CN103417314A - Two- freedom-degree limit anisotropic flexible biomimetic ankle - Google Patents
Two- freedom-degree limit anisotropic flexible biomimetic ankle Download PDFInfo
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- CN103417314A CN103417314A CN2013103975371A CN201310397537A CN103417314A CN 103417314 A CN103417314 A CN 103417314A CN 2013103975371 A CN2013103975371 A CN 2013103975371A CN 201310397537 A CN201310397537 A CN 201310397537A CN 103417314 A CN103417314 A CN 103417314A
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Abstract
The invention relates to a two-freedom-degree limit anisotropic flexible biomimetic ankle which comprises a connector for being connected with a prosthetic socket, a connecting rod connected to the lower end of the connector, a spring mounting bracket connected to the middle of the connecting rod, a central sphere pin pair connected to the lower end of the connecting rod, an ankle limit end cover arranged on the upper portion of the central sphere pin pair and a sphere pin pair base arranged below the central sphere pin pair. A limit cambered surface with four spring guide holes is arranged at the upper end of the ankle limit end cover, and an inner spherical surface is arranged at the lower end of the ankle limit end cover. The spring mounting bracket is supported in the limit cambered surface through four spiral compression springs installed in the four spring guide holes. An inner spherical surface is arranged at the upper end of the sphere pin pair base. The central sphere pin pair is in clearance fit with the inner spherical surface of the ankle limit end cover and the inner spherical surface of the sphere pin pair base, and a bolt pin on the side face of the central sphere pin pair is in clearance fit with a bolt pin guide groove in the ankle limit end cover and a bolt pin guide groove in the sphere pin pair base. The two-freedom-degree limit anisotropic flexible biomimetic ankle has two degrees of freedom, can perform plantar flexion, dorsal flexion, introversion and extroversion, has different angle ranges and flexibility in each direction, and enables an amputee to walk on a more complicated pavement.
Description
Technical field
The present invention relates to the bionic mechanical technical field, be specifically related to a kind of have different angular ranges and the flexible spacing incorgruous change flexible bionic ankle joint of two degrees of freedom on each direction of motion.
Background technology
The whole world is annual because various diseases, accident and vehicle accident cause the people with disability of lower extremity amputation ten hundreds of, the person that wherein is the below knee amputation greatly.These below knee amputations person has lost ability to work because losing lower limb, even can't take care of oneself.They are badly in need of installing below-knee prosthesis to improve their quality of life, and recover their ability to work.
Ankle joint is the most important part of below-knee prosthesis, because ankle joint directly affects the naturality of the daily routines that patients with amputation can complete (as walking, up/down steps), sport efficiency and gait.At present, mostly the ankle joint of traditional below-knee prosthesis be fixing and can not rotate, or single-degree-of-freedom can only be in limited range plantar flexion or dorsiflex.These ankle joint are only applicable to walk on more smooth road surface.When road surface is rugged and rough, these ankle joint can because of can't realize ankle joint in turn over and turn up, and cause the amputee to walk nature or walk not steady of appearance.
Some scientific research institutions also start to attempt designing to have multivariant artificial limb anklebone joint now, mainly are divided into multi-axial ankle joint and center spherical pair ankle joint.Although the multi-axial ankle joint can in the certain angle scope, carry out dorsiflex, plantar flexion, in turn over and turn up, its complex structure, region of stress concentration is more, is easy to suffer fatigue wear.The angle that center spherical pair ankle joint can imitate model of human ankle, but because model of human ankle is not the perfect symmetry structure of spherical pair, but more complicated trochoid curved-surface structure, so can cause amputee's gait natural not.In addition, different from the model of human ankle that incorgruous change is flexible, the flexibility of these ankle joint on each direction of motion is identical.
In order to solve the design shortcoming of above ankle joint, design can plantar flexion, dorsiflex, in turn over and turn up, there is different angular ranges again on each direction of motion and flexible two degrees of freedom biomimetic ankle becomes exigence.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of can plantar flexion, dorsiflex, in turn over and turn up, there is again different angular ranges and the flexible spacing incorgruous change flexible bionic ankle joint of two degrees of freedom on each direction of motion.
For achieving the above object, the present invention takes following technical scheme: the spacing incorgruous change flexible bionic ankle joint of a kind of two degrees of freedom, it is characterized in that, this biomimetic ankle comprises: a union joint for being connected with prosthetic socket, one is connected in the connecting rod of described union joint lower end, one is connected in the spring fitting frame at described connecting rod middle part, one is connected in the center sphere-pin pair of described connecting rod lower end, one is arranged at the spacing end cap of ankle joint on sphere-pin pair top, described center, and a sphere-pin pair base that is arranged at sphere-pin pair bottom, described center; Wherein, the inboard, upper end of the spacing end cap of described ankle joint has a spacing cambered surface, and the inboard, lower end has an Internal Spherical Surface, and side opening is provided with a pin gathering sill, and the four direction all around in described spacing cambered surface all offers a spring pilot hole; Described spring fitting chord position is in the spacing cambered surface of the spacing end cap of described ankle joint, it comprises that an interference is fixedly connected on the installation sleeve on described connecting rod, the outer radial of described installation sleeve is provided with four spring fairleads, and four described spring fairleads are corresponding one by one with four described spring pilot holes; The two ends of four helical compression springs are installed on respectively in the spring pilot hole and the spring guide on described spring fitting frame that described ankle joint positive stop end covers; Described sphere-pin pair base is fixedly connected on inboard, ，Qi upper end, the spacing end cap of described ankle joint bottom and has an Internal Spherical Surface, and side opening is provided with a pin gathering sill; The top of described center sphere-pin pair is fixedly connected with the lower end of described connecting rod, and its gap is matched with in the Internal Spherical Surface of the spacing end cap of described ankle joint and described sphere-pin pair base; The side of described center sphere-pin pair radially is provided with a pin, and described pin matched in clearance is in the pin gathering sill of the spacing end cap of described ankle joint and described sphere-pin pair base.
In a preferred embodiment, described union joint is the tetragonal pyramid union joint, the top of described tetragonal pyramid union joint is the tetragonal pyramid for being connected with described prosthetic socket, and bottom is and the cylindrical adapter sleeve of described tetragonal pyramid one that described adapter sleeve inboard is provided with female thread.
In a preferred embodiment, described connecting rod is stepped, on its upper end large-diameter section and lower end small axle diameter section, is provided with external screw thread, and its upper end is fixedly connected with the adapter sleeve screw thread of described tetragonal pyramid union joint.
In a preferred embodiment, more than half sphere structure that described center sphere-pin pair is hollow, its top axle is to being provided with a screwed hole, and described center sphere-pin pair is fixedly connected with the lower end screw thread of described connecting rod by described screwed hole.
In a preferred embodiment, there are some fixing holes described sphere-pin pair base below, by bolt, with artificial limb foot plate, is fixedly connected with.
In a preferred embodiment, the spacing cambered surface by changing the spacing end cap of described ankle joint to the maximum flex angle of ankle joint, maximum dorsiflex angle, imperial palace turns over angle and maximum valgus angle is adjusted spacing.
In a preferred embodiment, the flexibility by changing four described helical compression springs all around respectively to ankle dorsal flexion, plantar flexion, turn up and in the flexibility of turning over adjusted.
The present invention is owing to taking above technical scheme, and it has the following advantages: 1, biomimetic ankle provided by the invention has two degree of freedom, can plantar flexion, dorsiflex, in turn over and turn up, make the amputee be applicable to the more walking of complex road surface.2, biomimetic ankle provided by the invention adopts center ball pin auxiliary structure, can reduce stress concentration and fatigue wear, increases the service life of ankle joint.3, the spacing cambered surface that the angular range of biomimetic ankle provided by the invention on each direction of motion can cover by the ankle joint positive stop end is adjusted spacing.4, the flexibility of biomimetic ankle provided by the invention on each direction of motion can be adjusted by the flexibility of helical compression spring, rear screw stage clip, left-hand screw stage clip and right-hand screw stage clip before changing respectively.
The accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is carried out to detailed describing.Yet only providing in order to understand better the present invention of accompanying drawing is provided, they not should be understood to limitation of the present invention.
Fig. 1 is using state axonometric chart of the present invention;
Fig. 2 is cutaway view of the present invention;
Fig. 3 is the structural representation of tetragonal pyramid union joint of the present invention;
Fig. 4 is the structural representation of connecting rod of the present invention;
Fig. 5 is the structural representation of the spacing end cap of ankle joint of the present invention and spring fitting frame;
Fig. 6 is the structural representation of center of the present invention sphere-pin pair;
Fig. 7 is the structural representation of sphere-pin pair base of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1 and Figure 2, the present invention includes tetragonal pyramid union joint 1, connecting rod 2, the spacing end cap 3 of ankle joint, spring fitting frame 4, center sphere-pin pair 5 and sphere-pin pair base 6.
As shown in Figure 2 and Figure 3, the top of tetragonal pyramid union joint 1 is the tetragonal pyramid 11 for being connected with the prosthetic socket (not shown), and bottom is and the cylindrical adapter sleeve 12 of tetragonal pyramid 11 one that adapter sleeve 12 inboards are provided with female thread.
As shown in Figure 2, Figure 4 shows, connecting rod 2 is stepped, on its upper end large-diameter section and lower end small axle diameter section, is provided with external screw thread, and its upper end is fixedly connected with adapter sleeve 12 screw threads of tetragonal pyramid union joint 1.
As shown in Fig. 2, Fig. 5, the inboard, upper end of the spacing end cap 3 of ankle joint has a spacing cambered surface 31, the inboard, lower end has an Internal Spherical Surface 32, and side opening is provided with a pin gathering sill 33, and the four direction all around in spacing cambered surface 31 all offers a spring pilot hole 34.
As shown in Fig. 2, Fig. 6, more than half sphere structure that center sphere-pin pair 5 is hollow, its top axle is to being provided with a screwed hole 51, and side radially is provided with a pin 52.Center sphere-pin pair 5 is fixedly connected with the lower end screw thread of connecting rod 2 by screwed hole 51, and the Internal Spherical Surface 32 of its episphere and the spacing end cap 3 of ankle joint is matched in clearance, and pin 52 is matched in clearance with the pin gathering sill 33 on the spacing end cap 3 of ankle joint.
As shown in Fig. 2, Fig. 7, sphere-pin pair base 6 is the cylinder barrel shaped structure, and its inboard, upper end has an Internal Spherical Surface 61, and side opening is provided with pin gathering sill 62.Sphere-pin pair base 6 is bolted to connection in the spacing end cap of ankle joint 3 bottoms, and the lower semisphere matched in clearance of its Internal Spherical Surface and center sphere-pin pair 5, pin 52 matched in clearance on pin gathering sill 62Yu Yu center sphere-pin pair 5, pin gathering sill 33 on the spacing end cap 3 of ankle joint and the pin gathering sill 62 on sphere-pin pair base 6 can play the guiding role to the pin 52 of astrosphere pin pair 5 like this, therefore can eliminate the rotary freedom of center sphere-pin pair 5 in transverse section from frame for movement.There are four fixing holes 63 sphere-pin pair base 6 belows, by bolt, with artificial limb foot plate 7, are fixedly connected with (as shown in Figure 1).
In the above-described embodiments, the spacing cambered surface 31 of the spacing end cap 3 of ankle joint can structurally limit the range of activity of ankle joint, and these scopes are respectively maximum flex angle, maximum dorsiflex angle, imperial palace and turn over angle and maximum valgus angle etc.The concrete range of activity of ankle joint can be adjusted by changing spacing cambered surface 31 again, to meet the actual demand of different patients with amputation.
Below describe the present invention's various kinestates in use in detail:
1) dorsiflex campaign:
Center sphere-pin pair 5, connecting rod 2, together with tetragonal pyramid union joint 1, move along front helical compression spring 43.Front helical compression spring 43 is compressed, and spring fitting frame 4 is tangent with the spacing cambered surface 31 on the spacing end cap 3 of ankle joint.
2) plantar flexion motion:
Center sphere-pin pair 5, connecting rod 2, together with tetragonal pyramid union joint 1, move along rear screw stage clip 44.Rear screw stage clip 44 is compressed, and spring fitting frame 4 is tangent with the spacing cambered surface 31 on the spacing end cap 3 of ankle joint.
3) motion of turning up:
Center sphere-pin pair 5, connecting rod 2, together with tetragonal pyramid union joint 1, move along left-hand screw stage clip 43.Left-hand screw stage clip 45 is compressed, and spring fitting frame 4 is tangent with the spacing cambered surface 31 on the spacing end cap 3 of ankle joint.
4) turn over motion in:
Center sphere-pin pair 5, connecting rod 2, together with tetragonal pyramid union joint 1, move along right-hand screw stage clip 43.Right-hand screw stage clip 46 is compressed, and spring fitting frame 4 is tangent with the spacing cambered surface 31 on the spacing end cap 3 of ankle joint.
5) revolve front motion:
Connecting rod 2 is together with tetragonal pyramid union joint 1, along the angular bisector of rear screw stage clip 44 and left-hand screw stage clip 45, moves.Rear screw stage clip 44 and left-hand screw stage clip 45 are simultaneously compressed, and spring fitting frame 4 is tangent with the spacing cambered surface 31 on the spacing end cap 3 of ankle joint.
6) supination:
Connecting rod 2 is together with tetragonal pyramid union joint 1, along the angular bisector of front helical compression spring 43 and right-hand screw stage clip 46, moves.Front helical compression spring 43 and right-hand screw stage clip 46 are simultaneously compressed, and spring fitting frame 4 is tangent with the spacing cambered surface 31 on the spacing end cap 3 of ankle joint.
The various embodiments described above are only for further describing purpose of the present invention, technical scheme and beneficial effect; be not limited to the present invention; within the spirit and principles in the present invention all; any modification of making, be equal to replacement, improvement etc., within protection scope of the present invention all should be included in.
Claims (7)
1. the spacing incorgruous change flexible bionic ankle joint of two degrees of freedom, is characterized in that, this biomimetic ankle comprises:
One union joint for being connected with prosthetic socket,
One is connected in the connecting rod of described union joint lower end,
One is connected in the spring fitting frame at described connecting rod middle part,
One is connected in the center sphere-pin pair of described connecting rod lower end,
One is arranged at the spacing end cap of ankle joint on sphere-pin pair top, described center, and
One is arranged at the sphere-pin pair base of sphere-pin pair bottom, described center;
Wherein, the inboard, upper end of the spacing end cap of described ankle joint has a spacing cambered surface, and the inboard, lower end has an Internal Spherical Surface, and side opening is provided with a pin gathering sill, and the four direction all around in described spacing cambered surface all offers a spring pilot hole;
Described spring fitting chord position is in the spacing cambered surface of the spacing end cap of described ankle joint, it comprises that an interference is fixedly connected on the installation sleeve on described connecting rod, the outer radial of described installation sleeve is provided with four spring fairleads, and four described spring fairleads are corresponding one by one with four described spring pilot holes; The two ends of four helical compression springs are installed on respectively in the spring pilot hole and the spring guide on described spring fitting frame that described ankle joint positive stop end covers;
Described sphere-pin pair base is fixedly connected on inboard, ，Qi upper end, the spacing end cap of described ankle joint bottom and has an Internal Spherical Surface, and side opening is provided with a pin gathering sill;
The top of described center sphere-pin pair is fixedly connected with the lower end of described connecting rod, and its gap is matched with in the Internal Spherical Surface of the spacing end cap of described ankle joint and described sphere-pin pair base; The side of described center sphere-pin pair radially is provided with a pin, and described pin matched in clearance is in the pin gathering sill of the spacing end cap of described ankle joint and described sphere-pin pair base.
2. the spacing incorgruous change flexible bionic ankle joint of two degrees of freedom as claimed in claim 1, it is characterized in that, described union joint is the tetragonal pyramid union joint, the top of described tetragonal pyramid union joint is the tetragonal pyramid for being connected with described prosthetic socket, bottom is and the cylindrical adapter sleeve of described tetragonal pyramid one that described adapter sleeve inboard is provided with female thread.
3. the spacing incorgruous change flexible bionic ankle joint of two degrees of freedom as claimed in claim 2, it is characterized in that, described connecting rod is stepped, on its upper end large-diameter section and lower end small axle diameter section, is provided with external screw thread, and its upper end is fixedly connected with the adapter sleeve screw thread of described tetragonal pyramid union joint.
4. the spacing incorgruous change flexible bionic ankle joint of two degrees of freedom as claimed in claim 3, it is characterized in that, more than half sphere structure that described center sphere-pin pair is hollow, its top axle is to being provided with a screwed hole, and described center sphere-pin pair is fixedly connected with the lower end screw thread of described connecting rod by described screwed hole.
5. the spacing incorgruous change flexible bionic ankle joint of two degrees of freedom as claimed in claim 1 or 2 or 3 or 4, is characterized in that, there are some fixing holes described sphere-pin pair base below, by bolt, with artificial limb foot plate, is fixedly connected with.
6. the spacing incorgruous change flexible bionic ankle joint of two degrees of freedom as described as claim 1 to 5 any one, it is characterized in that, the spacing cambered surface by changing the spacing end cap of described ankle joint to the maximum flex angle of ankle joint, maximum dorsiflex angle, imperial palace turns over angle and maximum valgus angle is adjusted spacing.
7. the spacing incorgruous change flexible bionic ankle joint of two degrees of freedom as described as claim 1 to 6 any one, it is characterized in that, the flexibility by changing four described helical compression springs all around respectively to ankle dorsal flexion, plantar flexion, turn up and in the flexibility of turning over adjusted.
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| CN201310397537.1A CN103417314B (en) | 2013-09-04 | 2013-09-04 | The spacing incorgruous change flexible bionic ankle joint of two degrees of freedom |
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| CN201310397537.1A CN103417314B (en) | 2013-09-04 | 2013-09-04 | The spacing incorgruous change flexible bionic ankle joint of two degrees of freedom |
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| CN103417314B CN103417314B (en) | 2015-08-12 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104161610A (en) * | 2014-08-03 | 2014-11-26 | 浙江大学 | Ankle joint for external skeleton buffering and power assisting |
| CN106003137A (en) * | 2016-04-22 | 2016-10-12 | 浙江大学 | Two-freedom-degree limiting exoskeleton ankle joint and application thereof |
| CN106618815A (en) * | 2015-10-28 | 2017-05-10 | 上海理工大学 | Integral topography adaptive artificial foot |
| CN107536662A (en) * | 2017-09-07 | 2018-01-05 | 重庆德勒夫科技有限公司 | Light intelligent energy storage and energy release ankle-joint artificial limb |
| CN108324410A (en) * | 2018-02-13 | 2018-07-27 | 宝鸡市英耐特医用钛有限公司 | A kind of titanium alloy can the positive terminal pad forging of the side's of rotation cone |
| CN109773769A (en) * | 2019-02-25 | 2019-05-21 | 清华大学深圳研究生院 | A kind of flexible mechanical arm based on sphere-pin pair |
| CN111084680A (en) * | 2018-10-24 | 2020-05-01 | 北京工道风行智能技术有限公司 | Passive hydraulic bionic ankle joint |
| CN111084681A (en) * | 2018-10-24 | 2020-05-01 | 北京工道风行智能技术有限公司 | Hydraulic bionic ankle joint |
| CN111249042A (en) * | 2020-03-04 | 2020-06-09 | 北京工道风行智能技术有限公司 | Stepless adjustable heel energy storage foot |
| CN111721449A (en) * | 2020-06-23 | 2020-09-29 | 北京工道风行智能技术有限公司 | Force sensing device |
| CN112618118A (en) * | 2020-12-16 | 2021-04-09 | 吉林大学 | Spherical-structure joint shaft angle-adjustable multi-axis ankle joint prosthesis |
| CN113909711A (en) * | 2021-10-15 | 2022-01-11 | 湖南大学 | Working platform capable of realizing multi-axis linkage |
| CN114869548A (en) * | 2022-04-26 | 2022-08-09 | 吉林大学 | Bionic passive multi-degree-of-freedom ankle joint prosthesis |
| CN114954726A (en) * | 2022-06-13 | 2022-08-30 | 中山大学 | Passive two-degree-of-freedom ankle joint structure imitating crocodile foot |
| CN115501014A (en) * | 2022-10-16 | 2022-12-23 | 吉林大学 | Integrated ankle system artificial limb |
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Cited By (24)
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| CN104161610B (en) * | 2014-08-03 | 2016-07-06 | 浙江大学 | The ankle joint of ectoskeleton buffering power-assisted |
| CN104161610A (en) * | 2014-08-03 | 2014-11-26 | 浙江大学 | Ankle joint for external skeleton buffering and power assisting |
| CN106618815B (en) * | 2015-10-28 | 2018-10-23 | 上海理工大学 | Integrated terrain self-adaptive prosthetic foot |
| CN106618815A (en) * | 2015-10-28 | 2017-05-10 | 上海理工大学 | Integral topography adaptive artificial foot |
| CN106003137A (en) * | 2016-04-22 | 2016-10-12 | 浙江大学 | Two-freedom-degree limiting exoskeleton ankle joint and application thereof |
| CN106003137B (en) * | 2016-04-22 | 2018-05-22 | 浙江大学 | A kind of two degrees of freedom /V exoskeleton ankle joint and its application |
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| CN108324410A (en) * | 2018-02-13 | 2018-07-27 | 宝鸡市英耐特医用钛有限公司 | A kind of titanium alloy can the positive terminal pad forging of the side's of rotation cone |
| CN111084680A (en) * | 2018-10-24 | 2020-05-01 | 北京工道风行智能技术有限公司 | Passive hydraulic bionic ankle joint |
| CN111084681A (en) * | 2018-10-24 | 2020-05-01 | 北京工道风行智能技术有限公司 | Hydraulic bionic ankle joint |
| CN111084680B (en) * | 2018-10-24 | 2022-05-10 | 北京工道风行智能技术有限公司 | Passive hydraulic bionic ankle joint |
| CN109773769A (en) * | 2019-02-25 | 2019-05-21 | 清华大学深圳研究生院 | A kind of flexible mechanical arm based on sphere-pin pair |
| CN111249042A (en) * | 2020-03-04 | 2020-06-09 | 北京工道风行智能技术有限公司 | Stepless adjustable heel energy storage foot |
| CN111249042B (en) * | 2020-03-04 | 2021-08-10 | 北京工道风行智能技术有限公司 | Stepless adjustable heel energy storage foot |
| CN111721449A (en) * | 2020-06-23 | 2020-09-29 | 北京工道风行智能技术有限公司 | Force sensing device |
| CN112618118B (en) * | 2020-12-16 | 2021-10-01 | 吉林大学 | Spherical-structure joint shaft angle-adjustable multi-axis ankle joint prosthesis |
| CN112618118A (en) * | 2020-12-16 | 2021-04-09 | 吉林大学 | Spherical-structure joint shaft angle-adjustable multi-axis ankle joint prosthesis |
| CN113909711A (en) * | 2021-10-15 | 2022-01-11 | 湖南大学 | Working platform capable of realizing multi-axis linkage |
| CN113909711B (en) * | 2021-10-15 | 2023-03-03 | 湖南大学 | Working platform capable of realizing multi-axis linkage |
| CN114869548A (en) * | 2022-04-26 | 2022-08-09 | 吉林大学 | Bionic passive multi-degree-of-freedom ankle joint prosthesis |
| CN114869548B (en) * | 2022-04-26 | 2024-05-31 | 吉林大学 | Bionic passive multi-freedom-degree ankle joint artificial limb |
| CN114954726A (en) * | 2022-06-13 | 2022-08-30 | 中山大学 | Passive two-degree-of-freedom ankle joint structure imitating crocodile foot |
| CN115501014A (en) * | 2022-10-16 | 2022-12-23 | 吉林大学 | Integrated ankle system artificial limb |
| CN115501014B (en) * | 2022-10-16 | 2024-04-26 | 吉林大学 | Integrated ankle system artificial limb |
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