JP6825872B2 - 動力伝達モジュール及びそれを含む運動補助装置 - Google Patents
動力伝達モジュール及びそれを含む運動補助装置 Download PDFInfo
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- JP6825872B2 JP6825872B2 JP2016204132A JP2016204132A JP6825872B2 JP 6825872 B2 JP6825872 B2 JP 6825872B2 JP 2016204132 A JP2016204132 A JP 2016204132A JP 2016204132 A JP2016204132 A JP 2016204132A JP 6825872 B2 JP6825872 B2 JP 6825872B2
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- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
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Description
200:入力部
300:固定モジュール
400:側面モジュール
500:出力部
600:支持モジュール
Claims (19)
- 入力部と連結されて動力が伝達される第1動力伝達ユニットと、
出力部に動力を伝達する第2動力伝達ユニットと、
前記第1動力伝達ユニットと前記第2動力伝達ユニットとを連結し、前記第1動力伝達ユニットによって発生した伝達流体の圧力を前記第2動力伝達ユニットに伝達する連結ユニットと、
を含む動力伝達モジュールであって、
前記第2動力伝達ユニットと前記出力部とを連結し、
前記第2動力伝達ユニットから伝達された直線動力を回転動力に変換して前記出力部に伝達する出力動力変換ユニットをさらに含み、
前記出力動力変換ユニット及び前記出力部と連結され、前記出力動力変換ユニットから伝達された動力の大きさを調節できる出力増強機をさらに含み、
前記出力動力変換ユニットは出力ピニオンギアを含み、
前記出力増強機は、
回転プーリと、
前記出力ピニオンギアと前記回転プーリとを連結するケーブルと、
を含む、動力伝達モジュール。 - 回転動力が発生する前記入力部と前記第1動力伝達ユニットとを連結し、
前記入力部の回転動力を直線動力に変換して前記第1動力伝達ユニットに伝達する入力動力変換ユニットをさらに含む、請求項1に記載の動力伝達モジュール。 - 前記入力動力変換ユニットは、
前記入力部と連結される入力ピニオンギアと、
前記入力ピニオンギアと歯合して前記第1動力伝達ユニットと連結される入力ラックギアと、
を含む、請求項2に記載の動力伝達モジュール。 - 前記第1動力伝達ユニットは、第1入力シリンダ及び第2入力シリンダを含み、
前記入力ラックギアは、前記第1入力シリンダの長手方向に形成された第1入力ラックギア及び前記第2入力シリンダの長手方向に形成された第2入力ラックギアを含み、
前記第1入力ラックギア及び前記第2入力ラックギアは、それぞれ前記第1入力シリンダ及び第2入力シリンダに連結される、請求項3に記載の動力伝達モジュール。 - 前記第2入力ラックギアは、前記入力ピニオンギアの位置を基準として前記第1入力ラックギアの反対側に配置される、請求項4に記載の動力伝達モジュール。
- 前記第1動力伝達ユニット及び前記第2動力伝達ユニットのうち少なくともいずれか1つの動力伝達ユニットは、
シリンダ胴体部と、
前記シリンダ胴体部の内部に収容された伝達流体と、
前記シリンダ胴体部の長手方向に移動して、前記シリンダ胴体部の内部に収容された伝達流体を加圧する加圧ロードと、
を含む、請求項1乃至5のいずれか一項に記載の動力伝達モジュール。 - 前記第1動力伝達ユニット及び前記第2動力伝達ユニットのうち少なくともいずれか1つの動力伝達ユニットは、前記シリンダ胴体部の内部空間を区画して、前記伝達流体が前記加圧ロードに流出するのを防止するダイアフラムをさらに含む、請求項6に記載の動力伝達モジュール。
- 前記ダイアフラムは、
前記シリンダ胴体部の内面に沿って形成される側面部と、
前記の側面部の一方に突出して前記シリンダ胴体部の長手方向に形成された突出部と、
を含む、請求項7に記載の動力伝達モジュール。 - 前記突出部は、前記加圧ロードの加圧によって前記伝達流体が排出される方向に湾入し、加圧が解除されると元の状態に復元する、請求項8に記載の動力伝達モジュール。
- 第1シリンダ胴体部と、
前記第1シリンダ胴体部の外面の一部を覆いながら前記第1シリンダ胴体部と締結可能な第2シリンダ胴体部と、
を含み、
前記第1シリンダ胴体部と前記第2シリンダ胴体部との間に前記ダイアフラムの一部が位置する、請求項7乃至9のいずれか一項に記載の動力伝達モジュール。 - 前記第1動力伝達ユニット及び前記第2動力伝達ユニットのうち少なくともいずれか1つの動力伝達ユニットは、
一方が前記シリンダ胴体部の内面の一方に位置し、他方が前記加圧ロードと連結される弾性体をさらに含む、請求項6に記載の動力伝達モジュール。
。 - 前記出力動力変換ユニットは、
前記第2動力伝達ユニットと連結される出力ラックギアと、
前記出力ラックギアと歯合して前記出力部と連結される出力ピニオンギアと、
を含む、請求項1乃至11のいずれか一項に記載の動力伝達モジュール。 - 前記第2動力伝達ユニットは、第1出力シリンダ及び第2出力シリンダを含み、
前記出力ラックギアは、前記第1出力シリンダの長手方向に形成された第1出力ラックギア及び前記第2出力シリンダの長手方向に形成された第2出力ラックギアを含み、
前記第1出力シリンダ及び前記第2出力シリンダは、それぞれ前記第1出力ラックギア及び前記第2出力ラックギアと連結される、請求項12に記載の動力伝達モジュール。 - 前記第2出力ラックギアは、前記出力ピニオンギアの位置を基準として前記第1出力ラックギアの反対側に配置される、請求項13に記載の動力伝達モジュール。
- 前記出力動力変換ユニットは出力ラックギアを含み、
前記回転プーリは前記出力ラックギアの一方に連結される、請求項1乃至14のいずれか一項に記載の動力伝達モジュール。 - 前記ケーブルは、前記回転プーリの一方から前記出力ピニオンギアの一部を覆うように延設され、
延設された前記ケーブルは、前記回転プーリの一部を覆った後に前記出力ピニオンギアの一部を再度覆うように延設される、請求項1乃至15のいずれか一項に記載の動力伝達モジュール。 - ユーザの近位部に対応する位置に装着されるとともに、動力を発生させる駆動モジュールと、
ユーザの末端部に対応する位置に装着されるとともに、前記動力が伝達されてユーザの一部の運動に補助力を提供するジョイントモジュールと、
前記駆動モジュールと前記ジョイントモジュールとを連結し、前記駆動モジュールの動力によって発生した伝達流体の圧力によって前記動力を前記ジョイントモジュールに伝達する動力伝達モジュールと、
を含み、
前記動力伝達モジュールは、
前記駆動モジュールと連結される第1動力伝達ユニットと、
前記ジョイントモジュールと連結される第2動力伝達ユニットと、
前記第1動力伝達ユニットと前記第2動力伝達ユニットとを連結し、前記伝達流体の通路になる連結ユニットと、
を含み、
前記第2動力伝達ユニットと前記ジョイントモジュールとを連結し、前記第2動力伝達ユニットから伝達された直線動力を回転動力に変換して前記ジョイントモジュールに伝達する出力動力変換ユニットと、
前記出力動力変換ユニットと前記ジョイントモジュールとを連結し、前記出力動力変換ユニットから伝達された動力の大きさを調節できる出力増強機をさらに含み、
前記出力動力変換ユニットは出力ピニオンギアを含み、
前記出力増強機は、
回転プーリと、
前記出力ピニオンギアと前記回転プーリとを連結するケーブルと、
を含む、運動補助装置。 - 前記駆動モジュールはユーザの胴体に対応する位置に装着される、請求項17に記載の運動補助装置。
- 前記ジョイントモジュールは、ユーザの膝、足首又は股関節に対応する位置に装着される、請求項17又は18に記載の運動補助装置。
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