JP2024017343A - Movement aid device - Google Patents

Abstract

An object of the present invention is to provide a motion assisting device that enables stable walking motion. A hydraulic prosthetic leg 1 includes a support member 2 attached to the user's thigh that is rotatably connected, and a lower leg member 3 that is rotatably connected to a foot member 4 that lands on the ground. , a first hydraulic cylinder 7 that rotates the foot member 4, and a second hydraulic cylinder 8 that expands and contracts when the foot member 4 rotates relative to the lower leg member 3. , has a first cylinder chamber 71 formed in the crus member 3, and the second hydraulic cylinder 8 has a second cylinder chamber 81 formed in the crus member 3, and the second hydraulic cylinder 8 has a second cylinder chamber 81 formed in the crus member 3. Communication passages 55 and 56 are formed that communicate the first cylinder chamber 71 and the second cylinder chamber 81. [Selection diagram] Figure 2

Description

TECHNICAL FIELD The present invention relates to a movement assisting device.

Patent Document 1 describes a support member that is attached to the user's thigh, a lower leg member that is rotatably connected to the support member in a flexion direction and an extension direction, and a lower leg member that is rotatably connected to the support member in a plantar flexion direction and an extension direction. a foot member rotatably connected in the dorsiflexion direction; a first hydraulic cylinder provided between the support member and the lower leg member and contracted when the lower leg member rotates in the bending direction with respect to the support member; a second hydraulic cylinder that is provided between the lower leg member and the foot member and contracts when the foot member rotates in the dorsiflexion direction with respect to the lower leg member; and a second hydraulic cylinder that discharges liquid when the first hydraulic cylinder contracts. A walking assist device is disclosed that includes a first continuous passageway that communicates between a pressure chamber on one side and a pressure chamber on one side that discharges liquid when a second hydraulic cylinder contracts. In the walking assist device described in Patent Document 1, a portion of the first hydraulic cylinder and the second hydraulic cylinder are provided so as to be exposed from the lower leg member.

JP2021-37141A

In the walking assist device as described in Patent Document 1, when the first hydraulic cylinder and the second hydraulic cylinder expand and contract, respectively, during the operation of the walking assist device, the inclination with respect to the lower leg member changes. In other words, in the operation of the walking aid device, the relative positions of the first hydraulic cylinder and the second hydraulic cylinder change. Therefore, the first hydraulic cylinder and the second hydraulic cylinder need to be communicated with each other by, for example, bendable piping such as a hose. Since the piping is exposed to the outside of the lower leg member, it may get caught in the piping when walking, which may affect the walking movement.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a motion assisting device that allows stable walking motion.

The present invention is a movement assisting device, which includes a lower leg member to which a support member attached to the thigh of a user is rotatably connected, and a leg member that lands on the ground is rotatably connected; A first hydraulic cylinder that expands and contracts when the support member rotates with respect to the lower leg member, and a second hydraulic cylinder that rotates the foot member, the first hydraulic cylinder being formed within the lower leg member. The second hydraulic cylinder has a first cylinder chamber, and the second hydraulic cylinder has a second cylinder chamber formed in the lower leg member. It is characterized in that a passage is formed.

In this invention, the first hydraulic cylinder and the second hydraulic cylinder operate in conjunction with each other. Further, a first cylinder chamber and a second cylinder chamber are formed within the lower leg member, and a communication passage that communicates the first cylinder chamber and the second cylinder chamber is formed within the lower leg member. Thereby, since there is no external piping exposed from the lower leg member, the user is prevented from getting caught in the piping while walking.

Further, the present invention provides that the first hydraulic cylinder includes a first piston that is slidably inserted into the first cylinder chamber, and a first link that is rotatably connected to the first piston and the support member. It further includes a first pressure chamber defined within the first cylinder chamber by the first piston and into which liquid is discharged when the first hydraulic cylinder contracts, and the second hydraulic cylinder slides into the second cylinder chamber. A second piston that is movably inserted, a second link that is rotatably connected to the second piston and the foot member, and a second hydraulic cylinder that is partitioned into a second cylinder chamber by the second piston and contracts. It is characterized in that it further includes a second pressure chamber from which liquid is sometimes discharged, and the communication passage communicates the first pressure chamber and the second pressure chamber.

In this invention, the first link is rotatably connected to the first piston and the support member, and the second link is rotatably connected to the second piston and the foot member. Therefore, when the support member rotates with respect to the lower leg member, the first piston slides within the first cylinder chamber, and accordingly, the second piston slides within the second cylinder chamber, causing the leg member to rotate. Thereby, walking motion becomes possible in the movement assisting device in which the first cylinder chamber and the second cylinder chamber are formed within the lower leg member.

Further, in the present invention, a tank is formed in the lower leg member and is a space in which liquid to be supplied and discharged to and from the first cylinder chamber and the second cylinder chamber is stored, and the tank communicates with the communication path at the bottom of the lower part. It is characterized by

In this invention, by providing the tank as a space within the lower leg member, it is possible to prevent the tank from being exposed to the outside of the lower leg member. Thereby, since there is no external piping that communicates the tank and the communication path, the user is prevented from getting caught in the piping while walking. Furthermore, since the tank communicates with the communication passage at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber and the second cylinder chamber.

Further, the present invention further includes a switching valve that is provided in the communication path and switches the flow of liquid between the communication path and the tank, and the switching valve has a blocking position that blocks the flow of liquid from the communication path toward the tank; a communication position that allows liquid to flow from the communication path toward the tank; the communication position is comprised of a plurality of throttle positions that throttle the amount of liquid that differs from each other; and the switching valve has a plurality of throttle positions that correspond to the plurality of throttle positions. The valve body is characterized by being provided with a valve body in which a plurality of constricted portions are formed continuously in the axial direction.

In this invention, when the switching valve is switched to the cutoff position, the flow of liquid from the communication path toward the tank is cut off. Therefore, when the support member rotates in the flexion direction with respect to the lower leg member, the foot member rotates significantly in the plantar flexion direction with respect to the lower leg member, and the support member rotates in the extension direction with respect to the lower leg member. In response to this, the foot member largely rotates in the dorsiflexion direction relative to the lower leg member. On the other hand, when the switching valve is switched to the communication position, the communication passage and the tank communicate with each other. Therefore, even if the support member rotates relative to the lower leg member, the amount of rotation of the foot member relative to the lower leg member in conjunction with the rotation can be reduced. In this manner, by switching the switching valve between the blocking position and the communication position, the user can perform natural walking movements. Furthermore, the communication position consists of a plurality of throttling positions with different throttling amounts of liquid, and the switching valve is provided with a valve body in which a plurality of throttling portions corresponding to the plurality of throttling positions are continuously formed in the axial direction. It will be done. Therefore, the ease with which the support member rotates relative to the lower leg member can be adjusted by using the plurality of aperture positions. In other words, the plurality of throttle positions allows adjustment of the cushioning properties and interlocking properties of the foot member when the support member rotates in the bending direction. As a result, by changing the aperture position when the user walks on flat ground or when going up and down stairs, it is possible to achieve appropriate foot movement in each situation, and to appropriately reduce the impact on the user. I can do it.

Further, the present invention is characterized in that it further includes an operating section that can be operated from the outside, and the throttle position of the switching valve is selected by operating the operating section.

In this invention, the throttle position of the switching valve can be easily selected by operating the operating section from the outside.

Further, the present invention is characterized in that the volume of the second hydraulic cylinder is larger than the volume of the first hydraulic cylinder.

In this invention, the first hydraulic cylinder expands and contracts more easily than the second hydraulic cylinder. When the user walks, the support member rotates more than the foot member, so this configuration makes it easier for the support member to rotate and allows the user to take natural walking motions. can.

Further, the present invention provides that the lower leg member includes a first member connected to the support member to form the first cylinder chamber, a second member connected to the foot member to form the second cylinder chamber, and a first member. It is characterized by having a length adjustment member provided between the second member and a communication path so that the length of the lower leg member can be adjusted.

In this invention, the length adjusting member is provided with only a communication path and is not provided with any other cylinder chamber or the like, so that the length in the vertical direction can be easily adjusted. This allows the lengths of the user's left and right legs to be matched.

Further, in the present invention, the communication path includes a first communication path in which a switching valve is provided, and a second communication path in which a check valve is provided that allows only the flow of liquid from the tank toward the communication path, The tank is characterized in that, at its lower bottom, the tank communicates with the first communication passage via a switching valve and communicates with the second communication passage via a check valve.

In this invention, even if the switching valve is configured to allow liquid to flow between the first communication passage and the tank through the throttle, by providing the second communication passage and the check valve, the liquid can be quickly removed from the tank. Liquid is supplied to the first cylinder chamber and the second cylinder chamber. This prevents the first cylinder chamber and the second cylinder chamber from becoming negative pressures. Furthermore, since the tank communicates with the first communication passage and the second communication passage at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber and the second cylinder chamber.

According to the present invention, it is possible to provide a motion assisting device that allows stable walking motion.

FIG. 1 is a side view of a movement assisting device according to an embodiment of the present invention. FIG. 1 is a longitudinal cross-sectional view of a movement assisting device according to an embodiment of the present invention. 2 is a sectional view taken along line III-III in FIG. 1. FIG. FIG. 7 is a cross-sectional view showing a state in which the lower leg member is rotated in the bending direction and the foot member is rotated in the plantar flexion direction. 3 is a sectional view of the switching valve, corresponding to FIG. 2; FIG. FIG. 3 is a cross-sectional view showing a state in which the switching valve is switched to a plurality of throttle positions. FIG. 2 is a hydraulic circuit diagram of a movement assisting device according to an embodiment of the present invention. It is a figure explaining walking motion when a user walks on level ground and when going up and down stairs.

Hereinafter, a hydraulic prosthetic leg 1 as a movement assisting device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 8. In the hydraulic prosthetic leg 1, hydraulic oil is used as the liquid that flows inside the hydraulic prosthetic leg 1. Note that the liquid used in the hydraulic prosthesis 1 may be any incompressible fluid, and other liquids such as working water may also be used.

In the following, the direction in which the lower leg is bent relative to the thigh (the direction in which the calf approaches the thigh) is referred to as the "bending direction," and the direction in which the lower leg is extended relative to the thigh (the direction in which the calf approaches the thigh) is referred to as the "bending direction." direction) is referred to as the "extension direction". Additionally, the direction in which the foot bends relative to the lower leg (the direction in which the toes approach the lower leg) is called the "dorsiflexion direction," and the direction in which the foot extends relative to the lower leg (the direction in which the toes move closer to the lower leg) is called the "dorsiflexion direction." direction) is called the "plantar flexion direction". Furthermore, the time when the feet are on the ground is referred to as the "stance phase", and the time when the feet are off the ground is referred to as the "swing phase".

First, the overall configuration of the hydraulic prosthetic leg 1 will be described with reference to FIGS. 1 to 4.

FIG. 1 is a side view of the hydraulic prosthesis 1. FIG. 2 is a longitudinal cross-sectional view of the hydraulic prosthesis 1. FIG. 3 is a sectional view taken along line III-III in FIG. FIG. 4 is a sectional view showing a state in which the lower leg member 3 in FIG. 2 is rotated in the bending direction and the foot member 4 is rotated in the plantar flexion direction.

As shown in FIGS. 1 to 3, a hydraulic prosthesis 1 is a femoral prosthesis used by a person who has had a femur amputated. The hydraulic prosthetic leg 1 includes a support member 2 rotatably connected, a lower leg member 3 to which a foot member 4 that lands on the ground is rotatably connected, and a lower leg member 3 provided on the lower leg member 3 and connected to the support member 2. The second hydraulic cylinder 8 is provided on the lower leg member 3 and connected to the foot member 4.

The support member 2 is attached to the user's thigh and supports the thigh. The support member 2 includes a socket 2a into which the stump (cut point) of the user's thigh is attached, and a support member side connecting portion 2b connected to the lower leg member 3 via a first rotation shaft 51. have The socket 2a is provided on the upper part of the support member side connecting part 2b. The support member side connection portion 2b is provided with a first cylinder attachment portion 21 to which a first link 72 of the first hydraulic cylinder 7, which will be described later, is rotatably attached. The first cylinder attachment portion 21 is provided at the rear end portion of the support member side connecting portion 2b. Furthermore, a rotation restriction portion 22 that comes into contact with a rotation restriction portion 35a of the lower leg member 3, which will be described later, is provided ahead of the first rotation shaft 51 in the support member side connecting portion 2b. A connecting portion 2c is provided between the socket 2a and the supporting member side connecting portion 2b to connect the two. When the user applies a new hydraulic prosthetic leg 1, by attaching a commercially available joint to the connecting part 2c, the user can apply the hydraulic prosthetic leg 1 without changing the socket that was used.

As shown in FIGS. 1 to 3, the lower leg member 3 is rotatably connected to the support member 2 in the bending direction and the extension direction. The lower leg member 3 includes a first frame 31 as a first member connected to the support member 2, a second frame 32 as a second member connected to the foot member 4, and the first frame 31 and the second frame 32. and a spacer 33 as a length adjustment member that is provided between the lower leg member 3 and can adjust the length of the lower leg member 3. In the lower leg member 3, a first frame 31, a spacer 33, and a second frame 32 are provided in this order from the upper side.

The first frame 31 includes a first main body portion 34 and a first connecting portion 35 provided on the upper surface of the first main body portion 34 and connected to the support member 2 . The first connecting portion 35 is fixed to the upper surface of the first main body portion 34 with a fastening member such as a bolt. The first connecting portion 35 is rotatably connected to the support member 2 via the first rotation shaft 51. Thereby, as shown in FIG. 4, the support member 2 is rotatable with respect to the first frame 31 around the first rotation shaft 51. As shown in FIG. 1, the first connecting portion 35 is provided with rotation restriction portions 35a and 35b that come into contact with the rotation restriction portion 22 of the support member 2. As shown in FIG. The rotation restriction portion 35a restricts the rotation of the support member 2 in the extension direction when it comes into contact with the rotation restriction portion 22, and the rotation restriction portion 35b restricts the rotation in the extension direction of the support member 2 when it comes into contact with the rotation restriction portion 22. The rotation of the support member 2 in the bending direction is restricted.

The second frame 32 includes a second main body portion 36 and a second connecting portion 37 provided on the lower surface of the second main body portion 36 and connected to the leg member 4 . The second connecting portion 37 is fixed to the lower surface of the second main body portion 36 with a fastening member such as a bolt. The second connecting portion 37 is rotatably connected to the leg member 4 via the second rotation shaft 61. Thereby, as shown in FIG. 4, the foot member 4 is rotatably connected to the lower leg member 3 in the plantar flexion direction and the dorsiflexion direction. The second connecting portion 37 includes a rotation restriction portion 37a that contacts a rotation restriction portion 41 (described later) of the foot member 4, and a rotation restriction portion 37b that contacts a rotation restriction portion 42 (described later) of the foot member 4. (See Figure 1).

The spacer 33 is for adjusting the length of the lower leg member 3 in the vertical direction, and is provided between the first frame 31 and the second frame 32. By adjusting the length of the spacer 33 according to the length of the user's opposite leg, the lengths of the user's left and right legs can be matched. Specifically, by replacing the spacer 33 with a spacer 33 formed to an appropriate length, the lengths of the user's left and right legs can be matched. Note that the spacer 33 may be formed so that its length can be adjusted, so that the lengths of the user's left and right legs can be adjusted without replacing the spacer 33. The spacer 33 is fixed to the lower surface of the first main body part 34 of the first frame 31 and the upper surface of the second main body part 36 of the second frame 32, respectively.

In this way, the lower leg member 3 is formed by integrating the first frame 31, the second frame 32, and the spacer 33. Further, inside the lower leg member 3, a first cylinder chamber 71 of the first hydraulic cylinder 7, a second cylinder chamber 81 of the second hydraulic cylinder 8, and a first cylinder chamber 71 and a second cylinder chamber 81 are provided. A first communication passage 55 and a second communication passage 56 that communicate with each other and a tank 58 that is a space in which hydraulic oil is stored are formed. The internal structure of the lower leg member 3 will be explained in detail later.

The foot member 4 is formed in a shape similar to that of a healthy person's foot so that shoes or the like can be attached thereto. The foot member 4 has a main body portion 4a that lands on the ground, and a joint portion 4b that is connected to the lower leg member 3. The joint portion 4b has a second cylinder attachment portion 43 to which a second link 82 of the second hydraulic cylinder 8, which will be described later, is rotatably attached. As shown in FIG. 2, the second cylinder attachment portion 43 is provided in front of the second rotation shaft 61 in the leg member 4.

The joint portion 4b includes a rotation restriction portion 41 that contacts the rotation restriction portion 37a of the lower leg member 3, and a rotation restriction portion 42 that contacts the rotation restriction portion 37b of the lower leg member 3. The rotation restriction portion 41 is provided in front of the lower leg member 3. The rotation restriction portion 41 restricts rotation of the foot member 4 in the dorsiflexion direction when it comes into contact with the rotation restriction portion 37a of the lower leg member 3. The rotation restriction portion 42 is provided at the rear of the lower leg member 3. The rotation restriction portion 42 restricts rotation of the foot member 4 in the plantar flexion direction when it comes into contact with the rotation restriction portion 37b of the lower leg member 3. A connecting portion 4c is provided between the main body portion 4a and the joint portion 4b of the foot member 4 to connect the two. When a user applies a new hydraulic prosthetic leg 1, by attaching a commercially available joint to the connecting part 4c, the user can apply the hydraulic prosthetic leg 1 without changing the main body of the leg member that was used. .

A torsion coil spring 9 is provided on the second rotation shaft 61 that connects the lower leg member 3 and the foot member 4. The torsion coil spring 9 holds the foot member 4 in a posture inclined approximately 90 degrees with respect to the lower leg member 3, as shown in FIGS. 1 and 2.

As shown in FIG. 2, in the hydraulic prosthetic leg 1 of this embodiment, when the support member 2 rotates with respect to the lower leg member 3 due to the user's action, the first hydraulic cylinder 7 expands and contracts. The first hydraulic cylinder 7 includes a first cylinder chamber 71 formed in the lower leg member 3, a first piston 73 slidably inserted into the first cylinder chamber 71, and a first piston 73 and a support member. The first cylinder chamber 71 is partitioned by a first link 72 rotatably connected to the first hydraulic cylinder 7 and a first piston 73, and when the first hydraulic cylinder 7 contracts, its volume is reduced and hydraulic oil is discharged. It has a first pressure chamber 71a.

The first cylinder chamber 71 is provided in the first body portion 34 of the first frame 31 and opens above the first body portion 34 . That is, the first main body portion 34 functions as a cylinder tube that partitions the first cylinder chamber 71. By providing the first piston 73 in the first cylinder chamber 71, a first pressure chamber 71a is defined below the first cylinder chamber 71. As shown in FIG. 3, in the hydraulic prosthetic leg 1 of this embodiment, the first cylinder chamber 71 is not sealed by the first connecting portion 35 of the first frame 31. Therefore, the pressure above the first piston 73 in the first cylinder chamber 71 becomes atmospheric pressure. A sealing member is provided on the outer circumferential surface of the first piston 73 to block the flow of hydraulic oil between the outer circumferential surface of the first piston 73 and the inner circumferential surface of the first cylinder chamber 71. A first communicating passage 55 and a second communicating passage 56 (see FIG. 3) communicate with the lower bottom of the first pressure chamber 71a.

The first link 72 moves forward and backward with respect to the first cylinder chamber 71 when the support member 2 rotates with respect to the lower leg member 3 due to a user's action. Specifically, as shown in FIG. 4, when the support member 2 rotates in the bending direction with respect to the lower leg member 3, the first link 72 enters the first cylinder chamber 71 and the first piston 73 moves downward. The first hydraulic cylinder 7 contracts. On the other hand, when the support member 2 rotates in the extension direction with respect to the lower leg member 3, the first link 72 leaves the first cylinder chamber 71, the first piston 73 slides upward, and the first liquid The pressure cylinder 7 is extended.

In the hydraulic prosthetic leg 1 of this embodiment, the first hydraulic cylinder 7 expands and contracts as the support member 2 rotates relative to the crural member 3 due to the user's action, and as the first hydraulic cylinder 7 expands and contracts, The second hydraulic cylinder 8 expands and contracts, and the foot member 4 rotates. In addition, in the hydraulic prosthetic leg 1, the second hydraulic cylinder 8 expands and contracts when the foot member 4 rotates with respect to the lower leg member 3 due to the movement of the user, and as the second hydraulic cylinder 8 expands and contracts, the first hydraulic cylinder 8 expands and contracts. The hydraulic cylinder 7 expands and contracts, and the support member 2 rotates.

As shown in FIG. 2, the second hydraulic cylinder 8 includes a second cylinder chamber 81 formed within the lower leg member 3, and a second piston 83 slidably inserted into the second cylinder chamber 81. The second link 82 is rotatably connected to the second piston 83 and the leg member 4, and the second cylinder chamber 81 is partitioned by the second piston 83, so that when the second hydraulic cylinder 8 contracts, the volume increases. It has a second pressure chamber 81a which is contracted and from which hydraulic oil is discharged.

The second cylinder chamber 81 is provided in the second body portion 36 of the second frame 32 and opens below the second body portion 36 . That is, the second main body portion 36 functions as a cylinder tube that partitions the second cylinder chamber 81. By providing the second piston 83 in the second cylinder chamber 81, a second pressure chamber 81a is defined above the second cylinder chamber 81. As shown in FIG. 3, in the hydraulic prosthetic leg 1 of this embodiment, the second cylinder chamber 81 is not sealed by the second connecting portion 37 of the second frame 32. Therefore, the pressure below the second piston 83 in the second cylinder chamber 81 becomes atmospheric pressure. A seal member is provided on the outer circumferential surface of the second piston 83 to block the flow of hydraulic oil between the outer circumferential surface of the second piston 83 and the inner circumferential surface of the second cylinder chamber 81. A first communication passage 55 and a second communication passage 56 (see FIG. 3) communicate with the upper end of the second pressure chamber 81a.

In the case where the second hydraulic cylinder 8 expands and contracts as the first hydraulic cylinder 7 expands and contracts, when hydraulic oil is supplied to and discharged from the second pressure chamber 81a and the second link 82 moves back and forth with respect to the second cylinder chamber 81, The foot member 4 rotates with respect to the lower leg member 3. Specifically, when the hydraulic oil is discharged from the second pressure chamber 81a, the second piston 83 slides upward, the second link 82 enters the second cylinder chamber 81, and the second hydraulic cylinder 8 contracts. Thereby, the foot member 4 rotates in the dorsiflexion direction with respect to the lower leg member 3. On the other hand, as shown in FIG. 4, when hydraulic oil is supplied to the second pressure chamber 81a, the second piston 83 slides downward and the second link 82 moves into the second pressure chamber 81a. The second hydraulic cylinder 8 moves out of the cylinder chamber 81 and extends. As a result, the foot member 4 rotates in the plantarflexion direction relative to the lower leg member 3.

In this embodiment, the volume of the second cylinder chamber 81 is larger than the volume of the first cylinder chamber 71. Specifically, the inner diameter of the second cylinder chamber 81 is larger than the inner diameter of the first cylinder chamber 71. Therefore, the first hydraulic cylinder 7 expands and contracts more easily than the second hydraulic cylinder 8. In other words, the support member 2 is easier to rotate than the leg member 4.

Next, the configuration regarding the oil passage within the lower leg member 3 will be described in detail.

FIG. 7 is a diagram showing the hydraulic circuit 100 of the hydraulic prosthetic leg 1. As shown in FIG. 2, FIG. 3, and FIG. A continuous passage 55 and a second communication passage 56 are formed. The first communication passage 55 and the second communication passage 56 extend in the vertical direction and are provided in parallel to each other. In other words, in this embodiment, the communication passage that communicates the first pressure chamber 71a and the second pressure chamber 81a includes the first communication passage 55 and the second communication passage 56. Note that FIG. 2 shows a cross-sectional view passing through the first continuous passage 55. The lower leg member 3 is formed by integrating a first frame 31, a second frame 32, and a spacer 33 so that they cannot rotate with respect to each other. Therefore, in the operation of the hydraulic prosthetic leg 1, the relative relationship between the first cylinder chamber 71 provided in the first body part 34 of the first frame 31 and the second cylinder chamber 81 provided in the second body part 36 of the second frame 32 is The position does not change. Therefore, in the hydraulic prosthesis 1, the first communication passage 55 and the second communication passage 56 that communicate the first pressure chamber 71a and the second pressure chamber 81a are formed as passages formed in the crural member 3 instead of external piping. can be provided. Further, since the spacer 33 is not provided with a cylinder chamber or the like, and only the first communication passage 55 and the second communication passage 56 extending in the vertical direction are formed, the length in the vertical direction can be easily adjusted. . Thereby, by replacing the spacer 33 with a spacer 33 of an appropriate length or adjusting the length of the spacer 33, the lengths of the user's left and right legs can be matched.

As shown in FIGS. 2 and 7, the first main body portion 34 of the first frame 31 has a tank 58 which is a space in which hydraulic oil to be supplied to and discharged from the first cylinder chamber 71 and the second cylinder chamber 81 is stored. is formed. By forming the tank 58, which is a space, in the first main body portion 34, the weight of the lower leg member 3 can be reduced. As shown in FIG. 2, the tank 58 has an opening on the side surface of the first main body portion 34, and the opening is covered with a covering portion 58a. The covering portion 58a is fastened to the first main body portion 34 by a fastening member such as a bolt, and the covering portion 58a prevents the hydraulic oil in the tank 58 from leaking to the outside. The upper part of the tank 58 is provided with an opening (not shown) that opens to the outside of the first frame 31 and a cap (not shown) that is detachably attached to the opening. When the cap is removed, hydraulic oil in the tank 58 can be supplied and discharged through the opening, and when the cap is attached to the opening, the inside of the tank 58 is sealed. This facilitates maintenance of the hydraulic prosthetic leg 1. As shown in FIGS. 2 and 5, the tank 58 is provided with a first opening 58b at the lower bottom and communicates with the first continuous passage 55, and a second opening 58c at the lower bottom (see FIG. 3). is provided and communicates with the second communication path 56. Here, the "bottom" is a place that is always covered with hydraulic oil even if the oil level of the hydraulic oil in the tank 58 fluctuates. In the hydraulic circuit 100 shown in FIG. 7, the third communication passage 57 corresponds to a flow path from the tank 58 to the first opening 58b and the second opening 58c. In this way, since the tank 58 communicates with the communication passages 55 and 56 at the lower bottom, there is no possibility that gas will be mixed into the hydraulic oil supplied from the tank 58 to the first pressure chamber 71a and the second pressure chamber 81a. is prevented.

Further, as shown in FIGS. 1, 2, and 5, the hydraulic prosthetic leg 1 includes an operating section 40 (see FIG. 1) that can be operated from the outside, and through an opening 40a on the operating section side provided in the tank 58. An adjustment section 40b of the operating section 40 is provided within the tank 58 (see FIGS. 2 and 5). In this embodiment, the operating section 40 is a lever that can be rotated by the user, and is provided on the first main body section 34 of the first frame 31 . The adjustment section 40b rotates along the inner peripheral surface of the operation section side opening 40a as the operation section 40 is rotated. By operating the operating unit 40, the position of the switching valve 90 that switches the flow of hydraulic oil between the first communication passage 55 and the tank 58 is selected. Note that the configuration of the operating section 40 is not limited to a lever as long as the position of the switching valve 90 can be selected by operating the operating section 40.

As shown in FIG. 2, an air vent valve 58d for venting air is provided above the tank 58. The air bleed valve 58d can be opened and closed manually from the outside. By opening the air bleed valve 58d, it is possible to prevent the gas mixed in the tank 58 from being discharged to the outside and to prevent the inside of the tank 58 from becoming a negative pressure. Further, in addition to the first communication passage 55 and the second communication passage 56, the first frame 31 is provided with an air bleed passage (not shown) for communicating air between the tank 58 and the first pressure chamber 71a. The air vent passage can be manually opened and closed from the outside using a lever or the like. In the hydraulic prosthesis 1, the first communication passage 55 and the second communication passage 56, which communicate the first pressure chamber 71a of the first hydraulic cylinder 7 and the second pressure chamber 81a of the second hydraulic cylinder 8, are arranged in the vertical direction. It is extended. Therefore, even if gas enters the first communication passage 55 and the second communication passage 56 from the outside, the gas is guided to the first pressure chamber 71a located above. Therefore, by operating and opening the air bleed passage from the outside, the mixed gas can be easily guided into the tank 58 and discharged to the outside by the air bleed valve 58d. Therefore, the mixed gas can be discharged to the outside without disassembling the hydraulic prosthetic leg 1, making maintenance of the hydraulic prosthetic leg 1 easy. Note that a member such as a cap may be provided that combines the function of the air bleed valve 58d and the function of the above-mentioned cap for supplying and discharging the hydraulic oil in the tank 58.

The hydraulic prosthesis 1 includes a switching valve 90 (see FIGS. 2 and 7) that is provided in the first communication passage 55 and switches the flow of hydraulic oil between the first communication passage 55 and the tank 58, and a second communication passage 56. A check valve 95 (see FIG. 7) that is provided in the tank 58 and allows only the flow of hydraulic oil from the tank 58 toward the second communication path 56 is provided. As shown in FIG. 7, the switching valve 90 has a blocking position 90A that blocks the flow of liquid from the first continuous passage 55 toward the tank 58, and a blocking position 90A that blocks the flow of hydraulic oil between the first continuous passage 55 and the tank 58. It has a communication position 90B that allows it. The communication position 90B is composed of a plurality of throttle positions (first throttle position 90C, second throttle position 90D, and third throttle position 90E) that differ in the amount of liquid squeezed. In this way, since the switching valve 90 is provided in the first communicating passage 55 and the check valve 95 is provided in the second communicating passage 56, the first pressure chamber 71a of the first hydraulic cylinder 7 and the second hydraulic cylinder Hydraulic oil is supplied from the tank 58 to the second pressure chamber 81a of No. 8 through the check valve 95 and the second communication passage 56. In other words, even if the switching valve 90 is configured to allow the flow of hydraulic oil between the first communication passage 55 and the tank 58 through the throttle, by providing the second communication passage 56 and the check valve 95, Hydraulic oil is quickly supplied from the tank 58 to the first pressure chamber 71a and the second pressure chamber 81a. This prevents the first pressure chamber 71a and the second pressure chamber 81a from becoming negative pressures. Further, the hydraulic oil in the first pressure chamber 71a of the first hydraulic cylinder 7 and the second pressure chamber 81a of the second hydraulic cylinder 8 is discharged into the tank 58 through the switching valve 90 and the first communication passage 55.

As shown in FIG. 5, the switching valve 90 is inserted into an opening 55a that opens on the outer surface of the lower leg member 3 and communicates with the first communication passage 55, and is provided in the first communication passage 55. The switching valve 90 includes a housing 91 having a hollow portion, a poppet 92 as a valve body slidably provided in the housing 91, and a spring 93 as a biasing member that biases the poppet 92 in the valve closing direction. has.

The housing 91 has a cylindrical shape with a bottom and a flange, and its outer peripheral surface is screwed and fixed within the opening 55a. The housing 91 does not enter into the first continuous passage 55.

The poppet 92 includes an accommodating portion 92a that accommodates a portion of the spring 93, a plurality of internal poppet passages 92b that radially penetrate the poppet 92, and a first opening 58b of the tank 58 that is exposed from the housing 91. It has a throttle forming part 92c to be inserted, and a valve part 92e provided between the poppet inner passage 92b and the throttle forming part 92c and forming a seat part 92d. The upper and lower parts of the switching valve 90 in the first communication passage 55 communicate with each other through the inner poppet passage 92b. The spring 93 is housed in the housing portion 92a and biases the poppet 92 in the valve closing direction (to the left in FIG. 5). Thereby, the seat portion 92d is seated on the valve seat 58e provided in the first opening 58b of the tank 58. When the seat portion 92d is seated on the valve seat 58e, the switching valve 90 is in the blocking position 90A, and the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is blocked.

The throttle forming portion 92c is provided continuously with the valve portion 92e. A groove-shaped aperture portion 92f is provided along the axial direction on a part of the outer peripheral surface of the aperture forming portion 92c. The constricted part 92f includes, in order from the base end side (right side in FIG. 5), a first constricted part 92g having the smallest flow passage cross-sectional area, and a second constricted part 92h having a larger flow passage cross-sectional area than the first constricted part 92g. and a third constriction portion 92i having the largest flow passage cross-sectional area. The first constricted portion 92g, the second constricted portion 92h, and the third constricted portion 92i are formed continuously in the axial direction. The first throttle part 92g, the second throttle part 92h, and the third throttle part 92i correspond to the plurality of throttle positions 90C, 90D, and 90E of the switching valve 90, respectively. Note that the aperture portion 92f may be provided over the entire circumference of the outer peripheral surface of the aperture forming portion 92c.

The adjustment section 40b of the operating section 40 comes into contact with the tip of the diaphragm forming section 92c. As shown in FIGS. 6A, 6B, and 6C, when the adjustment section 40b is rotated by operating the operation section 40, the adjustment section 40b moves against the poppet 92 against the biasing force of the spring 93. Gradually press. As a result, the seat portion 92d is removed from the valve seat 58e, the switching valve 90 is placed in the communication position 90B, and the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is permitted. In the state shown in FIG. 6(A), the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is throttled by the first throttle portion 92g (first throttle position 90C). In the state shown in FIG. 6(B), the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is throttled by the second throttle portion 92h (second throttle position 90D). In the state shown in FIG. 6C, the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is throttled by the third throttle portion 92i (third throttle position 90E). In this way, the switching valve 90 is provided with a plurality of throttle positions 90C, 90D, and 90E. In the switching valve 90, the amount of fluid throttling is the largest at the first throttling position 90C, and the amount of fluid throttling is the smallest at the third throttling position 90E.

When the switching valve 90 is in the blocking position 90A, the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is blocked, so that the first pressure chamber 71a of the first hydraulic cylinder 7 and the second hydraulic cylinder Hydraulic oil moves between the second pressure chamber 81a and the second pressure chamber 81a. In other words, when the switching valve 90 is in the cutoff position 90A, when the first hydraulic cylinder 7 contracts, hydraulic oil is introduced into the second pressure chamber 81a, and the second hydraulic cylinder 8 expands. When the switching valve 90 is in the communication position 90B, the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is allowed, so that the hydraulic oil moves between the first pressure chamber 71a and the second pressure chamber 81a. is discharged into tank 58. In other words, when the switching valve 90 is in the communication position 90B, when the first hydraulic cylinder 7 contracts, the hydraulic oil is introduced into the second pressure chamber 81a and is discharged into the tank 58, so that the hydraulic oil is discharged into the tank 58. The hydraulic cylinder 8 is extended to a smaller extent than in the shutoff position 90A. Furthermore, the communication position 90B is composed of a plurality of throttle positions (a first throttle position 90C, a second throttle position 90D, and a third throttle position 90E), and the flow rate of the hydraulic oil discharged into the tank 58 is controlled by the plurality of throttle positions. controlled.

Furthermore, since a known technique can be adopted for the configuration of the check valve 95, a detailed explanation will be omitted.

As described above, in the hydraulic prosthesis 1, the first cylinder chamber 71 and the second cylinder chamber 81 are formed in the lower leg member 3, and the communication passage 55, which communicates the first cylinder chamber 71 and the second cylinder chamber 81, 56 is formed within the crural member 3. In other words, the communication passages 55 and 56 that communicate the first cylinder chamber 71 and the second cylinder chamber 81 are not provided outside the lower leg member 3. Thereby, since there is no external piping exposed from the lower leg member 3, the user is prevented from getting caught in the piping while walking. Therefore, the hydraulic prosthesis 1 enables stable walking motion.

In addition, in the hydraulic prosthesis 1, the first link 72 is rotatably connected to the first piston 73 and the support member 2, and the second link 82 is rotatably connected to the second piston 83 and the foot member 4. be done. Therefore, when the support member 2 rotates with respect to the lower leg member 3 due to the user's action, the first piston 73 slides within the first cylinder chamber 71, and accordingly, the second piston 83 slides within the second cylinder chamber 81. , and the foot member 4 rotates with respect to the lower leg member 3. Further, when the foot member 4 rotates with respect to the lower leg member 3 due to the user's action, the second piston 83 slides within the second cylinder chamber 81, and accordingly, the first piston 73 moves within the first cylinder chamber 71. , and the support member 2 rotates with respect to the lower leg member 3. Thereby, in the hydraulic prosthetic leg 1 in which the first cylinder chamber 71 and the second cylinder chamber 81 are formed in the lower leg member 3, walking motion becomes possible.

Further, in the hydraulic prosthetic leg 1, by providing the tank 58 as a space within the lower leg member 3, the tank 58 can be prevented from being exposed to the outside of the lower leg member 3. Thereby, since there is no external piping that communicates the tank 58 with the communication paths 55 and 56, the user is prevented from getting caught in the piping while walking. Furthermore, since the tank 58 communicates with the communication passages 55 and 56 at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber 71 and the second cylinder chamber 81.

In addition, in the hydraulic prosthetic leg 1, the communication path that communicates the first cylinder chamber 71 and the second cylinder chamber 81 is a first communication path 55 in which the switching valve 90 is provided, and a first communication path in which the check valve 95 is provided. It has a passage 55. Therefore, even if the switching valve 90 is configured to allow the flow of hydraulic oil between the first communicating passage 55 and the tank 58 through the throttle, the provision of the second communicating passage 56 and the check valve 95 allows the flow of hydraulic oil between the first communicating passage 55 and the tank 58. Hydraulic oil is supplied from the tank 58 to the first cylinder chamber 71 and the second cylinder chamber 81. This prevents the first cylinder chamber 71 and the second cylinder chamber 81 from becoming negative pressures. Furthermore, since the tank 58 communicates with the first communication passage 55 and the second communication passage 56 at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber 71 and the second cylinder chamber 81. be done.

In addition, in the hydraulic prosthesis 1, only the communicating passages 55 and 56 extending in the vertical direction are provided in the spacer 33, and no other cylinder chambers are provided, so the length of the spacer 33 in the vertical direction can be easily adjusted. can do. Therefore, the length of the lower leg member 3 in the vertical direction can be easily adjusted by the spacer 33, and the lengths of the user's left and right legs can be matched.

Next, a walking motion using the hydraulic prosthetic leg 1 will be described with reference to FIGS. 2, 7, and 8.

FIG. 8 is a diagram showing the operations of the first hydraulic cylinder 7 and the second hydraulic cylinder 8 when the user walks on level ground and when the user goes up and down stairs. In FIG. 8, the leg posture indicated by a solid line is one leg to which the hydraulic prosthetic leg 1 is attached, and the leg posture indicated by a broken line is the other leg to which the hydraulic prosthetic leg 1 is not attached. In FIG. 8, the user walks towards the right side in the figure.

First, a case where the user walks on level ground will be described.

When the user walks forward, he or she steps forward with one leg equipped with the hydraulic prosthesis 1. As shown in leg posture A, when one leg equipped with the hydraulic prosthetic leg 1 steps forward, the support member 2 rotates in the bending direction due to the user's action, and the first link 72 moves into the first cylinder chamber 71. The first piston 73 slides downward and the first hydraulic cylinder 7 contracts. As a result, the hydraulic oil in the first pressure chamber 71a is guided into the second pressure chamber 81a, the second piston 83 slides downward, and the second link 82 exits from the second cylinder chamber 81. The second hydraulic cylinder 8 is extended. Therefore, the foot member 4 rotates in the plantar flexion direction. When the bottom of the foot member 4 that has stepped forward touches the ground, the support member 2 is slightly bent, and the foot member 4 is slightly rotated in the plantar flexion direction. From this state, as shown in leg posture B, when the user moves further forward, the lower leg member 3 tilts forward due to the user's motion, causing the foot member 4 to rotate in the dorsiflexion direction, and the second link 82 to move forward. The second piston 83 enters the second cylinder chamber 81 and slides upward, causing the second hydraulic cylinder 8 to contract. As a result, the hydraulic oil in the second pressure chamber 81a is guided into the first pressure chamber 71a, the first piston 73 slides upward, and the first link 72 exits from the first cylinder chamber 71. The first hydraulic cylinder 7 is extended. Therefore, the support member 2 rotates in the extension direction.

Here, when walking on level ground, the user switches the switching valve 90 to the second throttle position 90D or the third throttle position 90E. When the switching valve 90 is switched to the second throttle position 90D or the third throttle position 90E, water is discharged from the first pressure chamber 71a of the first hydraulic cylinder 7 when the support member 2 rotates in the bending direction. A part of the hydraulic oil is discharged into the tank 58 through the second constriction part 92h or the third constriction part 92i. In other words, the flow rate of the hydraulic oil when the first hydraulic cylinder 7 is about to contract is restricted. Therefore, the lower leg member 3 rotates gently in the bending direction with respect to the support member 2. In this way, by switching the switching valve 90 to the second throttle position 90D or the third throttle position 90E, the cushioning properties when the support member 2 rotates in the bending direction can be adjusted. This makes it possible to reduce the impact that the user receives when walking on flat ground.

Next, a case will be described in which a user wearing the hydraulic prosthetic leg 1 on one leg goes up and down stairs.

When the user goes up the stairs, he steps one leg equipped with the hydraulic prosthesis 1 to the next step above the stairs. As shown in leg posture C, when one leg equipped with the hydraulic prosthetic leg 1 steps up one step up the stairs, the support member 2 rotates in the bending direction due to the user's action, and the first link 72 enters the first cylinder chamber 71, the first piston 73 slides downward, and the first hydraulic cylinder 7 contracts. As a result, the hydraulic oil in the first pressure chamber 71a is guided into the second pressure chamber 81a, the second piston 83 slides downward, and the second link 82 exits from the second cylinder chamber 81. The second hydraulic cylinder 8 is extended. Therefore, the foot member 4 rotates in the plantar flexion direction. When the bottom of the foot member 4 reaches the stairs, the support member 2 is bent and the foot member 4 is rotated in the plantarflexion direction. From this state, as shown in leg posture D, when the user steps the other leg one step higher, the lower leg member 3 tilts forward due to the user's movement, causing the foot member 4 to move in the dorsiflexion direction. The second link 82 enters the second cylinder chamber 81, the second piston 83 slides upward, and the second hydraulic cylinder 8 contracts. As a result, the hydraulic oil in the second pressure chamber 81a is guided into the first pressure chamber 71a, the first piston 73 slides upward, and the first link 72 exits from the first cylinder chamber 71. The first hydraulic cylinder 7 is extended. Therefore, the support member 2 rotates in the extension direction.

Here, when the user goes up the stairs, the user switches the switching valve 90 to the shutoff position 90A. When a user climbs stairs, the amount of rotation of the support member 2 and the amount of rotation of the foot member 4 are required to be greater than when walking on flat ground. Specifically, it is required that the entire amount of hydraulic oil in the first pressure chamber 71a and the second pressure chamber 81a move in conjunction with each other, and that the amount of rotation of the support member 2 is maximized. When the switching valve 90 is switched to the blocking position 90A, the flow of hydraulic oil from the first communication passage 55 toward the tank 58 is blocked, and the hydraulic oil in the first pressure chamber 71a and the second pressure chamber 81a flows into the tank. 58 is not discharged. Therefore, when the support member 2 rotates in the bending direction with respect to the lower leg member 3, a large amount of hydraulic fluid moves from the first pressure chamber 71a into the second pressure chamber 81a, and the foot member 4 moves to the lower leg member. 3, the leg rotates significantly in the plantar flexion direction (leg posture C). Further, when the foot member 4 rotates in the dorsiflexion direction with respect to the lower leg member 3, a large amount of hydraulic oil moves from the second pressure chamber 81a into the first pressure chamber 71a, and the support member 2 moves toward the lower leg. It rotates significantly in the extension direction with respect to the member 3 (leg posture D). Therefore, even when climbing stairs, the user can use the hydraulic prosthetic leg 1 to perform natural walking motions.

Furthermore, when the user goes down the stairs, he or she steps one leg equipped with the hydraulic prosthetic leg 1 to the next step below the stairs. As shown in leg posture E, when one leg equipped with the hydraulic prosthetic leg 1 steps onto the next step below the stairs, the support member 2 slightly rotates in the bending direction due to the user's action, and the first The link 72 enters the first cylinder chamber 71, the first piston 73 slides downward, and the first hydraulic cylinder 7 contracts. Here, when the hydraulic oil in the first pressure chamber 71a is guided into the second pressure chamber 81a, the second piston 83 slides downward, the second hydraulic cylinder 8 is extended, and the foot The member 4 rotates in the plantar flexion direction. If the foot member 4 rotates in the plantar flexion direction, the foot member 4 will not be parallel to the stairs to be stepped on, resulting in instability. Therefore, when the user goes down the stairs, the user switches the switching valve 90 to the first throttle position 90C or the second throttle position 90D. When the switching valve 90 is switched to the first throttle position 90C or the second throttle position 90D (communication position 90B), the first continuous passage 55 and the tank 58 communicate with each other. Therefore, the hydraulic oil in the first pressure chamber 71a can be discharged to the tank 58, and even if the support member 2 rotates with respect to the lower leg member 3, the leg member 4 hardly rotates in conjunction with the rotation. Therefore, the foot member 4 rotates in the dorsiflexion direction with appropriate resistance. This reproduces the movement of the user's knees slowly bending when descending the stairs while putting their weight on the chair. At this time, the first hydraulic cylinder 7 and the second hydraulic cylinder 8 also function as dampers. When the bottom of the foot member 4 reaches the stairs, the support member 2 is bent.

From this state, as shown in leg posture F, when the user steps the other leg one step lower, the support member 2 further rotates in the bending direction due to the user's action. As described above, the switching valve 90 is switched to the first throttle position 90C or the second throttle position 90D. Therefore, the hydraulic oil in the first pressure chamber 71a can be discharged to the tank 58, and even if the support member 2 further rotates in the flexion direction, the foot member 4 does not rotate in the plantar flexion direction in conjunction with the further rotation of the support member 2 in the flexion direction. This makes it possible to hold the body in place, allowing natural walking movements. In addition, since the flow rate of hydraulic oil when the support member 2 rotates in the bending direction and the first hydraulic cylinder 7 is about to contract is throttled by the first constriction part 92g or the second constriction part 92h, the leg posture E Between and leg posture F, the lower leg member 3 rotates gently in the bending direction with respect to the support member 2. Therefore, the impact applied to the user when descending the stairs can be reduced, and the support member 2 slowly rotates in the bending direction, allowing the user to safely descend the stairs. Note that the foot member 4 rotates in the dorsiflexion direction not in conjunction with the rotation of the support member 2, but when the lower leg member 3 tilts forward due to the user's motion. That is, when the user descends the stairs, the support member 2 and the foot member 4 rotate without interlocking with each other.

As described above, the switching valve 90 has a plurality of throttle positions 90C, 90D, and 90E in the communication position 90B, so that the support member 2 can rotate easily when the support member 2 rotates relative to the lower leg member 3, and the support member 2 The rotation of the foot member 4 in conjunction with the rotation of the foot member 4 can be adjusted. In other words, the plurality of throttle positions 90C, 90D, and 90E can adjust the cushioning properties and the interlocking properties of the foot member 4 when the support member 2 rotates in the bending direction. Specifically, when the user goes down the stairs, if the support member 2 rotates quickly in the bending direction, there is a risk that the user will lose his balance and fall. Therefore, when the user goes down the stairs, the user switches to the first aperture position 90C or the second aperture position 90D, which has a large aperture amount, so that the support member 2 slowly rotates in the bending direction. This allows the user to descend the stairs safely and reduces the impact on the user. In addition, when the user walks on flat ground, the user switches to the second aperture position 90D or the third aperture position 90E, which has a smaller aperture amount than when going down the stairs, so that the support member 2 is moved in the bending direction more than when going down the stairs. Allows for faster rotation. This allows the user to walk smoothly on level ground and reduces the impact on the user. In this way, by changing the aperture position when the user is walking on flat ground or going up and down stairs, etc., it is possible to achieve appropriate foot movement in each situation, and to appropriately reduce the impact on the user. be able to.

When the user ascends stairs, the switching valve 90 is switched to the cutoff position 90A, so that when the support member 2 rotates relative to the lower leg member 3, the foot member 4 rotates significantly relative to the lower leg member 3. At the same time, when the foot member 4 rotates with respect to the lower leg member 3, the support member 2 rotates largely with respect to the lower leg member 3. Thereby, even when climbing stairs, the user can use the hydraulic prosthetic leg 1 to perform a natural walking motion. In this way, in the hydraulic prosthetic leg 1, the switching valve 90 is set at the blocking position 90A and the communicating position 90B (throttle positions 90C, 90D, 90E) when walking on level ground, when climbing stairs, and when descending stairs. By switching to , you can achieve a natural walking motion.

Furthermore, the throttle position of the switching valve 90 is selected by operating the operating section 40. Therefore, the throttle position of the switching valve 90 can be easily selected by operating the operating section 40 from the outside.

In addition, the first pressure chamber 71a of the first hydraulic cylinder 7 and the second pressure chamber 81a of the second hydraulic cylinder 8 are connected not only through the switching valve 90 and the first communication passage 55, but also through the check valve 95 and the second pressure chamber 81a of the second hydraulic cylinder 8. Hydraulic oil can be supplied from a tank 58 through a dual passage 56 . Therefore, even if the support member 2 largely rotates in the extension direction relative to the lower leg member 3 and the first hydraulic cylinder 7 extends greatly, the hydraulic oil is guided from the tank 58 to the first pressure chamber 71a. One pressure chamber 71a becomes a negative pressure, and it is possible to prevent gas from entering the first pressure chamber 71a.

Further, the volume of the second hydraulic cylinder 8 (specifically, the volume of the second cylinder chamber 81) is larger than the volume of the first hydraulic cylinder 7 (specifically, the volume of the first cylinder chamber 71). big. Therefore, the amount of hydraulic oil supplied and discharged by expansion and contraction of the first hydraulic cylinder 7 is smaller than that of the second hydraulic cylinder 8. Therefore, the support member 2 is easier to rotate than the foot member 4. During the user's walking motion, the support member 2 rotates more than the foot member 4, so this configuration makes it easier for the support member 2 to rotate and allows the user to perform natural walking motions. You can take it.

Note that "the volume of the first hydraulic cylinder 7" is specifically the product of the inner diameter of the first cylinder chamber 71 and the stroke amount of the first piston 73. “The stroke amount of the first piston 73” corresponds to the distance between the first link 72 and the first cylinder attachment portion 21 and the first rotation shaft 51. This is because when the distance between the first link 72 and the first cylinder attachment part 21 and the first rotation axis 51 changes, the first piston 73 when the support member 2 rotates. This is because the stroke amount changes. Specifically, when the distance between the first link 72 and the first cylinder attachment part 21 and the first rotation shaft 51 increases, the first piston when the support member 2 rotates becomes larger. The stroke amount of 73 becomes larger. Moreover, "the volume of the second hydraulic cylinder 8" is the product of the inner diameter of the second cylinder chamber 81 and the stroke amount of the second piston 83. “The stroke amount of the second piston 83” corresponds to the distance between the second link 82 and the second cylinder attachment portion 43 and the second rotation shaft 61. In addition, in this embodiment, the inner diameter of the second cylinder chamber 81 is larger than the inner diameter of the first cylinder chamber 71, but the inner diameter of the first cylinder chamber 71 and the inner diameter of the second cylinder chamber 81 are not limited to this. may be the same, and the stroke amount of the second piston 83 may be larger than the stroke amount of the first piston 73.

In addition, it is determined whether the user is walking on level ground, ascending stairs, or descending stairs using the hydraulic prosthesis 1 or sensors attached to the user, and based on the determination results. The operating section 40 may be automatically operated to set the optimum switching valve 90 position.

According to the above embodiment, the following effects are achieved.

In the hydraulic prosthesis 1, the communication passages 55 and 56 that communicate the first cylinder chamber 71 and the second cylinder chamber 81 are not provided outside the lower leg member 3. This prevents the user from getting caught in the pipes while walking, and allows the hydraulic prosthetic leg 1 to perform stable walking movements.

In the hydraulic prosthetic leg 1, the first link 72 is rotatably connected to the first piston 73 and the support member 2, and the second link 82 is rotatably connected to the second piston 83 and the foot member 4. . Thereby, in the hydraulic prosthetic leg 1 in which the first cylinder chamber 71 and the second cylinder chamber 81 are formed in the lower leg member 3, walking motion becomes possible.

In the hydraulic prosthetic leg 1, the tank 58, which is a space, is provided within the lower leg member 3, so that the tank 58 can be prevented from being exposed to the outside of the lower leg member 3. This prevents the person from getting caught in the pipes while walking. Furthermore, since the tank 58 communicates with the communication passages 55 and 56 at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber 71 and the second cylinder chamber 81.

The hydraulic prosthetic leg 1 allows natural walking motion by switching the switching valve 90 between the blocking position 90A and the communication position 90B when walking on level ground, climbing stairs, and descending stairs. I can do it. In particular, in the hydraulic prosthetic leg 1, the cushioning properties and interlocking properties of the foot member 4 when the support member 2 rotates in the bending direction can be adjusted by the plurality of throttle positions 90C, 90D, and 90E. As a result, by changing the aperture position when the user walks on flat ground or when going up and down stairs, it is possible to achieve appropriate foot movement in each situation, and to appropriately reduce the impact on the user. I can do it.

In the hydraulic prosthetic leg 1, the throttle position of the switching valve 90 can be easily selected by operating the operating section 40 from the outside.

In the hydraulic prosthetic leg 1, the first hydraulic cylinder 7 is easier to expand and contract than the second hydraulic cylinder 8. During the user's walking motion, the support member 2 rotates more than the foot member 4, so this configuration makes it easier for the support member 2 to rotate and allows the user to perform natural walking motions. You can take it.

In the hydraulic prosthetic leg 1, the spacer 33 is provided with only the communication passages 55 and 56 and is not provided with other cylinder chambers, so that the length in the vertical direction can be easily adjusted. This allows the lengths of the user's left and right legs to be matched.

In the hydraulic prosthesis 1, even if the switching valve 90 is configured to allow the flow of hydraulic oil between the first communication passage 55 and the tank 58 through the throttle, the second communication passage 56 and the check valve 95 are provided. As a result, hydraulic oil is quickly supplied from the tank 58 to the first cylinder chamber 71 and the second cylinder chamber 81. This prevents the first cylinder chamber 71 and the second cylinder chamber 81 from becoming negative pressures. Furthermore, since the tank 58 communicates with the first communication passage 55 and the second communication passage 56 at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber 71 and the second cylinder chamber 81. be done.

Hereinafter, the configuration, operation, and effects of the embodiments of the present invention will be collectively described.

A hydraulic prosthetic leg 1 as a movement assisting device includes a lower leg member to which a support member 2 attached to the user's thigh is rotatably connected, and a leg member 4 that lands on the ground is rotatably connected. 3, a first hydraulic cylinder 7 that expands and contracts when the support member 2 rotates with respect to the lower leg member 3, and a second hydraulic cylinder 8 that rotates the foot member 4. has a first cylinder chamber 71 formed within the crus member 3; the second hydraulic cylinder 8 has a second cylinder chamber 81 formed within the crus member 3; , communication passages 55 and 56 are formed that communicate the first cylinder chamber 71 and the second cylinder chamber 81.

In this configuration, the first hydraulic cylinder 7 and the second hydraulic cylinder 8 operate in conjunction with each other. Further, a first cylinder chamber 71 and a second cylinder chamber 81 are formed in the lower leg member 3, and communication passages 55 and 56 that communicate the first cylinder chamber 71 and the second cylinder chamber 81 are formed in the lower leg member 3. Ru. Thereby, since there is no external piping exposed from the lower leg member 3, the user is prevented from getting caught in the piping while walking.

The first hydraulic cylinder 7 also includes a first piston 73 that is slidably inserted into the first cylinder chamber 71, and a first link that is rotatably connected to the first piston 73 and the support member 2. 72, and a first pressure chamber 71a that is partitioned within the first cylinder chamber 71 by the first piston 73 and from which liquid is discharged when the first hydraulic cylinder 7 contracts, and the second hydraulic cylinder 8 includes a second piston 83 slidably inserted into the second cylinder chamber 81, a second link 82 rotatably connected to the second piston 83 and the foot member 4, and a second piston 83. The communication passages 55 and 56 further include a second pressure chamber 81a that is partitioned into the second cylinder chamber 81 and from which liquid is discharged when the second hydraulic cylinder 8 contracts. and the second pressure chamber 81a are communicated with each other.

In this configuration, the first link 72 is rotatably connected to the first piston 73 and the support member 2, and the second link 82 is rotatably connected to the second piston 83 and the foot member 4. Therefore, when the support member 2 rotates with respect to the lower leg member 3, the first piston 73 slides within the first cylinder chamber 71, and the leg member 4 rotates. Thereby, in the movement assisting device in which the first cylinder chamber 71 and the second cylinder chamber 81 are formed in the lower leg member 3, walking movement becomes possible.

Further, a tank 58 is formed in the lower leg member 3 and is a space in which liquid to be supplied and discharged to the first cylinder chamber 71 and the second cylinder chamber 81 is stored. , 56.

In this configuration, by providing the tank 58 as a space within the lower leg member 3, the tank 58 can be prevented from being exposed to the outside of the lower leg member 3. Thereby, since there is no external piping that communicates the tank 58 with the communication paths 55 and 56, the user is prevented from getting caught in the piping while walking. Furthermore, since the tank 58 communicates with the communication passages 55 and 56 at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber 71 and the second cylinder chamber 81.

The hydraulic prosthesis 1 further includes a switching valve 90 that is provided in the communication path 55 and switches the flow of liquid between the communication path 55 and the tank 58. The communication position 90B has a blocking position 90A that blocks the flow of liquid from the communication path 55 and a communication position 90B that allows the flow of liquid from the communication path 55 toward the tank 58. , 90D, and 90E, and the switching valve 90 includes a poppet 92 as a valve body in which a plurality of throttle portions 92g, 92h, and 92i corresponding to a plurality of throttle positions 90C, 90D, and 90E are continuously formed in the axial direction. will be provided.

With this configuration, when the switching valve 90 is switched to the blocking position 90A, the flow of liquid from the communication path 55 toward the tank 58 is blocked. Therefore, when the support member 2 rotates in the flexion direction relative to the lower leg member 3, the foot member 4 rotates significantly in the plantar flexion direction relative to the lower leg member 3, and the support member 2 rotates relative to the lower leg member 3 in the plantar flexion direction. When the leg member 4 rotates in the extension direction, the leg member 4 rotates significantly in the dorsiflexion direction with respect to the lower leg member 3. On the other hand, when the switching valve 90 is switched to the communication position 90B, the communication passage 55 and the tank 58 communicate with each other. Therefore, even if the support member 2 rotates with respect to the lower leg member 3, the amount of rotation of the foot member 4 with respect to the lower leg member 3 can be reduced. In this manner, by switching the switching valve 90 between the blocking position 90A and the communicating position 90B, a natural walking motion can be achieved. Furthermore, the communication position 90B is composed of a plurality of throttle positions 90C, 90D, and 90E that have different throttle amounts of liquid, and the switching valve 90 includes a plurality of throttle parts 92g, A poppet 92 is provided as a valve body in which 92h and 92i are formed continuously in the axial direction. Therefore, the ease with which the support member 2 rotates relative to the crus member 3 can be adjusted by the plurality of aperture positions 90C, 90D, and 90E. In other words, the plurality of throttle positions 90C, 90D, and 90E can adjust the cushioning properties and the interlocking properties of the foot member 4 when the support member 2 rotates in the bending direction. As a result, by changing the aperture position when the user walks on flat ground or when going up and down stairs, it is possible to achieve appropriate foot movement in each situation, and to appropriately reduce the impact on the user. I can do it.

The hydraulic prosthetic leg 1 further includes an operating section 40 that can be operated from the outside, and the throttle position of the switching valve 90 is selected by operating the operating section 40.

With this configuration, the throttle position of the switching valve 90 can be easily selected by operating the operating section 40 from the outside.

Further, the volume of the second hydraulic cylinder 8 is larger than the volume of the first hydraulic cylinder 7.

In this configuration, the first hydraulic cylinder 7 expands and contracts more easily than the second hydraulic cylinder 8. During the user's walking motion, the support member 2 rotates more than the foot member 4, so this configuration makes it easier for the support member 2 to rotate and allows the user to perform natural walking motions. You can take it.

The lower leg member 3 also includes a first frame 31 as a first member connected to the support member 2 to form a first cylinder chamber 71, and a second frame 31 as a first member connected to the foot member 4 to form a second cylinder chamber 81. A second frame 32 as a member, and a spacer as a length adjusting member that is provided between the first frame 31 and the second frame 32 and has communication paths 55 and 56 formed therein so that the length of the lower leg member 3 can be adjusted. 33.

In this configuration, the spacer 33 is provided with only the communication passages 55 and 56 and is not provided with other cylinder chambers, so that the length in the vertical direction can be easily adjusted. This allows the lengths of the user's left and right legs to be matched.

Further, the communication passage includes a first communication passage 55 in which a switching valve 90 is provided, and a second communication passage 56 in which a check valve 95 that allows only the flow of liquid from the tank 58 toward the communication passage is provided. , the tank 58 communicates with the first communicating passage 55 via the switching valve 90 and with the second communicating passage 56 via the check valve 95 at the lower bottom.

In this configuration, even if the switching valve 90 is configured to allow the flow of liquid between the first communication passage 55 and the tank 58 through the throttle, by providing the second communication passage 56 and the check valve 95, Liquid is quickly supplied from the tank 58 to the first cylinder chamber 71 and the second cylinder chamber 81. This prevents the first cylinder chamber 71 and the second cylinder chamber 81 from becoming negative pressures. Furthermore, since the tank 58 communicates with the first communication passage 55 and the second communication passage 56 at the lower bottom, gas is prevented from being mixed with the liquid supplied to the first cylinder chamber 71 and the second cylinder chamber 81. be done.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. do not have.

For example, the first link 72 of the first hydraulic cylinder 7 is provided in front of the first rotation axis 51 in the support member 2, and the second link 82 of the second hydraulic cylinder 8 is provided in the second rotation axis in the foot member 4. It may be provided at the rear of the moving shaft 61. In this case, when the crus member 3 rotates in the bending direction, the first hydraulic cylinder 7 extends, and when the crus member 3 rotates in the extending direction, the first hydraulic cylinder 7 contracts. Furthermore, when the second hydraulic cylinder 8 extends, the foot member 4 rotates in the dorsiflexion direction, and when the second hydraulic cylinder 8 contracts, the foot member 4 rotates in the plantarflexion direction.

Further, the motion assist device is not limited to the hydraulic prosthetic leg 1, but may be a power assist device used by users with weak leg strength, such as disabled people and elderly people. The power assist device may be used by a healthy person to reduce the load of walking motion. In this case, the support member 2 is provided along the user's thigh and attached to the thigh from the outside, and the lower leg member 3 is provided along the user's lower leg and attached to the lower leg. Attached from the outside, the foot member 4 is provided along the user's foot and attached to the foot from the outside. Thereby, the user's walking movement can be assisted with natural movements.

Further, the hydraulic circuit 100 of the present embodiment can be applied to a power assist device that assists the user's arm movements instead of assisting the user's walking movements. In this case, a member corresponding to the support member 2 is provided along the user's upper arm and attached to the upper arm from the outside, and a member corresponding to the lower leg member 3 is provided along the user's forearm. A member corresponding to the leg member 4 is provided along the user's hand and is attached to the user's hand from the outside.

DESCRIPTION OF SYMBOLS 1...Hydraulic prosthetic leg (movement auxiliary device), 2...Support member, 3...Lower leg member, 4...Foot member, 7...First hydraulic cylinder (first hydraulic cylinder), 8 ...Second hydraulic cylinder (second hydraulic cylinder), 31...First member (first frame), 32...Second member (second frame), 33...Spacer (length adjustment 40... Operating unit, 55... First communicating passage (communicating passage), 56... Second communicating passage (communicating passage), 58... Tank, 71... First cylinder chamber , 71a... first pressure chamber, 72... first link, 73... first piston, 81... second cylinder chamber, 81a... second pressure chamber, 82... second Link, 83... Second piston, 90... Switching valve, 90A... Blocking position, 90B... Communication position, 90C... First throttle position (throttle position), 90D... Second Throttle position (throttle position), 90E...Third throttle position (throttle position), 92...Poppet (valve body), 92g...First throttle part (throttle part), 92h...Second throttle part (throttle part), 92i...Third throttle part (throttle part), 95...Check valve

Claims (8)

a lower leg member to which a support member attached to the user's thigh is rotatably connected, and a leg member that lands on the ground is rotatably connected;
a first hydraulic cylinder that expands and contracts when the support member rotates with respect to the lower leg member;
a second hydraulic cylinder that rotates the foot member;
The first hydraulic cylinder has a first cylinder chamber formed within the lower leg member,
The second hydraulic cylinder has a second cylinder chamber formed within the lower leg member,
A movement assisting device characterized in that a communication path is formed in the lower leg member to communicate the first cylinder chamber and the second cylinder chamber. The movement assisting device according to claim 1,
The first hydraulic cylinder is
a first piston slidably inserted into the first cylinder chamber;
a first link rotatably connected to the first piston and the support member;
further comprising a first pressure chamber defined within the first cylinder chamber by the first piston and into which liquid is discharged when the first hydraulic cylinder contracts;
The second hydraulic cylinder is
a second piston slidably inserted into the second cylinder chamber;
a second link rotatably connected to the second piston and the foot member;
further comprising a second pressure chamber defined within the second cylinder chamber by the second piston and into which liquid is discharged when the second hydraulic cylinder contracts;
The movement auxiliary device is characterized in that the communication passage communicates the first pressure chamber and the second pressure chamber. The movement assisting device according to claim 1 or 2,
A tank is formed in the lower leg member and is a space in which liquid to be supplied and discharged to and from the first cylinder chamber and the second cylinder chamber is stored,
The operation auxiliary device is characterized in that the tank communicates with the communication path at a lower bottom portion. The movement assisting device according to claim 3,
Further comprising a switching valve provided in the communication path to switch the flow of liquid between the communication path and the tank,
The switching valve has a blocking position that blocks the flow of liquid from the communication path toward the tank, and a communication position that allows the flow of liquid from the communication path toward the tank,
The communication position includes a plurality of aperture positions each having a different amount of liquid aqueous;
The operation auxiliary device is characterized in that the switching valve is provided with a valve body in which a plurality of throttle portions corresponding to the plurality of throttle positions are continuously formed in the axial direction. The movement assisting device according to claim 4,
It is further equipped with an operation section that can be operated from the outside.
The operation auxiliary device is characterized in that the throttle position of the switching valve is selected by operating the operating section. The movement assisting device according to claim 1 or 2,
The motion assisting device, wherein a volume of the second hydraulic cylinder is larger than a volume of the first hydraulic cylinder. The movement assisting device according to claim 1 or 2,
The lower leg member includes a first member connected to the support member to form the first cylinder chamber, a second member connected to the leg member to form the second cylinder chamber, and the first member. A motion auxiliary device comprising: a length adjustment member provided between the second member and the communication path so as to be able to adjust the length of the lower leg member. The movement assisting device according to claim 4,
The communication passage has a first communication passage in which the switching valve is provided, and a second communication passage in which a check valve is provided that allows only the flow of liquid from the tank toward the communication passage,
The operation auxiliary device is characterized in that the tank communicates with the first communication passage through the switching valve and with the second communication passage through the check valve at a lower bottom portion.

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