CN211797066U - Knee joint brace controlled by supporting phase - Google Patents

Abstract

The utility model provides a support phase control knee joint support, comprising: an insole; a medial knee joint module, including a lower leg inner connecting rod, an inner thigh connecting rod and a limit block of the inner leg connecting rod; an inner joint cover plate, which is connected to the thigh on the medial link; lateral knee joint module, including the calf lateral link, the thigh lateral link and the lateral calf link limit block; the lateral joint cover plate, connected to the thigh lateral link; the calf front baffle, the two sides are respectively Connected to the inner calf link and the outer calf link; the front thigh baffle, connected to the inner thigh link and the outer thigh link; the sensor module, used to detect the user's gait behavior; the control module, used according to The user's gait behavior controls the states of the two spring-preloaded one-way ratchet modules, wherein the lateral knee joint module further includes a spring-preloaded one-way ratchet assembly disposed on the inner and outer sides of the lateral joint cover.

Description

A support phase control knee joint brace

technical field

The utility model belongs to the technical field of wearable devices, relates to a knee joint brace, in particular to a support phase control knee joint brace.

Background technique

In life, the functional atrophy of the quadriceps femoris caused by muscle degeneration and other reasons greatly reduces the patient's muscle ability, causing the patient to experience knee hyperextension, instability and sudden muscle weakness during walking. , Change the walking progress of the patient, which is easy to cause abnormal gait and stumbling during walking. If the patient wants to maintain walking, usually he needs to press the thigh with his hand during the support phase of walking to forcibly maintain the support phase. Stable, with greater discomfort when the patient walks. In order to maintain the probability of a patient's falling while walking, and make the walking gait approach the normal gait, it can usually be solved by wearing a lower limb walking aid.

Most of the products in the prior art are walkers or bone fixators for postoperative rehabilitation. The structures mainly include outer frame sliding wheel walking carts or passive braces. The former is an external frame structure with multiple sliding wheels and is not bound to the human body. , the latter is bound to the human body, but the anti-fall function is achieved by a support rod extending downward to provide support when the user has a tendency to fall. This structure is relatively simple and has a single function. The user's behavior of walking or squatting causes certain obstacles and makes the user feel uncomfortable. In addition, these braces cannot detect the user's gait, and there is also a lack of knee joint braces with a gait detection function on the market. Therefore, there is a need to design a knee joint brace that can solve the above problems.

Utility model content

The utility model is designed to solve the above problems, and the purpose is to provide a support phase-controlled knee joint brace.

The utility model provides a support phase-controlled knee joint support, which is used to provide auxiliary limit support for the knee joint, and has the characteristics of including: an insole, placed under the user's feet; an inner knee joint module, including interconnected The inner calf link and inner thigh link, and the inner calf link limit block arranged on the top surface of the inner calf link for limiting; the inner joint cover, one end is connected to the inner thigh link of the pawl, and the other is connected to the inner thigh link. One end is connected to the connection between the inner calf link of the pawl and the inner thigh link of the pawl; the outer knee joint module includes the outer thigh link and the outer thigh link connected to each other and the top surface of the outer calf link is used for The limit block of the outer link of the calf; the outer joint cover plate, connected to the outer link of the thigh; the front baffle of the calf, the two sides are respectively connected to the end of the inner link of the calf close to the foot and the outer link of the calf close to the foot One end of the upper thigh is used to support the calf; the front baffle of the thigh is connected to the end of the inner thigh link close to the torso and the outer thigh link close to the torso, which is used to support the thigh; the sensor module is used to detect the user The gait behavior includes a first six-axis accelerometer mounted on the top of the outer thigh link, a second six-axis accelerometer mounted on the lower end of the outer calf link, a magnetic head formed by the top surface of the outer calf link, and a second an angular velocity sensor composed of a magnetic ring that is coaxial with the sliding bearing and close to the magnetic head, and a plurality of pressure sensors arranged on the surface of the insole and connected to the second six-axis accelerometer by wires; and a control module for controlling the gait behavior of the user The state of the spring-preloaded one-way ratchet assembly, including a main controller with a manual control button and a first six-axis accelerometer installed on the front thigh baffle, a battery pack connected to the main controller by wires, and a The main controller is an electromagnetic actuator connected by a wire; wherein, the outer knee joint module further includes a spring-preloaded one-way ratchet assembly disposed on the inner and outer sides of the outer joint cover, and the spring-preloaded one-way ratchet assembly includes: a first The sliding bearing is arranged between the outer connecting rod of the thigh and the outer cover plate of the joint; the second sliding bearing is arranged between the outer connecting rod of the lower leg and the outer cover plate of the joint; the pawl is sleeved on the periphery of the first sliding bearing, and the The surface of the pawl has a first outer edge protrusion located at the front and a second outer edge protrusion located at the rear; a ratchet is sleeved on the periphery of the second sliding bearing; a preload spring, one end is fixed on the outer link of the thigh. On the first protrusion, the other end is fixed on the first outer edge protrusion of the pawl, which is used to apply a first pre-tightening force to the pawl, and the direction of the first pre-tightening force is to assist the pawl and the ratchet to engage. direction; the torsion spring, embedded in the inner ring of the ratchet wheel, is used to provide the ratchet wheel with a second pre-tightening force opposite to the direction of the occlusal force; When the pawl and the ratchet are engaged, they are in contact with the tooth surface of the ratchet, thereby reducing the friction between the pawl and the ratchet when they are engaged. The interaction force generated by the surface resists the torque of knee flexion, unidirectional locking in the support phase of walking, and in the electrical Under the action of the magnetic actuator, the pawl overcomes the pre-tightening force in the gait swing phase, so as to complete the unlocking action between the ratchet and the pawl, thereby completing the bending of the knee joint.

The support phase-controlled knee joint brace provided by the present invention may have such features, further comprising: wherein, an anti-fall hook belt is fixed on the side of the outer thigh link near the top of the trunk section; and an anti-fall hook is connected to On top of the anti-fall hook strap for hanging on the wearer's belt.

The support phase-controlled knee joint brace provided by the present invention may also have the following feature: wherein, the front baffle of the calf is provided with a calf front plate for binding the calf and respectively arranged on the front side of the calf and the rear side of the calf. Straps and calf back straps.

In the support phase-controlled knee joint brace provided by the present invention, it can also have such a feature: wherein, the front baffle of the thigh is provided with a front thigh for binding the thigh and is respectively arranged on the front side of the thigh and the rear side of the thigh. Straps and thigh back straps.

In the support phase-controlled knee joint brace provided by the present invention, it may also have such a feature: wherein, the inner side of the connection between the inner calf link and the inner thigh link and the connection between the outer calf link and the outer thigh link A flexible pad is fixed on the inner side of the pad, and the flexible pad consists of a filler, an outer fabric wrapped outside the filler, and one side is connected with the outer fabric with barbed bristles, and the other side is adhered to the front of the calf. Velcro on the inner surface of the board and the inner surface of the front thigh baffle.

In the support phase control knee joint brace provided by the present invention, it may also have the following characteristics: wherein, the minimum clamp between the inner thigh link and the inner calf link and between the outer thigh link and the outer calf link The angles are all 50°, the maximum included angle is 180°, the maximum angle of engagement between the pawl and the ratchet is 130°, and every 10° is a gear.

In the support phase control knee joint brace provided by the present invention, it may also have the following feature: wherein, the outer link of the lower leg and the ratchet are fixed by four screws.

In the support phase control knee joint brace provided by the present utility model, it can also have the following characteristics: wherein, the electromagnetic actuator is an electromagnet, and the output end of the electromagnetic actuator passes through an inelastic cable or a rigid braking link. The second outer edge of the pawl is connected to the protrusion, and the direction of the traction force of the electromagnetic actuator on the pawl when working is the direction in which the auxiliary pawl is disengaged from the engagement state of the ratchet wheel.

The function and effect of the utility model

According to the support phase-controlled knee joint brace of the present invention, since the inner knee joint module has the inner calf link limit block and the outer knee joint module has the calf outer link limit block, the inner knee joint and the outer calf joint can be restricted. Rotation angle of the knee joint; can be used to support the calf because it has a front calf baffle connected to the inner calf link and the outer calf link; Because of the baffle, it can be used to support the thigh; because of the sensor module, it can detect the user's gait behavior; because of the control module, it can control the two spring preloaded one-way ratchet assemblies according to the user's gait behavior state; because the spring-preloaded one-way ratchet assembly has a pawl, a ratchet, a preload spring, a torsion spring and a pawl roller, the one-way locking and unlocking of the knee joint brace is achieved, thereby completing the bending and erection of the knee joint.

Therefore, the support phase control knee joint brace of the present invention can detect the gait through the cooperation between the spring preloaded one-way ratchet assembly, the sensor module and the control module, and control the unlocking and The walking support phase is unidirectionally locked, and can also be unlocked during the walking swing phase, so as not to affect the user's walking.

Further, the support phase control knee joint brace of the present invention solves the problems of abnormal gait and stumbling of the patient when walking, and each part of the brace in this embodiment fits the leg, which can improve the safety of the user. The walking gait is detected, allowing the joints to stretch at any time, so that the walking gait tends to be the gait of a normal person, and the user will not feel discomfort caused by obstacles such as walking or squatting.

Description of drawings

Fig. 1 is the structural representation of support phase control knee joint brace in the embodiment of the present invention;

Fig. 2 is the wearing schematic diagram of the support phase control knee joint brace in the embodiment of the present invention;

3 is a schematic structural diagram of the inner knee joint module of the support phase-controlled knee joint brace according to the embodiment of the present invention;

4 is a schematic structural diagram of a lateral knee joint module of a support phase-controlled knee joint brace according to an embodiment of the present invention;

5 is a schematic diagram of the locked state of the spring-preloaded one-way ratchet assembly of the support phase-controlled knee joint brace according to the embodiment of the present invention;

6 is a schematic diagram of the unlocked state of the spring-preloaded one-way ratchet assembly of the support phase-controlled knee joint brace according to the embodiment of the present invention;

7 is a schematic diagram of a single joint form of a support phase-controlled knee joint brace in an embodiment of the present invention;

8 is a front view of the inner knee joint module of the double-joint spring preload ratchet module of the support phase control knee joint brace of the present invention;

9 is a front view of the outer knee joint module of the double-joint spring preload ratchet module of the support phase control knee joint brace of the present invention;

10 is a perspective view of the outer knee joint module of the double-joint spring preload ratchet module of the support phase control knee joint brace of the present invention.

Detailed ways

In order to make the technical means and effects realized by the present utility model easy to understand, the present utility model will be described in detail below with reference to the embodiments and the accompanying drawings.

In the following embodiments, gait refers to the posture and all walking actions when walking, the time when the lower limbs of the supporting phase touch the ground and bear the gravity, which accounts for about 60% of the walking cycle, and the swinging phase refers to the soles of the feet that cannot move forward from the ground. The time between taking a step and landing again is about 40% of the entire gait cycle.

Example:

1 is a schematic structural diagram of a support phase-controlled knee joint brace in an embodiment of the present invention, and FIG. 2 is a schematic diagram of wearing a support phase-controlled knee joint brace in an embodiment of the present invention.

As shown in FIGS. 1 and 2 , a support phase-controlled knee joint brace 100 in this embodiment is used to provide auxiliary limit support for the knee joint, including: an insole 1 , a medial knee joint module 2 , and a medial joint cover 3. Outer knee joint module 4 , outer joint cover plate 5 , calf front baffle 6 , thigh front baffle 7 , sensor module 9 , control module 10 , anti-fall hook belt 11 and anti-fall hook 12 .

The insole 1 is placed under the user's foot.

The medial knee joint module 2 includes a calf medial link 201 and an inner thigh link 202 that are connected to each other, and rotates around the medial joint axis, and the medial knee joint module 2 is a two-link structure that can perform single-degree-of-freedom rotation around the medial joint axis , and only plays the role of reducing the shear force of the medial and lateral knee joints, and restricts the leg to rotate with a single degree of freedom only in the sagittal plane, that is, the plane in the forward walking direction of the person.

In this embodiment, the medial knee joint module 2 further includes a calf medial link limiting block 203 disposed on the top surface of the calf medial link 201 for limiting the position.

One end of the medial joint cover plate 3 is connected to the inner thigh link 202 through a screw, and the other end is connected to the connection between the inner thigh link and the inner calf link through a screw.

4 is a schematic structural diagram of a lateral knee joint module of a support phase-controlled knee joint brace according to an embodiment of the present invention.

As shown in FIG. 4 , the lateral knee joint module 4 includes a calf lateral link 401 and a thigh lateral link 402 that are connected to each other, and rotate around the lateral joint rotation axis.

In this embodiment, the outer knee joint module 4 further includes a calf outer link limit block 403 disposed on the top surface of the calf outer link 401 for limiting, and a spring preload set on the outer and inner sides of the outer joint cover. One-way ratchet assembly.

In this embodiment, the medial knee joint module 2 and the lateral knee joint module 4 are both single-joint modules, and the medial joint rotation axis is collinear with the lateral joint rotation axis, forming a knee joint supporting the phase-controlled knee joint support 100 axis.

In this embodiment, the inner side of the connection between the inner calf link 201 and the inner thigh link 202 and the inner side of the connection between the outer calf link 402 and the outer thigh link 402 are fixed with a flexible pad 13. The flexible pad 13 It consists of a filler, an outer fabric wrapped around the filler, and a Velcro attached to the outer fabric with a hook on one side and attached to the inner surface of the calf front baffle and the inner surface of the thigh front baffle on the other side , and the outer fabric is sealed by knitting or gluing, and is divided into two sides, one side is the soft fiber surface connected with the hooked side of the Velcro, and the other side is the non-slip surface coated with anti-slip rubber.

In this embodiment, the shape of the flexible pad 13 is the same as or similar to the shape of the thigh front baffle 7 and the calf front baffle 6, so as to fit the leg shape and have the function of fixing and anti-slip.

The outer joint cover plate 5 is connected to the outer thigh connecting rod 402 by a screw inserted into the positioning hole on the outer joint cover plate 5 after passing through the outer thigh connecting rod 402, the first sliding bearing 801 and the pawl 803 in sequence. 405 and a screw 406 inserted into the positioning hole on the outer joint cover plate 5 after passing through the outer thigh link 402, the outer lower leg link 401, the second sliding bearing 802, and the ratchet 804 in sequence.

In this embodiment, the inner joint cover plate 3 is fixed to the inner thigh link 202, and the outer joint cover plate 5 is fixed to the outer thigh link 402, thereby forming a U-shaped structure, so that the knee joint has only one rotational degree of freedom. , the inner thigh link 202 and the inner calf link 201 and the outer thigh link 402 and the outer calf link 201 all have a structure for physically limiting the opening of the inner and outer thigh links on the U-shaped structure 15. The rotation angle of the knee joint axis is limited to 130°, and at the same time, the minimum included angle between the inner thigh link 202 and the inner calf link 201 and between the outer thigh link 402 and the outer calf link 401 is 50° , the maximum included angle is 180°.

Both sides of the front calf baffle 6 are respectively connected to one end of the inner calf link 201 close to the foot and one end of the outer calf link 401 close to the foot for supporting the calf.

In this embodiment, the front calf baffle 6 is provided with a front calf strap 601 and a rear calf strap 602 for binding the calf and respectively provided on the front side of the calf and the rear side of the calf.

Both sides of the front thigh baffle 7 are respectively connected to one end of the inner thigh link 202 close to the torso and one end of the outer thigh link 402 close to the torso for supporting the thigh.

In this embodiment, the front thigh baffle plate 7 is provided with a front thigh strap 701 and a rear thigh strap 702 for binding the thigh and respectively provided on the front side of the thigh and the rear side of the thigh.

As shown in FIGS. 2-4 , the spring-preloaded one-way ratchet assembly 8 is disposed on the outside of the outer joint cover 5 , including: a first sliding bearing 801 , a second sliding bearing 802 , a pawl 803 , a ratchet 804 , and a torsion spring 805 , a preload spring 806 and a pawl roller 807 .

The first sliding bearing 801 is disposed between the outer thigh link 402 and the outer joint cover 5 .

The second sliding bearing 802 is disposed between the outer link 401 of the lower leg and the outer joint cover 5 .

The pawl 803 is sleeved on the periphery of the first sliding bearing 801 , and the surface of the pawl 803 has a first outer edge protrusion 808 located at the front and a second outer edge protrusion 809 located at the rear.

The ratchet wheel 804 is sleeved on the periphery of the second sliding bearing 802 .

In this embodiment, the rotation axis of the ratchet wheel 804 is coaxial with the rotation axis of the outer joint and is fixed to the outer link 401 of the lower leg. The pawl 803 rotates around the rotation axis of the pawl 803 and can be in effective contact with the teeth of the ratchet wheel 804. , the rotation axis of the pawl 803 is parallel to the rotation axis of the outer joint and is vertically fixed to the outer thigh link 402 .

In this embodiment, the maximum angle of engagement between the pawl 803 and the ratchet 804 is 130°, and every 10° is a gear. In addition, the link 401 on the outer side of the lower leg and the ratchet wheel 804 are fixed by four screws, and the outer side of the lower leg is fixed by four screws. The four ratchet fixing holes 407 on the connecting rod 401 are waist-shaped long holes, which ensure that the ratchet wheel 804 can rotate in a limited manner with the rotation axis of the ratchet wheel 804 , and the rotation is 5°.

In this embodiment, after the ratchet wheel 804 is rotated 5° by the pressure-bearing engagement, the direction of the engagement force at this time is perpendicular to the occlusal surface between the ratchet wheel 804 and the pawl 803, and the rotation axis of the ratchet wheel 804 and the rotation axis of the outer joint are formed. On the plane, the ratchet wheel 804 and the ratchet pawl 803 are respectively divided into front and rear parts.

One end of the preload spring 806 is fixed on the first protrusion 404 on the outer thigh link 401 , and the other end is fixed on the first outer edge protrusion 808 on the front of the pawl 803 to apply a preload force to the pawl 803 , and under the action of the first preload force, the pawl 803 and the ratchet wheel 804 can be engaged within a range of 130°, the interactive force of the occlusal surface generates a torque that prevents the knee joint from bending, and the direction of the first preload force is The auxiliary pawl 803 engages with the ratchet 804 in the direction.

The torsion spring 805 is embedded in the inner ring of the ratchet wheel 804 to provide the ratchet wheel 804 with a pre-tightening force opposite to the direction of the occlusal force, which can provide a buffering effect when the occlusal locking is under pressure, and increase the impact resistance of the ratchet wheel 804, thereby increasing the impact resistance of the ratchet wheel 804. Protect the user's knee joint.

The pawl roller 807 is mounted on the pawl 803 through the roller latch 8011, and a roller sleeve 8010 is arranged between the pawl roller 807 and the roller latch. The tooth surfaces of 804 are in contact, thereby reducing the frictional force between the pawl 803 and the ratchet 804 during engagement.

In this embodiment, the pawl 803 and the ratchet 804 are engaged under the action of the first preload force of the preload spring 806, so that the interactive force generated by the occlusal surface prevents the bending torque of the knee joint. Under the action of the electromagnetic actuator 1003, the ratchet pawl 803 overcomes the first pre-tightening force in the gait swing phase, so as to complete the unlocking action between the ratchet wheel 804 and the ratchet pawl 803, and then complete Bending of the knee joint.

The sensor module 9 is used to detect the gait behavior of the user, including a first six-axis accelerometer at the top of the outer thigh link located at the thigh end for detecting the acceleration of the thigh movement, and a first six-axis accelerometer installed at the lower end of the outer link The second six-axis accelerometer 901 for detecting the acceleration of the movement of the calf, the angular velocity sensor for detecting the rotation angle of the knee joint mounted on the shaft end of the knee joint, and a plurality of the second six-axis accelerometers 901 arranged on the surface of the insole 1 and connected to the second six-axis accelerometer 901 through the wire 14 A plurality of connected pressure sensors 902 are used for pressure detection and obtaining plantar contact information.

In this embodiment, the first six-axis accelerometer is integrated on the control module 10, and the second six-axis accelerometer 901 is a separate circuit board installed on the outside of the calf, and is connected to the main controller 1001 through wires, and is also connected to the main controller 1001. The battery pack connected to the main controller 1001 supplies power.

In this embodiment, the angular velocity sensor is composed of a magnetic head 903 and a magnetic ring 904. The magnetic head 903 is arranged on the outer peripheral surface of the central circular hole at the top of the outer link 401 of the lower leg, and is adjacent to the limit block 403 of the outer link of the lower leg. 904 is coaxial with the first sliding bearing 801 and is close to the magnetic head 903. The magnetic head 903 reads the change of the magnetic field of the magnetic ring 904 and transmits the angle data between the upper and lower leg links to the response of the control module 10.

The control module 10 is used to control the state of the spring-preloaded one-way ratchet assembly according to the gait behavior of the user, and includes a main control provided on the front thigh baffle 7 with a manual control button and a first six-axis accelerometer installed 1001 , a battery pack 1002 for power supply connected to the main controller 1001 through wires 14 , and an electromagnetic actuator 1003 connected to the main controller 1001 through wires 14 .

In this embodiment, the electromagnetic actuator 1003 is an electromagnet, and the output end of the electromagnetic actuator 1003 is connected to the second outer edge protrusion 809 of the pawl 803 through an inelastic cable 1004 or a rigid braking link. When the actuator 1003 works, the direction of the traction force on the ratchet 803 is the direction in which the auxiliary ratchet 803 is disengaged from the engagement state with the ratchet 804 .

The anti-fall hook strap 11 is fixed to the side of the outer thigh link 402 close to the top of the trunk section.

The anti-fall hook 12 is connected to the top of the anti-fall hook belt 11 and is used to hang on the wearer's waistband to prevent the support phase-controlled knee joint brace 100 from sliding down and failing during the user's walking process and causing wearing discomfort.

5 is a schematic diagram of the locked state of the spring preloaded one-way ratchet assembly of the support phase control knee joint brace in the embodiment of the present invention, and FIG. 6 is the spring preloaded spring preload of the support phase control knee joint brace in the embodiment of the present invention A schematic diagram of the unlocked state of the tight one-way ratchet assembly, FIG. 7 is a schematic diagram of the single-joint form of the support phase-controlled knee joint brace according to the embodiment of the present invention.

Further, in this embodiment, when the support phase controls the knee joint brace 100 not powered on or in the support phase state, the ratchet wheel 804 and the pawl 803 are in an engaged state. At this time, the knee joint is locked. As shown in FIG. 5 , when When the support phase controls the knee joint brace 100 to be powered on and the sensor module 9 detects that the leg enters the swing phase, the control module 10 sends a signal to the electromagnetic actuator 1003, the electromagnetic actuator 1003 is activated, the lock tongue is retracted, and the One end of the pawl 803 is pulled up by an inelastic cable or a rigid braking link, and enters the unlocked state from the locked state, as shown in FIG. 6 . After a certain period of time or when the sensor module 9 detects that the leg is in the supporting phase, the electromagnetic actuator 1003 is turned off, and the pawl 803 is locked again by the first preload force of the preload spring 806 on the opposite side of the pawl 803 .

Action and effect of the embodiment

According to the support phase control knee brace according to the present embodiment, since the inner knee joint module has the inner calf link limiter and the outer knee joint module has the calf outer link limiter, the inner knee joint and the outer calf joint can be restrained. Rotation angle of the knee joint; can be used to support the calf because it has a front calf baffle connected to the inner calf link and the outer calf link; Because of the baffle, it can be used to support the thigh; because of the sensor module, it can detect the user's gait behavior; because of the control module, it can control the two spring preloaded one-way ratchet assemblies according to the user's gait behavior state; because the spring-preloaded one-way ratchet assemblies all have pawls, ratchets, preload springs, torsion springs and pawl rollers, one-way locking and unlocking of the knee joint brace is achieved, thereby completing the bending and erection of the knee joint.

According to the support phase-controlled knee joint brace involved in this embodiment, because of the anti-falling hook belt and the anti-falling hook, it can prevent the wearing discomfort caused by the user's sliding failure of the brace during walking.

According to the support phase-controlled knee joint brace involved in this embodiment, since the front calf strap and the calf rear strap are provided on the calf front baffle and are located on the front side of the calf and the rear side of the calf respectively, they can be used to bind the calf. , so that it better supports the calf.

According to the support phase-controlled knee joint brace involved in this embodiment, since the front thigh strap and the rear thigh strap are provided on the front baffle of the thigh and are located on the front side of the thigh and the rear side of the thigh respectively, it can be used to bind the thigh. to better support the thighs.

According to the support phase control knee brace involved in this embodiment, since the inner side of the connection between the inner calf link and the inner thigh link and the inner side of the connection between the outer calf link and the outer thigh link are fixed with flexible guards pad, so it can better protect the knee joint.

According to the support phase-controlled knee joint brace involved in this embodiment, because the output end of the electromagnetic actuator is connected to the second outer edge protrusion of the first pawl through an inelastic cable or a rigid braking link, the electromagnetic The actuator can assist the pawl to disengage the direction of the engagement state with the ratchet during operation.

According to the support phase-controlled knee joint brace involved in this embodiment, since the ratchet fixing holes on the outer link of the lower leg and the inner link of the lower leg are both waist-shaped long holes, the ratchet can be guaranteed to rotate in a limited manner around the rotation axis of the ratchet. , the rotation is 5°.

Therefore, the support phase-controlled knee brace of this embodiment can detect the gait through the cooperation between the spring preloaded one-way ratchet assembly, the sensor module and the control module, and control the unlocking and The walking support phase is unidirectionally locked, and can also be unlocked during the walking swing phase, so as not to affect the user's walking.

Further, the support phase-controlled knee joint brace of this embodiment solves the problem of abnormal gait and stumbling of the patient when walking, and each part of the brace of this embodiment fits the leg, which can improve the safety of the user. The walking gait is detected, allowing the joints to stretch at any time, so that the walking gait tends to be the gait of a normal person, and the user will not feel discomfort caused by obstacles such as walking or squatting.

The above-mentioned embodiments are preferred cases of the present invention, and are not intended to limit the protection scope of the present invention.

The pawl rollers, torsion springs, and waist-shaped holes of the outer link of the lower leg in the embodiment are all functional improvement parts and designs, but the basic pawl and the ratchet design of the outer link of the lower leg of the present invention should also be included in the scope of patent protection.

Both the medial knee joint module and the lateral knee joint module in the embodiments are modules in the form of a single joint. However, in the present invention, the inner knee joint module and the outer knee joint module can also be the inner knee joint module and the outer knee joint module in the form of double joints, as shown in Figures 8-10, that is, the outer thigh link is replaced with the outer thigh Gear link, outer calf link replaced with outer calf gear link, inner thigh link replaced with inner thigh gear link, inner calf link replaced with inner calf gear link, and an inner joint cover and an outer In the joint cover plate, the pawl is connected with the outer thigh gear link, and the ratchet is connected with the outer calf gear link. At this time, the rotation axis of the outer thigh gear link, the rotation axis of the inner thigh gear link and the outer joint cover plate thigh side The rotation axis is coaxial, the rotation axis of the outer calf gear link, the rotation axis of the inner calf gear link and the calf side rotation axis of the outer joint cover are coaxial, and the rotation axis of the inner thigh gear link is coaxial with the thigh of the inner joint cover The side rotation axis is coaxial, the rotation axis of the inner calf gear link is coaxial with the calf side rotation axis of the inner joint cover plate, the gear part of the outer thigh gear link and the gear part of the outer calf gear link are meshed with each other, and the inner thigh gear The gear part of the connecting rod meshes with the gear part of the inner calf gear connecting rod. The outer thigh gear connecting rod and the outer calf gear connecting rod rotate in linkage with their respective rotating shafts through gear meshing. The rotating shaft of the pawl and the outer joint cover plate The rotation axis of the thigh side is coaxial, and the rotation axis of the ratchet is coaxial with the rotation axis of the calf side of the outer joint cover. At the same time, the inner knee joint module can only move around the rotation axis of the thigh joint and the lower leg joint through the meshing of the gear of the inner thigh gear link and the gear of the inner lower leg link, and the inner knee joint module in the form of double joints also only serves to reduce the internal The shear force of the lateral knee joint limits the rotation of the leg in a single degree of freedom only in the sagittal plane, that is, the plane in the forward walking direction of a person.

Claims (8)

1. a support phase control knee joint support, for providing the auxiliary limit support of knee joint, is characterized in that, comprises: Insole, placed under the user's foot; the inner knee joint module, including the inner calf link and the inner thigh link connected to each other and a limit block of the inner calf link arranged on the top surface of the inner calf link for limiting; an inner joint cover, one end is connected to the inner thigh link, and the other end is connected to the connection between the inner calf link and the inner thigh link; an outer knee joint module, including an outer thigh link and an outer thigh link connected to each other, and a limit block for the outer calf link disposed on the top surface of the outer calf link for limiting; an outer joint cover, connected to the outer link of the thigh; The front baffle of the calf, the two sides are respectively connected to the end of the inner link of the calf close to the foot and the end of the outer link of the calf close to the foot, for supporting the calf; Thigh front baffle, both sides are respectively connected to one end of the inner thigh link close to the trunk and one end of the outer thigh link close to the trunk, for supporting the thigh; The sensor module is used to detect the gait behavior of the user, including a first six-axis accelerometer mounted on the top of the outer thigh link, a second six-axis accelerometer mounted on the lower end of the lower leg outer link, and a an angular velocity sensor composed of a magnetic head on the top surface of the outer link of the lower leg and a magnetic ring close to the magnetic head, and a plurality of pressure sensors arranged on the surface of the insole and connected to the second six-axis accelerometer by wires; and The control module is used to control the state of the spring-preloaded one-way ratchet assembly arranged on the outer and inner side of the outer joint cover according to the gait behavior of the user, including a manual control button arranged on the front baffle of the thigh. and installed with the main controller of the first six-axis accelerometer, a battery pack connected with the main controller by wires, and an electromagnetic actuator connected with the main controller by wires; Wherein, the outer knee joint module further includes a one-way ratchet wheel assembly arranged on the spring preload, and the spring preload one-way ratchet wheel assembly includes: The first sliding bearing is arranged between the outer connecting rod of the thigh and the outer cover plate of the joint; The second sliding bearing is arranged between the outer connecting rod of the lower leg and the outer cover plate of the joint, and the second sliding bearing is coaxial with the angular velocity sensor; a pawl, sleeved on the periphery of the first sliding bearing, and the surface of the pawl has a first outer edge protrusion located at the front and a second outer edge protrusion located at the rear; a ratchet, sleeved on the periphery of the second sliding bearing; A preload spring, one end is fixed on the first protrusion on the outer link of the thigh, and the other end is fixed on the first outer edge protrusion of the pawl, and is used to apply a first preload to the pawl force, and the direction of the first pre-tightening force is the direction of assisting the engagement of the pawl and the ratchet; a torsion spring, embedded in the inner ring of the ratchet wheel, for providing the ratchet wheel with a second preload force opposite to the direction of the engagement force; and The pawl roller is mounted on the pawl through a roller pin, and the surface of the pawl roller contacts the tooth surface of the ratchet when the pawl is engaged with the ratchet, thereby reducing the amount of the ratchet when the pawl is engaged. friction between the pawl and the ratchet, Both the pawl and the ratchet are engaged under the action of the pre-tightening force of the pre-tightening spring, so that the interactive force generated by the occlusal surface prevents the bending torque of the knee joint, and performs one-way locking in the supporting phase of walking. And under the action of the electromagnetic actuator, the pawl overcomes the pre-tightening force in the gait swing phase, so as to complete the unlocking action between the ratchet and the pawl, and then complete the knee. Bending of the joints. 2. The support phase control knee joint brace according to claim 1, characterized in that, further comprising: an anti-fall hook strap fixed to the side of the outer thigh link near the top of the torso segment; and The anti-falling hook is connected to the top of the anti-falling hook belt and is used for hanging on the belt of the wearer. 3. The support phase control knee joint brace according to claim 1, characterized in that: Wherein, the front baffle of the calf is provided with a front calf strap and a rear calf strap for binding the calf and respectively arranged on the front side of the calf and the rear side of the calf. 4. The support phase control knee joint brace according to claim 1, characterized in that: Wherein, the front baffle of the thigh is provided with a front thigh strap and a rear thigh strap which are used to bind the thigh and are respectively arranged on the front side of the thigh and the rear side of the thigh. 5. The support phase control knee joint brace according to claim 1 is characterized in that: Wherein, the inner side of the connection between the inner calf link and the inner thigh link and the inner side of the connection between the outer calf link and the outer thigh link are fixed with flexible pads, The flexible pad is composed of a filler, an outer layer fabric wrapped outside the filler, and one side is connected with the outer layer fabric with barbed bristles, and the other side is adhered to the inner side of the front baffle of the calf Velcro on the surface and the inner surface of the thigh front flap. 6. The support phase control knee joint brace according to claim 1, wherein: Wherein, the minimum included angle between the inner thigh link and the inner calf link and the minimum included angle between the outer thigh link and the outer lower calf link are both 50°, and the maximum included angle is 180°, The maximum angle of engagement between the pawl and the ratchet is 130°, and every 10° is a gear. 7. The support phase control knee joint brace according to claim 1, wherein: Wherein, the outer link of the lower leg and the ratchet are fixed by four screws, The ratchet fixing hole on the outer link of the lower leg is a waist-shaped long hole. 8. The support phase control knee joint brace according to claim 1, wherein: Wherein, the electromagnetic actuator is an electromagnet, The output end of the electromagnetic actuator is connected to the second outer edge protrusion of the pawl through an inelastic cable or a rigid braking link, and the direction of the traction force of the electromagnetic actuator on the pawl when it works It is a direction for assisting the pawl to disengage from the engagement state with the ratchet.

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