CN103006357B - 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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- CN103006357B CN103006357B CN201210554084.4A CN201210554084A CN103006357B CN 103006357 B CN103006357 B CN 103006357B CN 201210554084 A CN201210554084 A CN 201210554084A CN 103006357 B CN103006357 B CN 103006357B
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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 and a kind ofly lead the passive low-power-consumption ankle joint artificial limb combined.
Background technology
Society because the reason such as vehicle accident, disease makes the colony of below-Knee amputation increase gradually, and is wheelchair, crutch and artificial limb for the mode of current its locomotor activity defect of modal compensation of lower extremity amputee.Wheelchair floor space is comparatively large, and is limited to the place that wheel type machine cannot arrive, as stair walking etc.The use of crutch occupies the function of both hands, reduces the body function of wearer.Dress artificial limb and can reach the compensatory of human body disappearance function, and ornamental with walking comfort etc. in there is advantage.
At present, the kind of ankle joint artificial limb is a lot, by type of drive classification, mainly contains passive and active ankle joint artificial limb.Passive ankle joint artificial limb adopts the material such as rubber, carbon fiber to make sole, or in mechanism, introduce the energy storage devices such as spring make foot entirety have certain elasticity.Passive ankle joint artificial limb has the advantages such as mechanism is simple, lightweight, energy expenditure is low, but due to passive ankle joint artificial limb passive delivery, there is patients with amputation walking and normal limb movement locus mismatch problem.Initiatively ankle joint artificial limb introduces the active drive devices such as motor in prosthetic device, there are single axis foot adaptor artificial limb and multi-axis foot adaptor artificial limb, single axis foot adaptor artificial limb only has plantar flexion and dorsiflex one degree of freedom, and multi-axis foot adaptor artificial limb then can realize the plantar flexion identical with human body and dorsiflex, varus and turns up and rotate the motion of three degree of freedom.Initiatively the major advantage of ankle joint artificial limb makes the gait of wearer comparatively natural, and can adapt to different road conditions, but active ankle joint artificial limb is then owing to introducing driver element, there is the shortcomings such as artificial limb system weight is large, energy consumption is high.
As Chinese Patent Application No. 201010286882.4, the applying date is JIUYUE in 2010 19 days, and invention and created name is: biomimetic ankle, and this application case provides a kind of biomimetic ankle, and it comprises foot plate, ankle joint seat, turning cylinder, bionical astragalus, first rod end joint, first bends and stretches bar, second rod end joint, second bends and stretches bar, motor support base, motor, lead screw transmission mechanism, bend and stretch 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 joint flexion and extension, guide channel has enough moving horizontally when ensureing that screw mandrel band movable joint rotates, rod end joint can provide multivariant joint motions, non-linear stage clip mechanism ensures the stability of ankle joint when doing flexion and extension, the feedback signal that angular transducer provides angle to change, realizes the characteristics of motion close to the change of 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 for ensureing the stability of ankle joint when doing flexion and extension, overall 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 in prior art, passive ankle joint artificial limb exists with active ankle joint prosthesis technique, provide and a kind ofly lead the passive low-power-consumption ankle joint artificial limb combined, active drive combines with passive matrix by the present invention, the ankle joint artificial limb comprising support frame mechanism, active driving mechanisms, ankle axle articulation mechanism, series connection flexible drive mechanism, parallel springs mechanism and elasticity footrest mechanism is devised based on human motion biomechanics Research, human motion requirement can be met, and there is the feature of low-power consumption.
technical scheme
For achieving the above object, technical scheme provided by the invention is:
Of the present inventionly a kind ofly lead the passive low-power-consumption ankle joint artificial limb combined, comprise support frame mechanism, active driving mechanisms, ankle axle articulation mechanism, series connection flexible drive mechanism, parallel springs mechanism and elasticity footrest mechanism, described support frame mechanism is connected with elasticity footrest mechanism, described active driving mechanisms, ankle axle articulation mechanism, series connection flexible drive mechanism, parallel springs mechanism are fixed in support frame mechanism, wherein:
Described support frame mechanism comprises upper support frame and lower support frame, and this upper support frame is connected at described ankle axle articulation mechanism place with lower support frame, described active driving mechanisms comprises encoder, motor, decelerator, the drive bevel gear collar and drive bevel gear, above-mentioned encoder is connected with motor, described motor is connected with drive bevel gear by decelerator, driving tapered gear shaft, be provided with the drive bevel gear collar below described decelerator, 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 is connected with upper support frame, lower support frame, and described driven wheel of differential is connected mutually with ankle axle, and this driven wheel of differential is meshed with above-mentioned drive bevel gear, described series connection flexible drive mechanism comprises crank, serial spring connecting rod, plantar flexion spring, serial spring guide pin bushing, first swinging block, first swinging block bearing, 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 connects serial spring connecting rod, the other end is fixed with spring-compressed plate, the first swinging block is provided with in the middle part of this serial spring guide rod, the serial spring guide rod of the first described swinging block side is serially connected with plantar flexion spring and serial spring guide pin bushing, the serial spring guide rod two sides of the first described swinging block opposite side are provided with two dorsiflex springs, this dorsiflex spring is installed between the first swinging block and spring-compressed plate by respective spring guide, the first described swinging block is by the first swinging block axle, first swinging block bearing is connected with lower support frame, described parallel springs mechanism comprises parallel springs connecting rod, parallel springs, parallel springs guide pin bushing, the second swinging block, parallel springs guide rod and the second swinging block bearing, the second described swinging block is fixed with side by side two parallel springs guide rods, this parallel springs guide rod is arranged with parallel springs guide pin bushing and parallel springs, described parallel springs lower end of the guide rod is connected with parallel springs connecting rod, described parallel springs connecting rod is connected mutually with lower support frame, and the second described swinging block is connected with upper support frame by the second swinging block axle, the second swinging block bearing, described elasticity footrest 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 to be connected composition sole by screw, and the material of this lower footplate and upper sole is carbon fibre material, and front portion and the heel place of whole sole are embedded with pressure transducer.
Further, described active driving mechanisms is vertically arranged, 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, compared with existing known technology, there is following remarkable result:
(1) of the present inventionly a kind ofly the passive low-power-consumption ankle joint artificial limb combined is led, its driver part is by active driving mechanisms, ankle axle articulation mechanism, the passive drive system combined of master of series connection flexible drive mechanism and parallel springs Mechanism Combination, take full advantage of series connection flexible drive mechanism and parallel springs mechanism in walking phase energy storage, release the function of energy, only in good time stage in the process of walking drives active driving mechanisms, that is to say that motor only drives in the dorsiflex stage, the advantage that ankle joint artificial limb of the present invention takes full advantage of energy storage device makes whole ankle joint artificial limb have the advantage of low-power consumption,
(2) of the present inventionly a kind ofly lead the passive low-power-consumption ankle joint artificial limb combined, this prosthetic structure carries out motion biomimetics design based on human motion biomechanics Research, can meet human motion actual requirement, and structure is simple.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation leading the passive low-power-consumption ankle joint artificial limb combined of the present invention;
Fig. 2 is the structural representation of active driving mechanisms in the present invention;
Fig. 3 is the structural representation of ankle axle articulation mechanism in the present invention;
Fig. 4 is the structural representation of flexible drive mechanism of connecting in the present invention;
Fig. 5 is the structural representation of parallel springs mechanism in the present invention.
Label declaration in schematic diagram:
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, plantar flexion 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, parallel springs connecting rod; 20, parallel springs; 21, parallel springs guide pin bushing; 22, the second swinging block; 23, parallel springs guide rod; 24, the second swinging block bearing.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
embodiment 1
Composition graphs 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the a kind of of the present embodiment leads the passive low-power-consumption ankle joint artificial limb combined, comprise support frame mechanism, active driving mechanisms, ankle axle articulation mechanism, series connection flexible drive mechanism, parallel springs mechanism and elasticity footrest mechanism, support frame mechanism is connected with elasticity footrest mechanism, and support frame mechanism is positioned at the top of elasticity footrest mechanism, active driving mechanisms, ankle axle articulation mechanism, series connection flexible drive mechanism, parallel springs mechanism are fixed in 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 is connected at ankle axle articulation mechanism place with lower support frame 102, the common supporting mechanism forming connection wearer, ankle axle articulation mechanism, parallel springs mechanism and elasticity footrest mechanism etc.In Fig. 1, elasticity footrest mechanism comprises lower footplate 201, upper sole 202 and pressure transducer (for illustrating in figure), lower footplate 201 and upper sole 202 to be connected composition sole by screw, the material of this lower footplate 201 and upper sole 202 is carbon fibre material, front portion and the heel place of whole sole are embedded with pressure transducer, for the detection of human motion state.
As shown in Figure 2, active driving mechanisms comprises encoder (in figure, non-label illustrates), 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 is connected with drive bevel gear 6 by decelerator 4, driving tapered gear shaft, be provided with the drive bevel gear collar 5 below described decelerator 4, this drive bevel gear collar 5 fixes with the fixed station in upper support frame 101.
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 is connected with upper support frame 101, lower support frame 102, and described driven wheel of differential 7 is connected by key mutually with ankle axle 8, and this driven wheel of differential 7 is meshed with above-mentioned drive bevel gear 6.In the present embodiment, active driving mechanisms is vertically arranged, 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, plantar flexion spring 12, serial spring guide pin bushing 13, first swinging block 14, first swinging block bearing 15, dorsiflex spring 16, serial spring guide rod 17 and spring-compressed plate 18, described crank 10 one end is 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 end connects serial spring connecting rod 11, the other end is fixed with spring-compressed plate 18, the first swinging block 14 is provided with in the middle part of this serial spring guide rod 17, the serial spring guide rod 17 of the first described swinging block 14 side is serially connected with plantar flexion spring 12 and serial spring guide pin bushing 13, serial spring guide rod 17 two sides of the first described 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 spring-compressed plate 18 by respective spring guide, the first described swinging block 14 is by the first swinging block axle, first swinging block bearing 15 is connected with lower support frame 102.
As shown in Figure 5, parallel springs mechanism comprises parallel springs connecting rod 19, parallel springs 20, parallel springs guide pin bushing 21, second swinging block 22, parallel springs guide rod 23 and the second swinging block bearing 24, the second described swinging block 22 is fixed with two parallel springs guide rods 23 side by side, this parallel springs guide rod 23 is arranged with parallel springs guide pin bushing 21 and parallel springs 20, described parallel springs guide rod 23 lower end is connected with parallel springs connecting rod 19, described parallel springs connecting rod 19 is connected mutually with lower support frame 102, the second described swinging block 22 is by the second swinging block axle, second swinging block bearing 24 is connected 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, parallel springs guide rod 23, first swinging block 14, second swinging block bearing 24, spring-compressed plate 18 all adopts light aluminum alloy material.
According to the motion phase of human body in a gait cycle, work process of the present invention is described.In a gait cycle, the motion of model of human ankle can be divided into mutually and supports mutually and swing phase, is wherein divided into again supporting mutually: arrive plantar flexion stage that sole sets level heelstrike, sole sets level dorsiflex stage heeloff, arrive the liftoff need of tiptoe heeloff applies the power-actuated plantar flexion stage.In conjunction with the motion phase relation in above-mentioned gait cycle, when the present invention works, first heelstrike, ankle joint artificial limb along with human body deformed limb to series connection flexible drive mechanism in plantar flexion spring 12 carry out compressed energy-storage until sole is set level, be leveled in the liftoff process of heel at sole, plantar flexion spring 12 stretches to be released and can promote heeloff, and parallel springs 20 compresses, rigidity compensation is carried out to ankle joint, the spring 16 of dorsiflex simultaneously compressed energy-storage, dorsiflex spring 16 step on to tiptoe heeloff in process overhead stretch release can, and parallel springs 20 step on to tiptoe heeloff overhead in process same stretching, extension release energy, but in the process, ankle joint needs acting to promote moving upward forward of human body, the energy discharged near dorsiflex spring 16 and parallel springs 20 is obviously not enough, motor 3 now in active driving mechanisms drives driven wheel of differential 7, in time power compensation is carried out to ankle joint, and then realize ankle joint and step on motion overhead.Only need the reasonable swaying phase controlling its sole until enter motion heelstrike next time after entering recovery phase.
The present invention take full advantage of series connection flexible drive mechanism and parallel springs mechanism walking phase energy storage, release can function, only in good time stage in the process of walking drives active driving mechanisms, makes whole ankle joint artificial limb have the advantage of low-power consumption.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (2)
1. the passive low-power-consumption ankle joint artificial limb combined of master, it is characterized in that: comprise support frame mechanism, active driving mechanisms, ankle axle articulation mechanism, series connection flexible drive mechanism, parallel springs mechanism and elasticity footrest mechanism, described support frame mechanism is connected with elasticity footrest mechanism, described active driving mechanisms, ankle axle articulation mechanism, series connection flexible drive mechanism, parallel springs mechanism are fixed in support frame mechanism, wherein:
Described support frame mechanism comprises upper support frame (101) and lower support frame (102), and this upper support frame (101) is connected at described ankle axle articulation mechanism place with lower support frame (102);
Described active driving mechanisms 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), encoder is connected with control system, described motor (3) is connected 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); Wherein: described active driving mechanisms is vertically arranged, 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;
Described ankle axle articulation mechanism comprises driven wheel of differential (7), ankle axle (8) and ankle axle bearing (9), described ankle axle bearing (9) is connected 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), plantar flexion spring (12), serial spring guide pin bushing (13), first swinging block (14), first swinging block bearing (15), dorsiflex spring (16), serial spring guide rod (17) and spring-compressed plate (18), described crank (10) one end is 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 end connects 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), the serial spring guide rod (17) of described the first swinging block (14) side is serially connected with plantar flexion 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 spring-compressed plate (18) by respective spring guide, described the first swinging block (14) is by the first swinging block axle, first swinging block bearing (15) is connected with lower support frame (102),
Described parallel springs mechanism comprises parallel springs connecting rod (19), parallel springs (20), parallel springs guide pin bushing (21), second swinging block (22), parallel springs guide rod (23) and the second swinging block bearing (24), described the second swinging block (22) is fixed with side by side two parallel springs guide rods (23), this parallel springs guide rod (23) is arranged with parallel springs guide pin bushing (21) and parallel springs (20), described parallel springs guide rod (23) lower end is connected with parallel springs connecting rod (19), described parallel springs connecting rod (19) is connected mutually with lower support frame (102), described the second swinging block (22) is by the second swinging block axle, second swinging block bearing (24) is connected with upper support frame (101),
Described elasticity footrest mechanism comprises lower footplate (201) and upper sole (202), and described lower footplate (201) is connected mutually with upper sole (202).
2. according to claim 1ly a kind ofly lead the passive low-power-consumption ankle joint artificial limb combined, it is characterized in that: also comprise pressure transducer, described lower footplate (201) and upper sole (202) to be connected composition sole by screw, the material of this lower footplate (201) and upper sole (202) is carbon fibre material, and front portion and the heel place of whole sole are embedded with pressure transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210554084.4A CN103006357B (en) | 2012-12-19 | 2012-12-19 | Active-passive combined low-power-consumption ankle joint prosthesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210554084.4A CN103006357B (en) | 2012-12-19 | 2012-12-19 | Active-passive combined low-power-consumption ankle joint prosthesis |
Publications (2)
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| CN103006357A CN103006357A (en) | 2013-04-03 |
| CN103006357B true CN103006357B (en) | 2015-04-22 |
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| CN201210554084.4A Expired - Fee Related CN103006357B (en) | 2012-12-19 | 2012-12-19 | Active-passive combined low-power-consumption ankle joint prosthesis |
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| CN104605964B (en) * | 2015-02-15 | 2017-02-01 | 苏州大学 | Active-passive hybrid driven integrated ankle joint and artificial foot structure |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| 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 |
| CN105620579B (en) * | 2016-02-19 | 2017-10-20 | 常州大学 | Anthropomorphic robot four-freedom hybrid shock resistance machinery foot |
| US10406000B2 (en) * | 2016-09-29 | 2019-09-10 | The Chinese University Of Hong Kong | Ankle-foot prosthesis device |
| 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 |
| CN107049569B (en) * | 2017-04-03 | 2018-10-09 | 怀化恩德莱康复器具有限公司 | A kind of bionical artificial limb machinery foot |
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| CN107349036A (en) * | 2017-06-20 | 2017-11-17 | 南京工程学院 | Ankle-joint artificial limb based on flexible actuator |
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| 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 |
| CN108836583B (en) * | 2018-05-17 | 2020-01-14 | 西北工业大学 | Active and passive ankle joint prosthesis with variable-rod-length gear five-rod mechanism |
| CN111084682B (en) * | 2018-10-24 | 2022-04-05 | 北京工道风行智能技术有限公司 | Bionic foot with adjustable heel |
| CN110074905B (en) * | 2019-05-24 | 2020-10-09 | 北京交通大学 | Active ankle joint prosthesis mechanism with connecting rod energy storage and gravity center self-adjustment functions |
| CN111603283A (en) * | 2020-07-03 | 2020-09-01 | 吉林大学 | Active artificial limb ankle joint |
| CN112451319B (en) * | 2020-11-24 | 2023-03-14 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| CN114681261A (en) * | 2020-12-28 | 2022-07-01 | 复旦大学 | Knee joint movement energy storage mechanism with changeable instantaneous center of rotation |
| CN113057768A (en) * | 2021-03-16 | 2021-07-02 | 吉林大学 | Compact type active artificial limb ankle joint |
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| CN103006357A (en) | 2013-04-03 |
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