CN103271783A - Artificial limb knee joint with assistance function - Google Patents
Artificial limb knee joint with assistance function Download PDFInfo
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- CN103271783A CN103271783A CN201310182128XA CN201310182128A CN103271783A CN 103271783 A CN103271783 A CN 103271783A CN 201310182128X A CN201310182128X A CN 201310182128XA CN 201310182128 A CN201310182128 A CN 201310182128A CN 103271783 A CN103271783 A CN 103271783A
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 74
- 210000003414 Extremities Anatomy 0.000 claims abstract description 28
- 210000001699 lower leg Anatomy 0.000 claims abstract description 19
- 210000003423 Ankle Anatomy 0.000 claims abstract description 6
- 210000001737 Ankle Joint Anatomy 0.000 claims abstract description 6
- 210000003127 Knee Anatomy 0.000 claims description 13
- 210000000245 Forearm Anatomy 0.000 claims description 11
- 230000001276 controlling effect Effects 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 4
- MFRCZYUUKMFJQJ-UHFFFAOYSA-N 1,4-dioxane-2,5-dione;1,3-dioxan-2-one Chemical compound O=C1OCCCO1.O=C1COC(=O)CO1 MFRCZYUUKMFJQJ-UHFFFAOYSA-N 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000002266 amputation Methods 0.000 abstract description 5
- 230000003044 adaptive Effects 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract 1
- 230000005021 gait Effects 0.000 description 19
- 210000000689 upper leg Anatomy 0.000 description 17
- 230000000694 effects Effects 0.000 description 9
- 210000003141 Lower Extremity Anatomy 0.000 description 8
- 210000002414 Leg Anatomy 0.000 description 6
- 238000004880 explosion Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 4
- 210000003447 Amputation Stumps Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 241000357209 Cordia subcordata Species 0.000 description 2
- 210000003205 Muscles Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001212149 Cathetus Species 0.000 description 1
- 210000002683 Foot Anatomy 0.000 description 1
- 210000001503 Joints Anatomy 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003042 antagnostic Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 230000004301 light adaptation Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 210000002346 musculoskeletal system Anatomy 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000001737 promoting Effects 0.000 description 1
- 230000001105 regulatory Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of biomedical engineering and recovery assistance tools and particularly relates to an artificial limb knee joint with an assistance function. The upper end of the artificial limb knee joint is connected with an artificial limb receiving cavity, and the lower end of the artificial limb knee joint is connected with a sole through a crus connecting rod and an ankle joint. The artificial limb knee joint comprises a fixed air cylinder multi-shaft artificial limb knee joint component used as an artificial limb joint functional component, an air cylinder throttle valve opening control mechanism used as an artificial limb joint intelligent component, and a knee joint assistance stretching driving mechanism used as an artificial limb joint active energy supply component. According to the artificial limb knee joint, intelligent active control can be achieved in function, stability is good, noise is low, and the artificial limb knee joint can be adaptive to multiple landscape features, can help an amputation patient to sit up autonomously and go up and down stairs in an alternating mode autonomously and integrates function advantages of a passive artificial limb knee joint and an active artificial limb knee joint.
Description
Technical field
The invention belongs to biomedical engineering and rehabilitation accessory technical field, relate to a kind of artificial limb knee-joint, particularly a kind of artificial limb knee-joint with assist function that is promoted the cylinder piston motion by motor-driven leading screw and spring.
Background technology
Artificial thigh is distinguished according to type of drive can be divided into two types: a kind of is to be the passive type artificial thigh of power source with the patients with amputation stump, and a kind of is to drive the active artificial thigh that bend and stretch in the joint by external power supply.Most of artificial thigh is passive type in the market, and the passive type artificial thigh can be divided into plain edition and intelligent two kinds again.Plain edition passive type artificial thigh knee joint damping torque size is set when mounted, is difficult to adapt to the variation of external environment conditions such as leg speed.Intelligent passive type artificial thigh is by having the antivibrator of adaptation function, when external environment conditions such as leg speed change, joint of artificial limb damping torque dynamic adjustments makes the artificial limb side can respond the variation of strong side step attitude and external environment condition fast, has good dynamic following and gait symmetry.Active artificial thigh provides flexible moment by external power supply for artificial limb knee-joint, and therefore control the bending and stretching of artificial limb knee-joint realize the function that the passive type artificial thigh is difficult to realize, as can not standing up by other strength, goes upstairs with paces alternately etc.
Patent US6764520B2 has invented a kind of magnetorheological intelligent passive type artificial leg, and its core technology is the magnetic flow liquid artificial limb knee-joint.This joint utilizes magnetic flow liquid to control the viscosity realization of liquid to the Self Adaptive Control of artificial limb knee-joint damping torque by adjusting the electromagnetic field size.Patent US201100873391A1 has invented a kind of intelligent passive type artificial leg knee joint of hydraulic cylinder type, utilizes micro machine to regulate the realization of hydraulic throttle valve openings of sizes to the Self Adaptive Control of artificial limb knee-joint damping torque.Patent CN101336849A has invented a kind of cylinder fixation type four-bar mechanism artificial limb knee-joint, regulates the realization of choke valve openings of sizes to the Self Adaptive Control of artificial limb knee-joint damping torque by miniature linear.Because the compressibility of gas is bigger than liquid, the artificial limb knee-joint of therefore common cylinder can only be controlled the gait of shaking peroid, and the artificial limb knee-joint of hydraulic cylinder can be controlled shaking peroid, also can control the gait of support phase.Patent US20100312363A1 has invented a kind of have Antagonistic muscle and the myofunctional active artificial leg knee joint of anti-antagonism, this artificial limb knee-joint is by two kneed flexion and extensions of Electric Machine Control, can be for joint motions provide power, function such as realize that alternately paces are gone upstairs.
In sum, passive type intelligence artificial thigh has gait followability and symmetry preferably when level walking, and volume and noise are all very little.Active artificial thigh joint makes battery and noise all bigger because the power of drive motors is very big.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of artificial limb knee-joint with assist function is proposed, it not only possesses passive type intelligence artificial thigh good gait symmetry and gait followability when level walking, also possesses the advantage that active artificial limb knee-joint can alternately be gone upstairs and do not stood up by external force.Shortcomings such as the present invention takes into account the functionality advantage of passive type and active artificial limb knee-joint, and it is big to overcome active artificial thigh energy consumption, and noise is big.
In order to achieve the above object, the technical scheme of employing is:
The upper end of this artificial limb knee-joint is connected with the artificial limb reception cavity, the lower end is connected with sole by shank connecting rod, ankle joint, comprises that fixedly cylinder multiaxis artificial limb knee-joint assembly, cylinder throttle valve opening controlling organization, knee joint power-assisted stretch the driving mechanism three parts;
Described fixedly cylinder multiaxis artificial limb knee-joint assembly is made up of upper joint body, joint forearm, joint postbrachium, cylinder and related components thereof; The upper joint body links to each other with the artificial limb reception cavity, and the joint forearm is connected with upper joint body, cylinder respectively with the joint postbrachium, forms the hinge multi-bar linkage jointly; Piston and compressible spring are set in the cylinder, and the outfan of piston is the piston pillar, is connected and fixed by screw thread and upper joint body; Piston moves back and forth in cylinder, and then promotes the flexion and extension of upper joint body, and piston moves downward, compressible spring is compressed, storage power, and piston moves upward, compacted compressible spring is released, and releases energy, and the joint is rotated and driven the joint and becomes extended configuration from flexion; Compressible spring has played the effect of power assistant spring in prosthesis component;
Described cylinder throttle valve opening controlling organization is made up of linear electric motors and choke valve; Choke valve is needle-type throttle valve, and its head portion is conical, inserts in the cylinder air inlet; Linear electric motors promote choke valve and carry out straight reciprocating motion, and the degree of depth that valve head inserts cylinder air inlet back and forth changes, and the folding degree of air inlet is constantly changed, and then the damping size of adjustments of gas; The air damping size is relevant with the folding degree that cylinder advances (going out) QI KOU, and opening is more big, and air damping is more little, and opening is more little, and air damping is more big.
Described knee joint power-assisted stretches driving mechanism and comprises dc brushless motor, gear-driven assembly, leading screw, cylinder bottom end cover, and its lower end is connected with the shank connecting rod by the shank end-cap assembly, for artificial limb provides external force; Leading screw links to each other with the outfan of dc brushless motor, and rotatablely moving of motor is converted to straight reciprocating motion; Feed screw nut is connected as a single entity by guide post and cylinder bottom end cover, when dc brushless motor rotated, feed screw nut promoted the cylinder bottom end cover, and then the compressible spring in the compression cylinder, compressible spring promotes piston and do straight reciprocating motion in cylinder, promotes the motion of upper joint body.
The dc brushless motor that described knee joint power-assisted stretches driving mechanism adopts Maxon EC30 high power dc brushless motor.
Piston in the described fixedly cylinder multiaxis artificial limb knee-joint assembly is made up of piston body, sealing ring, piston pillar, straight rod piston and piston knee; Straight rod piston and piston knee are by being threaded or interference fit is fixed as one, and the upper end of piston knee forms hinge with the piston pillar and is connected.
Beneficial effect of the present invention is:
Among the present invention, fixedly cylinder multiaxis artificial limb knee-joint assembly is the joint of artificial limb functional assembly, and cylinder throttle valve opening controlling organization assembly is the intelligent assembly of joint of artificial limb, and it is initiatively energy supply assembly of joint of artificial limb that the knee joint power-assisted stretches the driving mechanism assembly.This artificial limb knee-joint distinct characteristics, complete function, on function, can realize intelligent ACTIVE CONTROL, good stability, noise is little, can adapt to more lineament, can help patients with amputation independently to sit up, independently replace functions such as stair activity, take into account the functionality advantage of passive type and active artificial limb knee-joint.
Description of drawings
Fig. 1 (a) and Fig. 1 (b) are respectively axonometric drawing of the present invention and artificial limb schematic appearance;
Fig. 2 (a) and Fig. 2 (b) are front view of the present invention and side view;
Fig. 3 is the explosion figure of polycentric knee joint and cylinder related components;
Fig. 4 (a), Fig. 4 (b) are respectively joint of artificial limb special angle sketch maps;
Fig. 5 is cylinder and related components explosion figure thereof;
Fig. 6 (a) and Fig. 6 (b) are respectively the partial enlarged drawings of regional A among cylinder throttle valve opening controlling organization assembly sketch map and the figure;
Fig. 7 (a) and Fig. 7 (b) are respectively cutaway view and the explosion figure that the knee joint power-assisted stretches the driving mechanism assembly;
Description of reference numerals:
The 1-polycentric knee joint; The 2-cylinder; 3-bends and stretches in the joint power-assisted assembly; 4-shank end-cap assembly; 5-cylinder throttle valve opening controlling organization assembly; 6-artificial limb reception cavity; 7-shank connecting rod; The 8-ankle joint; 9-foot plate; 11-upper joint body; 12-joint forearm; 13-joint postbrachium; 14-piston pillar; 15-piston knee; The 16-straight rod piston; The 21-cylinder block; 22-cylinder upper end cover; The 23-piston; The 24-compressible spring; The 25-air plug; 31-shank chamber; 32-helps and stretches motor; 33-cylinder bottom end cover; The 34-leading screw; 35-leading screw guide rod; The 36-round nut; 37-lead screw shaft deep groove ball bearing; 41-shank end cap; 42-leading screw end tooth wheel; The 43-idle wheel; 44-motor side gear; The little axle of 45-; 46-gear shaft deep groove ball bearing; 47-shank bolt of cover; The 51-needle-valve; The 52-linear electric motors; 111-forearm upper hinge shaft assembly; 112-postbrachium upper hinge shaft assembly; Arm bolt before the 121-joint; 141-piston pillar set bolt; The 142-bearing pin; 151-piston knee bearing; Hinge axis assembly under the 211-forearm; Hinge axis assembly under the 212-postbrachium; 213-end cap bolt; 231-piston base bolt; 232-piston X RunddichtringO; 233-piston guide ring; 331-end cap X RunddichtringO; 332-end cap guide ring.
The specific embodiment
The invention provides a kind of artificial limb knee-joint with assist function, below in conjunction with the drawings and specific embodiments the present invention is done detailed explanation.
Overall structure of the present invention is bent and stretched power-assisted assembly 3, shank end-cap assembly 4, cylinder throttle valve opening controlling organization assembly 5, artificial limb reception cavity 6, shank connecting rod 7, ankle joint 8 and sole 9 etc. by polycentric knee joint 1, cylinder 2, joint and is assembled shown in Fig. 1 (a) and Fig. 1 (b).Wherein polycentric knee joint 1 and cylinder 2 have constituted fixedly cylinder multiaxis artificial limb knee-joint assembly.
In conjunction with Fig. 2 (a) and Fig. 2 (b), upper joint body 11 and artificial limb reception cavity 6 are fixed together by standard component, and reception cavity is intended to be worn on the patients with amputation stump, and the model of reception cavity is decided because of the shape and size of stump.Shank end cap 41 and shank connecting rod 7 are fixed together shank connecting rod 7 and sole 9 hinged formation ankle joint 8 by given joint.The present invention only provides reception cavity 6, shank connecting rod 7, and the sketch map of ankle joint 8 and sole 9, concrete structure is not done and is discussed in detail.
The complex structure of the normal knee joint of human body and lower limb, one of design object of artificial limb are the gait features of real simulated natural joint more, and the most important condition is to need the motion in simulation joint instantaneous.So the present invention adopts fixedly cylinder multiaxis artificial limb knee-joint assembly to realize this function, makes the artificial limb gait more close to normal gait.Fixedly cylinder multiaxis artificial limb knee-joint assembly is made up of polycentric knee joint 1 and cylinder and related components 2 thereof.
With respect to single-axis knee joint, the instantaneous real-time change of the motion of polycentric knee joint, by these characteristics, the present invention can reach the kneed motion of real simulated normal human more to the design of bar progress row.The kneed angle excursion of four-bar mechanism among the present invention is 0 °～135 °.Instantaneous and the normal instantaneous height of knee joint that moves is consistent.Polycentric knee joint 1(such as four-bar mechanism knee joint) mainly formed by upper joint body 11, joint forearm 12, joint postbrachium 13 and cylinder block 21.Upper joint body 11 and joint forearm 12 are by the combination of forearm upper hinge shaft assembly 111(hollow axle and needle bearing) form hinge, arm bolt 121 passes hinge axis and prevents joint forearm and the disengagement of upper joint body before the joint.Upper joint body 11 and joint postbrachium 13 form the another one hinge of four-bar mechanism by postbrachium upper hinge shaft assembly 112.Joint forearm 12 and joint postbrachium 13 form hinge by hinge axis assembly under hinge axis assembly 211 and the postbrachium under the forearm 212 and cylinder block 21 respectively.The driving link of four-bar mechanism is upper joint body 11, links to each other with piston component in the cylinder by prop up the piston pillar 14 that column bolt 141 is connected on the upper joint body 11 with piston.Piston pillar 14 and piston knee 15 form hinge by bearing pin 142 and piston knee bearing 151, and simultaneously, piston knee 15 and straight rod piston 16 also form a hinge by bearing pin 142 and piston knee bearing 151.Straight rod piston 16 lower ends are passed have circular seal ring cylinder upper end cover 22, and be fixed together by piston base bolt 231 and piston 23.By above-mentioned connection, when piston 23 moves, just can promote upper joint body 11 around hinge through in cylinder, cylinder block 21 just becomes the frame of four-bar mechanism, and upper joint body 11 is driving link.
End cap bolt 213 is fixed on cylinder upper end cover 22 on the cylinder wall.Adopt zero RunddichtringO to seal.Piston 23 and straight rod piston 16 piston component that forms that is fixed together passes from the centre bore of cylinder upper end cover 22.Compressible spring 24 is placed under the piston 23, supporting phase, the spring compressed energy-storage keeps supporting phase stability, and supporting phase stretching, extension in latter stage, releases energy, and has played assist function in the present invention.Fig. 1 (b), Fig. 4 (a) and Fig. 4 (b) have provided the sketch map of three specific positions that knee joint rotates: the position view when being respectively 0 °, 90 ° of knee joint angles (angle between thigh and the shank) and 135 °.
Piston 23 and cylinder bottom end cover 33 need move in cylinder, so need lead and movable sealing.The present invention adopts piston X RunddichtringO 232 to carry out movable sealing, adopts piston guide ring 233 to lead, and adopts air plug that gas circuit is sealed.
Have air inlet and venthole on the cylinder casing wall.Air inlet and venthole are elongated aperture, processing for convenience, and the present invention is designed to through hole with it.The hole that communicates with the external world is blocked with air plug 25 and is sealed.
Gait cycle can be divided into and supports mutually and swing two stages mutually.Supporting is the process that foot contacts with ground mutually, the process that swing freely swings for shank mutually.Wherein supporting be the preceding about 60% of whole gait cycle mutually, and swinging is back 40% of gait cycle mutually.Because thigh and calf is organized the synergism of muscle more, shank is not to rotate freely around rotatablely moving of thigh, and rotates according to certain characteristics of motion.In order to simulate this special characteristics of motion, the present invention realizes being good for the side step attitude by the cylinder throttle valve opening controlling organization assembly of adjustable gas damping and follows function.The air damping size is relevant with the folding degree that cylinder advances (going out) QI KOU, and opening is more big, and air damping is more little, and opening is more little, and air damping is more big.Fig. 5 is cylinder and related components explosion figure thereof; Fig. 6 (a) and Fig. 6 (b) are respectively the partial enlarged drawings of regional A among cylinder throttle valve opening controlling organization assembly sketch map and the figure.Cylinder throttle valve opening controlling organization assembly is made up of needle-valve 51 and linear electric motors 52.Linear electric motors 52 are by in the screwed hole that self is threaded into cylinder block one side in the joint assembly.The main shaft of linear electric motors 52 is fixed together by being shaped to be connected with needle-valve 51, and the local amplification view A among Fig. 6 represents the relative position relation of needle-valve and pore.Linear electric motors 52 promote needle-valve 51 and advance, and orifice size reduces gradually, and the cylinder damping in the joint assembly increases gradually, so that enough support forces to be provided, work in coordination with the instantaneous position feature of multiaxial joint in the joint assembly, have guaranteed to support the stability of phase.After supporting end mutually, gait cycle enters the swing phase, and linear electric motors 52 drive needle-valves 51 and retreat, and orifice size increases gradually, and the cylinder damping in the joint assembly reduces gradually, and it is more flexible that knee joint is rotated.Kneed damping can be regulated with swing different times mutually in real time according to supporting mutually.And linear electric motors 52 can be according to the air pressure of two chambers about the cylinder in the speed of travel and the joint angles variation adjusting joint assembly, namely when leg speed is fast, linear electric motors 52 retreat, orifice size increases gradually, cylinder damping in the joint assembly reduces gradually, namely when leg speed is slow, linear electric motors advance, orifice size reduces gradually, cylinder damping in the joint assembly increases gradually, make the knee joint damping to regulate in real time according to variation in pace speed, to adapt to different leg speeds to the requirement of knee joint damping force, realize the function of following of strong side step attitude.
The human body lower limbs motion is varied, as level walking, and stair activity, up and down ramp, leaping over obstacles sits up etc.In order to finish above-mentioned lower extremity movement action, the musculoskeletal system of thigh and calf need provide certain joint moment and energy for the joint.The above knee amputation patient is owing to physical disabilities, and lower limb can not provide joint moment and energy for lower extremity movement normally.In the level walking process, dress people with disability of the present invention and can provide the level walking gait by the lower limb stump, namely follow the lower extremity movement that assembly namely can be realized level walking by artificial limb gait support phase stability assembly and artificial limb gait.By to normal person's gait analysis as can be known, lower limb when finishing stair activity and not sitting up action by external force, required moment and energy when the driving moment that the joint needs and energy are far longer than level walking.At this moment, support the phase stability assembly only according to the artificial limb gait, the action that the power that the artificial limb gait is followed assembly and patients with amputation stump to be provided can't be finished stair activity and sit up.So the present invention adopts the joint to bend and stretch the power-assisted assembly to stretch moment for artificial limb provides to help.The joint is bent and stretched power-assisted assembly 3 and is adopted to help and stretch motor (dc brushless motor) and promote the function that piston is realized power-assisted indirectly.Help and stretch motor and under the help of leading screw, will rotatablely move and be converted into rectilinear motion.Feed screw nut and cylinder bottom end cover are fixed together, and promotion spring and piston move upward and just can play the effect of stretching that helps.For example, patients with amputation is dressed the present invention in the motion that sits up, when being sitting on the chair, knee joint angle is 90 degree, piston is in cylinder bottom, needed immediately, direct current generator rotates, under the external force effect that motor provides, promoting the cylinder bottom end cover moves upward, promote piston indirectly and move upward, because the long setting of four-bar mechanism bar, the knee joint angle track will gradually become 0 degree from 90 degree, when knee joint angle becomes 0 when spending, patients with amputation will be in standing state, and the motor counter-rotating is return the home position with the cylinder bottom end cover.Alternately during stair activity, help and stretch functional method and sit up identically, do not do to tire out herein and state.
Shown in Fig. 7 (a) and Fig. 7 (b), carry output shaft that helping of decelerator stretch motor 32 and is connected with threaded by being shaped with motor side gear 44 and is fixed together.Idle wheel 43 and shank end cap 41 link together by gear deep groove ball bearing 46 and little axle 45, idle wheel 43 and 44 engagements of motor side gear.Leading screw 34 is fixed together by being shaped to be connected with leading screw end tooth wheel 42, and meshes with idle wheel 43.Leading screw 34 tops connect 31 tops, shank chamber, wherein three gears that gear is same specification by lead screw shaft deep groove ball bearing 37.Round nut 36 is enclosed within on the leading screw, and pass the smooth aperture in 31 upper ends, shank chamber and cylinder bottom end cover 33 is fixed together by 120 ° of uniform leading screw guide rods 35, dc brushless motor drives leading screw 34 and rotates, leading screw 34 just drives round nut 36 and cylinder bottom end cover 33 constitutes slide block, cylinder cathetus in joint assembly moves back and forth, the piston 23 that promotes in the joint assembly moves up and down, and realizes that artificial limb stretches assist function.Because help and stretch assembly and only be used for helping stretching, discontinuous work has power consumption little, the advantage that noise is little.
Above embodiment only is used for explanation the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; under the situation that does not break away from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (3)
1. artificial limb knee-joint with assist function, the upper end is connected with the artificial limb reception cavity, the lower end is connected with sole by shank connecting rod, ankle joint, it is characterized in that, comprise that fixedly cylinder multiaxis artificial limb knee-joint assembly, cylinder throttle valve opening controlling organization, knee joint power-assisted stretch the driving mechanism three parts;
Described fixedly cylinder multiaxis artificial limb knee-joint assembly is made up of upper joint body, joint forearm, joint postbrachium, cylinder and related components thereof; The upper joint body links to each other with the artificial limb reception cavity, and the joint forearm is connected with upper joint body, cylinder respectively with the joint postbrachium, forms the hinge multi-bar linkage jointly; Piston and compressible spring are set in the cylinder, and the outfan of piston is the piston pillar, is connected and fixed by screw thread and upper joint body; Piston moves back and forth in cylinder, and then promotes the flexion and extension of upper joint body, and piston moves downward, compressible spring is compressed, storage power, and piston moves upward, compacted compressible spring is released, and releases energy, and the joint is rotated and driven the joint and becomes extended configuration from flexion;
Described cylinder throttle valve opening controlling organization is made up of linear electric motors and choke valve; Choke valve is needle-type throttle valve, and its head portion is conical, inserts in the cylinder air inlet; Linear electric motors promote choke valve and carry out straight reciprocating motion, and the degree of depth that valve head inserts cylinder air inlet back and forth changes, and the folding degree of air inlet is constantly changed, and then the damping size of adjustments of gas;
Described knee joint power-assisted stretches driving mechanism and comprises dc brushless motor, gear-driven assembly, leading screw, cylinder bottom end cover, and its lower end is connected with the shank connecting rod by the shank end-cap assembly, for artificial limb provides external force; Leading screw links to each other with the outfan of dc brushless motor, and rotatablely moving of motor is converted to straight reciprocating motion; Feed screw nut is connected as a single entity by guide post and cylinder bottom end cover, when dc brushless motor rotated, feed screw nut promoted the cylinder bottom end cover, and then the compressible spring in the compression cylinder, compressible spring promotes piston and do straight reciprocating motion in cylinder, promotes the motion of upper joint body.
2. a kind of artificial limb knee-joint with assist function according to claim 1 is characterized in that, the dc brushless motor that described knee joint power-assisted stretches driving mechanism adopts Maxon EC30 high power dc brushless motor.
3. a kind of artificial limb knee-joint with assist function according to claim 1 is characterized in that, the piston in the described fixedly cylinder multiaxis artificial limb knee-joint assembly is made up of piston body, sealing ring, piston pillar, straight rod piston and piston knee; Straight rod piston and piston knee are by being threaded or interference fit is fixed as one, and the upper end of piston knee forms hinge with the piston pillar and is connected.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103494659A (en) * | 2013-10-07 | 2014-01-08 | 河北工业大学 | Control method for artificial limb knee and ankle joints |
| CN105012056A (en) * | 2015-06-01 | 2015-11-04 | 北京航空航天大学 | Structure body of lower extremity exoskeleton with bionic knee joint |
| CN105291132A (en) * | 2015-12-03 | 2016-02-03 | 哈尔滨工业大学 | Humanoid robot knee joint capable of realizing active and semi-passive driving |
| CN105662664A (en) * | 2016-01-12 | 2016-06-15 | 丁科才 | Semi-automatic artificial thigh |
| CN106255477A (en) * | 2014-04-30 | 2016-12-21 | 奥托·博克保健有限公司 | Artificial limb |
| CN106539633A (en) * | 2016-12-16 | 2017-03-29 | 上海理工大学 | For the straight push-plate type Flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106726028A (en) * | 2016-12-16 | 2017-05-31 | 上海理工大学 | For the orthogonal formula Flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106891359A (en) * | 2017-04-19 | 2017-06-27 | 上海理工大学 | For the knee joint structure of lower limb exoskeleton robot |
| CN107530173A (en) * | 2015-04-24 | 2018-01-02 | 奥托·博克保健产品有限公司 | Method for controlling the damping in artificial joint to change |
| CN107530174A (en) * | 2015-04-24 | 2018-01-02 | 奥托·博克保健产品有限公司 | The method that stance for artificial knee joint damps |
| CN109982665A (en) * | 2016-11-10 | 2019-07-05 | 国立大学法人东京大学 | Knee joint |
| TWI678197B (en) * | 2018-07-17 | 2019-12-01 | 東南科技大學 | Sub-knee prosthetic structure with replaceable parts |
| WO2021022796A1 (en) * | 2019-08-07 | 2021-02-11 | 丽水市人民医院 | Ankle joint fixator |
| CN113116609A (en) * | 2021-04-19 | 2021-07-16 | 吉林大学 | Knee joint prosthesis with adjustable three-functional shaft |
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| CN106539633B (en) * | 2016-12-16 | 2018-06-26 | 上海理工大学 | For the straight push-plate type flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106539633A (en) * | 2016-12-16 | 2017-03-29 | 上海理工大学 | For the straight push-plate type Flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106891359B (en) * | 2017-04-19 | 2019-05-21 | 上海理工大学 | Knee joint structure for lower limb exoskeleton robot |
| CN106891359A (en) * | 2017-04-19 | 2017-06-27 | 上海理工大学 | For the knee joint structure of lower limb exoskeleton robot |
| TWI678197B (en) * | 2018-07-17 | 2019-12-01 | 東南科技大學 | Sub-knee prosthetic structure with replaceable parts |
| WO2021022796A1 (en) * | 2019-08-07 | 2021-02-11 | 丽水市人民医院 | Ankle joint fixator |
| CN113116609A (en) * | 2021-04-19 | 2021-07-16 | 吉林大学 | Knee joint prosthesis with adjustable three-functional shaft |
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