CN101933852A - Dynamic knee joint with combined active movement and passive movement - Google Patents
Dynamic knee joint with combined active movement and passive movement Download PDFInfo
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- CN101933852A CN101933852A CN 201010267558 CN201010267558A CN101933852A CN 101933852 A CN101933852 A CN 101933852A CN 201010267558 CN201010267558 CN 201010267558 CN 201010267558 A CN201010267558 A CN 201010267558A CN 101933852 A CN101933852 A CN 101933852A
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- knee joint
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- thigh
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Abstract
The invention relates to a dynamic knee joint with combined active movement and passive movement. The dynamic knee joint is characterized by comprising a thigh connecting rack, a shank connecting rack and a knee joint moving mechanism, wherein the knee joint moving mechanism comprises a knee joint connecting rack, a synchronous pulley connecting mechanism and a motor; the motor is fixedly connected with the thigh connecting rack and an output end of the motor is connected with one end of a driving shaft through a coupling; the other end of the driving shaft is fixedly connected with the thigh connecting rack through a driving shaft bearing; a knee joint shaft is fixedly supported on the knee joint connecting rack through a knee joint bearing; the two ends of the knee joint shaft are fixedly connected with the shank connecting rack; the knee joint shaft is fixedly connected with an inner ring of a one-way clutch through a knee joint shaft connecting key; and an outer ring of the one-way clutch is connected with the driving shaft through the synchronous pulley connecting mechanism. The dynamic knee joint is widely applied to the research of a flexible dynamic joint of an artificial limb and can serve the disabled.
Description
Technical field
The present invention relates to the intelligent bionic field of mechanical technique, particularly about a kind of power knee joint that the main passive exercise of kinetic energy and inertia combines can provide power can make full use of the people again to walk the time.
Background technology
Annual because various natural disasters, disease and vehicle accident cause the people with disability of lower extremity amputation ten hundreds of, wherein be the above knee amputation patient greatly.These above knee amputations patient has lost ability to work because of losing lower limb, even can't take care of oneself.In order to recover their ability to work, improve their quality of life, they are badly in need of the artificial limb will be installed.
Knee joint is the most important part of artificial thigh, because knee joint directly affects the naturality of the daily routines that patients with amputation can finish (as walking, up/down steps), sport efficiency and gait.At present, the knee joint of traditional artificial thigh all is passive, promptly knee joint all be do not have power-actuated.Summarize, traditional artificial thigh can be divided three classes: bar linkage structure knee joint, hydraulic pressure knee joint and air pressure knee joint.The bar linkage structure knee joint is apish simply motion of knee joint on the theory of mechanisms just, and such knee joint need go to control kneed bending by the strength of amputee's deformed limb when dressing walking.Therefore, the wearer walking is very painstaking, and gait is very unnatural.And because knee joint does not have power, so can not help patients with amputation to finish daily routines such as up/down steps.Hydraulic pressure and air pressure knee joint can wait by valve and control kneed bending, guaranteed knee joint like this in the safety of bearing a heavy burden when crooked, and promptly such knee joint such as can help patients with amputation to finish to get out of a predicament or an embarrassing situation at daily routines.But because pneumatic cylinder and hydraulic cylinder damping very big (particularly in winter) so knee joint is very difficult in the bending of swinging kick stage, have influenced the wheel efficiency of wearer and the naturality of gait so greatly.Equally, because hydraulic pressure and air pressure knee joint all do not have power, so daily routines such as can not help patients with amputation to finish to top bar.
Some scientific research structures also begin to attempt designing to have the kneed artificial thigh of power now, but all are in the stage of fumbling.They mainly are divided into four classes at the knee joint of design: artificial muscle knee joint, air pressure drive knee joint, hydraulic-driven knee joint, motor-driven knee joint.Though artificial muscle knee joint, air pressure drive knee joint and the hydraulic-driven knee joint can provide enough power, volume is too big, noise is too big, and control accuracy is low.The motor-driven knee joint is all by motor direct-drive, though such knee joint can accurately be controlled kneed angle, knee joint needs Electric Machine Control constantly, and gait is nature not.And because its kinetic energy and inertia can not make full use of the people and walk the time, so efficient is very low.
In order to solve above traditional knee joint and the kneed shortcoming of power, design can help amputee's stair activity, and the kinetic energy in the time of making full use of the people again and walk and the passive power knee joint that combines of master of inertia become exigence.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind ofly can provide power, the passive power knee joint that combines of master of kinetic energy and inertia in the time of making full use of the people again and walk.
For achieving the above object, the present invention takes following technical scheme: the power knee joint that a kind of main passive exercise combines is characterized in that: it comprises a thigh link, a shank link and a motion of knee joint mechanism; Described motion of knee joint mechanism comprises a knee joint link, a synchronous belt wheel bindiny mechanism and a motor; Described motor is fixedly connected on the described thigh link, and its outfan connects an end of a driving shaft by a shaft coupling, and the other end of described driving shaft is fixedlyed connected with described thigh link by a drive shaft bearing; By knee joint bearing fixed support one knee axis, the two ends of described knee axis are fixedly connected on the described shank link on the described knee joint link; Described knee axis is fixedlyed connected with the inner ring of an one-way clutch by a knee axis connecting key, and the outer ring of described one-way clutch is passed through described synchronous pulley bindiny mechanism and is connected with described driving shaft.
Described thigh link comprises right baffle plate of thigh right baffle-plate, thigh and the thigh middle baffle plate that is bolted to connection together; The top of the right baffle plate of described thigh right baffle-plate and thigh is bolted to connection a thigh reception cavity union joint and a reception cavity, and described reception cavity and people with disability's thigh deformed limb is fixedlyed connected; Described motor is fixedly connected on the sidewall of described thigh right baffle-plate.
The inner ring of described drive shaft bearing and described driving shaft interference fit, the outer ring of described drive shaft bearing and a drive shaft bearing fixed block interference fit, the right baffle plate of described drive shaft bearing fixed block and described thigh is bolted to connection.
Described shank link comprises shank right baffle-plate and the right baffle plate of shank that is bolted to connection together, the bottom of the right baffle plate of described shank right baffle-plate and shank is bolted to connection a shank union joint, and described shank union joint is fixedlyed connected with the artificial limb shank; Fixedly connected with the right baffle plate of described shank right baffle-plate and shank respectively in the two ends of described knee axis.
Described knee joint link comprises knee joint right baffle-plate and the right baffle plate of knee joint that is fixed together by bolt and described thigh middle baffle plate.
Described knee axis is contracted and is drawn together a knee joint left bearing and the right axle of a knee joint, the inner ring of described knee joint left bearing and knee joint right bearing and described knee axis interference fit, the outer ring respectively with a knee axis bearing fixing piece interference fit, the right baffle plate of described knee axis bearing fixing piece and described knee joint right baffle-plate and knee joint is bolted to connection.
Described synchronous pulley bindiny mechanism comprises that a driving shaft synchronous pulley, a knee joint synchronous pulley and be with synchronously; Described driving shaft synchronous pulley is fixedlyed connected the outer ring of the fixedly connected described one-way clutch of described knee joint synchronous pulley by a driving shaft connecting key with described driving shaft; Described synchronous band connects described driving shaft synchronous pulley and knee joint synchronous pulley.
The present invention is owing to take above technical scheme, and it has the following advantages: 1, the present invention can make full use of people's kinetic energy and inertia the swinging kick stage when the people walks, and not only gait is natural, and has improved wheel efficiency greatly.2, the present invention is when bearing a heavy burden crooked (as getting out of a predicament or an embarrassing situation), and motor is just transferring the bending of bearing a heavy burden at a slow speed of control knee joint at a slow speed, makes going downstairs that the amputee can safety.Bearing a heavy burden when crooked, the needed impedance moment of torsion of knee joint is not provided by motor, but is provided by the unidirectional self-lock characteristic of one-way clutch, has improved the energy efficiency of motor so greatly.When 3, the present invention stretched (as topping bar) in heavy burden, motor reversed at a slow speed, drove the knee joint heavy burden and stretched.In this process, motor can provide enough power for knee joint, daily routines such as helps the amputee to finish to top bar.When knee joint is stretched under inertia or kinetic energy effect fast, can surmount the counter-rotating rotating speed of the outer ring of one-way clutch, make the swing of knee joint and shank more natural, and kinetic energy and inertia when walking are fully utilized.4, the present invention has certain flexibility, has certain impact resistance.The present invention can be widely used in the research in artificial limb flexible dynamic joint, serves undertakings for disabled people.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention
Fig. 2 is that the A-A of Fig. 1 is to cutaway view
Fig. 3 is the vertical view of Fig. 1
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As Fig. 1～shown in Figure 3, the present invention includes a thigh link 1, a shank link 2 and a motion of knee joint mechanism 3.Thigh link 1 comprises right baffle plate 12 of thigh right baffle-plate 11, thigh and the thigh middle baffle plate 13 that is bolted to connection together, the top of the right baffle plate 12 of thigh right baffle-plate 11 and thigh is bolted to connection a thigh reception cavity union joint 14, thigh reception cavity union joint 14 is fixedlyed connected with a reception cavity (not shown), and reception cavity and people with disability's thigh deformed limb is fixedlyed connected.
Shank link 2 comprises shank right baffle-plate 21 and the right baffle plate 22 of shank that is bolted to connection together, the bottom of the right baffle plate 22 of shank right baffle-plate 21 and shank is bolted to connection a shank union joint 23, and shank union joint 23 is fixedlyed connected with artificial limb shank (not shown).
Motion of knee joint mechanism 3 comprises a knee joint link 31, one a synchronous belt wheel bindiny mechanism 32 and a motor 33.Knee joint link 31 comprises knee joint right baffle-plate 311 and the right baffle plate 312 of knee joint that is fixed together by bolt and thigh middle baffle plate 13.Synchronous pulley bindiny mechanism 32 comprises that a driving shaft synchronous pulley 321, a knee joint synchronous pulley 322 and be with 323 synchronously.Driving shaft synchronous pulley 321 is fixedlyed connected with a driving shaft 34 by a driving shaft connecting key 4, the inner ring interference fit of one end of driving shaft 34 and a drive shaft bearing 35, the outer ring of drive shaft bearing 35 and a drive shaft bearing fixed block 36 interference fit, the right baffle plate 12 of drive shaft bearing fixed block 36 and thigh is bolted to connection.The other end of driving shaft 34 is fixedlyed connected with the outfan of motor 33 by a shaft coupling 5, motor 33 be fixedly connected on thigh right baffle-plate 11 sidewall on.The outer ring of knee joint synchronous pulley 322 fixedly connected one-way clutch 37, the inner ring of one-way clutch 37 is by a knee axis connecting key 4 ' fixedly connected with a knee axis 38.Knee axis 38 respectively with a knee joint left bearing 39 and a knee joint right bearing 39 ' the inner ring interference fit, knee joint left bearing 39 and knee joint right bearing 39 ' the outer ring respectively with a knee axis bearing fixing piece 36 ' interference fit, knee axis bearing fixing piece 36 ' be bolted to connection with the right baffle plate 312 of knee joint right baffle-plate 311 and knee joint.Fixedly connected with the right baffle plate 22 of shank right baffle-plate 21 and shank by bolt respectively in the two ends of knee axis 38.Be with 323 to connect driving shaft synchronous pulley 321 and knee joint synchronous pulley 322 synchronously.
The present invention in use, its motion principle is as follows:
Knee joint bending:
When motor 33 is just changeing, rotation is passed to driving shaft 34 by shaft coupling 5; Driving shaft 34 drives driving shaft synchronous pulley 321 by the key 4 that initiatively is coupling; Driving shaft synchronous pulley 321 passes motion to is with 323 synchronously; Be with 323 to drive knee joint synchronous pulley 322 synchronously; Just change the outer ring that knee joint synchronous pulley 322 drives one-way clutch 37.The inner ring of one-way clutch 37 is at knee axis 38, and the left and right baffle plate 21,22 of shank just changes under the inertia of artificial limb shank (not shown) and the effect of kinetic energy and external force.Because the unidirectional self-lock characteristic of one-way clutch 37, the velocity of rotation of the inner ring of one-way clutch 37 is equal to or less than the velocity of rotation of outer ring.
When knee joint is born a heavy burden crooked (as getting out of a predicament or an embarrassing situation), motor 33 is just transferring the bending of bearing a heavy burden at a slow speed of control knee joint at a slow speed, has guaranteed that the people is in the safety of bearing a heavy burden when crooked.Bearing a heavy burden when crooked, the needed impedance moment of torsion of knee joint is not provided by motor 33, but is provided by the unidirectional self-lock characteristic of one-way clutch 37, has improved the energy efficiency of motor 33 so greatly.
When knee joint when swinging kick bending (the swinging kick bending when walking) as the people, motor 33 can just change fast, guarantees that knee joint can be crooked smoothly fast.
Knee joint is stretched:
When motor 33 counter-rotatings, rotation is passed to driving shaft 34 by shaft coupling 5; Driving shaft 34 drives driving shaft synchronous pulley 321 by driving shaft connecting key 4; Driving shaft synchronous pulley 321 passes motion to is with 323 synchronously; Be with 323 to drive knee joint synchronous pulley 322 synchronously; Knee joint synchronous pulley 322 drives the outer ring counter-rotating of one-way clutch 37.Because the unidirectional characteristic of one-way clutch 37, inner ring be counter-rotating together under the driving of outer ring, and rotates together by knee axis connecting key 4 ' drive knee axis 38 and artificial limb shank (not shown), thereby knee joint is stretched.The speed reversal of the inner ring of one-way clutch 37 can be equal to or greater than the speed reversal of outer ring.
When (as topping bar) stretched in the knee joint heavy burden, motor 33 reversed at a slow speed, drove the knee joint heavy burden and stretched.In this process, motor 33 can provide enough power for knee joint.
When (stretching as the swinging kick of when walking) stretched in the knee joint swinging kick, motor 33 counter-rotatings, the driving knee joint is stretched, when knee joint is stretched under inertia or kinetic energy effect fast, the counter-rotating rotating speed that can surmount the outer ring of one-way clutch 37, make the swing of knee joint and shank more natural, and kinetic energy and inertia when walking are fully utilized.
The present invention only describes with the foregoing description; the structure of each parts, the position is set and connects and all can change to some extent; on the basis of technical solution of the present invention; all improvement and equivalents of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (10)
1. power knee joint that main passive exercise combines, it is characterized in that: it comprises a thigh link, a shank link and a motion of knee joint mechanism; Described motion of knee joint mechanism comprises a knee joint link, a synchronous belt wheel bindiny mechanism and a motor; Described motor is fixedly connected on the described thigh link, and its outfan connects an end of a driving shaft by a shaft coupling, and the other end of described driving shaft is fixedlyed connected with described thigh link by a drive shaft bearing; By knee joint bearing fixed support one knee axis, the two ends of described knee axis are fixedly connected on the described shank link on the described knee joint link; Described knee axis is fixedlyed connected with the inner ring of an one-way clutch by a knee axis connecting key, and the outer ring of described one-way clutch is passed through described synchronous pulley bindiny mechanism and is connected with described driving shaft.
2. the power knee joint that main passive exercise as claimed in claim 1 combines is characterized in that: described thigh link comprises right baffle plate of thigh right baffle-plate, thigh and the thigh middle baffle plate that is bolted to connection together; The top of the right baffle plate of described thigh right baffle-plate and thigh is bolted to connection a thigh reception cavity union joint and a reception cavity, and described reception cavity and people with disability's thigh deformed limb is fixedlyed connected; Described motor is fixedly connected on the sidewall of described thigh right baffle-plate.
3. the power knee joint that main passive exercise as claimed in claim 2 combines, it is characterized in that: the inner ring of described drive shaft bearing and described driving shaft interference fit, the outer ring of described drive shaft bearing and a drive shaft bearing fixed block interference fit, the right baffle plate of described drive shaft bearing fixed block and described thigh is bolted to connection.
4. the power knee joint that combines as claim 1 or 2 or 3 described main passive exercises, it is characterized in that: described shank link comprises shank right baffle-plate and the right baffle plate of shank that is bolted to connection together, the bottom of the right baffle plate of described shank right baffle-plate and shank is bolted to connection a shank union joint, and described shank union joint is fixedlyed connected with the artificial limb shank; Fixedly connected with the right baffle plate of described shank right baffle-plate and shank respectively in the two ends of described knee axis.
5. the power knee joint that combines as claim 1 or 2 or 3 described main passive exercises, it is characterized in that: described knee joint link comprises knee joint right baffle-plate and the right baffle plate of knee joint that is fixed together by bolt and described thigh middle baffle plate.
6. the power knee joint that main passive exercise as claimed in claim 4 combines is characterized in that: described knee joint link comprises knee joint right baffle-plate and the right baffle plate of knee joint that is fixed together by bolt and described thigh middle baffle plate.
7. the power knee joint that main passive exercise as claimed in claim 5 combines, it is characterized in that: described knee axis is contracted and is drawn together a knee joint left bearing and the right axle of a knee joint, the inner ring of described knee joint left bearing and knee joint right bearing and described knee axis interference fit, the outer ring respectively with a knee axis bearing fixing piece interference fit, the right baffle plate of described knee axis bearing fixing piece and described knee joint right baffle-plate and knee joint is bolted to connection.
8. the power knee joint that main passive exercise as claimed in claim 6 combines, it is characterized in that: described knee axis is contracted and is drawn together a knee joint left bearing and the right axle of a knee joint, the inner ring of described knee joint left bearing and knee joint right bearing and described knee axis interference fit, the outer ring respectively with a knee axis bearing fixing piece interference fit, the right baffle plate of described knee axis bearing fixing piece and described knee joint right baffle-plate and knee joint is bolted to connection.
9. the power knee joint that combines as claim 4 or 6 or 7 or 8 described main passive exercises is characterized in that: described synchronous pulley bindiny mechanism comprises that a driving shaft synchronous pulley, a knee joint synchronous pulley and be with synchronously; Described driving shaft synchronous pulley is fixedlyed connected the outer ring of the fixedly connected described one-way clutch of described knee joint synchronous pulley by a driving shaft connecting key with described driving shaft; Described synchronous band connects described driving shaft synchronous pulley and knee joint synchronous pulley.
10. the power knee joint that main passive exercise as claimed in claim 5 combines is characterized in that: described synchronous pulley bindiny mechanism comprises that a driving shaft synchronous pulley, a knee joint synchronous pulley and be with synchronously; Described driving shaft synchronous pulley is fixedlyed connected the outer ring of the fixedly connected described one-way clutch of described knee joint synchronous pulley by a driving shaft connecting key with described driving shaft; Described synchronous band connects described driving shaft synchronous pulley and knee joint synchronous pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102675588A CN101933852B (en) | 2010-08-30 | 2010-08-30 | Dynamic knee joint with combined active movement and passive movement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102675588A CN101933852B (en) | 2010-08-30 | 2010-08-30 | Dynamic knee joint with combined active movement and passive movement |
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| Publication Number | Publication Date |
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| CN101933852A true CN101933852A (en) | 2011-01-05 |
| CN101933852B CN101933852B (en) | 2012-08-22 |
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| CN2010102675588A Active CN101933852B (en) | 2010-08-30 | 2010-08-30 | Dynamic knee joint with combined active movement and passive movement |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102247229A (en) * | 2011-04-08 | 2011-11-23 | 北京林业大学 | Active and passive joint prosthesis |
| CN108431440A (en) * | 2015-10-26 | 2018-08-21 | P·波默罗伊 | Mechanical joint with changeable rotation condition clutch |
| CN111110410A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Full-damping-degree adjusting structure for intelligent hydraulic knee joint |
| CN111110409A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| CN111358602A (en) * | 2020-04-14 | 2020-07-03 | 吉林大学 | Active-passive hybrid hydraulic knee joint prosthesis and control method and application thereof |
| CN112206079A (en) * | 2020-10-14 | 2021-01-12 | 吉林大学 | Active and passive bionic artificial limb knee joint |
| CN113456321A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic active knee joint |
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| EP1561439A1 (en) * | 2004-02-04 | 2005-08-10 | Hokushinkai Medical Corporation | Rotary joint of an articulation prosthetic implement |
| CN101138995A (en) * | 2007-08-10 | 2008-03-12 | 北京大学 | Positive and passive movement combined elastic mechanical legs |
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| RU2254832C1 (en) * | 2003-11-26 | 2005-06-27 | Общество с ограниченной ответственностью "МЕТИЗ" | Artificial knee joint having means for controlling braking forces independently under flexion and extension conditions |
| EP1561439A1 (en) * | 2004-02-04 | 2005-08-10 | Hokushinkai Medical Corporation | Rotary joint of an articulation prosthetic implement |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102247229A (en) * | 2011-04-08 | 2011-11-23 | 北京林业大学 | Active and passive joint prosthesis |
| CN108431440A (en) * | 2015-10-26 | 2018-08-21 | P·波默罗伊 | Mechanical joint with changeable rotation condition clutch |
| CN111110410A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Full-damping-degree adjusting structure for intelligent hydraulic knee joint |
| CN111110409A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| CN111110409B (en) * | 2020-01-16 | 2022-03-25 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| CN111358602A (en) * | 2020-04-14 | 2020-07-03 | 吉林大学 | Active-passive hybrid hydraulic knee joint prosthesis and control method and application thereof |
| CN111358602B (en) * | 2020-04-14 | 2023-09-05 | 吉林大学 | Active and passive hybrid hydraulic knee joint prosthesis and control method thereof |
| CN112206079A (en) * | 2020-10-14 | 2021-01-12 | 吉林大学 | Active and passive bionic artificial limb knee joint |
| CN112206079B (en) * | 2020-10-14 | 2021-07-13 | 吉林大学 | Active and passive bionic artificial limb knee joint |
| CN113456321A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic active knee joint |
| CN113456321B (en) * | 2021-06-30 | 2022-06-21 | 吉林大学 | Bionic active knee joint |
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| CN101933852B (en) | 2012-08-22 |
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