JP5946203B1 - Knee support orthosis - Google Patents

Abstract

An object of the present invention is to provide a knee assist device that can be used practically with a simple structure. In order to solve the above problems, a knee assisting device according to the present invention is integrated with a thigh wearing member, a crus wearing member, and an upper part of a crus wearing member. A casing 3 and a base 321 that is pivotally mounted on the central axis of the casing 3 and that is integrated with the lower portion of the thigh wearing member 1 and rotates within the casing 3 according to the bending angle of the user's knee. The torsion coil springs 41 and 51 housed in the casing 3 and the base 321 are provided at positions having a turning locus that passes through the torsion coil spring flanges 412 and 512. 412 and 512 are provided with torque receiving portions 331 and 332 for receiving torque corresponding to the rotation angle from the torsion coil spring, and generating torque by the elastic force of the torsion coil spring according to the bending angle of the user's knee. Is characterized in that to assist the knee bending of a user. [Selection] Figure 1

Description

  The present invention relates to a knee assisting device that is worn along a user's leg and assists the movement of the knee.

  Japan's agricultural workforce is decreasing year by year. According to the Agricultural and Forestry Census and Agricultural Structural Dynamics Survey (Ministry of Agriculture, Forestry and Fisheries Statistics Department), there were 22.66 million people in 2014 and 16.79 million key farmers. “Core farmer” refers to a person whose main state is “work is the main” in the agricultural working population. Of the agricultural population, those aged 65 and over account for 63.7%, and the proportion of women is half, with an average age of 66.7 years. Under such circumstances, the need for agricultural work support is increasing. In particular, it is a great burden for elderly people and women to lift and take down heavy and lightweight objects, climb up and down slopes and stairs, and perform harvesting work for a long time in the same posture, for example, a middle waist posture. An auxiliary device called a power assist suit has been developed as a farm work support device that reduces the burden on the farmer. The power assist suit is used not only for agriculture but also for factories for carrying heavy objects or working in a constant posture for a long time. In addition, power assist suits are used for nursing care, such as transferring people from a bed to a wheelchair, and for rehabilitation, they are worn on the user's body to assist the movable parts of the legs. A walking assist device that provides the cues has been developed. Such a walking assistance device is expected to be used as a device for assisting elderly people and the disabled. Furthermore, it is expected to reduce physical burdens in work by using it as an auxiliary device for workers carrying heavy loads such as courier companies as well as elderly people.

As an application of the power assist suit, an invention of a device for assisting a user's standing motion and seating motion has been proposed.
Patent Document 1 discloses a fixture for mounting the device on a user's body, an auxiliary device mounted on each of the user's left and right thighs, and a gear fixed to one end of the auxiliary device. A walking assistance device is disclosed that includes a chain 3 that transmits the power of a motor to left and right auxiliary devices via a gear.
Patent Document 2 discloses a leg assist device that assists a leg operation during standing and sitting by an air cylinder of a knee assist device worn by a user on a leg.
Patent Document 3 discloses a walking assist device that uses a seating member in a form in which a user straddles it. This walking assist device rotates the second joint portion with a driving source, drives the leg link in the extending direction, that is, the direction in which the seating member is pushed up, and has a supporting force that supports a part of the weight of the user. The generated control is performed.
Patent Document 4 discloses a technique for assisting walking by driving a drive source in accordance with an assist force calculated based on a load ratio between both feet of a user. It is an assist device used for care welfare support, support for self-sustained movements of people with weak muscles at home, support for transporting heavy objects on a factory line, support for long standing work, and the like.

Moreover, the invention of the auxiliary | assistance tool which assists a user's stand-up operation | movement and seating operation | movement using a spring is disclosed.
Patent Document 5 discloses a thigh wearing member, a crus wearing member, a pivot pin that pivotally attaches both proximal ends thereof, a torque adjustment gear that is pivotally supported by the pivot pin, and an inner end. Is fixed to the pivot pin, and a spiral spring whose outer end is hooked on the torque adjustment gear plate surface, a torque adjustment gear drive mechanism that includes a torque adjustment knob and rotates the torque adjustment gear, and a pivot pin A stand-up assisting device is disclosed that includes a non-cylindrical stopper convex portion provided at the tip and a pivot pin stopper concave portion that can be fitted to a stopper convex portion on the lower surface of the crus wearing member.
Patent Document 6 discloses an operating range splint that can apply a relatively constant torque over the entire operating range of a joint undergoing rehabilitation therapy. The splint includes first and second fixator portions and a drive assembly configured to connect to the patient's body part on the first and second sides of the joint, respectively. The first and second fixator portions include first and second arms, respectively, and are connected to be rotatable about the turning axis of the splint by a rotating shaft structure. The drive assembly includes a driven pulley, a drive pulley, a bias member, and a coupling portion. The driven pulley is attached to the second arm around the splint turning axis. The drive pulley is attached to the first arm around the drive shaft at a distance from the splint turning shaft. The bias member is connected to the first arm and the drive pulley and applies torque to the drive pulley. The connecting portion connects the driving pulley to the driven pulley and applies torque between the first fixing portion and the second fixing portion. The bias member includes a spiral spring. The spring is disposed about the drive shaft and has a first end attached to the first arm and a second end attached to the drive pulley. The driving pulley and the driven pulley are connected by a belt.
In Patent Document 7, the splint splint and the foot support part are coupled at the height of the heel through a joint, the rotation axis of the joint is substantially perpendicular to the side surface of the foot, An orthosis is disclosed for supporting a foot having a spring and the spring force of the spring acting in the direction of upward movement of the toe.
Patent Document 8 discloses a characteristic of a spring (force to return to the original) by attaching a walking assistance device in which a torsion spring and a coil spring are attached to one wearing device and another wearing device to a refracting portion of a waist and a thigh. An invention has been disclosed in which it is possible to raise a foot with a slight force to raise the foot by using the. However, technical contents are not described.

  The load applied to the user's knee joint is large in the standing motion and the sitting motion. Therefore, it is important for the knee assisting device for assisting the standing up motion and the sitting motion to reduce the burden on the user's knee. As a technique for reducing the burden on the knee, there are a method of applying a predetermined torque to the knee joint and a method of guiding the thigh and the lower leg so that the knee joint angle draws a predetermined trajectory. Here, the “predetermined trajectory” is a trajectory that a change with time in the knee joint angle should be drawn in the rising motion or the sitting motion. If the trajectory is appropriate, a natural rising motion or seating motion is realized. The method of applying torque corresponds to so-called force control in robot engineering, and the method of guiding the knee joint so as to draw a predetermined trajectory corresponds to position control or angle control.

  By the way, in general, the angle is indefinite only by “force control”, and the force (torque) is indefinite by only “position control”. In the former, the trajectory of the knee joint angle can be determined by adjusting the torque (muscle strength) applied to the knee by the user. However, if the torque applied by the user is insufficient, it is not guaranteed whether the rising operation or the sitting operation will be completed. In the latter case, it is guaranteed that the standing motion or the sitting motion is completed, but the trajectory guided by the knee assist device is different from the trajectory expected by the user because the trajectory of the knee joint angle is regulated by the knee assist device. In this case, the user feels uncomfortable.

JP 2000-166997 A JP 2004-261622 A Japanese Patent No. 4872821 International Publication No. 2006/126711 Japanese Patent Laying-Open No. 2015-80621 Special table 8-511975 gazette Special table 10-500602 gazette JP 2005-177420 A

  However, since many of the conventional assist devices are difficult for a person to perform, the work that the machine is responsible for or the heavy labor that is performed using a transport device is easily performed by a person alone or the muscle strength is weakened and cannot exercise independently. It was common to be designed for such patients. For this reason, if the effect is high, the cost and the construction method of the mechanism are often overlooked, and since many actuators and sensors such as electric (pneumatic) are used, the continuous operation time tends to be short and the maintenance cost tends to be high Therefore, practicality on site is considered to be low. Furthermore, there is a possibility that the user may be at risk due to a malfunction of sensing for interlocking the actuator with the movement of the user.

  Therefore, the present invention was created to solve the above-described problems of the prior art, and an object thereof is to provide a knee assisting device that can be used practically with a simple structure. In the present specification, a device that is worn along the leg of the user and assists the movement of the knee is referred to as a “knee assist device”.

The knee assist device according to the present invention is worn along the user's thigh, and is fitted along the thigh wearing member that moves integrally with the user's thigh, and along the user's lower thigh. A lower leg wearing member that is attached and moves integrally with the user's lower leg, a casing that is provided near the user's knee and integrated with the upper part of the lower leg wearing member, and a central axis of the casing A base that is pivotally mounted, integrated with the lower part of the thigh wearing member, and rotates in the casing according to the bending angle of the user's knee via the thigh wearing member; A torsion coil spring wound in a spiral shape, one end of which is a fixed end fixed to a part of the casing, and the other end is a free end with a flange. If, rotation locus that passes through the casing, the hook portion of the torsion coil spring In structure provided in positions having, when engaging the hook portion by the rotation of the base includes a torque receiving portion for receiving a torque corresponding to the rotation angle from the torsion coil spring, also a torsion coil spring and the torque receiving portion set Each of the torsion coil springs has a different diameter, and the mounting position of each torque receiving portion is provided on the rotation trajectory passing through the flange of the torsion coil spring as a set, and is engaged. According to the present invention, the torque is generated by the elastic force of the torsion coil spring according to the bending angle of the user's knee so as to assist the user's bending and stretching.

Na us, the installation location of the torque receiving portion of the base, and selectable structure on rotation locus that passes through the hook portion, when the adjustable torque start angle start receiving the torque from the coil spring torque receiving portion torsion Is preferred. Further, in the set of the torsion coil spring and the torque receiving portion, the mounting position of each torque receiving portion is different, and the torque starting angle at which each torque receiving portion starts to receive torque from the corresponding torsion coil spring is different. Also good. The torque starting angle can be arbitrarily set between 0 degrees and 30 degrees.

  Further, the knee assistive device according to the present invention is such that the thigh wearing member includes an upper frame attached to a side surface of the user's thigh and a thigh belt to be attached to the thigh. The lower leg wearing member includes a lower frame attached to the side of the user's lower leg, a lower leg belt to be attached to the lower leg, and a pivot pin that is a central axis of the casing; It is characterized by comprising a bearing part for pivotally supporting the pivot pin and a cylindrical exterior part for covering the bearing part and fixing the upper part of the pivot pin. When the lower leg wearing member is provided with an ankle belt at the lower end of the lower frame, the knee assisting device can firmly hold the entire leg of the user.

  The knee assisting device according to the present invention does not use a complicated structure such as an actuator, and thus has a simple structure. Therefore, the knee assisting device is suitable for downsizing and weight reduction, and is easy to manufacture and maintain. Further, since the torque starting angle can be easily adjusted, there is an effect that it is possible to select the weight of the torque according to the purpose of use of the user. Furthermore, since the knee assistive device can be easily worn, it is advantageous in that it is easy to use, especially for elderly farm workers.

FIG. 3 is a perspective view showing an outer side (a) and an inner side (b) of a knee assisting device worn on a user's left foot in the knee assisting device 100 according to the present invention. It is a side view which shows the principal part of the outer side of the knee assistance device 100 shown to Fig.1 (a). It is a side view which shows the principal part of the outer side of the knee assistance device 100 shown in FIG.1 (b). It is a disassembled perspective view which shows the internal structure of the casing 3 which concerns on this invention. It is the top view (a) which shows the bearing part 32, AA sectional view (b), BB sectional drawing (c). They are the top view (a) which shows the state which mounted the torsion coil springs 41 and 51 in the bearing part 32, AA sectional view (b), BB sectional drawing (c). It is a figure which shows the upper surface of the cylindrical exterior part 33 of the casing 3 which concerns on this invention. It is a figure which shows typically rotation of the upper frame 11 and the lower frame 21. FIG. It is a figure which shows the position of the latching hole in a rotation angle in case the starting angle of a torsion coil spring is 30 degree | times. It is a figure which shows the position of the latching hole in a rotation angle in case the starting angle of a torsion coil spring is 0 degree (a), 10 degree (b), and 20 degree (c), respectively. It is a figure which shows typically the operation | movement which the user with which the knee assistance device 100 of this invention was mounted | worn returns from a standing state to a middle waist state, and returns from a middle waist state to a standing state.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each figure, the same number is attached | subjected to the same part and the overlapping description is abbreviate | omitted. It should also be noted that the drawings may be exaggerated to understand the present invention and are not necessarily shown to scale. In addition, this invention is not limited to the Example shown below.

  Example 1 will be described in detail with reference to the drawings.

First, the overall configuration of the knee assist device 100 will be described. The knee assisting device 100 is composed of a pair for the left foot and the right foot, but since both are symmetrical, only the left foot is described for convenience, and the description for the right foot is omitted. FIG. 1 is a perspective view showing an outer side (a) and an inner side (b) of a knee assisting device worn on a user's left foot in a knee assisting device 100 according to the present invention. FIG. 2 is a side view showing a main part outside the knee assisting device 100 shown in FIG. FIG. 3 is a side view showing the main part inside the knee assisting device 100 shown in FIG. As shown in FIGS. 1, 2, and 3, the outer members of the knee assisting device 100 according to the present invention can be roughly divided along the user's thigh and integrated with the user's thigh. A thigh wearing member 1 that moves, a crus wearing member 2 that moves along with the user's lower leg, and that moves together with the user's lower leg, and is provided near the user's knee. The lower leg part wearing member 2 and the casing 3 are integrated. The base 321 is rotatably mounted on the central axis of the casing 3 and is integrated with the lower portion of the thigh wearing member 1. Further, in the casing 3, torsion coil springs 41 and 51 wound in a spiral shape are disposed, and one end thereof is a fixed end 411 and 511 fixed to a part of the casing 3, and the other end. Becomes free ends with buttocks 412, 512, and rotates in the casing 3 according to the bending / extension angle of the user's knee via the thigh wearing member 1. The base 321 is a structure provided at a position having a rotation trajectory passing through the flange portions 412 and 512 of the torsion coil springs 41 and 51. When the base 321 is engaged with the flange portion by the rotation of the base 321, the rotation angle depends on the rotation angle. Torque receiving portions 331 and 332 for receiving torque from the torsion coil spring are provided. In this way, the configuration is such that torque is generated by the elastic force of the torsion coil springs 41 and 51 according to the bending angle of the user's knee, thereby assisting the user's bending and stretching of the knee. Further, there are a plurality of sets of torsion coil springs 41 and 51 and torque receiving portions 331 and 332, respectively, the diameters of the torsion coil springs 41 and 51 are different, and the mounting positions of the respective torque receiving portions 331 and 332 However, it is good if it is the position which is provided on the rotation locus | trajectory which passes the collar parts 412 and 512 of the torsion coil springs 41 and 51 used as a set, and can be engaged. It should be noted that the installation locations of the torque receiving portions 331 and 332 in the base 321 can be selected on a rotation trajectory passing through the flange portions 412 and 512, and the torque receiving portions 331 and 332 are connected to the torsion coil springs 41 and 51. It is preferable that the torque starting angle at which torque is received can be adjusted.
Further, the knee assisting device 100 is attached to the thigh on the knee of the user's foot, and is attached to the side of the thigh and the upper frames 11 and 71, and the upper end holding the upper frame on the thigh. A thigh belt member 12, a thigh belt wearing member 1, a lower frame 21, 81 that is attached to the lower leg of the user's leg and attached to the side of the lower leg, and the lower frame 21 A crus wearing member 2 comprising a crus belt 22 held on the crus, and a casing 3 (outside) in which the thigh wearing member 1 and the crus wearing member 2 are pivotally attached to each other. And the inner joint pin 90 (inner side). Furthermore, the knee supporter 62 that covers the entire knee of the user and has an opening 63 that opens the knee may be mounted on the upper frames 11 and 71 and the lower frames 21 and 81 with a surface fastener or the like. . Still further, an ankle belt 26 may be provided at the lower ends of the lower frames 21 and 81 via a receiving metal fitting 25. With such a configuration, the knee assisting device 100 of the present invention can be fitted tightly on the user's foot.
As for the casing 3 which is the most important component and characteristic part in the present invention, the thigh wearing member 1 and the crus wearing member 2 are rotatable, more specifically, the upper frame 11 and the lower frame 21. 4 and 5 and 6 will be described later in detail.

  Please refer to FIG. 1 (a) and FIG. FIG. 1A shows the outside of the knee assisting device worn on the left foot of the user as described above, and FIG. 2 is a side view showing the main part thereof. The thigh wearing member 1 includes an upper frame 11 attached to a side surface of a user's thigh and a thigh belt 12 that holds the upper end of the thigh on the thigh. Fixed. On the other hand, the lower leg wearing member 2 comprises a lower frame 21 attached to the side of the user's lower leg and a lower leg belt 22 held on the lower leg at a predetermined position. It is fixed with a metal fitting 23.

  Please refer to FIG. 1B and FIG. FIG. 1B shows the inside of the knee assisting device worn on the left foot of the user as described above, and FIG. 3 is a side view showing the main part thereof. The thigh wearing member 1 includes an upper frame 71 attached to the side of the user's thigh and a thigh belt 12 that holds the upper end of the thigh on the thigh. Fixed. On the other hand, the lower leg wearing member 2 includes a lower frame 81 attached to the side of the user's lower leg and a lower leg belt 22 held on the lower leg at a predetermined position. It is fixed with a metal fitting 23. The rotation mechanism inside the knee assisting device 100 includes inner joint pins 90 at the lower end of the upper frame 71 and the upper end of the lower frame 81, and both the frames 71 and 81 are pivotally mounted.

  The upper frames 11 and 71 and the lower frames 21 and 81 are preferably made of a light metal, such as an aluminum alloy or a titanium alloy. Moreover, although fiber reinforced plastics may be used, in this case, it is preferable to use a material that cures the unsaturated polyester resin even at room temperature and normal pressure.

  It is convenient that the thigh belt 12, the crus belt 22, the knee belt 62, and the ankle belt 26 are made of mesh fabric, elastic fabric, or the like and can be attached and detached with a hook-and-loop fastener. Further, for the thigh belt 12 and the crus belt 22, it is also possible to use a split cylindrical fixed cylinder member that can be opened and closed. The upper metal fitting 13, the lower metal fitting 23, and the metal fitting 25 are made of aluminum alloy or the like, and in consideration of the fact that they are in direct contact with the user's skin or worn for a long time from the top of clothing. It is good to wear etc. In addition, it is preferable to select a material that takes into consideration air permeability, antibacterial properties, allergies, and the like.

  Please refer to FIG. FIG. 4 is an exploded perspective view showing the internal structure of the casing 3 according to the present invention. The casing 3 includes a pivot pin 31, a bearing portion 32, a first torsion coil spring 41, a second torsion coil spring 51, and a cylindrical exterior portion 33. The pivot pin 31 is fixed to the upper end of the lower frame 21. The bearing portion 32 includes a cylindrical portion 320 having a support hole 325 for supporting the pivot pin 31, a base portion 321 fixed to the lower end of the upper frame 11, and a groove 322 that accommodates the second torsion coil spring 51. Become. After the first torsion coil spring 41 and the second torsion coil spring 51 are accommodated in the bearing portion 32, the cylindrical exterior portion 33 covers the bearing portion 32 and is attached to the upper portion 311 of the pivot pin 31 with a screw N or the like. Fix it. The cylindrical exterior portion 33 includes torque receiving portions 331 and 332 that can adjust the torque starting angle of the first torsion coil spring 41 and the second torsion coil spring 51 using the bolts B1 and B2. . The pivot pin 31 may use a forged material or a rolled material for the rotating shaft, but may use a resin material such as MC nylon and arrange an aluminum alloy or the like around the shaft. The bearing portion 32 and the cylindrical exterior portion 33 may be made of a plastic or light metal rigid thin plate, but it is preferable to select MC nylon.

  As shown in FIG. 4, the first torsion coil spring 41 and the second torsion coil spring 51 are placed on the outer periphery of the cylindrical portion 320, and the first torsion coil spring 41 is placed on the outer side of the base. The torsion coil spring 51 is disposed in the groove 322 inside the base 321. The first torsion coil spring 41 includes a winding portion 410 formed by winding a coil wire in a spiral shape, and a hole 324 drilled at a predetermined position of the base 321 from one end of the winding portion 410 (see FIG. A first arm portion 411 extending toward (not shown), and a second arm portion 412 extending at the other end of the winding portion 410 and bending in a hook shape. Further, the second torsion coil spring 51 has a winding portion 510 formed by winding a coil wire in a spiral shape, and a predetermined position in the groove 322 of the bearing portion 32 from one end of the winding portion 510. A first arm portion 511 extending toward the slanted hole 323 and a second arm portion 512 that extends at the other end of the winding portion 510 and bends in a bowl shape are provided.

  Here, the torsion coil spring refers to a spring that receives a torsional moment around the center line of the coil. Both the first torsion coil spring 41 and the second torsion coil spring 51 can be selected as a cold-forming material piano wire, stainless steel wire or the like as a material. A piano wire SWP-A having a diameter (d) of 4.5 mm is used, and the first torsion coil spring 41 has a coil average diameter (D) of 95 mm, a number of turns (N) of 3.3, and a second torsion coil spring 41. The coil spring 51 has a coil average diameter (D) of 75 mm and a number of turns (N) of 4, but is not limited thereto, and a torsion coil spring having a desired condition can be used.

  Please refer to FIG. FIG. 5 is a plan view (a) showing the bearing portion 32, a sectional view taken along the line AA (b), and a sectional view taken along the line BB (c). As shown in FIGS. 5A to 5C, the bearing portion 32 includes a cylindrical portion 320 having a support hole 325 for supporting the pivot pin 31, a base portion 321 fixed to the lower end of the upper frame 11, The groove 322 accommodates the second torsion coil spring 51.

  Reference is made to FIG. An upper frame is disposed above the bearing portion 32 and a lower frame is disposed below the bearing portion 32 as shown in the figure. The groove 322 is provided with a locking hole 323 at a position corresponding to the top in the drawing, and the first arm portion 411 of the second torsion coil spring 51 is inserted into the locking hole 323. In addition, a locking hole 324 is provided on the outer periphery of the upper surface of the base 321 at a position of 108 degrees clockwise from a point corresponding to the bottom as viewed in the figure. The arm part 511 is inserted.

  Refer to FIGS. 5B and 5C. FIG. 5B is a cross-sectional view taken along the line AA of the bearing portion 32 in FIG. 5A, and FIG. 5C is a cross-sectional view taken along the line BB. Here, although the same content described above is omitted, the base 321 includes a protruding stopper 326 on the bottom surface thereof. The stopper 326 restricts the rotating upper frame 11 from rotating beyond the original position when the upper frame 11 returns from the rotation position to the original position by the torsion torque of the spring.

  Please refer to FIG. FIG. 6 is a plan view (a) showing a state in which the torsion coil springs 41 and 51 are placed on the bearing portion 32, a sectional view taken along line AA, and a sectional view taken along line BB (c). As shown in FIGS. 6A to 6C, the first torsion coil spring 41 and the second torsion coil spring 51 are placed on the outer periphery of the cylindrical portion 320, and the first torsion coil spring 41 is a base. The second torsion coil spring 51 is disposed in the groove 322 inside the base 321. The first torsion coil spring 41 is directed to a winding part 410 formed by winding a coil wire in a spiral shape, and a hole 324 drilled at a predetermined position of the base 321 from one end of the winding part 410. A first arm portion 411 that extends and a second arm portion 412 that extends at the other end of the winding portion 410 and bends in a bowl shape are provided. Further, the second torsion coil spring 51 has a winding portion 510 formed by winding a coil wire in a spiral shape, and a predetermined position in the groove 322 of the bearing portion 32 from one end of the winding portion 510. A first arm portion 511 extending toward the slanted hole 323 and a second arm portion 512 that extends at the other end of the winding portion 510 and bends in a bowl shape are provided. Note that the tip of the second arm portion 412 of the first torsion coil spring 41 is curved inward toward the axial center to form a bowl shape. On the other hand, the tip of the second arm portion 512 of the second torsion coil spring 51 is curved outward toward the axial center to form a bowl shape. Torque receiving portions 331 and 332, which will be described later, restrict the second arm portions 412 and 512 with bolts B2 and B1, and when the upper frame 11 rotates, a restoring force generated by rotating is applied, and torque is further increased. It is possible to adjust the torque by adjusting the starting angle.

  Please refer to FIG. FIG. 7 is a view showing the upper surface of the cylindrical exterior portion 33 of the casing 3 according to the present invention. The cylindrical exterior portion 33 covers the bearing portion 32 and fixes the upper portion 311 of the pivot pin 31 with screws N or the like through holes 333a, 333b, 333c, 333d, 333e, 333f. In addition, torque receiving portions 331 and 332 are provided on the outer periphery of the upper surface of the cylindrical exterior portion 33. That is, as shown in the figure, the torque receiving part hole 331a is provided at the top position, and the positions 331b, 331c, and 331d are provided at positions inclined by 10 degrees clockwise from the torque receiving part hole 331a. On the other hand, as shown in the figure, torque receiving portion holes 332a are provided at the bottom, and 332b, 332c, and 332d are provided at positions inclined at an angle of 10 degrees clockwise from the torque receiving portion holes 332a. Among these, bolts B2 and B1 are inserted into desired torque receiving portion holes, the second arm portions 412 and 512 are regulated, and the torque starting angle is adjusted, so that when the upper frame 11 rotates, It becomes possible to adjust the restoring force (torque) generated by the movement.

  Please refer to FIG. FIG. 8 is a diagram schematically showing the rotation of the upper frame 11 and the lower frame 21, and corresponds to Table 1. That is, FIG. 8A shows the rotation state of the upper frame 11 and the lower frame 21 when the knee bending angle is 30 degrees, (b) is 90 degrees, (c) is 120 degrees, and (d) is 150 degrees. Is shown.

Please refer to FIG. FIG. 9 is a diagram showing the position of the locking hole at the rotation angle when the starting angle of the torsion coil spring is 30 degrees. Table 1 below shows reference values of torque when the bolt B1 is inserted into the torque receiving portion hole 331d and the bolt B2 is inserted into the torque receiving portion hole 332d in FIG. When the starting angle is up to 30 degrees, the second arm portions 412 and 512 of the torsion coil spring are not restricted, so that the torque does not work. That is, when the knee is bent at 30 degrees, the torsion coil springs 41 and 51 are not restricted by the bolts B1 and B2 of the torque receiving portions 331 and 332, and thus no torque is generated. When the knee bending angle is 90 degrees, the displacement angle of the torsion coil spring is estimated to be 55 degrees, and the torque of the first torsion coil spring 41 and the second torsion coil spring 51 is 8.3 N-m in total. When the knee bending angle is 120 degrees, the displacement angle of the torsion coil spring is estimated to be 80 degrees, and the torque is 12.1 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become. Further, when the knee bending angle is 150 degrees, the displacement angle of the torsion coil spring is estimated to be 105 degrees, and the torque is 15.9 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become. According to Table 1, the torque of the knee assist device 100 is estimated to be estimated at 18.0 N-m on one foot when the spring rotates 120 degrees.

下記の表３は、図１０（ｂ）において、ボルトＢ１をトルク受け部孔３３１ｂに、ボルトＢ２をトルク受け部孔３３２ｂに挿置した場合におけるトルクの参考値を示している。始動角度が１０度までの場合は、ねじりコイルばねの第二のアーム部４１２、５１２が規制されないため、トルクは働かない。すなわち、膝曲げ１０度までは、ねじりコイルばね４１、５１はトルク受け部３３１、３３２のボルトＢ１、Ｂ２に規制されていないため、トルクは発生していない状態である。膝曲げ角度９０度のときは、ねじりコイルばねの変位角度の推定で７５度となり、トルクは第一のねじりコイルばね４１と第二のねじりコイルばね５１の合計で１１．３Ｎ−ｍとなる。また、膝曲げ角度１２０度のときは、ねじりコイルばねの変位角度の推定で１００度となり、トルクは第一のねじりコイルばね４１と第二のねじりコイルばね５１の合計で１５．０Ｎ−ｍとなる。さらに、膝曲げ角度１５０度のときは、ねじりコイルばねの変位角度の推定で１２５度となり、トルクは第一のねじりコイルばね４１と第二のねじりコイルばね５１の合計で１８．８Ｎ−ｍとなる。

下記の表４は、図１０（ｃ）において、ボルトＢ１をトルク受け部孔３３１ｃに、ボルトＢ２をトルク受け部孔３３２ｃに挿置した場合におけるトルクの参考値を示している。始動角度が２０度までの場合は、ねじりコイルばねの第二のアーム部４１２、５１２が規制されないため、トルクは働かない。すなわち、膝曲げ２０度までは、ねじりコイルばね４１、５１はトルク受け部３３１、３３２のボルトＢ１、Ｂ２に規制されていないため、トルクは発生していない状態である。膝曲げ角度９０度のときは、ねじりコイルばねの変位角度の推定で６５度となり、トルクは第一のねじりコイルばね４１と第二のねじりコイルばね５１の合計で９．８Ｎ−ｍとなる。また、膝曲げ角度１２０度のときは、ねじりコイルばねの変位角度の推定で９０度となり、トルクは第一のねじりコイルばね４１と第二のねじりコイルばね５１の合計で１３．５Ｎ−ｍとなる。さらに、膝曲げ角度１５０度のときは、ねじりコイルばねの変位角度の推定で１１５度となり、トルクは第一のねじりコイルばね４１と第二のねじりコイルばね５１の合計で１７．２Ｎ−ｍとなる。

Please refer to FIG. FIG. 10 is a diagram illustrating the position of the locking hole at the rotation angle when the starting angle of the torsion coil spring is 0 degree (a), 10 degrees (b), and 20 degrees (c).
Table 2 below shows reference values of torque when the bolt B1 is inserted into the torque receiving portion hole 331a and the bolt B2 is inserted into the torque receiving portion hole 332a in FIG. When the starting angle is 0 degree, naturally the torque does not work even if the second arm portions 412 and 512 of the torsion coil spring are restricted. When the knee bending angle is 90 degrees, the displacement angle of the torsion coil spring is estimated to be 85 degrees, and the torque is 12.7 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. When the knee bending angle is 120 degrees, the displacement angle of the torsion coil spring is estimated to be 110 degrees, and the torque is 16.5 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become. Further, when the knee bending angle is 150 degrees, the displacement angle of the torsion coil spring is estimated to be 135 degrees, and the torque is 20.3 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become.

Table 3 below shows reference values of torque when the bolt B1 is inserted into the torque receiving portion hole 331b and the bolt B2 is inserted into the torque receiving portion hole 332b in FIG. 10B. When the starting angle is up to 10 degrees, the second arm portions 412 and 512 of the torsion coil spring are not restricted, so that the torque does not work. That is, up to 10 degrees of knee bending, the torsion coil springs 41 and 51 are not restricted by the bolts B1 and B2 of the torque receiving portions 331 and 332, and thus no torque is generated. When the knee bending angle is 90 degrees, the displacement angle of the torsion coil spring is estimated to be 75 degrees, and the torque of the first torsion coil spring 41 and the second torsion coil spring 51 is 11.3 N-m in total. Further, when the knee bending angle is 120 degrees, the displacement angle of the torsion coil spring is estimated to be 100 degrees, and the torque is 15.0 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become. Further, when the knee bending angle is 150 degrees, the displacement angle of the torsion coil spring is estimated to be 125 degrees, and the torque is 18.8 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become.

Table 4 below shows reference values of torque when the bolt B1 is inserted into the torque receiving portion hole 331c and the bolt B2 is inserted into the torque receiving portion hole 332c in FIG. 10C. When the starting angle is up to 20 degrees, the second arm portions 412 and 512 of the torsion coil spring are not restricted, so that the torque does not work. That is, up to 20 degrees of knee bending, the torsion coil springs 41 and 51 are not restricted by the bolts B1 and B2 of the torque receiving portions 331 and 332, so that no torque is generated. When the knee bending angle is 90 degrees, the displacement angle of the torsion coil spring is estimated to be 65 degrees, and the torque of the first torsion coil spring 41 and the second torsion coil spring 51 is 9.8 N-m in total. Further, when the knee bending angle is 120 degrees, the displacement angle of the torsion coil spring is estimated to be 90 degrees, and the torque is 13.5 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become. Further, when the knee bending angle is 150 degrees, the displacement angle of the torsion coil spring is estimated to be 115 degrees, and the torque is 17.2 N-m in total of the first torsion coil spring 41 and the second torsion coil spring 51. Become.

  The desired torque value can be finely adjusted by selectively inserting the bolts B1 and B2 in the torque receiving portion holes of the torque receiving portions 331 and 332. For example, the torque can be adjusted in the fourth power of 4 by inserting the bolt B1 into the torque receiving portion hole 331b and inserting the bolt B2 into the torque receiving portion hole 332c. That is, in the set of the torsion coil springs 41 and 51 and the torque receiving portions 331 and 332, the mounting positions of the torque receiving portions 331 and 332 are different, and the torsion coil springs 41 corresponding to the respective torque receiving portions 331 and 332 are used. , 51, the torque starting angle at which the torque starts to be received may be different. As described above, the torque starting angles may be different among the plurality of torsion coil springs, and the relationship between the rotation angle and the torque may be a non-linear relationship. Needless to say, the torque can be adjusted by changing the number of the torque receiving portion holes and the increment of the starting angle. Further, in the first embodiment, two torsion coil springs of the first torsion coil spring 41 and the second torsion coil spring 51 are used, but three or more torsion coil springs may be used. it can.

  Please refer to FIG. It is a figure which shows typically the operation | movement which the user with which the knee assistance device 100 of this invention was mounted | worn returns from a standing state to a middle waist state, and returns from a middle waist state to a standing state. According to FIG. 11, the posture of the user “i” to “i” is shown. From (i) to (ho) is shown until the user is in the middle waist, and from (b) to (h), the state of returning from the middle waist to the standing state is shown. Since the knee bending angle is about 30 degrees, the spring torque is 0 in Table 1. C is 60 degrees, D is 90 degrees, and E is 120 degrees. In the posture of E, the restoring force (torque) of the spring is large, but the posture can be maintained as it is depending on the weight of the user. It is considered a range. The knee assisting device 100 according to the present invention uses the restoring force (torque) of the spring to maintain this middle waist state for a certain period of time, and then applies a flip-up force from the user's strut force. It is possible to easily return to the original posture leading to the hole shown in FIG.

  While the preferred embodiments of the knee assist device according to the present invention have been illustrated and described above, it will be understood that various modifications can be made without departing from the technical scope of the present invention.

  The knee assisting device according to the present invention is simple in structure, light in weight, and less burdensome on the user, so that it can be widely used in agriculture, forestry and fisheries fields, construction sites, hospitals, and nursing care facilities.

100 knee support brace
1 Thigh wearing member
11 Upper frame
12 Thigh belt
2 Lower leg wearing parts
21 Lower frame
22 Lower leg belt
3 Casing
31 Axis pin
32 Bearing part
320 Cylindrical part
321 base
322 groove
323 324 Locking hole
325 bearing hole
33 Tubular exterior
41 First torsion coil spring
410 Winding part
411 First arm (fixed end)
412 Second arm part (buttock part)
51 Second torsion coil spring
510 winding part
511 First arm (fixed end)
512 Second arm (buttock)
331 332 Torque receiving portion 331a 331b 331c 331d Torque receiving portion hole 332a 332b 332c 332d Torque receiving portion hole
B1 B2 bolt
326 stopper
26 Ankle belt

Claims (6)

A thigh wearing member that is fitted along the thigh of the user and moves integrally with the thigh of the user,
A lower leg wearing member that is worn along the lower leg of the user and moves integrally with the lower leg of the user;
A casing provided near the knee of the user and integrated with an upper part of the lower leg wearing member;
It is pivotally mounted on the central axis of the casing, is integrated with the lower part of the thigh wearing member, and the inside of the casing is in accordance with the bending angle of the user's knee through the thigh wearing member. A base that rotates with
A torsion coil spring that is wound in a spiral and is housed in the casing, one end of which is a fixed end fixed to a part of the casing, and the other end is a free end with a flange. A torsion coil spring,
In the casing , a structure provided at a position having a turning locus that passes through the flange portion of the torsion coil spring, and when the base is engaged with the flange portion, torque corresponding to the rotation angle is obtained. A torque receiver that receives from the torsion coil spring;
There are a plurality of sets of the torsion coil springs and the torque receiving portions, each of the torsion coil springs having a different diameter, and the mounting position of each of the torque receiving portions is the set of the torsion coil springs. It is a position that is provided on the rotation trajectory passing through the collar and can be engaged,
A knee assisting device, wherein torque is generated by an elastic force of the torsion coil spring in accordance with a flexion / extension angle of the user's knee to assist the user's knee flexion / extension. The installation location of the torque receiving portion in the base is structured to be selectable on the rotation locus passing through the flange portion, and the torque starting angle at which the torque receiving portion starts to receive torque from the torsion coil spring is adjusted. The knee assist device according to claim 1 , wherein the knee assist device can be used. In the set of the torsion coil spring and the torque receiving portion, the mounting position of each of the torque receiving portions is different, and the torque starting angle at which each torque receiving portion starts to receive torque from the corresponding torsion coil spring is The knee assist device according to claim 2 , wherein the knee assist device is different. The knee assisting device according to claim 2 or 3 , wherein the torque starting angle is an arbitrary setting between 0 degrees and 30 degrees. The thigh wearing member comprises an upper frame attached to a side surface of the user's thigh, and a thigh belt to be attached to the thigh.
The lower leg wearing member comprises a lower frame attached to a side surface of the user's lower leg, and a lower leg belt attached to the lower leg,
The casing includes a pivot pin that is the central axis, a bearing portion that rotatably supports the pivot pin, and a cylindrical exterior portion that covers the bearing portion and fixes an upper portion of the pivot pin. The knee assist device according to any one of claims 1 to 4. The knee support device according to claim 5 , wherein the lower leg wearing member includes an ankle belt at a lower end of the lower frame.

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