CN101020314A - Electric cord driver for artificial joint - Google Patents
Electric cord driver for artificial joint Download PDFInfo
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- CN101020314A CN101020314A CN 200710038296 CN200710038296A CN101020314A CN 101020314 A CN101020314 A CN 101020314A CN 200710038296 CN200710038296 CN 200710038296 CN 200710038296 A CN200710038296 A CN 200710038296A CN 101020314 A CN101020314 A CN 101020314A
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- disk
- traction steel
- cable
- steel rope
- artificial joint
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Abstract
The electric cord driver for artificial joint is one kind of driving mechanism for driving artificial joint or other mechanism. The electric cord driver for artificial joint includes a servo motor, a bus frame, limiting cylinder mounted onto the bus frame, a cord-pulley pair and an output junction. The cord-pulley pair consists of a disc and several pieces of traction steel cord, and the disc is fixed onto the output shaft of the servo motor. Each of the traction steel cords has one end fixed to the edge of the disc and the other end passing through the hole in the bus frame and fixed to the output junction. The present invention has servo motor rotating the disc and disc driving the traction steel cord to generate pull force and realize contraction motion similar to that of muscle tissue.
Description
Technical field
The present invention relates to a kind of electric cord driver for artificial joint, relate more specifically to a kind of electric cord driver for artificial joint that adopts driven by servomotor, wire rope traction transmission.
Background technology
It is multiple that at present the joint prosthesis driver mainly contains synchronous pulley formula, harmonic gear formula, ball screw type, air-cylinder type, pneumatic muscles formula and fluid pressure type etc., ubiquity such as mechanism's complexity, shortcoming such as output torque is little, size is big, precision is low.
The joint prosthesis driver is made of driving mechanism and transmission mechanism usually.Wherein, driving mechanism can adopt servomotor to realize.For the joint prosthesis driver of driven by servomotor, its servomotor is to finish in the processing of specialty and composing room, generally can reach and compare higher processing precision.And its transmission mechanism is generally and designs voluntarily and process, and ratio of precision is lower.The overall performance of traditional joint prosthesis driver is subjected to the influence and the restriction of transmission mechanism machining accuracy to a great extent.Therefore, when the user needs a kind of joint prosthesis driver with superior performance, must guarantee that transmission mechanism has sufficiently high machining accuracy, and the machining accuracy that improves transmission mechanism will increase the cost of joint prosthesis driver widely.Therefore the machining accuracy in view of transmission mechanism is big to the overall performance influence of traditional joint prosthesis driver, needs a kind of joint prosthesis driver of design, reduces the dependence of its overall performance to the transmission mechanism machining accuracy.
In addition, the joint prosthesis driver of driven by servomotor can adopt muscle pull-type.Adopt that muscle is pull-type can to make whole articulation mechanism Mass Distribution more reasonable, and can improve space availability ratio, thereby stay sufficient space for the installation of sensor.For the pull-type joint prosthesis driver of the muscle that is installed in the inboard, joint, when joint during at extended configuration, it is little to rotate the arm of force; When joint during at case of bending, it is big to rotate the arm of force.Therefore, on the joint, produce same torque and can bring into play the performance of servomotor fully, when extended configuration, require gearratio big, when case of bending, require gearratio little.The pull-type joint prosthesis driver of existing muscle mostly can not satisfy the requirement that the output gearratio changes with stroke.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of electric cord driver for artificial joint is provided, simple in structure, gearratio changes,, good stability low to the transmission mechanism requirement on machining accuracy, is fit to be installed on the joint prosthesis with stroke.
For achieving the above object, a kind of electric cord driver for artificial joint that the present invention's design provides, comprise servomotor, total framework, disk, angular contact ball bearing, limiting cylinder, traction steel rope of cable and out splice going splice, the front end of total framework is installed servomotor, and the output shaft of servomotor is fixedlyed connected with the disk that is positioned at total framework, the rear inside of total framework is installed limiting cylinder, link to each other by angular contact ball bearing between limiting cylinder and the disk, along the even fixing even number root traction steel rope of cable of the circumference of disk, the other end of these traction steel rope of cable passes the corresponding smooth circular hole of total back-end framework separately fixedlys connected with out splice going splice.
The present invention utilizes the servomotor disc rotated, produces pulling force thereby disk spurs traction steel rope of cable when rotating, and has realized organizing similar contractile motion to biological muscles.
Among the present invention, a disk and several traction steel rope of cable constitute cord-wheel pair, and traction steel rope of cable and disk are fixed, and the rotation drive traction steel rope of cable by disk directly drives out splice going splice by traction steel rope of cable.Said structure of the present invention is very simple, is convenient to processing and installation.The present invention does not use common synchronous toothed belt wheel that adopts of conventional drives or gear etc., but the output of servomotor is directly outputed on the out splice going splice by cord-wheel pair, has avoided drive gap, has improved the precision and the stability of output.
The output gearratio that beneficial effect of the present invention also shows transmission mechanism changes with the variation of stroke.During the position that all traction steel rope of cable are in servo motor shaft parallels in total framework, it is maximum that gearratio reaches; Along with the increase of disc rotation, the output gearratio reduces gradually.
Description of drawings
Fig. 1 is the structural representation of the artificial joint of the present invention electric cord driver.
Fig. 2 has represented the relation of output gearratio and stroke.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Fig. 1 is the structural representation of the artificial joint of the present invention electric cord driver.As shown in Figure 1, electric cord driver for artificial joint of the present invention comprises servomotor 1, total framework 2, disk 3, angular contact ball bearing 4, limiting cylinder 5, traction steel rope of cable 6 and out splice going splice 7.The front end of total framework 2 is installed servomotor 1, the output shaft of servomotor 1 is fixedlyed connected with the disk 3 that is positioned at total framework, the rear inside of total framework 2 is installed limiting cylinder 5, link to each other by angular contact ball bearing 4 between limiting cylinder 5 and the disk 3, along the even fixing even number root traction steel rope of cable 6 of the circumference of disk 3, the other end of these traction steel rope of cable 6 passes the corresponding smooth circular hole in total framework 2 rear ends separately fixedlys connected with out splice going splice 7.
Among the present invention, the number of traction steel rope of cable is chosen in pairs according to the size of output pulling force.The output pulling force is big more, and the number of the traction steel rope of cable of installation is then many more.The number of steel cable is an even number, for example can be four, be fixed on equably disk around.The outer wall of limiting cylinder 5 is smooth, and all traction steel rope of cable are evenly distributed in around the outside of limiting cylinder, can limit traction steel rope of cable 6 and move to the axle center when disk 3 rotates.
Operation principle of the present invention is: joint prosthesis generally is made of two parts, total framework 2 is fixed on a part of joint prosthesis in the inboard of joint prosthesis, out splice going splice 7 is fixed on another part of joint prosthesis.In the outside of joint prosthesis mounting spring, the two ends of spring respectively with two partial fixings of joint prosthesis.Drive disk 3 and rotate when servomotor 1 rotates, disk 3 all traction steel rope of cable 6 of pulling produce the muscle roping on out splice going splice 7 moving, realized organizing similar contractile motion to biological muscles.In disk 3 rotating process, limiting cylinder 5 plays the effect that restriction traction steel rope of cable 6 moves to the axle center.When servomotor 1 reverse rotation, under the spring action of joint prosthesis outside installation, out splice going splice 7 returns to original position.
That the present invention has is simple in structure, the output gearratio with stroke change, the transmission mechanism requirement on machining accuracy is low, be convenient to be installed in the characteristics of joint prosthesis relevant position.
The present invention exports gearratio with the situation of change of stroke as shown in Figure 2, is described as follows:
Among Fig. 2:
O is the original position of the fixing point of traction steel rope of cable 6 on disk 2;
A is that traction steel rope of cable 6 is in the position of the fixing point on the disk 2 after disk 2 rotates the θ angle;
B is the position of smooth circular hole;
H is the arc length of traction steel rope of cable 6 in the process when disk turns over the θ angle of the fixing point on the disk 2;
L
0The distance of out splice going splice 7 and disk 2 when being in original position for disk 2;
L is the distance of disk 2 out splice going splice 7 and disk 2 when turning over the θ angle;
L is the distance of disk 2 and smooth circular hole;
X is a stroke.
As shown in Figure 2:
H=R θ wherein R is the distance of the fixing point of traction steel rope of cable 6 on disk 2 to disk 2 centers of circle, does not mark in the drawings.θ is the corner of disk 2 with respect to original position, is unit with the radian, does not mark in the drawings.
x＝L
0-L
When x → 0, | dL/d θ | → 0, illustrate when stroke x very hour, output gearratio approach infinity (gearratio is | dL/d θ | inverse), along with the increase of x, the output gearratio reduces gradually, satisfies the requirement that the output gearratio changes with stroke.
In whole process, the output gearratio of electric cord driver for artificial joint transmission mechanism of the present invention changes with the variation of stroke, can fully play the performance of servomotor, reduces the requirement to the power output of servomotor, is easy to miniaturization.
Claims (1)
1, a kind of electric cord driver for artificial joint, it is characterized in that comprising servomotor (1), total framework (2), disk (3), angular contact ball bearing (4), limiting cylinder (5), traction steel rope of cable (6) and out splice going splice (7), the front end of total framework (2) is installed servomotor (1), the output shaft of servomotor (1) is fixedlyed connected with the disk that is positioned at total framework (3), the rear inside of total framework (2) is installed limiting cylinder (5), link to each other by angular contact ball bearing (4) between limiting cylinder (5) and the disk (3), along the even fixing even number root traction steel rope of cable (6) of the circumference of disk (3), the other end of these traction steel rope of cable (6) passes the corresponding smooth circular hole in total framework (2) rear end separately fixedlys connected with out splice going splice (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100382966A CN100460165C (en) | 2007-03-22 | 2007-03-22 | Electric cord driver for artificial joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100382966A CN100460165C (en) | 2007-03-22 | 2007-03-22 | Electric cord driver for artificial joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101020314A true CN101020314A (en) | 2007-08-22 |
| CN100460165C CN100460165C (en) | 2009-02-11 |
Family
ID=38708230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100382966A Expired - Fee Related CN100460165C (en) | 2007-03-22 | 2007-03-22 | Electric cord driver for artificial joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100460165C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
| CN106137466A (en) * | 2016-06-24 | 2016-11-23 | 陶冶 | A kind of clinical patient selectable osteoarthrosis forming device |
| CN114191152B (en) * | 2021-12-14 | 2024-04-26 | 吉林大学 | Prosthetic knee joint with variable transmission ratio |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101863034B (en) * | 2010-06-28 | 2011-10-19 | 哈尔滨工业大学 | Flexible driving unit for robot joint driven by pulley block and wire rope traction |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6034288A (en) * | 1983-08-03 | 1985-02-21 | 株式会社日立製作所 | Drive |
| JPH0276693A (en) * | 1988-09-14 | 1990-03-16 | Agency Of Ind Science & Technol | Joint driving mechanism of driving force non-interferential type |
| CN2241613Y (en) * | 1995-06-07 | 1996-12-04 | 中国人民解放军89000部队 | Artificial joint driving device |
| CN1272147C (en) * | 2003-03-13 | 2006-08-30 | 重庆大学 | Electric cord transverse joint of robot |
| WO2006025446A1 (en) * | 2004-09-01 | 2006-03-09 | Matsushita Electric Industrial Co., Ltd. | Joint driving device |
| TWI259127B (en) * | 2004-12-30 | 2006-08-01 | Ind Tech Res Inst | Joint driving device |
-
2007
- 2007-03-22 CN CNB2007100382966A patent/CN100460165C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
| CN105708585B (en) * | 2016-01-20 | 2018-01-16 | 沈阳工业大学 | Six degree of freedom intelligence arm prosthesis based on line driving difference joint |
| CN106137466A (en) * | 2016-06-24 | 2016-11-23 | 陶冶 | A kind of clinical patient selectable osteoarthrosis forming device |
| CN106137466B (en) * | 2016-06-24 | 2017-09-15 | 陶冶 | A kind of selectable Bones and joints building mortion of clinical patient |
| CN114191152B (en) * | 2021-12-14 | 2024-04-26 | 吉林大学 | Prosthetic knee joint with variable transmission ratio |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100460165C (en) | 2009-02-11 |
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Granted publication date: 20090211 Termination date: 20120322 |