CN206306142U - A kind of self adaptation stress class articulation mechanism and the ESD with the mechanism - Google Patents

Abstract

The utility model provides a kind of self adaptation stress class articulation mechanism, and its first noumenon and the second body are respectively used to be fixedly connected with two human bodies by joint relative motion, to adapt to human body joint motion；The mating surface being adapted between the first noumenon and the second body has the pair that is slidably matched, and in the plane of movement in joint, the projection for moving matching pair is in arc-shaped, to limit the first noumenon relative to the reciprocating motion track that the second body is rotated；The center of circle of rotation is located on the second body；The first noumenon is rigid member, and the be slidably matched mating surface of pair of the formation of the second body is arranged at from rigid matrix and extends in the elastic portion to be formed.Compared with prior art, this programme uses the combination of rigid member and elastic component, and the changing mechanism of self adaptation force-bearing situation can effectively adapt to the STRESS VARIATION of human body joint motion.With it is simple and reliable for structure, manufacturability is preferable the characteristics of, manufacturing cost is controllable.On this basis, the utility model also provides a kind of ESD with the mechanism.

Description

A kind of self adaptation stress class articulation mechanism and the ESD with the mechanism

Technical field

The utility model is related to medical auxiliary tool technical field, more particularly to a kind of self adaptation stress class articulation mechanism and has The ESD of the mechanism.

Background technology

With human body astogeny, human body muscular strength and function can be gradually aging or degenerate, and cause joint mobility to be deteriorated even Disabled patient is continuously increased；Additionally, the patient of function of joint damage is thus resulted in based on the original such as contingency, clinically There is a certain proportion of presence.It is well known that after above-mentioned obstacle occurs in joint, changing artificial joint by surgical operation mostly improves The daily behavior ability of patient, not only increased burden to family and society, and also the physiology of patient itself and psychology can be caused Serious influence.Therefore, prior art proposes the ectoskeleton technology of auxiliary, appearance is used in the joint of old man to power-assisted State, the physical disabilities for helping hypozygal function to lose, can improve limbs disturbance personage's mobility；For example, improve knee closing Save the locomotor activity of moving obstacle patient.

In the prior art, auxiliary ectoskeleton can be divided into Self-powdered and non-powered formula.Wherein, Self-powdered is outer Although bone effectively can actively provide power-assisted to joint, its power transmission arrangment is more complicated, and battery power consumption is larger, into This is costly；Especially, weight and profile are huger, are not particularly suited for patient's worn for long periods.Rather than dynamical type ectoskeleton Joint generally using rigid structure synthesize load carrier, limited by its own structure, there is motion morphology inflexible, mechanical Problem, it is impossible to adapt to the STRESS VARIATION of human body joint motion, directly influences the experience of action impaired patients.

Additionally, for the special occupation person such as soldier, fireman, lifeguard, it is necessary to carrying arms equipment, extinguishing device, rescue The other machinery equipment such as raw articles for use, it is thus evident that the auxiliary ectoskeleton of superperformance, equally can assist in above-mentioned special occupation person The motor-driven advantage in local joint is obtained, the maneuverability under specific condition is improved.

In view of this, it would be highly desirable to which the class articulation mechanism for existing ectoskeleton carries out structure optimization, security and can is being met On the basis of by property requirement, the Consumer's Experience of class joint user is effectively lifted, to improve the ilities of ESD Reliable guarantee is provided.

Utility model content

For drawbacks described above, the technical problem that the utility model is solved is the class joint machine for providing a kind of structure optimization Structure, to solve, motion morphology existing for present technology is inflexible, machinery, and control is complicated and price problem higher.

The utility model provides a kind of self adaptation stress class articulation mechanism, including the first noumenon that is adapted and second Body, the first noumenon and the second body are respectively used to be fixedly connected with two human bodies by joint relative motion, with Adapt to human body joint motion；The mating surface being adapted between the first noumenon and the second body has the pair that is slidably matched, and, In the plane of movement in the joint, the projection of the pair that is slidably matched is in arc-shaped, to limit the first noumenon relative to institute State the reciprocating motion track of the second body rotation；The center of circle of the rotation is located on second body；Wherein, the first Body is rigid member, and the mating surface of the pair that is slidably matched described in the formation of second body is arranged at from rigid matrix and extends what is formed In elastic portion.

The mating surface that the first noumenon of initial position is adapted with the second body is preferably located to be configured to：Institute State the serpentine that two circular arcs are connected to form that is projected as in the plane of movement in joint.

The mating surface that the first noumenon of initial position is adapted with the second body is preferably located to be configured to：Institute State " C " shape that two circular arcs are formed that is projected as in the plane of movement in joint.

Preferably, second body has two elastic portions for extending towards, and two bullets at the position that crosses The outer extension of one of the Long-term change trend that property portion successively decreases in section, two elastic portions is coated on the outside of another one.

Preferably, limiting section is respectively provided with two elastic portions, the limiting section in one is located at the outer of another elastic portion Side, to limit both relative positions on the direction vertical with the plane of movement.

Preferably, from initial position to extreme position, the first noumenon is configured with respect to the rotational angle α of the second body For：α≤100°；In the plane of movement in the joint, positioned at the mating surface geometric center of the first noumenon of initial position, Joint with two elastic portions of second body overlaps.

Preferably, also include：Joint elasticity part, with bending around the elastic body for being formed, its one end is articulated with described At the position in the rotation center of circle of the second body, its other end is fixed on the first noumenon.

Preferably, on the first noumenon outer surface and the second body outer surface of the pair that is slidably matched described in being formed, one It is upper that there is slip limiting section, the stopper slot being adapted to the slip limiting section opened up along rotary motion trace is provided with another one.

The utility model also provides a kind of ESD, including：First bandage and the second bandage, are respectively used to and pass through Two human body colligations of joint relative motion are fixed；First clip and the second clip, respectively with first bandage and Two bandages are coated and fixed connection；Foregoing self adaptation stress class articulation mechanism, wherein, the first noumenon and the second body Non- abutting end, be fixedly connected with first clip and the second clip respectively；With power-assisted pressurized strut, its end and rod end are distinguished First clip and the second clip are articulated with, and are configured to：When the first noumenon is rotated from initial position to extreme position, Elastic deformation energy is laid in the power-assisted pressurized strut, and when the first noumenon turns to initial position from extreme position, release The elastic deformation energy.

Preferably, the ESD is knee joint ESD, and first bandage and the second bandage are used respectively In colligation on the thigh and shank of knee joint both sides；The knee joint ESD also includes：First support member, one end is solid Due on first clip, the other end is used to support the footwear for being fixed on user；Second support member, one end is fixed on described On second clip, the other end is used to support the waist or buttocks for being fixed on user.

From such scheme, this programme provide class articulation mechanism by with adaptation be slidably matched pair the first noumenon and Second body is constituted, and in the plane of movement in joint, the projection of the pair that is slidably matched rotates the center of circle positioned at second in arc-shaped On body.Wherein, the first noumenon is rigid member, and the second body extends to form elastic portion from its rigid matrix, with the first bodily form Mating surface into the pair that is slidably matched is located at the elastic portion.When actually used, the first noumenon and the second body are individually fixed in pass Save the human body of both sides, you can.Compared with prior art, the utility model has the advantages that：

First, during joint dynamically carries, class joint itself possesses the elastic structure interactive with rigidity, with people The change of body joint attitude, its stress surface dynamic change therewith, and absorption that elastic portion can be good simultaneously adapt to dynamic load；It is real During the use of border, the cooperation elastic portion of the second body can form elastic strain in the presence of the first noumenon, and its strain is with holding Carry change release or aggregation stress, there is provided joint is in the bearing capacity wanted needed for reciprocating motion.That is, this programme is carried The Impact direction of the class articulation mechanism of confession and the vector that size is change, and thus synthesis self-adaptive force-bearing situation is changing Mechanism, can effectively adapt to the STRESS VARIATION of human body joint motion, so as to greatly promote the Consumer's Experience of user.Meanwhile, we Case has the characteristics of simple and reliable for structure, manufacturability is preferable, and manufacturing cost is controllable, and wearing is light and handy, convenient and can provide compliance Joint accessory, for class articulation mechanism universality promote provide reliably ensure.

Secondly, there are two elastic portions for extending towards in the utility model preferred scheme, respectively from the firm of the second body Property matrix is extended towards, the Long-term change trend that two at the position that crosses elastic portion is successively decreased in section, one of two elastic portions Outer extension be coated on the outside of another one.It is arranged such, on the basis of action message relation is obtained so that whole mechanism There is less appearance and size on the direction vertical with articulation plane, class articulation mechanism accessory is at utmost reduced to making The influence of user's daily behavior, further lifts Consumer's Experience.

Again, another preferred scheme of the present utility model has additional joint elasticity part, and the joint elasticity part is arranged on first Between body and the second body, the joint elasticity part has bending around the elastic body for being formed, and its one end is articulated with second At the position in the rotation center of circle of body, its other end is fixed on the first noumenon；It is arranged such, joint elasticity part can constrain first, Relative movement orbit between two bodies, and can be servo-actuated in carrying, therefore, in effectively lifting class articulation mechanism motion credibility Meanwhile, have the superperformance of self adaptation stress change concurrently.

Finally, the ESD that the utility model is provided includes foregoing class articulation mechanism, is likewise supplied with above-mentioned beneficial skill Art effect.Additionally, ESD described in this programme is provided with power-assisted pressurized strut, using air pressure energy storage, the pattern of work done；To answer As a example by for knee joint, when thigh is rotated relative to shank bending, power-assisted pressurized strut energy storage rotates upright in thigh relative to shank When, support motion bar extends work done in the presence of power-assisted pressurized strut energy storage, so as to assist human body to overcome the component of class joint two to exist The resistance that extruding anastomosis procedures are produced, with preferably coordinating Adapter Property.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, the present invention will be implemented below Example or the accompanying drawing to be used needed for description of the prior art are briefly described, it should be apparent that, drawings in the following description are only Only it is some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, Other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is the schematic diagram of self adaptation stress class articulation mechanism described in first embodiment；

Fig. 2 is the rotation attitude schematic diagram of self adaptation stress class articulation mechanism described in first embodiment；

Fig. 3 is the overall structure diagram of the second body described in first embodiment；

Fig. 4 is the overall structure diagram of the first noumenon described in first embodiment；

Fig. 5 is the schematic diagram of self adaptation stress class articulation mechanism described in second embodiment；

Fig. 6 is the rotation attitude schematic diagram of self adaptation stress class articulation mechanism described in second embodiment；

Fig. 7 is the overall structure diagram of the second body described in second embodiment；

Fig. 8 is the overall structure diagram of the first noumenon described in second embodiment；

Fig. 9 is the use state schematic diagram of ESD described in 3rd embodiment.

In Fig. 1-9：

The first noumenon 1,1 ', 1 "；Origin 1-1；Stopper slot 1-2；Non- abutting end 1-3；Second body 2,2 ', 2 "；First bullet Property portion 2-1 ', 2-1 "；Second elastic portion 2-2 ', 2-2 "；Rigid matrix 2-3；Limiting section 2-4；Slide limiting section 2-5；Non- cooperation End 2-6；Limited block 2-7；Mating surface 3 ', 3 "；First paragraph circular arc 3-1 ', 3-1 "；Second segment circular arc 3-2 ', 3-2 "；Joint 4； Move back and forth track 5；Horizontal datum 6；Vertical reference line 7；Joint elasticity part 8；Center of circle O；

Self adaptation stress class articulation mechanism 10, the first clip 20, the second clip 30, the first bandage 40, the second bandage 50, help Power pressurized strut 60, support motion bar 61, fulcrum 62, the first support member 70, the second support member 80.

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.

The core of the present embodiment is to provide a kind of self adaptation stress class articulation mechanism, including the first noumenon being adapted 1 ', 1 " and the second body 2 ', 2 ", the first noumenon 1 ', 1 " and the second body 2 ', 2 " be respectively used to by joint relative motion Two human bodies are fixedly connected, to adapt to human body joint motion, so as to reach the function of subjoint motion.

Above-mentioned application relation is roughly the same with prior art, and difference is：The first noumenon 1 ', 1 " with the second body 2 ', 2 " Between the mating surface 3 ', 3 that are adapted " there is the pair that is slidably matched, and, in the plane of movement in adaptation joint, the pair that is slidably matched Projection be in arc-shaped, with limit the first noumenon 1 ', 1 " relative to the second body 2 ', 2 " rotate reciprocating motion track；Rotate Center of circle O be located at the second body 2 ', 2 " on；Meanwhile, the formation of the first noumenon 1 ', 1 " being rigid member, the second body 2 ', 2 " is slided The mating surface of matching pair is arranged at from rigid matrix and extends in the elastic portion to be formed.Thus, the Impact direction in load bearing process with Size is the vector of change, and the thus changing mechanism of synthesis self-adaptive force-bearing situation, the elastic structure of adaptation and just Property structural member adapts to the STRESS VARIATION of human body joint motion in which can couple hardness with softness；It is preferable with simple and reliable for structure, manufacturability Feature.

Without loss of generality, following embodiments are to be described using main body to be adapted to knee joint, it will be appreciated that institute of the present invention State self adaptation stress class articulation mechanism and can be applied to the application situation that any human body joint part needs set up auxiliary ectoskeleton, and It is not limited to lower limb knee joint.

It should be noted that herein, " in the plane of movement in joint " is equal with plane where pattern line shown in Fig. 1 Capable geometrical plane, is stated with the theoretical geometrical plane, can understand the relative position relation shown between component and component, Obviously, the use of corresponding basis of reference is not construed as limiting to the protection domain of this programme.Additionally, in order to further describe Operation principle of the present invention, the following description benchmark of definition：

" 6 " are horizontal datum；

" 7 " are vertical reference line (crossing rotation center of circle O)；

" 1-1 " for rotation process origin, positioned at the first noumenon 1 ', 1 " upper end position；

" 5 " are illustrated for the reciprocating motion track of origin 1-1, when origin 1-1 is on vertical reference line 7, set its angle Position is 0 ° (initial position)；When " 1-1 " origin is on horizontal datum 6, set its angle position as 90 ° (extreme position, Here 90 ° preferably set for diagram, and the extreme position can be set as 100 ° according to physical location).

Embodiment 1

Fig. 1 and Fig. 2 is referred to, wherein, Fig. 1 is the structural representation of self adaptation stress class articulation mechanism described in the present embodiment Figure, Fig. 2 is a schematic diagram for rotation process attitude of self adaptation stress class articulation mechanism described in the present embodiment.

As shown in figure 1, the first noumenon 1 ' of such articulation mechanism and the second body 2 ' are located at initial position, what is be adapted matches somebody with somebody Conjunction face 3 ' is configured to：The serpentine that two circular arcs are connected to form is projected as in the plane of movement in joint.

The first noumenon 1 ' positioned at initial position can be rotated around center of circle O relative to the second body 2 ', shown in figure, serpentine The mating surface 3 ' of state is by two sections of circular arcs：First paragraph circular arc 3-1 ' and second segment circular arc 3-2 ' rounding ofves are constituted, and both have friendship Meeting point 4.The radius of curvature of the radius R2 of the radius R1 and second segment circular arc 3-2 ' of first paragraph circular arc 3-1 ' can with identical or different, As long as meeting use requirement in the range of the application is claimed.

It is briefly described as follows the working mechanism of class articulation mechanism described in the present embodiment：

First, when the origin 1-1 of the first noumenon 1 ' is rotated from 90 ° of directions along reciprocating motion track 5 to 0 ° of direction, origin Line and the angle α of vertical reference line 7 (i.e. the rotational angle of relative second body of the first noumenon) of 1-1 connections center of circle O constantly subtract It is small, until being 0 ° (i.e. the line of origin 1-1 connections center of circle O overlaps with vertical reference line 7)；Conversely, rotate angle α increase, most Greatly 90 ° (i.e. the line of origin 1-1 connections center of circle O overlaps with horizontal datum 6).

Obviously, in above-mentioned rotation process, the load of vertical reference position is acted on, constantly reduces with angle α and constantly add Greatly.It is maximum 0 ° of position, otherwise constantly reduces.The motion process, as origin 1-1 from 90 ° of directions to 0 ° of direction along reciprocal fortune When dynamic rail mark 5 is rotated, contact (identical) area of mating surface 3 ' is increased rapidly, i.e. first paragraph circular arc 3-1 ' and second segment circular arc 3- When 2 ' tie points cross joint 4, there is great-jump-forward Full connected (complete to coincide)；Conversely, great-jump-forward occurs departing from.

In this programme, the mating surface of the second body 2 ' be arranged at extend from rigid matrix the first elastic portion 2-1 ' to be formed and On second elastic portion 2-2 '.The load for coming from above acts on the equal dynamic change of angle and size in mating surface 3 ', such as Fig. 1 institutes Show, in the plane of movement in the joint, positioned at mating surface geometric center (the first paragraph circular arc of the first noumenon 1 ' of initial position 3-1 ' and second segment circular arc 3-2 ' rounding ofves flex point), overlapped with two joints of elastic portion 4 of the second body 2 '.Therefore, Reactions of the first elastic portion 2-1 ' with the second elastic portion 2-2 ' on the position of mating surface 3 ' is different, the degree of its elastic strain with connect The size of (identical) area is touched, the size Complete Synchronization of vertical forces is acted on.

Above-mentioned analysis understands that the elastic strain of Complete Synchronization forms class joint and there is corresponding internal stress, there is provided mechanism In the bearing capacity wanted needed for reciprocating motion.Wherein, contact (identical) region of mating surface 3 ' is interference state, i.e., second Body 2 ' forms elastic strain under the extruding of the first noumenon 1 ', and its strain discharges or aggregation stress with change is carried, there is provided close Section is in the bearing capacity wanted needed for reciprocating motion.

Further second body 2 ' as shown in Figure 3, the figure is that the overall structure of the second body described in the present embodiment is illustrated Figure.

First elastic portion 2-1 ' and the second elastic portion 2-2 ' are extended towards to be formed from its rigid matrix 2-3, and one is rolled over upwards Curved extension, another one downward bending extends, to form serpentine mating surface.Shown in figure, the elasticity of the first elastic portion 2-1 ' and second Enclosed between the extension root of portion 2-2 ' and rigid matrix 2-3 hollow.In order that the appearance and size for obtaining whole mechanism is able to effectively Control, the Long-term change trend that two elastic portions at the position that crosses (the place regional area of joint 4) place are successively decreased in section, two elasticity The outer extension in one of portion is coated on the outside of another one, the first elastic portion 2-1 ' and the second elastic portion 2-2 ' and rigid base The thickness of body 2-3 is roughly the same；That is, on the basis of action message relation is obtained, axial dimension is controlled to minimum, So that whole mechanism has less appearance and size on the direction vertical with articulation plane.

It is excessive in actual use to avoid because the first elastic portion 2-1 ' and the second elastic portion 2-2 ' has certain elasticity The dislocation of reset track, limiting section 2-4 is respectively provided with two elastic portions after active force deformation, and the limiting section 2-4 in one is located at another The outside of one elastic portion, to limit both relative positions on the direction vertical with joint motions plane.Specifically, it is spacing Portion 2-4 can be fixedly connected with corresponding elastic portion in different ways, it is preferred to use integrally casting or the mode of injection are molded.

Additionally, further combined with shown in Fig. 4, the figure shows the overall structure signal of the first noumenon 1 ' described in the present embodiment Figure.

As illustrated, formed be slidably matched pair the outer surface of the first noumenon 1 ' on be provided with along rotary motion trace open up it is spacing Groove 1-2, and is provided with corresponding slip limiting section 2-5 on the outer surface of the second body 2 ', after being completed, slide limiting section 2-5 It is built in stopper slot 1-2, to ensure the secondary good fit relation that is slidably matched.Certainly, stopper slot also may be used with limiting section is slided With oppositely arranged, that is, slide limiting section being arranged on the first noumenon, stopper slot is arranged on the second body, as long as can obtain Must be slidably matched secondary good fit relation.

Additionally, self adaptation stress class articulation mechanism can set up joint elasticity part 8 described in this programme, with bending around shape Into elastic body, middle part bending encompasses safety pin shape, and its one end is articulated with the position of rotation center of circle O of the second body 2 ', Its other end is fixed on the first noumenon 1 '.It is arranged such, joint elasticity part 8 can constrain the relative motion between first, second body Track, and can be servo-actuated in carrying, therefore, while effectively lifting class articulation mechanism motion credibility, have self adaptation concurrently and receive The superperformance of power change.

Embodiment 2

Please also refer to Fig. 5 and Fig. 6, wherein, Fig. 5 is the signal of self adaptation stress class articulation mechanism described in the present embodiment Figure；Fig. 6 is the rotation attitude schematic diagram of self adaptation stress class articulation mechanism described in the present embodiment.

It is that self adaptation stress class articulation mechanism described in the present embodiment includes the first noumenon 1 with first embodiment identical ", Second body 2 " and joint elasticity part 8 are constituted, positioned at the first noumenon 1 " can be around center of circle O relative to the second body 2 " of initial position Rotate.

The difference of this programme is that the mating surface being adapted positioned at the first noumenon 1 " with the second body 2 " of initial position is matched somebody with somebody It is set to：" C " shape that two circular arcs are formed is projected as in the plane of movement in joint.In order to clearly show this programme and first in fact The difference and contact of example are applied, identical function part and structure employ identical and indicated in accompanying drawing.

Shown in figure, the mating surface 3 of " C " form is " by two sections of circular arcs：First paragraph circular arc 3-1 " and second segment circular arc 3-2 " circle Slip over and cross composition, both have joint 4.Similarly, the half of first paragraph circular arc 3-1 " radius R1 and second segment circular arc 3-2 " The radius of curvature of footpath R2 can be with identical or different.

Refer to Fig. 7, the figure is the second body 2 described in the present embodiment " overall structure diagram.

First elastic portion 2-1 " and second elastic portion 2-2 " extends towards to be formed from its rigid matrix 2-3, after both cross Equal downward bending extends, and forms " C " shape mating surface.Similarly, in order that the appearance and size for obtaining whole mechanism is effectively controlled, The Long-term change trend that two elastic portions at position (the place regional area of joint 4) place that cross are successively decreased in section, in two elastic portions One of outer extension be coated on the outside of another one, the first elastic portion 2-1 " and second elastic portion 2-2 " and rigid matrix 2- 3 thickness is roughly the same.Specifically, the overall structure diagram of the first noumenon 1 " refers to Fig. 8.

In the rotation process of the first noumenon 1 " relative to the second body 2 ", the load of vertical reference position is acted on, with Angle α constantly reduces and continues to increase.It is maximum 0 ° of position, otherwise constantly reduces.The motion process, as origin 1-1 from 90 ° When direction to 0 ° of direction is along the rotation of track 5 is moved back and forth, contact (identical) gradual increasing of area of mating surface 3 '；Conversely, gradually Enter formula reduction.

Further, in order to evade the first noumenon 1 " with the second body 2 " improper disengaging completely, can be in the second body One limited block 2-7, the first noumenon 12 " are above set " when turning to initial position from 90 ° of directions to 0 ° of direction, limited block 2-7 with The end of the first noumenon 1 " offsets, and it is the presence of abnormal bounce to be arranged such that, it is also possible to limit the first noumenon 1 " relative to Second body 2 " is rotated further.

Other compositions are identical with annexation with first embodiment, and this programme is repeated no more.

It is understood that the preferred self adaptation stress class articulation mechanism of above-mentioned two, can be applied to lower limb knee joint, Can apply to upper limbs elbow joint and shoulder joint position.Especially by the first noumenon 1 ', 1 " non-abutting end 1-3 and the second body 2 ', 2 " non-abutting end 2-6, is fixedly connected with connector and may make up ESD.Carried out below for 3rd embodiment Describe in detail.

Embodiment 3

Fig. 9 is referred to, the figure shows the use state schematic diagram of ESD described in the present embodiment.

As illustrated, the ESD includes foregoing self adaptation stress class articulation mechanism 10, the non-of its first noumenon 1 is matched somebody with somebody The non-abutting end 2-6 for closing end 1-3 and the second body 2 is fixedly connected with the first clip 20 and the second clip 30 respectively, meanwhile, first The bandage 50 of bandage 40 and second is fixed with the thigh by knee joint relative motion and shank colligation respectively；Then, the first clip 20 and second clip 30 be coated and fixed and be connected with the first bandage 40 and the second bandage 50 respectively.Thus, ESD is completed Pre-installation is fixed, for knee joint wound, damage person provide walking and support.

Wherein, the cylinder end of power-assisted pressurized strut 60 and rod end are hingedly connected to the first clip 20 and the second clip 30, and configure For：When the first noumenon 1 is rotated from initial position to extreme position, power-assisted pressurized strut deposit elastic deformation energy, and in the first noumenon 1 When turning to initial position from extreme position, the elastic deformation energy is discharged.

Specifically, when the support motion bar 61 of power-assisted pressurized strut 60 is contracted to extreme lower position, power-assisted pressurized strut 60 is around it Fulcrum 62 is rotated and points to 90 ° of directions, and should reach 90 ° of positions.It is understood that for the power-assisted pressurized strut 60 of energy storage Can be realized using the technological means of other forms, as long as the deformation energy and releasable energy of thigh rotation process can be laid in, The resistance of anastomosis procedures generation is extruded between human body overcomes the body 2 of the first noumenon 1 and second so as to power-assisted, please in the application Ask in the range of protection.

During human motion, when thigh bends relative to shank to be rotated, the first clip 20, the first bandage 40 and first Body 1 is rotated around center of circle O is rotated, and one end of joint elasticity part rotates simultaneously；The support motion bar 61 of power-assisted pressurized strut 60 is stretched Go out or retract；Meanwhile, power-assisted pressurized strut 60 is rotated around its hinged support 62.

Wherein, the first bandage 40 and the second bandage 50 can use air bag bandage, to act on the comfortable of tied part Degree.When actually used, uniformly transferred to the large and small leg flexibility of human body by adjustable air pressure in air bag bandage.

Wherein, reliably overlapped with knee joint center of rotation to ensure the center of circle O of the second body 2, along the Vertical Square for carrying To with heel locking point as fulcrum, specifically as illustrated in the drawing on the footwear of user, is fixed on the first clip 20 with one end One support member 70 provides rigid support, it is possible to which spiral adjustment adapts to different actual operation requirements；In the horizontal direction, the first clip 20 can set adjustment structure, and enclosing size by adjusting the first clip 20 realizes compensatory change.

Wherein, it is correct to ensure the position of the first noumenon 1, the contact surface of accurately and reliably identical second body 2 is realized, The extruding of stress needed for adaptive bearer simultaneously and release, all the time in stabilization, consistent state.In the horizontal direction, the second card Hoop 30 can set adjustment structure, and enclosing size by adjusting the second clip 30 realizes compensatory change；It is vertical along what is carried The accurate location in direction, determination is adjusted by power-assisted pressurized strut 60.At the same time, joint elasticity part 8 in servomechanism process, all the time about The relative movement orbit of the body 2 of beam the first noumenon 1 and second, further ensures that the reliability and stabilization of this state.

Additionally, optionally setting the second support member 80, one end is fixed on the second clip 30, and the other end is used to support It is fixed on the waist or buttocks (not being shown specifically in figure) of user.So, when user's body weight school is big, the first clip 20 with The load of the transmission of the first bandage 40 can not meet the carrying achieved by human synovial, then load can be via the second support member 80 transmit to human body oxter, buttocks or pygostyle.

It should be noted that ESD described in the present embodiment is said with being applied to knee joint as main body carries out principle It is bright, other joint parts such as elbow joint can also be applied to using the core idea of this programme.

Finally, in addition it is also necessary to explanation, terminology used in this article " include ' " is included " or its any other variant Including for nonexcludability is intended to, so that process, method, article or equipment including a series of key elements not only include Those key elements, but also other key elements including being not expressly set out, or also include for this process, method, article or The intrinsic key element of person's equipment.In the absence of more restrictions, the key element limited by sentence " including ... ", does not arrange Except also there is other identical element in the process including the key element, method, article or equipment.

The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention. Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one The scope most wide for causing.

Claims (10)

1. a kind of self adaptation stress class articulation mechanism, including the first noumenon and the second body being adapted, the first noumenon and Second body is respectively used to be fixedly connected with two human bodies by joint relative motion, to adapt to human body joint motion； Characterized in that,

The mating surface being adapted between the first noumenon and the second body has the pair that is slidably matched, and, in the fortune in the joint In dynamic plane, the projection of the pair that is slidably matched is turned with limiting the first noumenon in arc-shaped relative to second body Dynamic reciprocating motion track；The center of circle of the rotation is located on second body；

Wherein, the first noumenon is rigid member, and the mating surface of the pair that is slidably matched described in the formation of second body is arranged at Extend in the elastic portion to be formed from rigid matrix.

2. self adaptation stress class articulation mechanism according to claim 1, it is characterised in that positioned at described the of initial position The mating surface that one body is adapted with the second body is configured to：Two circular arc phases are projected as in the plane of movement in the joint The serpentine for even being formed.

3. self adaptation stress class articulation mechanism according to claim 1, it is characterised in that positioned at described the of initial position The mating surface that one body is adapted with the second body is configured to：Two circular arcs are projected as in the plane of movement in the joint Into " C " shape.

4. self adaptation stress class articulation mechanism according to any one of claim 1 to 3, it is characterised in that described second Body have two elastic portions for extending towards, the Long-term change trend that two elastic portions at the position that crosses are successively decreased in section, The outer extension of one of two elastic portions is coated on the outside of another one.

5. self adaptation stress class articulation mechanism according to claim 4, it is characterised in that have in two elastic portions Limited location portion, the limiting section in one is located at the outside of another elastic portion, to limit both vertical with the plane of movement Relative position on direction.

6. self adaptation stress class articulation mechanism according to claim 5, it is characterised in that from initial position to extremely spacing Put, the first noumenon is configured to respect to the rotational angle α of the second body：α≤100°；In the plane of movement in the joint, Positioned at the mating surface geometric center of the first noumenon of initial position, two friendships of the elastic portion with second body Meeting point overlaps.

7. self adaptation stress class articulation mechanism according to claim 6, it is characterised in that also include：

Joint elasticity part, with bending around the elastic body for being formed, its one end is articulated with the rotation center of circle of second body Position at, its other end is fixed on the first noumenon.

8. self adaptation stress class articulation mechanism according to claim 7, it is characterised in that formed it is described be slidably matched it is secondary Have on the first noumenon outer surface and the second body outer surface, in one and slide limiting section, edge is provided with another one and is turned The stopper slot being adapted to the slip limiting section that dynamic rail mark is opened up.

9. a kind of ESD, it is characterised in that including：

First bandage and the second bandage, are respectively used to be fixed with two human body colligations by joint relative motion；

First clip and the second clip, are coated and fixed and are connected with first bandage and the second bandage respectively；

Self adaptation stress class articulation mechanism as any one of claim 1 to 8, the first noumenon and the second body Non- abutting end, is fixedly connected with first clip and the second clip respectively；With

Power-assisted pressurized strut, its end and rod end are hingedly connected to first clip and the second clip, and are configured to：Described first When body is rotated from initial position to extreme position, elastic deformation energy is laid in the power-assisted pressurized strut, and in the first noumenon When turning to initial position from extreme position, the elastic deformation energy is discharged.

10. ESD according to claim 9, it is characterised in that the ESD is knee joint ectoskeleton Device, first bandage and the second bandage are respectively used to colligation on the thigh and shank of knee joint both sides；The knee joint ESD also includes：

First support member, one end is fixed on first clip, and the other end is used to support the footwear for being fixed on user；

Second support member, one end is fixed on second clip, the other end be used for support be fixed on user waist or Buttocks.