CN219289830U - Passive helping hand knee joint orthosis based on symmetrical rope drive - Google Patents
Passive helping hand knee joint orthosis based on symmetrical rope drive Download PDFInfo
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- CN219289830U CN219289830U CN202320752615.4U CN202320752615U CN219289830U CN 219289830 U CN219289830 U CN 219289830U CN 202320752615 U CN202320752615 U CN 202320752615U CN 219289830 U CN219289830 U CN 219289830U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Abstract
The utility model relates to the field of rehabilitation medical appliances, in particular to a passive power-assisted knee joint orthosis based on symmetrical rope driving, which comprises a knee joint wearing device, a connecting transmission device and an energy storage unit, wherein the connecting transmission device effectively links the knee joint wearing device and the energy storage unit together, so that the transmission and conversion between the flexion/extension movement of a knee joint and the reciprocating movement of a piston of the energy storage unit are realized. The knee joint bending energy storage/extension energy release can be realized, the knee joint load is reduced, and additional power is provided for the knee joint, so that the knee joint support has more compact volume, and the symmetry of internal and external orthopedic forces of the knee joint is ensured.
Description
Technical Field
The utility model relates to the field of rehabilitation medical appliances, in particular to a passive power-assisted knee joint orthosis based on symmetrical rope driving.
Background
The energy storage unit of the traditional passive power-assisted knee joint orthosis is usually arranged at the outer side of a knee joint hinge or a hip joint support, so that the volume and the weight of the passive power-assisted knee joint orthosis are too large, and the daily wearing effect is greatly affected.
Disclosure of Invention
In order to solve the problems, the utility model provides a passive power-assisted knee joint orthosis based on symmetrical rope driving, which can realize knee joint buckling energy storage/extension energy release, reduce knee joint load and provide additional power for the knee joint, simultaneously ensure the volume of the knee joint brace to be more compact and ensure the symmetry of internal and external orthopedic forces of the knee joint.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
a passive power-assisted knee joint orthosis based on symmetrical rope driving comprises a knee joint wearing device, a connecting transmission device and an energy storage unit;
the knee joint wearing device comprises a femur wearing unit, an adjustable femur binding belt, a tibia wearing unit and an adjustable tibia binding belt;
the connecting transmission device comprises a femur hinge arranged at the lower end of the femur wearing unit, a tibia hinge arranged at the upper end of the tibia wearing unit, a connecting rod used for connecting the femur hinge and the tibia hinge, a symmetrical driving rope penetrating through the femur wearing unit and the tibia wearing unit, a pin fixing end used for installing the symmetrical driving rope, a switch fixing end, a pin and an adjusting disc, a hinge unit used for connecting the femur wearing unit and the tibia wearing unit, an adjusting switch used for adjusting the tightness of the symmetrical driving rope and a guide wheel used for changing the direction of the symmetrical driving rope;
the energy storage unit is fixed on the femur wearing unit or the tibia wearing unit and comprises a base and a top cover arranged on the base through a liquid spring, the middle section of the symmetrical driving rope is fixed on the top cover, and the movement direction of the symmetrical driving rope is changed through guide wheels on two sides.
Further, the knee joint performs flexion/extension movements transmitted to the connection transmission device through the femoral wearing unit and the tibial wearing unit, and the connection transmission device performs flexion/extension movements in synchronization with the knee joint through the femoral hinge and the tibial hinge in cooperation with the hinge unit and the link.
Further, one end of the tibia hinge is a cam mechanism which is in contact fit with the symmetrical driving rope, and the other end of the tibia hinge is fixed on the tibia wearing unit; the femur hinge is fixed on the femur wearing unit, a through hole is reserved in the middle of the femur hinge, and the symmetrical driving ropes can pass through the femur hinge.
Further, one end of the symmetrical driving rope is connected with the adjusting disc, and the fixed end of the pin is matched with the adjusting switch to realize fixation; the other end of the connecting switch fixed end is matched with a pin to realize fixation, and the two ends of the symmetrical driving rope are symmetrically fixed at the two sides in the femur wearing unit.
Further, the energy storage unit and the guide wheel may be mounted on the tibial wear unit or on the femoral wear unit, and when the energy storage unit is mounted on the femoral wear unit, the femoral wear unit needs to be reversely mounted.
Further, the overall knee joint assist torque can be reduced by reducing the number of liquid springs; when a single liquid spring is used, the guide wheel is changed into a double-layer guide wheel from a single layer, the guide wheel is arranged right below the liquid spring, and after the symmetrical driving rope reversely bypasses the top cover through the lower part of the double-layer guide wheel, one end of the symmetrical driving rope is connected with the fixed end of the pin, and the other end of the symmetrical driving rope is connected with the fixed end of the switch.
Further, the liquid spring can be replaced by a compression type mechanical spring to realize the function of compressing energy storage and rebound expansion energy release.
Further, the liquid spring may be replaced with any resilient unit including, but not limited to, mechanical springs, resilient materials, gas springs, electric push rods, and the like.
The utility model has the following beneficial effects:
meanwhile, compared with the traditional connecting rod type transmission mode, the driving mode of the symmetrical ropes can avoid deformation of the knee joint orthosis caused by inconsistent transmission systems at the inner side and the outer side of the knee joint, reduce the requirement on the hardness of the knee joint orthosis and further reduce the cost. Meanwhile, the symmetrical driving mode can ensure that the inner side and the outer side of the knee joint are subjected to uniform orthopedic force, and secondary injury of the knee joint caused by inconsistent orthopedic force of the inner side and the outer side of the knee joint is prevented.
Therefore, the driving mode of the symmetrical ropes can well reduce the volume of the passive power-assisted knee joint brace/orthosis, simultaneously ensure the correction force of the inner side and the outer side of the knee joint and reduce the risk of secondary injury of the knee joint.
The energy storage unit provides certain damping and plays a certain buffering role in knee joint buckling; providing additional power while the knee joint is extended, reducing the required load. The femur wearing unit and the tibia wearing unit are attached to the human body, and the hinge mechanism is parallel to the knee joint orthosis, so that the mechanical output curve of the passive power-assisted knee joint orthosis based on symmetrical rope driving is more in line with the motion of the human body.
Drawings
Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a schematic diagram of the overall structure of the present utility model.
Fig. 2 is a cross-sectional view of the structure of the present utility model.
In the figure: a front view; b side view.
Fig. 3 is a schematic diagram of a symmetrical drive rope according to the utility model;
in the figure: a front view; b side view.
Fig. 4 is a schematic diagram of the rope adjustment of the present utility model.
Fig. 5 is a schematic view of different installation positions of the energy storage unit.
Fig. 6 is a schematic view of two liquid spring mounting means.
Fig. 7 is a schematic diagram of a single liquid spring installation.
FIG. 8 is a schematic illustration of a double layer idler installation.
Fig. 9 is a schematic view of the structure when a liquid spring is used.
Fig. 10 is a schematic view of a structure in which a compression type mechanical spring is employed.
In the figure: 1-a femoral wear unit; 2-a tibial wear unit; 3-an adjustable femoral strapping band; 4-an adjustable tibial tie strap; a 5-energy storage unit; 6-adjusting a switch; 7-a hinge unit; 8-symmetrical drive ropes; 9-top cover; 10-a guide wheel; 10-1-double-layer guide wheels; 11-a base; 12-a liquid spring; 12-1-compression mechanical spring; 13 a femoral hinge; 14 a connecting rod; 15-a tibial hinge; 16-a pin fixed end; 17-a switch fixed end; 18-pins; 19-an adjusting disk.
Detailed Description
The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.
Referring to fig. 1, a passive knee orthosis based on symmetrical rope drive comprises a knee wearing device, a connecting transmission device and an energy storage unit 5;
the knee joint wearing device comprises a femur wearing unit 1, an adjustable femur binding belt 3, a tibia wearing unit 2 and an adjustable tibia binding belt 4;
the connecting transmission device comprises a femur hinge 13 arranged at the lower end of a femur wearing unit 1, a tibia hinge 15 arranged at the upper end of a tibia wearing unit 2, a connecting rod 14 used for connecting the femur hinge 13 and the tibia hinge 15, a symmetrical driving rope 8 penetrating through the femur wearing unit 1 and the tibia wearing unit 2, a pin fixed end 16 used for installing the symmetrical driving rope 8, a switch fixed end 17, a pin 18 and an adjusting disc 19, a hinge unit 7 used for connecting the femur wearing unit 1 and the tibia wearing unit 2, an adjusting switch 6 used for adjusting the tightness of the symmetrical driving rope 8 and a guide wheel 10 used for changing the direction of the symmetrical driving rope 8;
the energy storage unit 5 is fixed on the femur wearing unit 1 or the tibia wearing unit 2, and comprises a base 11, a top cover 9 arranged on the base 11 through a liquid spring 12, wherein the middle section of the symmetrical driving rope 8 is fixed on the top cover 9, and the movement direction of the symmetrical driving rope 8 is changed through guide wheels 10 on two sides.
When in use, the femoral end of the knee joint orthosis is fixed on the limb above the knee joint through the femur wearing unit 1 and the adjustable femur binding belt 3, and fixed on the limb below the knee joint through the tibia wearing unit 2 and the adjustable tibia binding belt 4, and the hinge unit 7 is parallel to the knee joint rotation axis. When the knee joint is buckled, the knee joint orthosis hinge unit 7 is buckled under the combined action of the femur wearing unit 1 and the tibia wearing unit 2, the energy storage device in the energy storage unit 5 is compressed through the symmetrical driving ropes 8 in the support, so that the knee joint energy is stored, when the knee joint is extended, the energy storage device in the energy storage unit 5 releases energy, the hinge unit 7 is driven through the symmetrical driving ropes 8 in the support, knee joint auxiliary moment is generated, and the knee joint auxiliary moment is transmitted to the lower limb through the femur wearing unit 1 and the tibia wearing unit 2, so that the knee joint is driven to move.
Referring to fig. 3, the symmetrical driving rope 8 has two ends, namely a pin fixing end 16 and a switch fixing end 17, symmetrically fixed at two sides in the femur wearing unit 1. On one side of the tibia wearing unit 2, the direction of the symmetrical driving ropes 8 is changed through guide wheels 10 on two sides respectively, the liquid springs 12 are pulled to move downwards to store energy when the knee joint is flexed through guide rail grooves on the top cover 9, and the liquid springs 12 push the top cover 9 upwards when the knee joint is stretched, so that the symmetrical driving ropes 8 are pulled, and knee joint auxiliary driving force is generated under the cam action of the tibia hinge 15.
Referring to fig. 4, the switch fixing end 17 of the symmetrical driving rope 8 is fixed on the adjusting disc 19, the symmetrical driving rope 8 can be wound on the adjusting disc 19 by rotating the adjusting switch 6, so that the whole length of the symmetrical driving rope 8 is adjusted, the free movement range of the knee joint support is further adjusted, when the symmetrical driving rope 8 is completely wound on the adjusting disc 19, the free movement range of the knee joint support is zero, namely, the liquid spring 12 is compressed to store energy when the buckling starts; the range of free movement of the knee brace is maximized when the symmetrical drive cable 8 is not wound around the adjustment disc 19, i.e., typically 60 ° when the knee is flexed to an angle to begin compressing the liquid spring 12 for energy storage. The pin fixing end 16 of the symmetrical driving rope 8 is fixed on the femur wearing unit 1 by a pin 18 to realize the function of fixing one end and freely stretching the other end.
Referring to fig. 5 and 6, the energy storage unit 5 and the guide wheel 10 may be mounted on the tibia wearing unit 2 or on the femur wearing unit 1, and when the energy storage unit is mounted on the femur wearing unit 1, the femur wearing unit 1 needs to be reversely mounted to avoid collision and interference between the energy storage unit 5 on the femur wearing unit 1 and a stool or other objects when a user sits in a sitting position, thereby affecting comfort of the user.
Referring to fig. 7-8, the present device can reduce the total knee joint assist torque by reducing the number of liquid springs 12, further accommodating middle-aged and elderly users while reducing costs. When a single liquid spring 12 is used, the guide wheel 10 is changed from a single layer to a double-layer guide wheel 10-1, and is arranged right below the liquid spring 12. After the symmetrical driving rope 8 reversely bypasses the top cover 9 through the lower part of the double-layer guide wheel 10-1, one end of the symmetrical driving rope is connected with the pin fixing end 16, and the other end of the symmetrical driving rope is connected with the switch fixing end 17. Therefore, when the device is buckled, the symmetrical driving rope 8 pulls the top cover 9 to move downwards to compress the liquid spring 12 for storing energy, and conversely, the energy is released to provide auxiliary torque for the knee joint.
Referring to fig. 10, the liquid spring 12 may be replaced with a compression mechanical spring 12-1 to perform the function of compressing stored energy, rebound and extension to release energy. Further liquid springs 12 may be replaced with any resilient unit including, but not limited to, mechanical springs, resilient materials, gas springs, electric push rods, etc.
The utility model can be produced by different manufacturing modes including but not limited to additive manufacturing 3D printing, numerical control machine processing, casting, stamping forming and the like.
The whole system works in the following way: as shown in fig. 2, the movement of the lower limb of the human body in the energy storage stage drives the femur wearing unit 1 and the tibia wearing unit 2 in the knee joint wearing device to perform buckling movement during the knee joint buckling, so as to drive the hinge unit 7 to rotate synchronously with the knee joint. One end of a symmetrical driving rope 8 is fixed on the femur wearing unit 1, and is respectively fixed by an adjusting switch 6 and a pin fixing end 16; the other measurement is fixed on a top cover 9 in an energy storage unit 5 connected with the tibia wearing unit 2, the movement direction of the symmetrical driving rope 8 is changed and the friction force is reduced through guide wheels 10 on two sides, and a liquid spring 12 is fixed on a base 11 and connected with the energy storage unit 5. When the hinge unit 7 is buckled, the symmetrical driving rope 8 is tensioned under the action of the cam of the tibia hinge 15, the relative distance between the pin fixing end 16, the switch fixing end 17 and the top cover 9 at the two ends of the symmetrical driving rope 8 is shortened, so that the top cover 9 is pulled to move downwards, the liquid spring 12 is compressed, and kinetic energy of knee joint movement is converted into potential energy of compressed fluid for storage; when the knee joint is in an energy release stage during extension, the femur wearing unit 1 and the tibia wearing unit 2 are reset by buckling states, the symmetrical driving ropes 8 are loosened under the driving of the cams of the tibia hinges 15, the stored potential energy is released into kinetic energy by the liquid springs 12 at the moment, the top cover 9 is pushed to move in the compressed opposite direction, and accordingly the symmetrical driving ropes 8 are pulled to enable the relative distance between the connecting points at the two ends of the symmetrical driving ropes 8 and the top cover 9 to be restored, the released kinetic energy is transmitted to the femur wearing unit 1 and the tibia wearing unit 2 through the hinge units 7, the knee joint is further driven to extend, and additional support and power are provided for the knee joint extension.
The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the utility model.
Claims (8)
1. A passive helping hand knee orthosis based on symmetry formula rope drive, its characterized in that: comprises a knee joint wearing device, a connecting transmission device and an energy storage unit (5);
the knee joint wearing device comprises a femur wearing unit (1), an adjustable femur binding belt (3), a tibia wearing unit (2) and an adjustable tibia binding belt (4);
the connecting transmission device comprises a femur hinge (13) arranged at the lower end of a femur wearing unit (1), a tibia hinge (15) arranged at the upper end of a tibia wearing unit (2), a connecting rod (14) used for connecting the femur hinge (13) and the tibia hinge (15), a symmetrical driving rope (8) penetrating through the femur wearing unit (1) and the tibia wearing unit (2), a pin fixing end (16) used for installing the symmetrical driving rope (8), a switch fixing end (17), a pin (18) and an adjusting disc (19), a hinge unit (7) used for connecting the femur wearing unit (1) and the tibia wearing unit (2), an adjusting switch (6) used for adjusting the tightness of the symmetrical driving rope (8) and a guide wheel (10) used for changing the direction of the symmetrical driving rope (8);
the energy storage unit (5) is fixed on the femur wearing unit (1) or the tibia wearing unit (2), and comprises a base (11), and a top cover (9) arranged on the base (11) through a liquid spring (12), wherein the middle section of the symmetrical driving rope (8) is fixed on the top cover (9), and the movement direction of the symmetrical driving rope (8) is changed through guide wheels (10) on two sides.
2. A passive power assisted knee brace based on symmetrical rope drives according to claim 1, wherein: the knee joint performs buckling/stretching motions, the buckling/stretching motions are transmitted to a connecting transmission device through the femur wearing unit (1) and the tibia wearing unit (2), and the connecting transmission device performs buckling/stretching motions synchronously with the knee joint through the femur hinge (13) and the tibia hinge (15) in cooperation with the hinge unit (7) and the connecting rod (14).
3. A passive power assisted knee brace based on symmetrical rope drives according to claim 1, wherein: one end of the tibia hinge (15) is a cam mechanism which is in contact fit with the symmetrical driving ropes, and the other end of the tibia hinge is fixed on the tibia wearing unit (2); the femur hinge (13) is fixed on the femur wearing unit (1), a through hole is reserved in the middle, and the symmetrical driving rope (8) can pass through the through hole.
4. A passive power assisted knee brace based on symmetrical rope drives according to claim 1, wherein: one end of the symmetrical driving rope (8) is connected with an adjusting disc (19), and the fixed end (16) of the matched pin is fixed with the adjusting switch (6); the other end of the symmetrical driving rope (8) is connected with the fixed end (17) of the switch and matched with the pin (18) to realize fixation, and the two ends of the symmetrical driving rope (8) are symmetrically fixed at the two sides in the femur wearing unit (1).
5. A passive power assisted knee brace based on symmetrical rope drives according to claim 1, wherein: the energy storage unit (5) and the guide wheel (10) are installed on the tibia wearing unit (2) or on the femur wearing unit (1), and when the energy storage unit is installed on the femur wearing unit (1), the femur wearing unit (1) needs to be installed reversely.
6. A passive power assisted knee brace based on symmetrical rope drives according to claim 1, wherein: reducing the total knee assist torque by reducing the number of liquid springs (12); when the single liquid spring (12) is used, the guide wheel (10) is changed into a double-layer guide wheel (10-1) from a single layer, the double-layer guide wheel is arranged right below the liquid spring (12), and after the symmetrical driving rope (8) reversely bypasses the top cover (9) through the lower part of the double-layer guide wheel (10-1), one end of the symmetrical driving rope is connected with the pin fixed end (16), and the other end of the symmetrical driving rope is connected with the switch fixed end (17).
7. A passive power assisted knee brace based on symmetrical rope drives according to claim 1, wherein: the liquid spring (12) can be replaced by a compression mechanical spring (12-1) to realize the function of compressing energy storage and rebound expansion energy release.
8. A passive power assisted knee brace based on symmetrical rope drives according to claim 1, wherein: the liquid spring (12) can be replaced by any elastic unit including mechanical springs, elastic materials, gas springs, electric push rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320752615.4U CN219289830U (en) | 2023-04-06 | 2023-04-06 | Passive helping hand knee joint orthosis based on symmetrical rope drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320752615.4U CN219289830U (en) | 2023-04-06 | 2023-04-06 | Passive helping hand knee joint orthosis based on symmetrical rope drive |
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| Publication Number | Publication Date |
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| CN219289830U true CN219289830U (en) | 2023-07-04 |
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| CN202320752615.4U Active CN219289830U (en) | 2023-04-06 | 2023-04-06 | Passive helping hand knee joint orthosis based on symmetrical rope drive |
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| CN (1) | CN219289830U (en) |
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- 2023-04-06 CN CN202320752615.4U patent/CN219289830U/en active Active
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