CN103006357A - Active-passive combined low-power-consumption ankle joint prosthesis - Google Patents
Active-passive combined low-power-consumption ankle joint prosthesis Download PDFInfo
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- CN103006357A CN103006357A CN2012105540844A CN201210554084A CN103006357A CN 103006357 A CN103006357 A CN 103006357A CN 2012105540844 A CN2012105540844 A CN 2012105540844A CN 201210554084 A CN201210554084 A CN 201210554084A CN 103006357 A CN103006357 A CN 103006357A
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Abstract
The invention discloses an active-passive combined low-power-consumption ankle joint prosthesis, belonging to the technical field of prosthetics and orthotics. The active-passive combined low-power-consumption ankle joint prosthesis comprises a support frame mechanism, an active driving mechanism, an ankle shaft joint mechanism, a series elastic driving mechanism, a parallel spring mechanism and an elastic foot plate mechanism, wherein the support frame mechanism is located above the elastic foot plate mechanism, and the drive part of the ankle joint prosthesis is an active-passive combined drive system formed by combining the active drive mechanism, the ankle shaft joint mechanism, the series elastic driving mechanism and the parallel spring mechanism. According to the invention, the energy storage and energy release functions of the series elastic driving mechanism and the parallel spring mechanism are utilized fully, the active driving mechanism is used for driving only in a proper period in a traveling process, that is, a motor is used for driving only in a dorsal flexion stage, so that the entire ankle joint prosthesis has the advantage of low power consumption; and in addition, the active-passive combined low-power-consumption ankle joint prosthesis is designed according to exercise bionics based on human motion biomechanical studies, can meet the actual requirements of human motion and is simple in structure.
Description
Technical field
The present invention relates to artificial limb and orthosis technical field, more particularly, relate to a kind of passive low-power consumption ankle joint artificial limb that combines of leading.
Background technology
Society so that the colony of below-Knee amputation increases gradually, and is wheelchair, crutch and artificial limb for the mode of present its locomotor activity defective of modal compensation of lower extremity amputee owing to reasons such as vehicle accident, diseases.The wheelchair floor space is larger, and is subject to the place that wheel type machine can't arrive, such as stair walking etc.The use of crutch has taken the function of both hands, has reduced the body function of wearer.Dress artificial limb and can reach the compensatory of human body disappearance function, and have advantage at aspects such as ornamental and walking comfortablenesses.
At present, the kind of ankle joint artificial limb is a lot, by the type of drive classification, mainly contains passive and active ankle joint artificial limb.Passive ankle joint artificial limb is to adopt the materials such as rubber, carbon fiber to make soles, or introduces the energy storage device such as spring so that foot integral body has certain elasticity in mechanism.Passive ankle joint artificial limb has the advantages such as mechanism is simple, lightweight, energy expenditure is low, but because passive ankle joint artificial limb passive delivery exists patients with amputation walking and normal limb motion track mismatch problem.Initiatively the ankle joint artificial limb is to have introduced the active drive device such as motor in prosthetic device, single axis foot adaptor artificial limb and multi-axis foot adaptor artificial limb are arranged, the single axis foot adaptor artificial limb only has the sole of the foot bends and the dorsiflex one degree of freedom, the multi-axis foot adaptor artificial limb can realize then that the sole of the foot identical with human body bent and dorsiflex, in turn over and the motion of turning up and rotating three degree of freedom.Initiatively the major advantage of ankle joint artificial limb is so that the gait of wearer is more natural, and can adapt to different road conditions, but there are the shortcomings such as artificial limb system weight is large, energy consumption is high in active ankle joint artificial limb then owing to introduced driver element.
Such as Chinese patent application numbers 201010286882.4, the applying date is JIUYUE in 2010 19 days, invention and created name is: biomimetic ankle, this application case provides a kind of biomimetic ankle, it comprises sole, the ankle joint seat, turning cylinder, bionical astragalus, the first rod end joint, first bends and stretches bar, the second rod end joint, second bends and stretches bar, motor support base, motor, lead screw transmission mechanism, bend and stretch the bar positioning link, non-linear stage clip mechanism, pinion stand, gear, angular transducer, data acquisition mechanism and Data Control mechanism, utilize motor to be connected with screw mandrel to drive roller to move up and down and realize the joint flexion and extension, guide channel guarantees that screw mandrel band movable joint has enough moving horizontally when rotating, the rod end joint can provide multivariant joint motions, the stability of non-linear stage clip mechanism's assurance ankle joint when doing flexion and extension, angular transducer provides the feedback signal of angle variation, realizes the characteristics of motion that changes near normal human's ankle joint angle by data collecting system and data control system.This application case complex structure, and non-linear stage clip mechanism is used for guaranteeing the stability of ankle joint when doing flexion and extension, whole energy consumption is high, remains to be further improved.
Summary of the invention
The technical problem that invention will solve
The object of the invention is to overcome the deficiency that passive ankle joint artificial limb in the prior art and ankle joint prosthesis technique initiatively exist, a kind of passive low-power consumption ankle joint artificial limb that combines of leading is provided, the present invention combines active drive with passive matrix, designed the ankle joint artificial limb that comprises support frame mechanism, active drive mechanism, ankle axle articulation mechanism, series connection flexible drive mechanism, spring mechanism in parallel and elasticity sole mechanism based on the human motion biomechanics Research, can satisfy the human motion requirement, and have the characteristics of low-power consumption.
Technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of passive low-power consumption ankle joint artificial limb that combines of leading of the present invention, comprise support frame mechanism, active drive mechanism, ankle axle articulation mechanism, series connection flexible drive mechanism, spring mechanism in parallel and elasticity sole mechanism, described support frame mechanism is connected with elasticity sole mechanism, described active drive mechanism, ankle axle articulation mechanism, series connection flexible drive mechanism, spring mechanism in parallel are fixed in the support frame mechanism, wherein:
Described support frame mechanism comprises upper support frame and lower support frame, and this upper support frame links to each other at described ankle axle articulation mechanism place with the lower support frame; Described active drive mechanism comprises encoder, motor, decelerator, the drive bevel gear collar and drive bevel gear, above-mentioned encoder is connected with motor, described motor links to each other with drive bevel gear by decelerator, driving tapered gear shaft, described decelerator below is provided with the drive bevel gear collar, and this drive bevel gear collar is connected mutually with upper support frame; Described ankle axle articulation mechanism comprises driven wheel of differential, ankle axle and ankle axle bearing, and described ankle axle bearing links to each other with upper support frame, lower support frame, and described driven wheel of differential is connected mutually with the ankle axle, and this driven wheel of differential is meshed with above-mentioned drive bevel gear; Described series connection flexible drive mechanism comprises crank, the serial spring connecting rod, the sole of the foot is bent spring, the serial spring guide pin bushing, the first swinging block, the first swinging block bearing, the dorsiflex spring, serial spring guide rod and spring-compressed plate, described crank one end is connected mutually with above-mentioned ankle axle, the crank other end and serial spring connecting rod are hinged, described serial spring guide rod one end connects the serial spring connecting rod, the other end is fixed with the spring-compressed plate, this serial spring guide rod middle part is provided with the first swinging block, be serially connected with the sole of the foot on the serial spring guide rod of described the first swinging block one side and bend spring and serial spring guide pin bushing, the serial spring guide rod two sides of described the first swinging block opposite side are provided with two dorsiflex springs, this dorsiflex spring is installed between the first swinging block and the spring-compressed plate by spring guide separately, and described the first swinging block is by the first swinging block axle, the first swinging block bearing links to each other with the lower support frame; Described spring mechanism in parallel comprises spring link in parallel, spring in parallel, spring guide in parallel, the second swinging block, spring guide in parallel and the second swinging block bearing, be fixed with side by side two spring guides in parallel on described the second swinging block, be arranged with spring guide in parallel and spring in parallel on this parallel connection spring guide, described spring guide in parallel lower end is connected with spring link in parallel, described spring link in parallel is connected mutually with the lower support frame, and described the second swinging block links to each other with upper support frame by the second swinging block axle, the second swinging block bearing; Described elasticity sole mechanism comprises lower footplate and upper sole, and described lower footplate is connected mutually with upper sole.
Further, also comprise pressure transducer, described lower footplate and upper sole are by the screw composition sole that is connected, and the material of this lower footplate and upper sole is carbon fibre material, and the front portion of whole sole and heel place are embedded with pressure transducer.
Further, described active drive mechanism vertically arranges, described ankle axle articulation mechanism is horizontally disposed with, and the axis of the axis of above-mentioned motor, decelerator, the drive bevel gear collar, drive bevel gear and driven wheel of differential, ankle axle, ankle axle bearing is perpendicular.
Beneficial effect
Adopt technical scheme provided by the invention, compare with existing known technology, have following remarkable result:
(1) a kind of passive low-power consumption ankle joint artificial limb that combines of leading of the present invention, its driver part is by active drive mechanism, ankle axle articulation mechanism, the passive drive system that combines of master that series connection flexible drive mechanism and spring mechanism in parallel combine, take full advantage of series connection flexible drive mechanism and spring mechanism in parallel in walking stage energy storage, release the function of energy, only in the process of walking in good time stage drives in active drive mechanism, that is to say that motor only drives in the dorsiflex stage, ankle joint artificial limb of the present invention takes full advantage of the advantage of energy storage device so that whole ankle joint artificial limb has the advantage of low-power consumption;
(2) a kind of passive low-power consumption ankle joint artificial limb that combines of leading of the present invention, this artificial limb structure are based on the human motion biomechanics Research and carry out the motion biomimetics design, can satisfy the human motion actual requirement, and simple in structure.
Description of drawings
Fig. 1 is a kind of structural representation of leading the passive low-power consumption ankle joint artificial limb that combines of the present invention;
Fig. 2 is the structural representation of active drive mechanism among the present invention;
Fig. 3 is the structural representation of ankle axle articulation mechanism among the present invention;
Fig. 4 is the structural representation of series connection flexible drive mechanism among the present invention;
Fig. 5 is the structural representation of spring mechanism in parallel among the present invention.
Label declaration in the sketch map:
101, upper support frame; 102, lower support frame; 201, lower footplate; 202, upper foot plate; 3, motor; 4, decelerator; 5, the drive bevel gear collar; 6, drive bevel gear; 7, driven wheel of differential; 8, ankle axle; 9, ankle axle bearing; 10, crank; 11, serial spring connecting rod; 12, the sole of the foot is bent spring; 13, serial spring guide pin bushing; 14, the first swinging block; 15, the first swinging block bearing; 16, dorsiflex spring; 17, serial spring guide rod; 18, spring-compressed plate; 19, spring link in parallel; 20, spring in parallel; 21, spring guide in parallel; 22, the second swinging block; 23, spring guide in parallel; 24, the second swinging block bearing.
The specific embodiment
For further understanding content of the present invention, in conjunction with the accompanying drawings and embodiments the present invention is described in detail.
Embodiment 1
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, present embodiment a kind of leads the passive low-power consumption ankle joint artificial limb that combines, comprise support frame mechanism, active drive mechanism, ankle axle articulation mechanism, series connection flexible drive mechanism, spring mechanism in parallel and elasticity sole mechanism, support frame mechanism is connected with elasticity sole mechanism, and support frame mechanism is positioned at the top of elasticity sole mechanism, and active drive mechanism, ankle axle articulation mechanism, series connection flexible drive mechanism, spring mechanism in parallel are fixed in the support frame mechanism.
As shown in Figure 1, support frame mechanism comprises upper support frame 101 and lower support frame 102, this upper support frame 101 links to each other at ankle axle articulation mechanism place with lower support frame 102, the common supporting mechanism that connects wearer, ankle axle articulation mechanism, spring mechanism in parallel and elasticity sole mechanism etc. that forms.Among Fig. 1, elasticity sole mechanism comprises lower footplate 201, upper sole 202 and pressure transducer (among the figure for illustrating), lower footplate 201 and upper sole 202 are by the screw composition sole that is connected, the material of this lower footplate 201 and upper sole 202 is carbon fibre material, the front portion of whole sole and heel place are embedded with pressure transducer, are used for the detection of human motion state.
As shown in Figure 2, active drive mechanism comprises encoder (among the figure not label illustrate), motor 3, decelerator 4, the drive bevel gear collar 5 and drive bevel gear 6, above-mentioned encoder is connected with motor 3, encoder is connected with control system, motor 3 links to each other with drive bevel gear 6 by decelerator 4, driving tapered gear shaft, described decelerator 4 belows are provided with the drive bevel gear collar 5, and the fixed station in this drive bevel gear collar 5 and the upper support frame 101 fixes.
As shown in Figure 3, ankle axle articulation mechanism comprises driven wheel of differential 7, ankle axle 8 and ankle axle bearing 9, described ankle axle bearing 9 links to each other with upper support frame 101, lower support frame 102, and described driven wheel of differential 7 and ankle axle 8 are connected mutually by key, and this driven wheel of differential 7 is meshed with above-mentioned drive bevel gear 6.Active drive mechanism vertically arranges in the present embodiment, described ankle axle articulation mechanism is horizontally disposed with, the axis of the axis of above-mentioned motor 3, decelerator 4, the drive bevel gear collar 5, drive bevel gear 6 and driven wheel of differential 7, ankle axle 8, ankle axle bearing 9 is perpendicular, as shown in Figure 1.
As shown in Figure 4, series connection flexible drive mechanism comprises crank 10, serial spring connecting rod 11, the sole of the foot is bent spring 12, serial spring guide pin bushing 13, the first swinging block 14, the first swinging block bearing 15, dorsiflex spring 16, serial spring guide rod 17 and spring-compressed plate 18, described crank 10 1 ends are connected mutually with above-mentioned ankle axle 8, crank 10 other ends and serial spring connecting rod 11 are hinged, described serial spring guide rod 17 1 ends connect serial spring connecting rod 11, the other end is fixed with spring-compressed plate 18, these serial spring guide rod 17 middle parts are provided with the first swinging block 14, be serially connected with the sole of the foot on the serial spring guide rod 17 of described the first swinging block 14 1 sides and bend spring 12 and serial spring guide pin bushing 13, serial spring guide rod 17 two sides of described the first swinging block 14 opposite sides are provided with two dorsiflex springs 16, this dorsiflex spring 16 is installed between the first swinging block 14 and the spring-compressed plate 18 by spring guide separately, and described the first swinging block 14 is by the first swinging block axle, the first swinging block bearing 15 links to each other with lower support frame 102.
As shown in Figure 5, spring mechanism in parallel comprises spring link 19 in parallel, spring 20 in parallel, spring guide 21 in parallel, the second swinging block 22, spring guide 23 in parallel and the second swinging block bearing 24, be fixed with side by side two spring guides 23 in parallel on described the second swinging block 22, be arranged with spring guide 21 in parallel and spring in parallel 20 on this parallel connection spring guide 23, described spring guide in parallel 23 lower ends are connected with spring link 19 in parallel, described spring link in parallel 19 is connected mutually with lower support frame 102, and described the second swinging block 22 is by the second swinging block axle, the second swinging block bearing 24 links to each other with upper support frame 101.What deserves to be explained is, in the present embodiment, the material of the parts such as upper support frame 101, lower support frame 102, ankle axle 8, crank 10, serial spring guide rod 17, spring guide in parallel 23, the first swinging block 14, the second swinging block bearing 24, spring-compressed plate 18 all adopts the light aluminum alloy material.
Motion phase according to human body in the gait cycle is described work process of the present invention.The motion of model of human ankle mutually can be divided into support and reaches mutually the swing phase in a gait cycle, wherein is divided into again in supporting mutually: the sole of the foot of setting level to sole is heelstrike bent stage, sole and is set level heeloff dorsiflex stage, applies the power-actuated sole of the foot stage in the wrong to the liftoff need of tiptoe heeloff.In conjunction with the motion phase in above-mentioned gait cycle relation, when the present invention works, at first heelstrike after, the ankle joint artificial limb is bent spring 12 to the sole of the foot in the series connection flexible drive mechanism and is carried out compressed energy-storage until sole is set level along with the human body deformed limb; Be leveled under foot in the liftoff process of heel, the sole of the foot is bent spring 12 stretching, extensions and is released and can promote heeloff, and spring 20 compressions in parallel, ankle joint is carried out the rigidity compensation, simultaneously dorsiflex spring 16 compressed energy-storages, dorsiflex spring 16 stretches in the process of stepping on to tiptoe heeloff overhead releases energy, and spring 20 in parallel same stretching, extension in step on heeloff overhead process to tiptoe releases energy, but in this process, ankle joint need to do work and promote moving upward forward of human body, energy near dorsiflex spring 16 and spring in parallel 20 releases is obviously not enough, motor in the active drive mechanism 3 drives driven wheels of differential 7 at this moment, in time ankle joint is carried out power compensation, and then the realization ankle joint is stepped on motion overhead.Only need control the reasonable swaying phase of its sole after entering recovery phase until enter next time heelstrike motion.
The present invention take full advantage of series connection flexible drive mechanism and spring mechanism in parallel walking stage energy storage, release can function, active drive mechanism only in the process of walking in good time stage drive so that whole ankle joint artificial limb has the advantage of low-power consumption.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing also is one of embodiments of the present invention, and actual structure is not limited to this.So, if those of ordinary skill in the art is enlightened by it, in the situation that does not break away from the invention aim, without the creationary frame mode similar to this technical scheme and the embodiment of designing, all should belong to protection scope of the present invention.
Claims (3)
1. passive low-power consumption ankle joint artificial limb that combines of master, it is characterized in that: comprise support frame mechanism, active drive mechanism, ankle axle articulation mechanism, series connection flexible drive mechanism, spring mechanism in parallel and elasticity sole mechanism, described support frame mechanism is connected with elasticity sole mechanism, described active drive mechanism, ankle axle articulation mechanism, series connection flexible drive mechanism, spring mechanism in parallel are fixed in the support frame mechanism, wherein:
Described support frame mechanism comprises upper support frame (101) and lower support frame (102), and this upper support frame (101) links to each other at described ankle axle articulation mechanism place with lower support frame (102);
Described active drive mechanism comprises encoder, motor (3), decelerator (4), the drive bevel gear collar (5) and drive bevel gear (6), above-mentioned encoder is connected with motor (3), described motor (3) links to each other with drive bevel gear (6) by decelerator (4), driving tapered gear shaft, described decelerator (4) below is provided with the drive bevel gear collar (5), and this drive bevel gear collar (5) is connected mutually with upper support frame (101);
Described ankle axle articulation mechanism comprises driven wheel of differential (7), ankle axle (8) and ankle axle bearing (9), described ankle axle bearing (9) links to each other with upper support frame (101), lower support frame (102), described driven wheel of differential (7) is connected mutually with ankle axle (8), and this driven wheel of differential (7) is meshed with above-mentioned drive bevel gear (6);
Described series connection flexible drive mechanism comprises crank (10), serial spring connecting rod (11), the sole of the foot is bent spring (12), serial spring guide pin bushing (13), the first swinging block (14), the first swinging block bearing (15), dorsiflex spring (16), serial spring guide rod (17) and spring-compressed plate (18), described crank (10) one ends are connected mutually with above-mentioned ankle axle (8), crank (10) other end and serial spring connecting rod (11) are hinged, described serial spring guide rod (17) one ends connect serial spring connecting rod (11), the other end is fixed with spring-compressed plate (18), this serial spring guide rod (17) middle part is provided with the first swinging block (14), be serially connected with the sole of the foot on the serial spring guide rod (17) of described the first swinging block (14) one sides and bend spring (12) and serial spring guide pin bushing (13), serial spring guide rod (17) two sides of described the first swinging block (14) opposite side are provided with two dorsiflex springs (16), this dorsiflex spring (16) is installed between the first swinging block (14) and the spring-compressed plate (18) by spring guide separately, and described the first swinging block (14) is by the first swinging block axle, the first swinging block bearing (15) links to each other with lower support frame (102);
Described spring mechanism in parallel comprises spring link in parallel (19), spring (20) in parallel, spring guide (21) in parallel, the second swinging block (22), spring guide (23) in parallel and the second swinging block bearing (24), be fixed with side by side two spring guides in parallel (23) on described the second swinging block (22), be arranged with spring guide in parallel (21) and spring in parallel (20) on this parallel connection spring guide (23), described spring guide in parallel (23) lower end is connected with spring link in parallel (19), described spring link in parallel (19) is connected mutually with lower support frame (102), and described the second swinging block (22) is by the second swinging block axle, the second swinging block bearing (24) links to each other with upper support frame (101);
Described elasticity sole mechanism comprises lower footplate (201) and upper sole (202), and described lower footplate (201) is connected mutually with upper sole (202).
2. a kind of passive low-power consumption ankle joint artificial limb that combines of leading according to claim 1, it is characterized in that: also comprise pressure transducer, described lower footplate (201) and upper sole (202) are by the screw composition sole that is connected, the material of this lower footplate (201) and upper sole (202) is carbon fibre material, and the front portion of whole sole and heel place are embedded with pressure transducer.
3. a kind of passive low-power consumption ankle joint artificial limb that combines of leading according to claim 2, it is characterized in that: described active drive mechanism vertically arranges, described ankle axle articulation mechanism is horizontally disposed with, and the axis of the axis of above-mentioned motor (3), decelerator (4), the drive bevel gear collar (5), drive bevel gear (6) and driven wheel of differential (7), ankle axle (8), ankle axle bearing (9) is perpendicular.
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| CN201210554084.4A CN103006357B (en) | 2012-12-19 | 2012-12-19 | Active-passive combined low-power-consumption ankle joint prosthesis |
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| CN201210554084.4A CN103006357B (en) | 2012-12-19 | 2012-12-19 | Active-passive combined low-power-consumption ankle joint prosthesis |
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| CN103006357B CN103006357B (en) | 2015-04-22 |
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| CN104605964A (en) * | 2015-02-15 | 2015-05-13 | 苏州大学 | Active-passive hybrid driven integrated ankle joint and artificial foot structure |
| CN105342804A (en) * | 2015-07-26 | 2016-02-24 | 广东铭凯医疗机器人有限公司 | Internal and external ankle rotation rehabilitation training apparatus integrating training and motion state detections |
| CN105620579A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Four-degrees-of-freedom series-parallel impact resistant mechanical foot for humanoid robot |
| CN106914920A (en) * | 2017-03-30 | 2017-07-04 | 南京工程学院 | Towards the variation rigidity flexible actuator of lower limb ankle-joint exoskeleton robot |
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| CN107336217A (en) * | 2017-07-03 | 2017-11-10 | 深圳市优必选科技有限公司 | Robot ankle structure and robot |
| CN107349036A (en) * | 2017-06-20 | 2017-11-17 | 南京工程学院 | Ankle-joint artificial limb based on flexible actuator |
| CN107536662A (en) * | 2017-09-07 | 2018-01-05 | 重庆德勒夫科技有限公司 | Light intelligent energy storage and energy release ankle-joint artificial limb |
| CN107874875A (en) * | 2016-09-29 | 2018-04-06 | 香港中文大学 | Power type type ankle-foot prosthesis |
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| CN110074905A (en) * | 2019-05-24 | 2019-08-02 | 北京交通大学 | Active ankle-joint prosthetic device with connecting rod energy storage and center of gravity self-regulation |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
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| CN111603283A (en) * | 2020-07-03 | 2020-09-01 | 吉林大学 | Active artificial limb ankle joint |
| CN112451319A (en) * | 2020-11-24 | 2021-03-09 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| CN113057768A (en) * | 2021-03-16 | 2021-07-02 | 吉林大学 | Compact type active artificial limb ankle joint |
| CN114652570A (en) * | 2022-03-17 | 2022-06-24 | 东莞理工学院 | Flexible rope driven ankle joint rehabilitation robot |
| CN114681261A (en) * | 2020-12-28 | 2022-07-01 | 复旦大学 | Knee joint movement energy storage mechanism with changeable instantaneous center of rotation |
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