CN112076012A

CN112076012A - Intelligent bionic artificial leg

Info

Publication number: CN112076012A
Application number: CN202010976845.XA
Authority: CN
Inventors: 马浩为
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2020-12-15

Abstract

The invention belongs to the technical field of artificial limbs of human bodies, and particularly relates to an intelligent bionic calf artificial limb which comprises a bionic leg and an artificial limb bottom plate, wherein a hollow cavity is arranged in the artificial limb bottom plate, a pressure instrument is fixed in the hollow cavity, the upper end of the bionic leg is fixedly connected with a receiving cavity, a cavity is arranged in the bionic leg, a supporting plate is fixedly connected in the cavity, the upper end of the supporting plate is fixedly connected with a storage battery and a controller, the top end in the cavity is fixedly connected with a gyroscope, and the lower end of the supporting plate is fixedly connected with two supporting columns. The artificial limb walking state judging device is novel in structure, various data acquisition sensors are arranged, various detected information is processed through the raspberry group, the walking state of a patient is accurately judged in time, different power is provided for an artificial limb wearer, accordingly, natural gait of the human body is achieved, the requirement for daily activities is met, self-respect and self-confidence of the patient are enhanced, meanwhile, the damping effect is achieved, and the wearing comfort level is increased.

Description

Intelligent bionic artificial leg

Technical Field

The invention belongs to the technical field of human body artificial limbs, and particularly relates to an intelligent bionic calf artificial limb.

Background

The prior below-knee artificial limbs are mainly divided into passive artificial limbs and active artificial limbs, wherein the ankle joint of the passive artificial limbs adopts a single-shaft ankle joint or a universal ankle joint and the like, and the problem exists that the walking speed cannot naturally and randomly change along with the change of the walking speed of an amputee, and a patient is often forced to make up the deficiency of propulsion capacity by leaning forward the body, so that the amputee can feel fatigue more easily; the active artificial limb is driven by a motor and can provide enough energy for the body to advance, so that natural gait of the human body is realized, but the design of the existing active artificial limb about an ankle joint is relatively simple, the requirement of a user cannot be well met, the active artificial limb does not have a damping effect, the leg of the patient is very uncomfortable after long-term use, the intelligent effect of the existing artificial limb is not good, and certain change cannot be made according to the walking speed of the patient or the ground environment.

Disclosure of Invention

The invention aims to provide an intelligent bionic calf prosthesis to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an intelligent bionic artificial shank comprises a bionic leg and an artificial limb bottom plate, wherein a hollow cavity is arranged in the artificial limb bottom plate, a pressure instrument is fixed in the hollow cavity, the upper end of the bionic leg is fixedly connected with a receiving cavity, a cavity is arranged in the bionic leg, a supporting plate is fixedly connected in the cavity, the upper end of the supporting plate is fixedly connected with a storage battery and a controller, the top end in the cavity is fixedly connected with a gyroscope, the lower end of the supporting plate is fixedly connected with two supporting columns, a curved wheel is rotatably connected between the two supporting columns, one side of one of the supporting columns is provided with a servo motor, the tail end of an output shaft of the servo motor is fixedly connected with the curved wheel, a fixing frame is fixedly connected between the servo motor and the supporting columns, and a horizontally arranged fixing block is fixedly connected between the two supporting, the bionic leg comprises a fixing block, and is characterized in that an inserting rod is inserted into the fixing block, the upper end of the inserting rod is rotatably connected with a disc, an elastic device is arranged on the inserting rod, the lower end of the inserting rod is rotatably connected with an artificial limb bottom plate, the lower end of the inserting rod is fixedly connected with a moving device, the lower end of the moving device is rotatably connected with the artificial limb bottom plate, and the outer side wall of the bionic leg is fixedly connected with a camera, a distance meter and a charging port.

Preferably, the elastic device comprises a spring and a limiting block, the limiting block is fixedly sleeved on the inserted rod, the spring is sleeved on the inserted rod, and two ends of the spring are fixedly connected with the limiting block and the fixing block respectively.

Preferably, the moving device comprises a connecting plate, a sliding block and a sliding rod, the upper end of the connecting plate is fixedly connected with the lower end of the other inserting rod, a groove is formed in the lower end of the connecting plate, the sliding rod is fixedly connected with the side wall of the groove, and the sliding block is sleeved on the sliding rod in a sliding mode.

Preferably, the charging port is electrically connected with a storage battery, and the storage battery, the camera, the range finder, the gyroscope and the servo motor are all electrically connected with the controller.

Preferably, the controller is a raspberry pie.

Preferably, a red-green double-color LED lamp, a switch and a prompter are arranged on the charging port.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the sensors such as the camera and the range finder gyroscope are arranged, physical information around the artificial limb is collected and sent to the controller, the controller controls the servo motor to operate, then the crank wheel is driven to rotate, two discs below the crank wheel are extruded, one of the insertion rods moves downwards, then the angle between the artificial limb bottom plate and the ground is changed, so that the artificial limb bottom plate is adapted to the body swing when an amputee walks, and the natural gait of a human body can be maintained; realize equipment all with the shock attenuation effect through resilient means, strengthen patient's self-esteem and self-confidence, have the shock attenuation effect simultaneously, increase the comfort level of dressing.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a side view of a partial structure of the present invention;

FIG. 3 is an enlarged view of the structure at A of the present invention;

FIG. 4 is a schematic diagram of the core portion of the controller in an embodiment of the invention.

In the figure: 1-a receiving cavity, 2-a bionic leg, 3-a storage battery, 4-a supporting plate, 5-a camera, 6-a supporting column, 7-a curved wheel, 8-a spring, 9-an inserted rod, 10-a pressure instrument, 11-a prosthesis bottom plate, 12-a fixed block, 13-a limiting block, 14-a disc, 15-a distance meter, 16-a controller, 17-a charging port, 18-a gyroscope, 19-a fixed frame, 20-a servo motor, 21-a connecting plate, 22-a sliding block and 23-a sliding rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: an intelligent bionic artificial leg comprises a bionic leg 2 and an artificial limb base plate 11, wherein a hollow cavity is arranged inside the artificial limb base plate 11, a pressure gauge 10 is fixed in the hollow cavity, the pressure gauge 10 is used for detecting the pressure between the upper components of the artificial limb base plate 11, the upper end of the bionic leg 2 is fixedly connected with a receiving cavity 1, the receiving cavity 1 is used for being connected with thigh muscles of a user, a cavity is arranged inside the bionic leg 2, a supporting plate 4 is fixedly connected in the cavity, the upper end of the supporting plate 4 is fixedly connected with a storage battery 3 and a controller 16, the top end in the cavity is fixedly connected with a gyroscope 18, the storage battery 3 is used for supplying power to electrical equipment in the equipment, the controller 16 is used for controlling the electrical operation of the whole equipment, the gyroscope 18 can detect whether the artificial leg is in a motion state, the lower end of the supporting plate 4 is fixedly, one side of one of the support columns 6 is provided with a servo motor 20, the tail end of an output shaft of the servo motor 20 is fixedly connected with a curved wheel 7, a fixing frame 19 is fixedly connected between the servo motor 20 and the support column 6, the servo motor 20 can drive the curved wheel 7 to rotate after being started, and can rotate clockwise or anticlockwise to extrude one of the two disks 14, then the change of the inclination angle of the bottom artificial limb bottom plate 11 is realized through the inserted link 9 to simulate the change of the angle between the foot and the shank of a normal person in a walking field, a horizontally arranged fixing block 12 is fixedly connected between the two support columns 6 and the inner side wall of the cavity, the inserted link 9 is inserted on the fixing block 12, the upper end of the inserted link 9 is rotatably connected with the disk 14, the inserted link 9 is provided with an elastic device, the whole artificial limb has a damping effect through the elastic device, and can, increase the comfort level, the lower extreme and the artificial limb bottom plate 11 of one of them inserted bar 9 rotate to be connected, wherein the fixed mobile device of lower extreme of another inserted bar 9, through the mobile device, realize two inserted bar 9 changes that drive the 11 angles of artificial limb bottom plate smoothly, the lower extreme and the artificial limb bottom plate 11 of mobile device rotate to be connected, the lateral wall fixedly connected with camera 5 of bionical leg 2, distancer 15 and charge mouthful 17, the camera shoots in real time to 2 the place ahead environment of bionical leg, the distancer measures the distance between bionical leg 2 and the ground, it is used for charging to battery 3 to charge mouthful 17.

Furthermore, the elastic device comprises a spring 8 and a limiting block 13, the limiting block 13 is fixedly sleeved on the insertion rod 9, the spring 8 is sleeved on the insertion rod 9, and two ends of the spring 8 are respectively fixedly connected with the limiting block 13 and the fixing block 12, so that the structure is simple and reasonable, and the damping effect is convenient to realize; furthermore, the moving device comprises a connecting plate 21, a sliding block 22 and a sliding rod 23, the upper end of the connecting plate 21 is fixedly connected with the lower end of the other inserted rod 9, the lower end of the connecting plate 21 is provided with a groove, the sliding rod 23 is fixedly connected with the side wall of the groove, and the sliding block 22 is sleeved on the sliding rod 23 in a sliding manner, so that the structure is novel, and the artificial limb bottom plate 11 can be inclined; further, the charging port 17 is electrically connected with the storage battery 3, the camera 5, the distance measuring instrument 15, the gyroscope 18 and the servo motor 20 are all electrically connected with the controller 16, and the electrical connection guarantees normal operation of each electronic device; further, the controller 16 is a raspberry pie, which is convenient for acquisition and can perform data processing and signal transmission; further, a red-green double-color LED lamp, a switch and a prompter are arranged on the charging port 17, the electric quantity of the storage battery 3 can be judged through the red-green double-color LED lamp, and the switch is used for controlling the on-off of the whole circuit.

The working principle is as follows: before use, the artificial leg base plate is connected with the thigh of a patient through the receiving cavity 1, then a switch on the charging port 17 is turned on, the whole equipment is powered on, at the moment, the pressure instrument 10 detects the pressure on the artificial leg base plate 11, the distance meter 15 measures the distance between the artificial leg and the ground, the gyroscope 18 detects the motion state of the bionic leg 2, all detected data signals are sent to the controller 16, the controller 16 analyzes the data to control the rotation direction and the speed of the servo motor 20, when the pressure on the pressure instrument 10 is detected to be greatly reduced, the distance between the distance meter and the ground is gradually increased, the gyroscope 18 detects the forward acceleration of the bionic leg 2 to judge that the patient is ready for leg lifting and walking, then the servo motor 20 rotates clockwise to extrude the disc 14 in front, then extrude the inserted rod 9 downwards, and under the cooperation of the moving device, the toe part of the artificial leg base plate 11 moves downwards to move upwards towards the heel of the artificial leg base, simulating the process of starting and lifting the foot of a normal person, lifting the bionic leg 2 along with the swing of the thigh of the patient, detecting an angular velocity signal in the running process of the bionic leg 2 by the gyroscope 18, judging that the foot of the patient is ready to land when the direction of acceleration is detected to change, the distance between the distance measured by the distance meter 15 and the ground is reduced and the pressure on the pressure meter 10 is basically unchanged, then rotating the servo motor 20 anticlockwise to extrude the disc 14 at the rear part, then moving the heel of the artificial limb bottom plate 11 downwards, moving the toe part upwards to realize that the heel lands firstly, judging that the foot of the patient stably lands when the pressure meter 10 detects that the maximum pressure is basically unchanged, stopping the servo motor 20 and returning to the initial position, realizing the stable contact between the artificial limb bottom plate 11 and the ground, and realizing the smooth operation of lifting and falling of the foot in the whole process, the whole foot lifting and landing simulation simulates the change of the foot of a normal person, the natural gait of the human body can be kept, meanwhile, the whole equipment has the shock absorption effect through the elastic device, and the comfort level of a wearer is improved; the environment of the patient can be collected through the camera 5 arranged at the outer side of the bionic leg 2, the data processing module on the controller 16 realizes the judgment of the terrain, the servo motor 20 increases the torque by detecting that the patient is on the stairs or the slope through the camera 5, provides the main moment for the patient in the key stage, also provides the assistance for the user when the user goes on the stairs or the slope, thereby replacing human brain and biological nerve to issue action instructions to the disabled-assisting limb, helping a user to naturally finish actions of going upstairs, going downslope, crossing obstacles and the like, meanwhile, the AI autonomous learning module is arranged on the processor 16, so that after the device is used for multiple times, the walking habits of the patient can be recorded, the scenes in life can be pre-judged, when the patient runs or walks quickly, the rotation speed of the servo motor 20 can be rapidly adjusted, and the mutual trial matching of the operation of the artificial limb bottom plate 11 and the body of a patient is realized.

Can charge storage battery 3 business turn over through charging mouth 17, LED lamp shows green lamp after being full of, shows red lamp after the electric quantity is less than 20% to send the sound suggestion patient through the prompting device and charge, controller 16 adopts the raspberry group, and camera 5 adopts openmv can be fine discern the surrounding environment, and bionic leg 2 is carbon fiber material with artificial limb bottom plate 11, has advantages such as intensity height, elasticity are good, light in weight, life-span.

The invention has novel structure, various data acquisition sensors are arranged, various detected information is processed by the raspberry group, the walking state of the patient is accurately judged in time, the running state of the servo motor is controlled according to different road conditions, different power is provided for the artificial limb wearer, and therefore, the natural gait of the human body is realized, the artificial limb wearer can walk easily, the requirement on daily activities is met, meanwhile, the different sights of other people are reduced, the self-respect and self-confidence of the patient are enhanced, the shock absorption effect is achieved, and the wearing comfort level is increased.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a bionical shank prosthesis of intelligence, includes bionical leg (2) and prosthetic bottom plate (11), its characterized in that: the artificial limb base plate is characterized in that a hollow cavity is arranged inside the artificial limb base plate (11), a pressure gauge (10) is fixed in the hollow cavity, an upper end of the bionic leg (2) is fixedly connected with a receiving cavity (1), a cavity is arranged inside the bionic leg (2), a supporting plate (4) is fixedly connected in the cavity, a storage battery (3) and a controller (16) are fixedly connected to the upper end of the supporting plate (4), a gyroscope (18) is fixedly connected to the top end of the cavity, two supporting columns (6) are fixedly connected to the lower end of the supporting plate (4), a curved wheel (7) is rotatably connected between the two supporting columns (6), a servo motor (20) is arranged on one side of each supporting column (6), the tail end of an output shaft of the servo motor (20) is fixedly connected with the curved wheel (7), and a fixing frame (19) is fixedly connected between the servo motor (, two support column (6) and cavity inside wall between fixed block (12) that fixed connection has the level to set up, insert on fixed block (12) and be equipped with inserted bar (9), the upper end of inserted bar (9) is rotated and is connected with disc (14), be equipped with resilient means on inserted bar (9), one of them the lower extreme and artificial limb bottom plate (11) of inserted bar (9) are rotated and are connected, wherein another the fixed mobile device of lower extreme of inserted bar (9), mobile device's lower extreme and artificial limb bottom plate (11) are rotated and are connected, the lateral wall fixedly connected with camera (5) of bionical leg (2), distancer (15) and mouth (17) that charges.

2. The intelligent biomimetic calf prosthesis according to claim 1, characterized in that: the elastic device comprises a spring (8) and a limiting block (13), the limiting block (13) is fixedly sleeved on the insertion rod (9), the spring (8) is sleeved on the insertion rod (9), and two ends of the spring (8) are fixedly connected with the limiting block (13) and the fixing block (12) respectively.

3. The intelligent biomimetic calf prosthesis according to claim 1, characterized in that: the moving device comprises a connecting plate (21), a sliding block (22) and a sliding rod (23), the upper end of the connecting plate (21) is fixedly connected with the lower end of the inserting rod (9), a groove is formed in the lower end of the connecting plate (21), the sliding rod (23) is fixedly connected with the side wall of the groove, and the sliding block (22) is sleeved on the sliding rod (23) in a sliding mode.

4. The intelligent biomimetic calf prosthesis according to claim 1, characterized in that: the charging port (17) is electrically connected with the storage battery (3), and the storage battery (3), the camera (5), the distance measuring instrument (15), the gyroscope (18) and the servo motor (20) are all electrically connected with the controller (16).

5. The intelligent biomimetic calf prosthesis according to claim 1, characterized in that: the controller (16) is a raspberry pie.

6. The intelligent biomimetic calf prosthesis according to claim 1, characterized in that: and a red-green double-color LED lamp, a switch and a prompter are arranged on the charging port (17).