CN101496751B - Active mode human leg prosthetic limb - Google Patents

Active mode human leg prosthetic limb Download PDF

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Publication number
CN101496751B
CN101496751B CN 200910068093 CN200910068093A CN101496751B CN 101496751 B CN101496751 B CN 101496751B CN 200910068093 CN200910068093 CN 200910068093 CN 200910068093 A CN200910068093 A CN 200910068093A CN 101496751 B CN101496751 B CN 101496751B
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China
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portion
part
connecting rod
connected
connecting
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CN 200910068093
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Chinese (zh)
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CN101496751A (en
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刘作军
杨鹏
耿艳利
许晓云
郭欣
陈玲玲
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河北工业大学
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Abstract

The invention relates to an active type human leg prosthesis. The prosthesis is characterized by comprising a four-link mechanism formed by a knee joint part, a connecting part and a tibia part, wherein the connecting part comprises a front connecting rod and a rear connecting rod which are zygomorphic; upper ends of the front connecting rod and the rear connecting rod are connected with the kneejoint part as one link of the four-link mechanism; lower ends of the front connecting rod and the rear connecting rod are connected with the tibia part as the other link of the four-link mechanism; aconnecting piece of the knee joint part is connected with a linear transformation part of the tibia part through a rotating part; the tibia part comprises a linear drive mechanism for converting rotating motion of a direct current motor into linear motion; the lower end of a strutting piece base of the tibia part comprises a ferrule with a bolt to be connected with an artificial foot; the direct current motor for generating power is fixed on the lower part of the tibia part, and the position of the direct current motor in motion is not changed relative to the linear drive mechanism; and the rotating motion of the direct current motor is converted into linear motion to drive bending and stretching rotation of the knee joint part.

Description

主动式人腿假肢 Active people prosthetic leg

技术领域 FIELD

[0001] 本发明涉及人体假肢技术,具体为一种利用直流电机提供动力的主动式人腿假肢。 [0001] The present invention relates to human prosthetics, particularly to power the DC motor utilizing active human leg prosthesis.

[0002] 技术背景 [0002] BACKGROUND OF THE INVENTION

[0003] 假肢是截肢者重要的运动功能代偿装置。 [0003] amputees prosthetic is important to motor function compensatory device. 安装假肢可以恢复患者残缺肢体原有的形态或功能,减轻功能障碍,使患者能够独立地生活、学习和工作。 Prosthetic limbs crippled patient can recover the original form or function, alleviate dysfunction, so that patients can live independently, learn and work. 目前进入市场的下肢假肢有单轴膝关节、多轴膝关节、带锁定器膝关节、承重自锁膝关节、液压或气压控制膝关节、 智能型的假肢膝关节和仿生膝关节等,在一定程度上满足了假肢穿戴者的要求。 Currently entering the market lower limb prosthetics single-axis knee joint, multi-axis knee with knee lock, load-bearing self-locking of the knee, the knee hydraulic or pneumatic control, intelligent bionic prosthetic knee and knee, etc., to a certain meet the requirements of the prosthesis wearer extent. 但是以上假肢均为“被动式”假肢,不包括或不具有帮助人行走的动力机构,不能主动上下楼梯,关节的屈曲依赖于残肢,伸展也是靠机械式储能的释放来实现的,这就在很大程度上限制了残疾人的运动能力。 But above prosthetics are "passive" prostheses, does not include or do not have the power to help people walk institutions, not actively up and down stairs, bending joints dependent on the residual limb, stretching is released by mechanical energy storage to achieve, which greatly limits the movement of people with disabilities. 例如,中国专利申请200480040062. X号报道的“假肢膝关节”。 For example, Chinese patent application No. 200480040062. X reports of "prosthetic knee." 该设计为被动式多轴膝关节,加入抵抗弯曲的锁止装置,增加了站立和坐下的稳定性,但是在行走时仍然靠截肢者残端带动假肢弯曲和伸展,长时间行走会使穿戴者产生疲劳感。 This design is a passive multi-axis knee joint, the locking device is added to resist bending, sitting and standing increased stability, but still driven by the prosthetic stump amputee flexion and extension during walking, the wearer makes a long walk produce fatigue. 中国专利申请99255918. 9号报道的“改进的膝关节”也为被动式单轴膝关节。 Chinese Patent Application No. 99255918. 9 reported "improved knee" is also a passive single-axis knee. 该假肢装有缓冲装置, 在膝关节旋转时,可以实现逆时针旋转快速和顺时针旋转缓慢,解决了行走不方便和不安全的问题,但在行走过程中该假肢也没有提供行走的动力,并且单轴膝关节设计不能保证站立时的稳定性。 The prosthesis includes buffer means, in the knee rotation, counterclockwise rotation can be achieved quickly and slowly rotated clockwise, solves the problem of unsafe and inconvenient for walking, but there is no powered prosthesis walk during walking, and single-axis design can not guarantee the stability of the knee when standing.

发明内容 SUMMARY

[0004] 针对现有技术的不足,本发明拟解决的技术问题是,提供一种主动式人腿假肢,该假肢利用直流电机为截肢者运动提供动力,可减小使用者的能量消耗,使假肢真正成为人体的一部分而不只是作为一个附属品,在平地行走、上下楼梯和爬斜坡时为人体主动提供动力,提高使用效果和质量。 [0004] for the deficiencies of the prior art, the present invention intends to solve the technical problem is to provide an active human leg prosthesis, the prosthesis using a DC motor to power the movement of the amputee, can reduce energy consumption of the user, so that prosthetics truly become part of the human body and not just as an accessory, walking on level ground, the initiative to provide power to the human body when climbing up and down stairs and ramps, improve performance and quality.

[0005] 本发明解决所述技术问题的技术方案是,设计一种主动式人腿假肢,其特征在于它包括膝关节部分、连接部分和胫骨部分构成的四连杆机构;所述连接部分包括左、右对称的前连接杆和后连接杆,前连接杆和后连接杆的上端与作为四连杆机构一个杆的膝关节部分连接,前连接杆和后连接杆的下端与作为四连杆机构另一个杆的胫骨部分连接;所述膝关节部分的连接件通过转动件与胫骨部分的线性转换件连接;所述胫骨部分包含把直流电机的旋转运动转换为直线运动的线性驱动机构;胫骨部分支撑件底座下端部包含一个带螺钉用于连接假脚的套圈;产生动力的直流电机固定于胫骨部分的下部,在运动中直流电机相对线性驱动机构位置不变;直流电机的旋转运动转变为直线运动驱动膝关节部分的弯曲伸展转动。 [0005] Solving the Problem The present invention is to design an active human leg prosthesis, characterized in that it comprises a knee portion, and a connecting portion of the tibial part four-bar linkage configuration; said connecting portion comprises left and right symmetrical front and rear connecting rod connecting rod, the upper end of the front connecting rod and the connecting rod connected to the rear portion of the knee joint as a four-bar linkage rod, the lower end of the front and rear connecting rod and the connecting rod as a four-link the tibial part of the body other rod connector; connector of the knee joint portion are connected by the rotation member and the linear conversion member tibial portion; the tibial portion comprises a rotary motion DC motor into a linear motion of the linear drive mechanism; tibia the lower end portion of the base portion of the support member comprising a screw with a ferrule for connection to the prosthetic foot; generating DC power to the lower fixed portion of the tibia, the DC motor drive mechanism relative linear motion in the same position; transition DC motor rotational movement the driving portion knee flexion and extension rotational rectilinear motion.

[0006] 与现有技术相比,本发明设计的主动式人大腿机构利用直流电机驱动四连杆假肢机构,应用了旋转变直线的机构实现了直流电机位置的固定,因而在使用者运动时能够主动提供所需动力,同时简化假肢机构,减小假肢体积和重量,方便使用者长期行走,并保证站立时稳定性。 [0006] Compared with the prior art, the active mechanism of the present invention is designed human thigh by DC four-link drive mechanism prosthetic, rotational displacement mechanism is applied to achieve a fixed linear position of the DC motor, thus moving the user when can take the initiative to provide the desired power, while simplifying the mechanism prostheses, prostheses reduced size and weight, long-term user-friendly walking and standing to ensure stability. 附图说明 BRIEF DESCRIPTION

[0007] 图1为本发明主动式人腿假肢一种实施例的侧视结构示意图; One kind of prosthesis configuration example of a schematic side view of a human leg active [0007] Figure 1 of the present invention;

[0008] 图2为本发明主动式人腿假肢一种实施例的后视结构示意图; [0008] FIG. 2 is a schematic rear view of one kind of structure of the prosthesis embodiment of the invention the active human leg;

[0009] 图3为本发明主动式人腿假肢一种实施例的局部分解示意图; [0009] Figure 3 is active for topical human leg prosthesis exploded schematic embodiment example of the invention;

[0010] 图4为本发明主动式人腿假肢一种实施例的膝关节部分组件结构分解示意图; [0010] One type of knee portion in FIG. 4 is an embodiment of an exploded assembly schematic view of the structure of active human leg prosthesis to the invention;

[0011] 图5为本发明主动式人腿假肢一种实施例的膝关节与胫骨连接部分结构分解示意图; Knee tibial [0011] FIG. 5 is one embodiment, active human leg prosthesis structure of the invention is an exploded view of the connecting portion;

[0012] 图6为本发明主动式人腿假肢一种实施例的胫骨部分组件结构分解示意图。 [0012] FIG. 6 is one kind of the tibial component partially exploded view of the structure of an embodiment of an active human leg prosthesis to the invention. 具体实施方式 Detailed ways

[0013] 下面结合实施例及其附图进一步叙述本发明。 [0013] below with reference to embodiments and accompanying drawings further illustrate the present invention. 实施例及其附图仅用于详细描述本发明,不构成对本发明权利要求的限制。 Embodiments and the accompanying drawings for describing in detail the present invention only and are not restrictive of the invention claimed in the present claims.

[0014] 本发明设计的主动式人腿假肢(简称假肢,参见图1-6),其特征在于它包括膝关节部分1、连接部分2和胫骨部分3构成四连杆机构;所述连接部分2包括左、右对称的前连接杆2. 1,2. 1,和左、右对称的后连接杆2. 2、2. 2',所述左、右前连接杆2. 1,2. 1,和左、 右后连接杆2. 2,2. 2'的上端与作为四连杆机构一个杆的膝关节部分1连接,左、右前连接杆2. 1、2. 1'和左、右后连接杆2. 2、2. 2'的下端与作为四连杆机构另一个杆的胫骨部分3 连接;所述膝关节部分1的连接件1. 5通过转动件1. 9与胫骨部分3的线性转换件3. 1连接;所述胫骨部分3包含把直流电机3. 2的旋转运动转换为直线运动的线性转换件3. 1 ;胫骨部分3的支撑件底座3. 4下端部包含一个带螺钉3. 5用于连接假脚的套圈3. 44 ;产生动力的直流电机3. 2固定于胫骨部分3的支撑件底座3. 4上,在运动中直流电机3. 2 [0014] The present invention is designed for active human leg prosthesis (abbreviated as prostheses, see FIGS. 1-6), characterized in that it comprises a knee portion, a connecting portion 2 and the tibial portion 3 constituting a four bar linkage; said connecting portion 2 includes left and right front connecting rod symmetrically 2. 1,2. 1, and left and right rear connecting rod symmetrically 2. 2,2. 2 ', the left and right front connecting rod 2. 1,2. 1 , and left, 'the upper end portion of the knee joint as a four-bar linkage rod connecting the left and right front connecting rod 2. 1,2. 1' connecting rod 2. 2,2. 2 right rear and left and right the lower end of the connecting rod 2 2,2 2 'is connected to a four-bar linkage tibial other rod portion 3; connector portion of the knee joint 1 is 1.5 through 1.9 rotor portion 3 tibia 3.1 linear conversion member; said tibial section 3 comprises a rotational movement of the DC motor 3.2 is converted into a linear motion member converting a linear 3.1; tibial bearing member of the base portion 3 comprises a lower end portion of 3.4 with screw connector ferrule 3.5 to 3.44 of the prosthetic foot; DC power generated 3.2 tibial bearing member fixed to the base portion 3 on 3.4, the DC motor in motion 3.2 对支撑件底座3. 4和框式支撑件3. 3位置不变。 Unchanged 3.4, and support of the seat frame type support position 3.3. 直流电机的旋转运动转变为直线运动主动驱动膝关节部分的弯曲伸展转动。 DC motor rotational movement into a linear motion of the knee flexion and extension of the active portion of the driving rotation.

[0015] 本发明假肢实施例的进一步结构是(参见图1、2、3和4):所述膝关节部分1包括端盖1. 1、连接件1. 5和转动件1. 9 ;螺钉1. 6穿过连接件1. 5的螺纹孔1. 51固定在端盖1. 1后端部槽1. 4的螺纹孔1. 41中,连接件轴1. 7和轴端盖1. 8实现转动件1. 9和连接件1. 5的连接。 [0015] In a further embodiment of the structure according to the present invention is a prosthesis (see FIGS. 3 and 4): The portion 1 comprises a knee cap 1.1, 1.5 and the rotating connector member 1.9; screw 1.6 through the connecting member is a threaded hole 1.5 1.51 1.1 fixed rear cap portion of the groove in the threaded hole 1.4 1.41, 1.7 shaft connecting member 1 and the shaft cover. 8 1.9 effect rotation member and the connection member is connected to 1.5. 所述端盖1. 1的两侧有左右对称的左右8字形凸台1. 2和1. 2',在左右8字形凸台1. 2和1. 2'上打有两对左右对称的轴孔,即端盖前轴孔1. 21,1. 21'和端盖后轴孔1. 22、1. 22'。 The end cap has two sides 1.1 of the symmetrical shape around the boss 8 1.2 and 1.2 ', 8-shaped boss about 1.2 and 1.2' playing on two pairs of left and right symmetry shaft holes, i.e. holes axle cap 1. 21,1. 21 'and the rear axle hole cap 1 22, 1 22'. 膝关节部分1还包括用于与连接部分2连接的端盖前轴2. 3和端盖后轴2. 5, 用于安装端盖前轴2. 3的左右对称的左、右端盖前轴孔1. 21、1. 21',用于安装端盖后轴2. 5 的左右对称的左、右端盖后轴孔1.22、1. 22',同时,所述端盖前轴孔(1.21、1.21')与端盖后轴孔(1. 22,1. 22' )之间的距离为连接部分2的一个杆的长度。 1 further comprises a knee portion and a connecting portion connected to the front axle cap 2 2.3 2.5 rear axle and the end cap, the end cap for mounting the front axle about 2.3 symmetrical left and right front axle cap 1. 21,1 hole 21 ', a left rear axle for mounting the end cap symmetrical about 2.5, a right axle aperture cap 1.22,1. 22', while the end cap front axle hole (1.21, the distance between 1.21 ') and the rear axle cap hole (1 22, 1 22') is a length of the rod portion 2 is connected. 所述端盖1. 1上端部的棱锥体1. 3连接截肢者残端的假肢接受腔下部的连接件(图中未画出)。 The lower portion of the connector cap 1.1 pyramid connecting the upper end portion 1.3 amputee stump in a prosthetic socket (not shown).

[0016] 所述的连接部分2(参见图幻包括左、右对称的前连接杆2. 1,2. 1',左、右对称的后连接杆2. 2、2. 2',端盖前轴2. 3、端盖后轴2. 5、支撑件前轴2. 4、支撑件后轴2. 6。所述端盖前轴2. 3和端盖后轴2. 5用于连接膝关节部分1的侧部左右对称8字凸出1. 2,1. 2',端盖前轴2. 3通过左前连接杆2. 1的上轴孔2. 11、8字形凸台1. 2和1. 2'的左侧前轴孔1. 21 和右侧前轴孔1.21'、右前连接件2. 1,与端盖1. 8相连;端盖后轴2. 5依次通过8字形凸台1. 2的右侧后轴孔1. 22、左后连接件2. 2的上轴孔2. 21、右后连接件2. 2'的上轴孔2. 11'、 8字形凸台1. 2'的左侧前轴孔1. 22'与端盖1. 8相连。支撑件前轴2. 4和支撑件后轴2. 6 用于连接胫骨部分3的框式支撑件3. 3上端部,支撑件前轴2. 4依次通过左前连接件2. 1 的下轴孔2. 12、支撑件3. 3上端右侧前轴孔3. 31和左侧前轴孔3. 31'、左前连接件2. 1'与端盖1. 8 [0016] The connecting portion 2 (see FIG phantom includes a left and right symmetrical front connecting rod 2. 1,2. 1 ', the left and right symmetrical rear connecting rod 2. 2,2. 2', the end cap 2.3 front axle, the rear axle cap 2.5, 2.4 front axle support member, the support member 2. the rear axle front axle 6. the end cap and end cap 2.3 2.5 for connecting the rear axle knee symmetrical right and left side portions 1, 8 projecting 1. 2,1. 2 ', cap 2.3 axle connecting rod shaft hole 2. 2. 1 11,8 shaped boss by the left front. 1.2 and 2 'of the left and right axle aperture 1.21 1.21 axle hole', right front connecting element 2.1, 1.8 is connected to the end cap; cover passes through the rear axle-eight 2.5 the boss of the right rear axle hole 1.2 1.22, rear left connecting member in the axial hole 2.2 2.21, right after the connector 2.2 'of the axial bore 2.11', 8-shaped projections table 1.2 'of the left front shaft aperture 1.22' is connected with the end cap 1.8. 2.4 front axle support and the support for connecting the rear axle 2.6 tibial portion 3 of the support frame 3 of formula 3 the upper end portion of the supporting member sequentially passes through the front axle 2.4 shaft hole of the front left connecting member 2.1 2.12, 3.3 upper right and left front shaft aperture 3.31 axle support hole 3. 31 ', a left front connector 2.1' and the end cap 1.8 相连;支撑件后轴2. 6通过支撑件3. 3上端右侧后轴孔3. 32、左后连接件2. 2的下轴孔2. 22、右后连接件2. 2'的下轴孔2. 22'、左侧后轴孔3. 32,与轴端盖1. 8相连。通过连接部分2的四个轴,即端盖前轴2. 3、支撑件前轴2. 4、端盖后轴2. 5和支撑件后轴2. 6, 与所述左右对称的左、右前连接杆2. 1,2. 1'和左右对称的左、右后连接杆2. 2,2. 2'把膝关节部分1和胫骨部分3连接在一起。 Connected; rear shaft support member through the support member 2.6 3.3 3.32 holes axle upper right, lower left rear member connecting the axial hole 2.2 2.22, right after the connector 2.2 'at 2.22 shaft hole ', a left axle aperture 3.32, and 1.8 the shaft cover is connected by four connecting shaft portion 2, i.e., the front axle cap 2.3, 2.4 front axle support the end cap and the support member rear axle 2.5 2.6 rear axle, the left and right symmetry with the left and right front connecting rod 2. 1,2. 1 'and the symmetrical left and right rear connecting rod 2.2, 2.2 'and the knee section 1 tibial portion 3 are connected together.

[0017] 所述的胫骨部分3包括支撑机构和驱动机构。 [0017] The tibial portion 3 includes a support mechanism and the drive mechanism. 所述支撑机构包括框式支撑件3. 3 和支撑件底座3. 4 ;所述框式支撑件3. 3为横截面为U字的框式柱状结构,框式支撑件3. 3 内配装驱动机构(参见图6)。 Said support means comprises a frame-type support member and the support base 3.3 3.4; the support frame of formula 3.3 is a cross-section for the frame, the U-columnar structure, the frame type support with the 3.3 mounted drive mechanism (see FIG. 6). 所述驱动机构包括直流电机3. 2和线性转换件3.1。 The drive mechanism includes a DC motor and a linear conversion member 3.2 3.1. 线性转换件3. 1包括固定轴3. 12和固定轴端盖3. 13,固定轴3. 12通过线性转换件3. 1的轴孔3. 11和转动件下轴孔1. 91与轴端盖1. 8相连,实现了线性转换件3. 1和转动件1. 9的连接。 Linear conversion member comprises a fixed shaft 3.1 3.12 3.13 and the fixed shaft cover, the shaft hole axis and the lower 1.91 3.12 fixed shaft linear conversion member through the shaft hole of 3.11 and 3.1 rotatable member 1.8 connected to the end cap, to achieve a linear conversion member is connected and a 3.1 to 1.9 rotor. 直流电机底座3. 22上有四个螺纹孔,该螺纹孔与支撑件底座3. 4的凹槽3. 41中的四个螺纹孔一一相对应,用四个螺钉3. 5把直流电机3. 2固定在支撑件底座3. 4上;支撑件底座3. 4的上端面有四个螺纹孔与框式支撑件3. 3下端面的四个螺纹孔一一相对应,用四个螺钉3. 5可将支撑件底座3. 4固定在框式支撑件3. 3上。 3.22 DC motor base has four threaded holes, the threaded holes of the support base member recess 3.4 of the four threaded holes in the 3.41-one correspondence with four screws 3.5 DC 3.2 a base fixed to the support member on 3.4; support shoe on the end face 3.4 has four threaded holes with four threaded holes 3.3 type support frame lower end face of the to-one correspondence with four screw the support member may be 3.5 3.4 base fixed to the frame type support 3.3. 这种安装结构保证了直流电机3. 2和框式支撑件3. 3的位置相对不动,在假肢运动过程中可减小对直流电机3. 2的损害。 This mounting arrangement ensures that the DC motor and frame 3.2 3.3 position of the support member relatively immobile, the prosthesis during exercise may reduce damage to the DC motor of 3.2. 支撑件底座3. 4下部包含一个具有固定螺钉3. 43和螺纹孔3. 42的套圈3. 44,该套圈3. 44 用来连接假脚(图中未画出)。 A lower support member comprises a base 3.4 3.43 fixing screw and the screw hole ferrule having 3.42 to 3.44, 3.44 collar for connecting the prosthetic foot (not shown).

[0018] 为了增加假肢的承载能力,本发明实施例采用了左右对称的四连杆结构(参见图5):左右对称的前连接杆2. 1,2. 1'作为四连杆的前杆;左右对称的后连接杆2. 2,2. 2'作为四连杆的后杆;膝关节部分1的侧部左右对称8字凸出1. 2,1. 2'作为四连杆的上杆(一个杆);胫骨部分3的支撑件3. 3上端部作为四连杆的下杆(另一个杆)。 [0018] In order to increase the carrying capacity of the prosthesis, the embodiment employs a symmetrical four-bar mechanism (see FIG. 5) of the present invention: a front connecting rod symmetrically 2. 1,2 'as a front bar of the four-link. ; symmetrical connecting rods after 2 2,2 2 'as the four-link lever; knee joint 1 is symmetrical portions projecting 1. 2,1, 8 2' as the four-link bar (one bar); 3.3 the upper end portion of the support member portion of the tibia as the lower rod 3 (other pole) of the four-bar linkage. 端盖前轴2. 3通过左前连接杆2. 1的上轴孔2. 11、8字形凸台1. 2和1. 2'的左侧前轴孔1. 21和右侧前轴孔1. 21'、右前连接件2. 1'与端盖1. 8相连;端盖后轴2. 5依次通过8字形凸台1. 2的右侧后轴孔1. 22、左后连接件2. 2的上轴孔2. 21、右后连接件2. 2'的上轴孔2. 11,、8字形凸台1. 2的左侧前轴孔1. 22,与端盖1. 8相连;支撑件前轴2. 4依次通过左前连接件2. 1的下轴孔2. 12、支撑件3. 3上端右侧前轴孔3. 31和左侧前轴孔3. 31'、左前连接件2. 1'与端盖1. 8相连;支撑件后轴2. 6通过支撑件3. 3上端右侧后轴孔3. 32、左后连接件2. 2的下轴孔2. 22、右后连接件2. 2'的下轴孔2. 22'、左侧后轴孔3. 32,与轴端盖1. 8相连。 The axle shaft hole cap connecting rod 2.3 2.1 11.8 2. shaped by the left anterior boss left 1.2 and 1.2 'of the right front axle and the front axle bore hole 1.21 1 21 ', right front connecting piece 2.1' is connected to the end cap 1.8; 2.5 passes through the rear axle cap-shaped projections 8 on the right side of the rear axle hole 1.2 1.22, left rear connector 2 the upper shaft hole 2 of 2.21, 2.2 and right rear connecting member apos shaft hole 2.11,, 8-shaped boss left axle aperture 1.22 to 1.2, and the end cap 1.8 It is connected; a support member passes through the front shaft 2.4 connected to the front left shaft member hole of 2.12 2.1, 3.3 upper right axle support hole left front axle apertures 3.31 and 3.31 ', left front connector 2.1 'is connected to the end cap 1.8; 2.6 axle support member by the support member upper right side of the rear axle hole 3.3 3.32, left lower connecting member of the shaft hole 2 2.2 22, right after the connector 2.2 'at the shaft hole 2. 22', a left axle aperture 3.32, 1.8 connected to the shaft cover. 如前所述,所述膝关节部分1和胫骨部分3也都采用了左右对称的结构。 As described above, the knee joint part 1 and the shin part 3 also with a symmetrical structure.

[0019] 本发明假肢的膝部弯曲和伸展过程和原理如下:膝部的弯曲过程和原理是:由于所述膝关节部分1的端盖1. 1上端部的棱锥体1. 3连接在假肢接受腔下部的连接件上,所以端盖1. 1相对使用者残端是固定不动的。 [0019] and the knee during flexion and extension prosthesis of the present invention, the following principles: knee bending process and principles: Because the knee cap portion of a connection pyramid 1.1 1.3 at the upper end portion of the prosthesis a lower connector-receiving cavity, relative to the user so that the end cap 1.1 stump is stationary. 通电后,直流电机3. 2控制电机轴3. 21顺时针旋转运动,线性转换件3. 1将电机轴的旋转运动转换为线性转换件3. 1向下的直线运动,进而带动转动件1. 9也做向下运动,使转动件1. 9绕连接件1. 6顺时针转动,带动连接部分2 的左右前连接杆2. 1,2. 1'绕端盖前轴2. 3顺时针转动,右后连接杆2. 2,2. 2'绕端盖后轴2. 5顺时针转动,带动胫骨部分3的支撑件3. 3绕支撑件后轴2. 6和支撑件前轴2. 4顺时针转动,实现膝部的主动弯曲。 Power, DC 3.2 3.21 control the motor shaft is rotated clockwise motion, the linear conversion element 3.1 rotational motion of the motor shaft into a linear conversion 3.1 member downward linear motion, so as to drive a rotatable member 9 do downward movement, the rotating member around the connecting piece 1.9 1.6 rotated clockwise to move left and right front connecting portion 2 connecting rod 2. 1,2. 1 'about the axle cap 2.3 cis clockwise rotation, right after the connecting rod 2. 2,2. 2 'about the axle end cap 2.5 is rotated clockwise, the support member driven by the tibial portion 3 3.3 2.6 about the support member and the support member rear axle front axle 2.4 clockwise, to achieve the active bending the knee. 膝部的伸展过程与上述膝部的弯曲过程相反,不赘述。 During extension and flexion of the knee to above the knee contrary, not described herein. [0020] 需要补充说明的是,本发明主动式人腿假肢结构所述的“上、下”、“前、后”、“左、 右”等零部件的连接或安装方位词是依据实施例图示而言的,只具有相对性,或者仅是为了叙述方便,不代表该安装位置的唯一性和必须性。 [0020] It should be added that the active structure of the present invention the prosthetic leg "upper, lower", "front, rear", "left, right" and other parts of the word connected or mounted position according to an embodiment for illustration, the only relative, or merely for convenience of description, the mounting position does not represent the only and necessary properties. 本发明主动式人腿假肢的具体实施例完全可以根据需要做非本质的适当地调整和变化。 The active leg prosthesis of the present invention a particular embodiment can be appropriately adjusted and nonessential varied as required. [0021 ] 本发明未述及之处适用于现有技术。 [0021] The present invention is not described in the prior art to apply.

Claims (1)

1. 一种主动式人腿假肢,其特征在于它包括膝关节部分、连接部分和胫骨部分构成的四连杆机构;所述连接部分包括左、右对称的前连接杆和后连接杆,前连接杆和后连接杆的上端与作为四连杆机构一个杆的膝关节部分连接,前连接杆和后连接杆的下端与作为四连杆机构另一个杆的胫骨部分连接;所述膝关节部分的连接件通过转动件与胫骨部分的线性转换件连接;所述胫骨部分包含把直流电机的旋转运动转换为直线运动的线性驱动机构; 胫骨部分支撑件底座下端部包含一个带螺钉用于连接假脚的套圈;产生动力的直流电机固定于胫骨部分的下部,在运动中直流电机相对线性驱动机构位置不变;直流电机的旋转运动转变为直线运动驱动膝关节部分的弯曲伸展转动。 1. An active human leg prosthesis, characterized in that it comprises a knee portion, and a connecting portion of the tibial part four-bar linkage configuration; said connecting portion includes left and right symmetrical front and rear connecting rod connecting rod, the front the upper end of the connecting rod and the connecting rod connected to the rear portion of the knee joint as a four-bar linkage rod, the lower end of the front connecting rod and the rear connecting rod is connected to the tibia part as a further four-bar linkage rod; said knee portion the connecting member is connected by the rotation member and the linear conversion member tibial portion; the tibial portion comprises a rotary motion DC motor into a linear motion of the linear drive mechanism; the tibial portion of the support member of the base lower portion comprises a band screw for connecting false foot ferrule; generating DC power to the lower fixed portion of the tibia, the DC motor drive mechanism relative linear motion in the same position; DC motor rotational movement into a linear movement of the drive portion of the knee flexion and extension rotation.
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CN102106766B (en) * 2011-03-03 2013-04-03 上海大学 Novel linear driving device
CN102885661A (en) * 2012-10-29 2013-01-23 河北工业大学 Dynamic prosthetic knee joint
CN103271783B (en) * 2013-05-16 2015-04-15 清华大学 Artificial limb knee joint with assistance function
CN103892943B (en) * 2014-03-19 2015-08-19 中国人民解放军理工大学 Active and passive type booster binding flexible lower extremity exoskeleton
WO2018087997A1 (en) * 2016-11-10 2018-05-17 国立大学法人東京大学 Knee joint

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