, and the external force in the extension direction input from the spindle unit SP during the non-power running drive (zero torque control or regeneration control) of the motor M is transmitted to the second rotary damper 260 and attenuated.

[0052] Specifically, when damping the external force in the extension direction input from the spindle unit SP with the second rotary damper 260, the transmission T assumes a first shift state in which the first operation rod 231 and the second operation rod 241 are positioned at the upper position. In the first shift state, the large-diameter portions 231c and 241c of the first operation rod 231 and the second operation rod 241 force the first intermittent portion 211 and the second intermittent portion 212 of the first intermittent mechanism 210 to be free, so that the motor M and the spindle unit SP are in a power transmission state via the second transmission mechanism T2.

[0053] In this state, when the motor M is subjected to zero-torque control, the external force in the extension direction input from the spindle unit SP is transmitted to the second shaft 182, the fourth intermittent portion 222 of the second intermittent mechanism 220, the second driven gear 186, the second driving gear 185, the input gear 262, the one-way clutch 263, and the second rotary damper 260. As a result, the external force in the extension direction input from the spindle unit SP is damped by the second rotary damper 260, enabling the smooth progression of the knee joint mechanism 130. Note that the motor M may be subjected to regeneration control instead of zero-torque control. By doing so, the damping performance during extension can be enhanced.

[0054] Next, the electric prosthetic leg 1 according to the second and third embodiments of the present invention will be described with reference to FIGS. 15 to 26. However, for the configurations common to the first embodiment, the description may be omitted, or the description of the first embodiment may be incorporated by using the same reference numerals as those in the first embodiment.

[0055] The transmission T of the first embodiment described above includes four two-way clutches (intermittent portions 211, 212, 221, 222) configured by combining two one-way clutches 270 having a forced free function, and the on / off of these two-way clutches is switched by two actuators (servo motors 232, 242). In contrast, the transmissions T of the second and third embodiments include two two-way clutches having a forced free function, and the on / off of these two-way clutches is switched by one actuator, which is different. According to the second and third embodiments like this, the number of parts of the transmission T can be reduced, and the structure can be simplified and the cost can be reduced. Hereinafter, the configurations of the transmissions T of the second and third embodiments, and the configurations and operations of the two-way clutches of the second and third embodiments will be sequentially described.

[0056] As shown in FIG. 15, similar to the transmission T of the first embodiment, the transmission T of the second embodiment includes a first transmission mechanism T1 that transmits the power of the motor M to the spindle unit SP at a first transmission ratio, and a second transmission mechanism T2 that transmits the power of the motor M to the spindle unit SP at a second transmission ratio different from the first transmission ratio. The power cut-off state and the connection state of the first transmission mechanism T1 are switched by the first intermittent mechanism 210, and the power cut-off state and the connection state of the second transmission mechanism T2 are switched by the second intermittent mechanism 220.

[0057] The first transmission mechanism T1 of the second embodiment includes a first shaft 181 mechanically connected to the output shaft 171 of the motor M, a second shaft 182 mechanically connected to the spindle 173 of the spindle unit SP, a first drive gear 183 rotatably provided relative to the first shaft 181, and a first driven gear 184 integrally rotatably provided on the second shaft 182 and rotating synchronously with the first drive gear 183.

[0058] The second transmission mechanism T2 of the second embodiment includes the first shaft 181, the second shaft 182, a second drive gear 185 rotatably provided relative to the first shaft 181, and a second driven gear 186 integrally rotatably provided on the second shaft 182 and rotating synchronously with the second drive gear 185.

[0059] The first intermittent mechanism 210 of the second embodiment includes a first intermittent portion 211 provided between the first drive gear 183 and the first shaft 181, and the second intermittent mechanism 220 includes a third intermittent portion 221 provided between the second drive gear 185 and the first shaft 181. That is, in the transmission T of the second embodiment, intermittent portions 211 and 221 are provided between the first shaft 181 and the respective gears 183 and 185, and intermittent portions 212 and 222 are not provided between the second shaft 182 and the respective gears 184 and 186.

[0060] These intermittent portions 211 and 221 have a common configuration and are configured to be switchable between an interrupted state that interrupts power transmission and a power transmission possible state that can transmit rotational power in both a one-way and the other-way directions. Details thereof will be described later.

[0061] As shown in FIG. 16, the transmission T of the third embodiment includes a first transmission mechanism T1, a second transmission mechanism T, a first intermittent mechanism 210, and a second intermittent mechanism 220, similar to the transmission T of the second embodiment.

[0062] The first transmission mechanism T1 of the third embodiment includes the first shaft 181, the second shaft 182, a first drive gear 183 rotatably provided integrally with the first shaft 181, and a first driven gear 184 rotatably provided relative to the second shaft 182 and rotating synchronously with the first drive gear 183.

[0063] The second transmission mechanism T2 of the third embodiment includes the first shaft 181, the second shaft 182, a second drive gear 185 rotatably provided integrally with the first shaft 181, and a second driven gear 186 rotatably provided relative to the second shaft 182 and rotating synchronously with the second drive gear 185.

[0064] The first intermittent mechanism 210 of the third embodiment includes a second intermittent portion 212 provided between the first driven gear 184 and the second shaft 182, and the second intermittent mechanism 220 includes a fourth intermittent portion 222 provided between the second driven gear 186 and the second shaft 182. That is, in the transmission T of the third embodiment, intermittent portions 212 and 222 are provided between the second shaft 182 and the respective gears 184 and 186, and intermittent portions 211 and 221 are not provided between the first shaft 181 and the respective gears 183 and 185.

[0065] These intermittent portions 212 and 222 have a common configuration and are configured to be switchable between an interrupted state that interrupts power transmission and a power transmission possible state that can transmit rotational power in both the one direction and the other direction.

[0066] As shown in FIG. 17, each of the intermittent portions 211 and 221 of the second embodiment and each of the intermittent portions 212 and 222 of the third embodiment are configured using a two-way clutch 280 having a forced free function. The two-way clutch 280 includes a plurality (three in this embodiment) of rollers 281 disposed between the outer peripheral surface portions of the shafts 181 and 182 and the inner peripheral surface portions of the gears 183 to 186, a retainer 282 that holds the plurality of rollers 281 at a predetermined interval, a plurality (three in this embodiment) of pins 283 that penetrate the shafts 181 and 182 in the radial direction and are operated by the first operation mechanism 230 or the second operation mechanism 240 to a forced free position and a forced free release position, and a plurality (three in this embodiment) of guides 284 provided on the retainer 282 that define the relative rotational position of the retainer 282 with respect to the shafts 181 and 182 when the pins 283 are in the forced free position.

[0067] The radial interval A (not shown) between the outer peripheral surface portions of the shafts 181 and 182 and the inner peripheral surface portions of the gears 183 to 186 is smaller than the diameter B (not shown) of the rollers 281. Further, flat portions 281a and 282a are formed on the outer peripheral portions of the shafts 181 and 182 at predetermined intervals in the circumferential direction, and the interval A is larger than the diameter B on the circumferential center side of the flat portions 281a and 282a.

[0068] That is, when the roller 281 is held at the circumferential center of the flat portions 281a and 282a, the roller 281 does not mesh with the outer peripheral surfaces of the shafts 181 and 182 and the inner peripheral surfaces of the gears 183 to 186, and relative rotation between the shafts 181 and 182 and the gears 183 to 186 is permitted (forced free state).

[0069] On the other hand, when the circumferential movement of the roller 281 relative to the shafts 181 and 182 is permitted, the roller 281 meshes with the outer peripheral surfaces of the shafts 181 and 182 and the inner peripheral surfaces of the gears 183 to 186, and the shafts 181 and 182 and the gears 183 to 186 are connected so as to be integrally rotatable in two directions (forced free release state).

[0070] As shown in FIG. 18, the retainer 282 has a ring shape that is rotatable relative to the shafts 181 and 182 and the gears 183 to 186, and includes a plurality of roller holding portions 282a that hold the rollers 281 and a plurality of guide holding portions 282b that hold the guides 284.

[0071] Further, a plurality of rubber balls 282c are embedded in the outer peripheral surface of the retainer 282 at predetermined intervals in the circumferential direction. These rubber balls 282c prevent unintentional idling in the forced free release state by generating appropriate friction between the gears 183 to 186 and the retainer 282. Note that a member that generates friction between the gears 183 to 186 and the retainer 282 may be an O-ring 282d as shown in FIG. 19. Further, although the rubber balls 282c and the O-ring 282d are effective in preventing idling, they can also be omitted.

[0072] Returning to FIG. 17, the pin 283 has a conical convex portion 283a at its radially outer end, and the guide 284 has a conical concave portion 284a that fits (engages) with the convex portion 283a at its radially inner end face. When the convex portion 283a of the pin 283 fits into the concave portion 284a of the guide 284, the relative rotational position of the retainer 282 with respect to the shafts 181 and 182 is positioned at a predetermined position where the forced free state is achieved by the guiding action of the pin 283 and the guide 284.

[0073] Also, as shown in FIGS. 15 and 16, on the shafts 181 and 182, in order from above, a first large-diameter portion 231c1, 241c1, a first small-diameter portion 231b1, 241b1, a second large-diameter portion 231c2, 241c2, a second small-diameter portion 231b2, 241b2, and a third large-diameter portion 231c3, 241c3 are formed at a predetermined length and interval. The shafts 181 and 182 are each provided with two intermittent portions that can be controlled simultaneously, but they may be provided separately for each intermittent portion.

[0074] In the following description, the operation of the second operation mechanism 240 that simultaneously controls the intermittent portions 212 and 222 of the third embodiment will be described with reference to FIG. 20. As shown in FIG. 20, the intermittent portions 212 and 222 are switched between a forced-free state (hereinafter, appropriately referred to as an off state) and a forced-free release state (hereinafter, appropriately referred to as an on state) by the second operation mechanism 240.

[0075] When the second operation rod 241 of the second operation mechanism 240 is in the upper position shown in FIG. 20(A), the second large-diameter portion 241c2 pushes out the pin 283 of the second intermittent portion 212 in the outer diameter direction, and the third large-diameter portion 241c3 pushes out the pin 283 of the fourth intermittent portion 222 in the outer diameter direction, thereby turning off the second intermittent portion 212 and the fourth intermittent portion 222.

[0076] Also, when the second operation rod 241 of the second operation mechanism 240 is in the middle position shown in FIG. 20(B), the first small-diameter portion 241b1 allows the pin 283 of the second intermittent portion 212 to return in the inner diameter direction, and the third large-diameter portion 241c3 pushes out the pin 283 of the fourth intermittent portion 222 in the outer diameter direction, thereby turning on the second intermittent portion 212 and turning off the fourth intermittent portion 222.

[0077] Also, when the second operation rod 241 of the second operation mechanism 240 is in the lower position shown in FIG. 20(C), the first large-diameter portion 241c1 pushes out the pin 283 of the second intermittent portion 212 in the outer diameter direction, and the second small-diameter portion 241b2 allows the pin 283 of the fourth intermittent portion 222 to return in the inner diameter direction, thereby turning off the second intermittent portion 212 and turning on the fourth intermittent portion 222.

[0078] Although illustration is omitted, each intermittent part 211, 221 of the second embodiment can also be switched between a forced free state and a forced free release state by the first operation mechanism 230. The first operation rod 231 of the first operation mechanism 230 is configured to be movable to an upper position (a position corresponding to the position (A) in FIG. 20), a middle position (a position corresponding to the position (B) in FIG. 20), and a lower position (a position corresponding to the position (C) in FIG. 20). In the upper position, the first operation rod 231 of the first operation mechanism 230 pushes out the pins 283 of the first intermittent part 211 and the third intermittent part 221 in the outer diameter direction, thereby turning off the first intermittent part 211 and the third intermittent part 221. In the middle position, while allowing the pin 283 of the first intermittent part 211 to return in the inner diameter direction, the pin 283 of the third intermittent part 221 is pushed out in the outer diameter direction, thereby turning on the first intermittent part 211 and turning off the third intermittent part 221. In the lower position, while pushing out the pin 283 of the first intermittent part 211 in the outer diameter direction and allowing the pin 283 of the third intermittent part 221 to return in the inner diameter direction, the first intermittent part 211 is turned off and the third intermittent part 221 is turned on.

[0079] Next, the operation of the two-way clutch 280 will be described with reference to FIGS. 21 to 26, taking the second intermittent part 212 of the third embodiment as an example. In the following example, the case of shifting from (A) to (B) and then to (C) in FIG. 20 in the second intermittent part 212 will be described as an example.

[0080] As shown in FIGS. 21(A) and 21(B), when the second large-diameter part 241c2 of the second operation rod 241 pushes out the pin 283 of the second intermittent part 212 in the outer diameter direction, the convex part 283a of the pin 283 fits into the concave part 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, since the roller 281 is held at the central part in the circumferential direction of the flat part 282a, the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the first driven gear 184, and the relative rotation between the second shaft 182 and the first driven gear 184 is allowed, resulting in an off state.

[0081] (A) and (B) of FIG. 22 show a state where the second operating rod 241 has moved from the position where the second large-diameter portion 241c2 pushes out the pin 283 of the second intermittent portion 212 in the outer diameter direction to the position where the first small-diameter portion 241b1 allows the pin 283 to return in the inner diameter direction. In FIG. 22, the pin 283 has already moved in the inner diameter direction, but actually, at the timing when relative rotation occurs between the second shaft 182 and the first driven gear 184, the guide 284 of the retainer 282 that rotates with the first driven gear 184 side pushes the pin 283 back in the inner diameter direction on the inclined surface of the recess 284a.

[0082] As shown in (A) and (B) of FIG. 23, when relative rotation in the forward rotation direction indicated by the arrow in the figure occurs between the second shaft 182 and the first driven gear 184 in a state where the return of the pin 283 in the inner diameter direction is allowed, the retainer 282 that rotates with the first driven gear 184 side moves the roller 281 in the forward rotation direction with respect to the second shaft 182. As a result, the roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the first driven gear 184, and a forward rotation on state in which the second shaft 182 and the first driven gear 184 are integrally rotated in the forward rotation direction appears.

[0083] As shown in (A) and (B) of FIG. 24, when relative rotation in the reverse rotation direction indicated by the arrow in the figure occurs between the second shaft 182 and the first driven gear 184 in a state where the return of the pin 283 in the inner diameter direction is allowed, the retainer 282 that rotates with the first driven gear 184 side moves the roller 281 in the reverse rotation direction with respect to the second shaft 182. As a result, the roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the first driven gear 184, and a reverse rotation on state in which the second shaft 182 and the first driven gear 184 are integrally rotated in the reverse rotation direction appears. The retainer 282 can be regarded as an element of the actuator of the operating portion that moves the roller 281, and can also be regarded as an element of the engaging member that is controlled to the position where it becomes a forced free state and the position where the forced free state is released by the pin 283 and the guide 284.

[0084] 26A and 26B, when the second operating rod 241 moves from a position where the first small diameter portion 241b1 allows the pin 283 of the second interrupting portion 212 to return in the inner diameter direction to a position where the first large diameter portion 241c1 pushes the pin 283 in the outer diameter direction, the convex portion 283a of the pin 283 fits into the concave portion 284a of the guide 284, and the relative rotation position of the retainer 282 with respect to the second shaft 182 is fixed in a predetermined position by the guide action of the pin 283 and the guide 284. In this state, since the roller 281 is held in the circumferential center of the flat portion 282a, the roller 281 does not mesh with the outer circumferential surface portion of the second shaft 182 and the inner circumferential surface portion of the first driven gear 184, and the state becomes an OFF state in which the relative rotation between the second shaft 182 and the first driven gear 184 is permitted.

[0085] Although detailed explanation is omitted, the bidirectional clutch 280 of the fourth interrupting part 222 of the third embodiment and the first interrupting part 211 and the third interrupting part 221 of the second embodiment operates in the same manner, and the bidirectional clutch 280 can be in an OFF state, a forward rotation ON state, and a reverse rotation ON state. According to the transmission T of the second and third embodiments, as described above, the number of parts is reduced compared to the transmission T of the first embodiment, and the structure is simplified and the cost is reduced. In addition, when the motor M is on the upstream side and the spindle unit SP is on the downstream side in the power transmission path of the motor M, the transmission T of the third embodiment is provided with the second interrupting part 212 and the fourth interrupting part 222 on the downstream side, so that the number of rotating bodies that rotate when each interrupting part 212, 222 is in the OFF state is reduced, and the operation of the electric prosthetic leg 1 becomes lighter.

[0086] Next, an electric prosthetic leg 1 according to a fourth embodiment of the present invention will be described with reference to Fig. 27 to Fig. 32. However, for configurations common to the second embodiment, the same reference numerals as in the second embodiment are used, and the description of the second embodiment may be used.

[0087] The prosthetic leg 1 of the fourth embodiment mainly differs from the third embodiment in the housing configuration, the arrangement of the spindle unit SP, the connection of the sleeve 174 of the spindle unit SP to the above-knee member 120 via the link member 320, the arrangement of the first speed change mechanism T1 and the second speed change mechanism T2, the shapes of the drive gears 183, 185 and the driven gears 184, 186, and the provision of the extension assist mechanism 330 that assists the extension of the knee joint mechanism 130 with the force stored during knee flexion. Hereinafter, the details of each difference will be sequentially described.

[0088] As shown in FIGS. 27 and 28, the housing 310 of the prosthetic leg 1 of the fourth embodiment has an open upper and rear portion, and includes a box-shaped main frame 311 that constitutes the below-knee member 110, side covers 312 that cover both left and right side surfaces of the main frame 311, and a detachable rear cover 313 that openably and closably covers the rear opening of the main frame 311.

[0089] The above-knee member 120 is provided above the main frame 311 via a rotating portion 135, and the leg portion 111 is provided below the main frame 311. Further, a unitized telescopic device 140 is incorporated inside the main frame 311. The telescopic device 140 has a unit case 315 supported by the main frame 311 via a bracket 316.

[0090] As shown in FIG. 29, the speed change mechanism T includes a first speed change mechanism T1, a second speed change mechanism T, a first intermittent mechanism 210, and a second intermittent mechanism 220. Note that the speed change mechanism T of the fourth embodiment differs from the speed change mechanism T of the second embodiment in that the first speed change mechanism T1 is arranged below the second speed change mechanism T2.

[0091] The first speed change mechanism T1 includes a first shaft 181 mechanically connected to the output shaft of the motor M, a second shaft 182 mechanically connected to the spindle 173 of the spindle unit SP, a first drive gear 183 rotatably provided relative to the first shaft 181, and a first driven gear 184 integrally rotatably provided on the second shaft 182 and rotating synchronously with the first drive gear 183.

[0092] The second speed change mechanism T2 includes a first shaft 181, a second shaft 182, a second drive gear 185 rotatably provided relative to the first shaft 181, and a second driven gear 186 rotatably integrated with the second shaft 182 and rotating synchronously with the second drive gear 185.

[0093] The first intermittent mechanism 210 includes a first intermittent portion 211 provided between the first drive gear 183 and the first shaft 181, and the second intermittent mechanism 220 includes a third intermittent portion 221 provided between the second drive gear 185 and the first shaft 181. That is, in the transmission T of the fourth embodiment, intermittent portions 211 and 221 are provided between the first shaft 181 and the respective gears 183 and 185, and intermittent portions 212 and 222 are not provided between the second shaft 182 and the respective gears 184 and 186. Since each of the intermittent portions 211 and 221 includes a two-way clutch 280, which is the same as in the second embodiment, detailed description thereof is omitted.

[0094] As shown in FIGS. 29 to 32, in the prosthetic leg 1 of the fourth embodiment, the spindle unit SP is disposed on the front side of the rotating portion 135. The knee joint mechanism 130 is bent in response to the extension operation of the spindle unit SP, and the knee joint mechanism 130 is extended in response to the contraction operation of the spindle unit SP. According to such a configuration, when performing a high-torque operation of extending the knee joint mechanism 130 from the bent state ((A)→(B) in FIG. 9), a force in the direction opposite to the gravitational direction acts on the spindle 173 of the spindle unit SP. Therefore, it is possible to avoid an increase in the size of the support structure for supporting the spindle 173. Note that, when the knee joint mechanism 130 is extended from the bent state, in other words, it is when the angle formed by the lower knee member 110 and the upper knee member 120 increases.

[0095] Regarding the support structure for supporting the spindle 173, as shown in FIG. 29, the spindle 173 is integrally connected to a second shaft 182 integrated with a first driven gear 184 and a second driven gear 186, and the second shaft 182 is supported by a unit case 315 via a pair of upper and lower bearings BRG. When the angle formed by the upper knee member 120 and the lower knee member 110 increases in response to the contraction operation of the spindle unit SP, a force in the direction opposite to the gravitational direction acts on the spindle 173 of the spindle unit SP, thereby suppressing the enlargement of this bearing BRG.

[0096] Also, during the high-torque operation of extending the knee joint mechanism 130 from the bent state, the spindle 173 of the spindle unit SP receives a tensile load from the sleeve 174 side, so buckling deformation of the spindle 173 can be prevented.

[0097] Also, the gears 183 to 186 are all helical gears, and during the power running drive of the motor M, a thrust force acts from the drive gears 183 and 185 to the driven gears 184 and 186. By configuring the gears 183 to 186 so that this thrust force acts on the spindle 173 in the direction opposite to the gravitational direction, it becomes possible to avoid enlargement of the support structure for supporting the spindle 173.

[0098] As shown in FIG. 29, in the prosthetic leg 1 of the fourth embodiment, the sleeve 174 of the spindle unit SP is connected to the upper knee member 120 via a link member 320. Specifically, the upper end portion of the sleeve 174 is connected to the lower end portion of the link member 320 via a first rotating portion 321, and the upper end portion of the link member 320 is connected to the upper knee member 120 via a second rotating portion 322. By doing so, it becomes possible to perform flexion and extension of the knee joint mechanism 130 in response to the expansion and contraction of the spindle unit SP without swingably supporting the entire telescopic device 140 as in the prosthetic leg 1 of the first to third embodiments.

[0099] FIG. 30 shows the extended state of the electric prosthetic leg 1 of the fourth embodiment, FIG. 31 shows the state during the extension of the electric prosthetic leg 1, and FIG. 32 shows the maximum bent state of the electric prosthetic leg 1. Note that during walking with the electric prosthetic leg 1, the maximum bent state shown in FIG. 32 will not occur. In FIG. 30, the first stopper 342 attached to the support piece 341 that supports the second rotating part 322 abuts against the position regulating pin 350, and the knee joint mechanism 130 is prevented from bending in the reverse direction. Also, in FIG. 32, the second stopper 343 attached to the upper knee member 120 abuts against the position regulating pin 350, and the knee joint mechanism 130 is prevented from further bending from the maximum bent state. Note that in FIGS. 30 to 32, the reference symbol B is a battery that supplies power to the motor M.

[0100] As shown in FIGS. 29 to 32, an extension assisting mechanism 330 that assists extension with the force stored when the knee joint mechanism 130 bends is provided between the upper end portion of the link member 320 and the upper knee member 120. The extension assisting mechanism 330 includes a pressing portion 332 that presses the upper end portion of the link member 320 with the biasing force of a spring 331 (for example, a compression coil spring). A cam portion 323 is formed at the upper end portion of the link member 320. The cam portion 323 continuously has a small-diameter outer peripheral portion 323a centered on the second rotating part 322, a large-diameter outer peripheral portion 323b having a long distance from the second rotating part 322, and a connecting outer peripheral portion 323c that connects the small-diameter outer peripheral portion 323a and the large-diameter outer peripheral portion 323b without a step.

[0101] As shown in FIG. 30, in the extended state of the knee joint mechanism 130 where the spindle unit SP is reduced, the pressing portion 332 abuts against the small-diameter outer peripheral portion 323a of the cam portion 323. As shown in FIG. 31, when the spindle unit SP extends from the extended state of the knee joint mechanism 130 and the knee joint mechanism 130 bends, as the contact position between the pressing portion 332 and the cam portion 323 moves from the small-diameter outer peripheral portion 323a to the large-diameter outer peripheral portion 323b, the pressing portion 332 is pushed in against the biasing force of the spring 331, and the spring 331 stores energy.

[0102] Conversely, when the spindle unit SP contracts from the bent state of the knee joint mechanism 130 and the knee joint mechanism 130 moves from the bent state toward the extended side, as the contact position between the pressing portion 332 and the cam portion 323 moves from the large-diameter outer peripheral portion 323b to the small-diameter outer peripheral portion 323a, the stored force of the spring 331 acts in the direction of contracting the spindle unit SP via the pressing portion 332 and the link member 320. Thereby, the extension assist mechanism 330 can assist the extension of the knee joint mechanism 130 with the force stored when the knee joint mechanism 130 is bent.

[0103] In addition, in the transmission T of the fourth embodiment, the intermittent portions 211 and 221 are provided between the first shaft 181 and the respective gears 183 and 185, and the intermittent portions 212 and 222 are not provided between the second shaft 182 and the respective gears 184 and 186, but as in the transmission T of the third embodiment, the intermittent portions 212 and 222 may be provided between the second shaft 182 and the respective gears 184 and 186, and the intermittent portions 211 and 221 may not be provided between the first shaft 181 and the respective gears 183 and 185.

[0104] As described above, various embodiments have been described with reference to the drawings, but it goes without saying that the present invention is not limited to such examples. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims, and it is naturally understood that those also belong to the technical scope of the present invention. Further, within the scope not departing from the gist of the invention, the respective components in the above embodiments may be arbitrarily combined.

[0105] For example, in the above embodiment, a prosthetic device (powered prosthesis) applied to a knee joint as one embodiment of the joint device of the present invention has been exemplified, but the present invention is not limited thereto, and a prosthetic device (powered prosthesis) applied to an elbow joint may be used, and the wearing subject may be an animal other than a human or a robot. When applied to an elbow joint, the lower-knee member 110 in the above embodiment becomes the end side of the wearing subject, that is, the forearm, with respect to the upper-knee member 120.

[0106] In addition, the telescopic device 140, the transmission T, the first intermittent mechanism 210 and the second intermittent mechanism 220 provided in the transmission T, or the first operating mechanism 230 and the second operating mechanism 240 for switching the first intermittent mechanism 210 and the second intermittent mechanism 220 in the above-described embodiment are not limited to the joint device, and may be applied to a driving device of a moving body such as a vehicle, or may be applied to a driving device of a working machine such as a snow remover or a lawn mower.

[0107] In addition, at least the following matters are described in this specification. Although the corresponding components etc. in the above-described embodiment are shown in parentheses, the present invention is not limited thereto.

[0108] (1) A first member (the lower knee member 110), a second member (the upper knee member 120), a connecting portion (the knee joint mechanism 130) that connects the first member and the second member so as to be able to change the angle formed therebetween, a telescopic device (the telescopic device 140) that can change the angle formed between the first member and the second member by telescoping, and a joint device (the electric prosthesis 1), wherein the telescopic device includes a power source (the motor M), and a power transmission portion (the transmission T) that transmits the power of the power source, wherein the power transmission portion includes a first power transmission path (the first transmission mechanism T1) that transmits the power at a first transmission ratio, and a second power transmission path (the second transmission mechanism T2) that transmits the power at a second transmission ratio different from the first transmission ratio, and a joint device.

[0109] According to (1), the connecting portion can be extended and bent via the power transmission portion that transmits the power of the power source. In addition, since the power transmission portion includes two power transmission paths with different transmission ratios, the operation speed and generated power of extension and bending at the connecting portion can be switched.

[0110] (2) The joint device according to (1), wherein the telescopic device A first intermittent mechanism (first intermittent mechanism 210) that switches between blocking and connecting the power in the first power transmission path; A second intermittent mechanism (second intermittent mechanism 220) that switches between blocking and connecting the power in the second power transmission path, and a coupling device.

[0111] According to (2), since it includes a first intermittent mechanism that switches between blocking and connecting the power in the first power transmission path and a second intermittent mechanism that switches between blocking and connecting the power in the second power transmission path, the two power transmission paths can be appropriately switched.

[0112] The coupling device according to (3), (1) or (2), The first power transmission path includes a first rotating body (first driving gear 183) and a second rotating body (first driven gear 184) provided to rotate synchronously with each other, and (i) A third rotating body (first shaft 181) provided to be relatively rotatable with respect to the first rotating body and a fourth rotating body (second shaft 182) provided to be relatively rotatable with respect to the second rotating body, or (ii) A third rotating body (first shaft 181) provided to be relatively rotatable with respect to the first rotating body and a fourth rotating body (second shaft 182) provided to be integrally rotatable with the second rotating body, or, (iii) A third rotating body (first shaft 181) provided to be integrally rotatable with the first rotating body and a fourth rotating body (second shaft 182) provided to be relatively rotatable with respect to the second rotating body, and The second power transmission path includes a fifth rotating body (second driving gear 185) and a sixth rotating body (second driven gear 186) provided to rotate synchronously with each other, and (i) A seventh rotating body (first shaft 181) provided to be relatively rotatable with respect to the fifth rotating body and an eighth rotating body (second shaft 182) provided to be relatively rotatable with respect to the sixth rotating body, (ii) A seventh rotating body (first shaft 181) provided to be relatively rotatable with respect to the fifth rotating body and an eighth rotating body (second shaft 182) provided to be integrally rotatable with the sixth rotating body, or, (iii) A coupling device comprising a seventh rotating body (first shaft 181) provided so as to be rotatable integrally with the fifth rotating body and an eighth rotating body (second shaft 182) provided so as to be relatively rotatable with respect to the sixth rotating body.

[0113] According to (3), the first to eighth rotating bodies can constitute a first power transmission path and a second power transmission path.

[0114] (4) The coupling device according to (3), wherein the third rotating body and the seventh rotating body are mechanically connected to the power source.

[0115] According to (4), power from the power source is input into the first power transmission path and the second power transmission path. Note that "mechanically connected" includes various connection modes capable of power transmission. For example, in addition to being directly connected, fastened, or integrally formed with each other, it includes modes capable of power transmission via other members.

[0116] (5) The coupling device according to (4), wherein the third rotating body and the seventh rotating body are provided so as to be rotatable integrally with each other.

[0117] According to (5), it becomes possible to make the rotating bodies serve multiple purposes and simplify the connection structure of the rotating bodies, so that the telescopic device can be configured compactly. Note that rotatable integrally may be constituted by the same member or may be connected so that separate members rotate integrally.

[0118] (6) The coupling device according to any one of (3) to (5), wherein the telescopic device is further provided with a motion conversion mechanism (spindle unit SP) that is mechanically connected to the power transmission unit and converts the rotational power output from the power transmission unit into translational motion, and the fourth rotating body and the eighth rotating body are mechanically connected to the motion conversion mechanism.

[0119] According to (6), the power from the power source is output to the motion conversion mechanism via the first power transmission path and the second power transmission path.

[0120] (7) The coupling device according to (6), wherein the fourth rotating body and the eighth rotating body are provided so as to be integrally rotatable, the coupling device.

[0121] (7) According to this, it is possible to make the rotating bodies serve multiple purposes and simplify the connection structure of the rotating bodies, so that the telescopic device can be configured compactly.

[0122] (8) The coupling device according to (6) or (7), wherein the first power transmission path includes the first rotating body and the second rotating body, and (i) the third rotating body provided so as to be relatively rotatable with respect to the first rotating body and the fourth rotating body provided so as to be relatively rotatable with respect to the second rotating body, or (iii) the third rotating body provided so as to be integrally rotatable with respect to the first rotating body and the fourth rotating body provided so as to be relatively rotatable with respect to the second rotating body, and the second power transmission path includes the fifth rotating body and the sixth rotating body, and and (i) the seventh rotating body provided so as to be relatively rotatable with respect to the fifth rotating body and the eighth rotating body provided so as to be relatively rotatable with respect to the sixth rotating body, or (iii) the seventh rotating body provided so as to be integrally rotatable with respect to the fifth rotating body and the eighth rotating body provided so as to be relatively rotatable with respect to the sixth rotating body, and the telescopic device includes a first intermittent mechanism (first intermittent mechanism 210) that switches between blocking and connecting the power in the first power transmission path, and a second intermittent mechanism (second intermittent mechanism 220) that switches between blocking and connecting the power in the second power transmission path. The first intermittent mechanism is (i) a first interrupted portion (first interrupted portion 211) provided between the first rotating body and the third rotating body and a second interrupted portion (second interrupted portion 212) provided between the second rotating body and the fourth rotating body; Or, (iii) a second interrupted portion (second interrupted portion 212) provided between the second rotating body and the fourth rotating body, The second interrupting mechanism includes: (i) a third interruption portion (third interruption portion 221) provided between the fifth rotating body and the seventh rotating body and a fourth interruption portion (fourth interruption portion 222) provided between the sixth rotating body and the eighth rotating body; Or, (iii) A coupling device including a fourth interruption portion (fourth interruption portion 222) provided between the sixth rotating body and the eighth rotating body.

[0123] According to (8), when the power source is located upstream and the motion conversion mechanism is located downstream, an interrupter is provided at least on the downstream side. This reduces the number of rotating bodies that rotate when the interrupter is turned off, making the operation of the coupling device smoother.

[0124] (9) A coupling device according to (8), The second interrupting portion of the first interrupting mechanism and the fourth interrupting portion of the second interrupting mechanism are The engaging members (rollers 271, 281, retainers 274, 282) are disposed between the second rotating body and the fourth rotating body, or between the sixth rotating body and the eighth rotating body, The first and second intermittent mechanisms each include an operating portion (pins, 283, retainers, 274, 282, a guide, 284, a second operating rod) that operates the engaging element between an engaged state and a disengaged state.

[0125] According to (9), the second interrupting unit of the first interrupting mechanism and the fourth interrupting unit of the second interrupting mechanism can be appropriately switched between the off state and the on state by the operating unit.

[0126] (10) A coupling device according to (9), The operating parts of the first intermittent mechanism and the second intermittent mechanism are an actuator (pins 272, 283, retainers 274, 282, guide 284) for moving the engaging element, and an operator (second operating rod 241) provided so as to be able to operate the actuator, and are respectively provided in a coupling device.

[0127] (10) According to this, the off state / on state of the second intermittent part of the first intermittent mechanism and the fourth intermittent part of the second intermittent mechanism can be appropriately switched by the actuator and the operator.

[0128] (11) A coupling device according to (10), wherein the fourth rotating body and the eighth rotating body are each provided hollow so as to have a common internal space (second internal space S2) extending in the axial direction of the rotation axis, and the operator of the first intermittent mechanism and the operator of the second intermittent mechanism are arranged so as to be located in the internal space, and are respectively provided in a coupling device.

[0129] (11) According to this, the first intermittent mechanism and the second intermittent mechanism can be configured compactly.

[0130] (12) A coupling device according to (11), wherein the operator of the first intermittent mechanism and the operator of the second intermittent mechanism are integrally formed, and the telescopic device further includes a drive part (second servo motor 242) for driving the integrally formed operator, and is respectively provided in a coupling device.

[0131] (12) According to this, since only one drive part is required, the telescopic device can be configured compactly.

[0132] (13) A coupling device according to any one of (10) to (12), wherein the actuators of the first intermittent mechanism and the second intermittent mechanism each have a reciprocating element (pins 272, 283) provided so as to be able to move forward and backward along the radial direction with respect to the rotation axis of the fourth rotating body and the eighth rotating body. The operators of the first intermittent mechanism and the second intermittent mechanism have an extending portion (large-diameter portion 241c) that extends along the rotation axis and is provided so as to be movable forward and backward along the rotation axis, and the operator is a coupling device provided such that the outer periphery of the extending portion abuts on the end portion on the rotation axis side of the reciprocating member.

[0133] (13) According to this, the reciprocating member can be moved forward and backward along the radial direction by the extending portion provided so as to be movable forward and backward along the rotation axis.

[0134] (14) A coupling device according to (13), wherein the extending portion has a first extending portion (first large-diameter portion 241c1, second large-diameter portion 241c2, third large-diameter portion 241c3) that abuts on the reciprocating member of the first intermittent mechanism, and a second extending portion (first large-diameter portion 241c1, second large-diameter portion 241c2, third large-diameter portion 241c3) that abuts on the reciprocating member of the second intermittent mechanism, and the first extending portion and the second extending portion are arranged so as to be located at different positions in the rotation axis direction.

[0135] (14) According to this, by moving the operator forward and backward along the rotation axis, the reciprocating members of the first intermittent mechanism and the second intermittent mechanism can be controlled.

[0136] (15) A coupling device according to (13) or (14), wherein the reciprocating members of the first intermittent mechanism and the second intermittent mechanism are provided such that when located on the outer side in the radial direction, the engaging element is in one of the engaged state and the non-engaged state, and when located on the inner side in the radial direction, the engaging element is in the other of the engaged state and the non-engaged state.

[0137] (15) enables control of the engaged state and the disengaged state according to the position of the shifter in the radial direction.

[0138] (16) A coupling device according to (15), wherein the operator, when located at a first position (lower position) in the direction of the rotation axis, the shifter of the first intermittent mechanism is located on the outer side in the radial direction, and the shifter of the second intermittent mechanism is located on the inner side in the radial direction, when located at a second position (middle position) in the direction of the rotation axis, the shifter of the first intermittent mechanism is located on the inner side in the radial direction, and the shifter of the second intermittent mechanism is provided to be located on the outer side in the radial direction, a coupling device.

[0139] (16) According to (16), by moving the operator axially along the rotation axis to the first position or the second position, it is possible to reliably prevent the first power transmission path and the second power transmission path from being simultaneously capable of power transmission.

[0140] (17) A coupling device according to (16), wherein the shifters of the first intermittent mechanism and the second intermittent mechanism, when located on the outer side in the radial direction, the engaging element is in the disengaged state, wherein the extending portion, when located at a third position (upper position) different from the first position and the second position in the direction of the rotation axis, the shifter of the first intermittent mechanism is located on the outer side in the radial direction, and the shifter of the second intermittent mechanism is provided to be located on the outer side in the radial direction, a coupling device.

[0141] (17) According to (17), by moving the operator along the rotation axis to the third position, the first power transmission path and the second power transmission path can be made incapable of power transmission simultaneously.

[0142] (18) A coupling device according to any one of (13) to (17), wherein the engaging elements of the first intermittent mechanism and the second intermittent mechanism have a plurality of engaging bodies (rollers 271, 281) arranged circumferentially spaced apart from the rotational axes of the fourth rotating body and the eighth rotating body; the actuators of the first intermittent mechanism and the second intermittent mechanism include a plurality of advancing / retreating elements (pins 272, 283) arranged circumferentially spaced apart from the rotational axis to move the plurality of engaging bodies; and a retainer (retainers 274, 282) that holds the plurality of engaging bodies and the plurality of advancing / retreating elements, the coupling device.

[0143] (18) According to (18), the actuator is constituted by a plurality of advancing / retreating elements and a retainer.

[0144] (19) A coupling device according to (18), wherein the first intermittent mechanism and the second intermittent mechanism include an intervening member (rubber balls 282c, O-rings 282d) interposed between the retainer and the second rotating body or the sixth rotating body, the coupling device.

[0145] (19) According to (19), it is possible to assist the second rotating body and the fourth rotating body, or the sixth rotating body and the eighth rotating body, in changing from a non-engaged state to an engaged state.

[0146] (20) A coupling device according to any one of (13) to (17), wherein the engaging elements of the first intermittent mechanism and the second intermittent mechanism include a plurality of engaging bodies (rollers 271, 281) arranged circumferentially spaced apart from the rotational axes of the fourth rotating body and the eighth rotating body; and a retainer (retainers 274, 282) that holds the plurality of engaging bodies; the advancing / retreating elements of the first intermittent mechanism and the second intermittent mechanism are provided to move the plurality of engaging elements via the retainer, the coupling device.

[0147] According to (20), an engaging element is constituted by a plurality of engaging bodies and a retainer.

[0148] (21) The joint device according to any one of (1) to (20), wherein the first member is attached to the mounting body such that the first member is on the end side of the mounting body with respect to the second member, and the joint device is a prosthetic device.

[0149] (21) According to (21), the joint device can be used as a prosthetic device.

[0150] (22) The joint device according to (21), wherein the prosthetic device is a prosthetic foot device attached to the leg of the mounting body, and the joint device is a joint device.

[0151] (22) According to (22), the joint device can be used as a prosthetic foot device.

[0152] (23) The joint device according to (22), wherein the second member is attached to the thigh of the leg, and the connecting portion is provided so as to function as a knee joint between the thigh and the lower leg, and the joint device is a joint device.

[0153] (23) According to (23), the joint device can be used as a knee joint.

[0154] (24) The joint device according to (3), or any one of (4) to (23) subordinate to (3), wherein the joint device is a prosthetic device in which the first member is attached to the mounting body such that the first member is on the end side of the mounting body with respect to the second member, the prosthetic device is a prosthetic foot device attached to the leg of the mounting body, and the first rotating body, the second rotating body, the fifth rotating body, and the sixth rotating body are arranged such that the rotation axes of the first rotating body, the second rotating body, the fifth rotating body, and the sixth rotating body extend in the vertical direction when the mounting body is in an upright state, and the joint device is a joint device.

[0155] According to (24), the rotation axes of the first rotating body, the second rotating body, the fifth rotating body, and the sixth rotating body can be aligned.

[0156] (25) The coupling device according to (24), wherein the telescopic device is mechanically connected to the power transmission unit, and further includes a motion conversion mechanism (spindle unit SP) that converts the rotational power output from the power transmission unit into translational motion. The motion conversion mechanism includes a shaft member (spindle 173) and a cylindrical member (sleeve 174) that moves translationally along the axis of the shaft member due to the rotation of the shaft member. The third rotating body and the seventh rotating body are mechanically connected to the power source. The fourth rotating body and the eighth rotating body are mechanically connected to the shaft member of the motion conversion mechanism. When the formed angle is the acute angle among the acute and obtuse angles, the motion conversion mechanism is configured such that a force in a direction opposite to the gravitational direction acts on the shaft member when the formed angle increases. The coupling device.

[0157] (25) According to this, it is possible to avoid an increase in the size of the support structure that supports the shaft member of the motion conversion mechanism.

[0158] (26) The coupling device according to (24) or (25), wherein the telescopic device is mechanically connected to the power transmission unit, and further includes a motion conversion mechanism (spindle unit SP) that converts the rotational power output from the power transmission unit into translational motion. The motion conversion mechanism includes a shaft member (spindle 173) and a cylindrical member (sleeve 174) that moves translationally along the axis of the shaft member due to the rotation of the shaft member. The third rotating body and the seventh rotating body are mechanically connected to the power source. The fourth rotating body and the eighth rotating body are mechanically connected to the shaft member of the motion conversion mechanism. When the formed angle is the acute angle among the acute and obtuse angles, the first rotating body and the second rotating body are configured such that when the formed angle increases, the thrust force acting from the first rotating body to the second rotating body acts on the shaft member in a direction opposite to the gravitational direction, a coupling device.

[0159] According to (26), it is possible to avoid an increase in the size of the support structure that supports the shaft member of the motion conversion mechanism.

[0160] (27) A coupling device according to (26), The fifth rotating body and the sixth rotating body are configured such that when the formed angle increases, the thrust force acting from the fifth rotating body to the sixth rotating body acts on the shaft member in a direction opposite to the gravitational direction, a coupling device.

[0161] According to (27), it is further possible to avoid an increase in the size of the support structure that supports the shaft member of the motion conversion mechanism.

[0162] Note that this application is based on a Japanese patent application filed on June 12, 2020 (Japanese Patent Application No. 2020-102714), the content of which is incorporated herein by reference.

Explanation of Reference Numerals

[0163] 1 Prosthetic leg (coupling device) 110 Lower knee member (first member) 120 Upper knee member (second member) 130 Knee joint mechanism (connecting portion) 140 Telescopic device 173 Spindle (shaft member) 174 Sleeve (cylindrical member) 181 First shaft (third rotating body, seventh rotating body) 182 Second shaft (fourth rotating body, eighth rotating body) 183 First driving gear (first rotating body) 184 First driven gear (second rotating body) 185 Second driving gear (fifth rotating body) 186 Second Driven Gear (Sixth Rotating Body) 210 First Intermittent Mechanism 211 First Intermittent Portion 212 Second Intermittent Portion 220 Second Intermittent Mechanism 221 Third Intermittent Portion 222 Fourth Intermittent Portion 241 Second Operating Rod (Operating Portion, Operator) 241c Large-Diameter Portion (Extension Portion) 241c1 First Large-Diameter Portion (First Extension Portion, Second Extension Portion) 241c2 Second Large-Diameter Portion (First Extension Portion, Second Extension Portion) 241c3 Third Large-Diameter Portion (First Extension Portion, Second Extension Portion) 242 Second Servo Motor (Drive Portion) 271 Roller (Engaging Element, Engaging Body) 272 Pin (Operating Portion, Actuator, Retractable Element) 274 Retainer (Operating Portion, Actuator, Engaging Element) 281 Roller (Engaging Element, Engaging Body) 282 Retainer (Operating Portion, Actuator, Engaging Element) 282c Rubber Ball (Interposed Member) 282d O-Ring (Interposed Member) 283 Pin (Operating Portion, Actuator, Retractable Element) 284 Guide (Operating Portion, Actuator) S2 Second Internal Space T Transmission T1 First Transmission Mechanism T2 Second Transmission Mechanism SP Spindle Unit (Motion Conversion Mechanism)

Claims

1. a first member, a second member, a connecting portion that connectably changes an angle formed by the first member and the second member, a telescopic device that can change the angle formed by the first member and the second member by telescoping, and is a joint device comprising: the telescopic device includes a power source, a power transmission portion that transmits the power of the power source, and the power transmission portion includes a first power transmission path that transmits the power at a first speed ratio, a second power transmission path that transmits the power at a second speed ratio different from the first speed ratio, and the first power transmission path includes a first rotating body and a second rotating body provided to rotate synchronously with each other, and (i) a third rotating body provided to be relatively rotatable with respect to the first rotating body and a fourth rotating body provided to be relatively rotatable with respect to the second rotating body, (ii) a third rotating body provided to be relatively rotatable with respect to the first rotating body and a fourth rotating body provided to be integrally rotatable with respect to the second rotating body, or (iii) a third rotating body provided to be integrally rotatable with respect to the first rotating body and a fourth rotating body provided to be relatively rotatable with respect to the second rotating body, and the second power transmission path includes a fifth rotating body and a sixth rotating body provided to rotate synchronously with each other, and (i) a seventh rotating body provided to be relatively rotatable with respect to the fifth rotating body and an eighth rotating body provided to be relatively rotatable with respect to the sixth rotating body, (ii) a seventh rotating body provided to be relatively rotatable with respect to the fifth rotating body and an eighth rotating body provided to be integrally rotatable with respect to the sixth rotating body, or (iii) a seventh rotating body provided to be integrally rotatable with respect to the fifth rotating body and an eighth rotating body provided to be relatively rotatable with respect to the sixth rotating body, and the telescopic device includes a first intermittent mechanism that switches between blocking and connecting the power in the first power transmission path, a second intermittent mechanism that switches between blocking and connecting the power in the second power transmission path, and the first intermittent mechanism includes (i) a first intermittent portion provided between the first rotating body and the third rotating body and a second intermittent portion provided between the second rotating body and the fourth rotating body, (ii) a first intermittent portion provided between the first rotating body and the third rotating body, or (iii) includes a second intermittent portion provided between the second rotating body and the fourth rotating body, and the second intermittent mechanism includes (i) a third intermittent portion provided between the fifth rotating body and the seventh rotating body and a fourth intermittent portion provided between the sixth rotating body and the eighth rotating body, (ii) a third intermittent portion provided between the fifth rotating body and the seventh rotating body; or (iii) including a fourth intermittent portion provided between the sixth rotating body and the eighth rotating body; and (a) The first intermittent portion of the first intermittent mechanism and the third intermittent portion of the second intermittent mechanism each include an engaging element disposed between the first rotating body and the third rotating body, or between the fifth rotating body and the seventh rotating body, the first intermittent mechanism and the second intermittent mechanism each include an operating portion for operating the engaging element between an engaged state and a disengaged state, the operating portions of the first intermittent mechanism and the second intermittent mechanism each include an actuator for moving the engaging element, and an operator provided so as to be able to operate the actuator; the actuators of the first intermittent mechanism and the second intermittent mechanism each have a reciprocating element provided so as to be able to reciprocate in a radial direction with respect to the rotation axes of the third rotating body and the seventh rotating body, the operators of the first intermittent mechanism and the second intermittent mechanism include an extending portion extending along the rotation axis and provided so as to be able to reciprocate along the rotation axis, and the outer periphery of the extending portion is provided so as to contact an end portion on the rotation axis side of the reciprocating element; or (b) The second intermittent portion of the first intermittent mechanism and the fourth intermittent portion of the second intermittent mechanism each include an engaging element disposed between the second rotating body and the fourth rotating body, or between the sixth rotating body and the eighth rotating body, the first intermittent mechanism and the second intermittent mechanism each include an operating portion for operating the engaging element between an engaged state and a disengaged state, the operating portions of the first intermittent mechanism and the second intermittent mechanism each include an actuator for moving the engaging element, and an operator provided so as to be able to operate the actuator; the actuators of the first intermittent mechanism and the second intermittent mechanism each have a reciprocating element provided so as to be able to reciprocate in a radial direction with respect to the rotation axes of the fourth rotating body and the eighth rotating body, the operators of the first intermittent mechanism and the second intermittent mechanism include an extending portion extending along the rotation axis and provided so as to be able to reciprocate along the rotation axis, and the outer periphery of the extending portion is provided so as to contact an end portion on the rotation axis side of the reciprocating element, a coupling device.

2. The coupling device according to claim 1, wherein the third rotating body and the seventh rotating body are mechanically connected to the power source. A coupling device.

3. The coupling device according to claim 2, wherein the third rotating body and the seventh rotating body are provided so as to be integrally rotatable; a coupling device.

4. The coupling device according to any one of claims 1 to 3, wherein the fourth rotating body and the eighth rotating body are provided so as to be integrally rotatable; a coupling device.

5. The coupling device according to any one of claims 1 to 4, wherein the fourth rotating body and the eighth rotating body are each provided in a hollow manner so as to have a common internal space extending in the axial direction of the rotation axes of the fourth rotating body and the eighth rotating body, the operator of the first intermittent mechanism and the operator of the second intermittent mechanism are arranged so as to be located in the internal space; a coupling device.

6. The coupling device according to claim 5, wherein the operator of the first intermittent mechanism and the operator of the second intermittent mechanism are integrally formed, the telescopic device further includes a drive unit that drives the integrally formed operator; a coupling device.

7. The coupling device according to any one of claims 1 to 6, wherein the extending portion has a first extending portion that abuts against the advancing / retreating element of the first intermittent mechanism, and a second extending portion that abuts against the advancing / retreating element of the second intermittent mechanism, the first extending portion and the second extending portion are arranged so as to be located at different positions in the axial direction of the rotation axis; a coupling device.

8. The coupling device according to any one of claims 1 to 7, wherein the advancing / retreating elements of the first intermittent mechanism and the second intermittent mechanism are provided such that when located on the outer side in the radial direction, the engaging element is in one of the engaged state and the non-engaged state, and when located on the inner side in the radial direction, the engaging element is in the other of the engaged state and the non-engaged state; a coupling device.

9. The coupling device according to claim 8, wherein the operator when located at a first position in the axial direction of the rotation axis, the advancing / retreating element of the first intermittent mechanism is located on the outer side in the radial direction, and the advancing / retreating element of the second intermittent mechanism is located on the inner side in the radial direction, and when located at a second position in the axial direction of the rotation axis, the advancing / retreating element of the first intermittent mechanism is located on the inner side in the radial direction, and the advancing / retreating element of the second intermittent mechanism is located on the outer side in the radial direction; a coupling device.

10. The coupling device according to claim 9, wherein the advancing / retreating elements of the first intermittent mechanism and the second intermittent mechanism When located on the outer side in the radial direction, the engaging element is in the non-engaged state, The extending portion, When located at a third position different from the first position and the second position in the direction of the rotation axis, A coupling device provided such that the advancing / retreating element of the first intermittent mechanism is located on the outer side in the radial direction and the advancing / retreating element of the second intermittent mechanism is located on the outer side in the radial direction.

11. The coupling device according to any one of claims 1 to 10, The engaging elements of the first intermittent mechanism and the second intermittent mechanism, Have a plurality of engaging bodies arranged circumferentially spaced apart from the rotation axes of the fourth rotating body and the eighth rotating body, The actuators of the first intermittent mechanism and the second intermittent mechanism, A plurality of advancing / retreating elements arranged circumferentially spaced apart from the rotation axis and moving the plurality of engaging bodies, A coupling device comprising a retainer for holding the plurality of engaging bodies and the plurality of advancing / retreating elements.

12. The coupling device according to claim 11, The first intermittent mechanism and the second intermittent mechanism, A coupling device comprising an intervening member interposed between the retainer and the second rotating body or the sixth rotating body.

13. The coupling device according to any one of claims 1 to 10, The engaging elements of the first intermittent mechanism and the second intermittent mechanism, A plurality of engaging bodies arranged circumferentially spaced apart from the rotation axes of the fourth rotating body and the eighth rotating body, And a retainer for holding the plurality of engaging bodies, The advancing / retreating elements of the first intermittent mechanism and the second intermittent mechanism, A coupling device provided to move the plurality of engaging elements via the retainer.

14. The coupling device according to any one of claims 1 to 13, A prosthetic device in which the first member is mounted on the mounting body with respect to the second member such that it is on the end side of the mounting body.

15. The coupling device according to claim 14, The prosthetic device is a prosthetic foot device mounted on the leg of the mounting body.

16. The coupling device according to claim 15, The second member is mounted on the thigh of the leg, The connecting portion is provided to function as a knee joint between the thigh and the lower leg.

17. The coupling device according to any one of claims 14 to 16, The first rotating body, the second rotating body, the fifth rotating body, and the sixth rotating body are joint devices arranged such that the rotation axes of the first rotating body, the second rotating body, the fifth rotating body, and the sixth rotating body extend in the vertical direction when the mounting body is in an upright state.

18. The joint device according to claim 17, wherein the telescopic device is mechanically connected to the power transmission unit and further includes a motion conversion mechanism that converts the rotational power output from the power transmission unit into translational motion, the motion conversion mechanism including a shaft member and a cylindrical member that moves translationally along the axis of the shaft member due to rotation of the shaft member, the third rotating body and the seventh rotating body being mechanically connected to the power source, the fourth rotating body and the eighth rotating body being mechanically connected to the shaft member of the motion conversion mechanism, wherein when the formed angle is the angle on the acute angle side among the angles of the acute angle side and the obtuse angle side, the motion conversion mechanism is configured such that a force in a direction opposite to the gravitational direction acts on the shaft member when the formed angle increases. The joint device.

19. The joint device according to claim 17, wherein the telescopic device is mechanically connected to the power transmission unit and further includes a motion conversion mechanism that converts the rotational power output from the power transmission unit into translational motion, the motion conversion mechanism including a shaft member and a cylindrical member that moves translationally along the axis of the shaft member due to rotation of the shaft member, the third rotating body and the seventh rotating body being mechanically connected to the power source, the fourth rotating body and the eighth rotating body being mechanically connected to the shaft member of the motion conversion mechanism, wherein when the formed angle is the angle on the acute angle side among the angles of the acute angle side and the obtuse angle side, the first rotating body and the second rotating body are configured such that a thrust force acting from the first rotating body to the second rotating body acts on the shaft member in a direction opposite to the gravitational direction when the formed angle increases. The joint device.

20. The joint device according to claim 19, wherein the fifth rotating body and the sixth rotating body are configured such that a thrust force acting from the fifth rotating body to the sixth rotating body acts on the shaft member in a direction opposite to the gravitational direction when the formed angle increases. The joint device.

Images