CN104083237B - There is the active drive ankle-foot orthosis of plantar pressure measuring ability - Google Patents
There is the active drive ankle-foot orthosis of plantar pressure measuring ability Download PDFInfo
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- CN104083237B CN104083237B CN201410251985.5A CN201410251985A CN104083237B CN 104083237 B CN104083237 B CN 104083237B CN 201410251985 A CN201410251985 A CN 201410251985A CN 104083237 B CN104083237 B CN 104083237B
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Abstract
The invention discloses a kind of active drive ankle-foot orthosis with plantar pressure measuring ability, this active drive ankle-foot orthosis includes shank fixation kit, foot sensory package and active drive assembly.Active drive assembly is by DC motor Driver drive bevel gear, and drive bevel gear engages with driven wheel of differential, and driven wheel of differential is arranged on power transmission shaft, and the two ends of power transmission shaft have synchronous pulley, Timing Belt and tensioning screw respectively.7 diaphragm pressure sensors and an accelerometer is provided with in foot sensory package.Active drive ankle-foot orthosis of the present invention is on the one hand according to simulation of human body, devise intelligent pressure sensing vola, adopt spring steel plate to connect sensing vola heel and sole, the segmental structure of simulation Human Sole, make toe and sole can free bend in the process of walking; On the other hand, the sagittal plane of ankle joint devises the degree of freedom of an active drive, while preventing patient's drop foot, by the driving of direct current generator, effectively provide patient to advance required power, alleviate the walking burden of patient.
Description
Technical field
The present invention relates to a kind of orthosis, more particularly, refer to a kind of active drive ankle-foot orthosis with plantar pressure measuring ability.
Background technology
Orthosis is to prevent or correct extremity, the deformity of trunk or treatment osteoarthrosis and neuromuscular disease and compensating the medical assistance apparatus of its function.
Ankle-foot orthosis is the structure had from shank to vola, to the orthosis that ankle motion controls.
The important function of ankle-foot orthosis one improves the abnormal gait of drop foot, and drop foot causes can not dorsiflex foot, is dilatory foot disease or lifts higher by these side lower limb during walking, always toe tread surface when landing.Drop foot is the common complication of stupor, paralysis, lower limb disorder, long-term bedridden patients.
At present, ankle-foot orthosis both domestic and external is roughly divided into two kinds: passive type with active.The ankle-foot orthosis of passive type is the most common at present, and reason is that structure is simple, and cost is low.Usual this kind of apparatus structure is generally all-in-one-piece, as the micro-strain adopting spring steel plate to realize patient joint in the process of walking.By the motion of the improper wide-angle of limiting patient, realize orthopedic object.Passive type ankle-foot orthosis does not comprise control and electronic equipment substantially, but mechanical organ such as spring or antivibrator may be had in gait process to play motor control.Because structure is simple, there is no the power of active drive, can not advance by assisting patient, can only the excessive plantar flexion (drop foot) of limiting patient ankle joint, function is relatively single, to patient's initial stage or the patients ' recovery weak effect that is in a bad way.
The orthosis of passive type only carries out motor control, what do not provide gait to promote is directly auxiliary, in addition, passive orthotic control depends on and activates spring, valve, switch in an open-loop manner, this control mode has very poor robustness, can not adapt to change walking condition, change the situation of functional task.And the orthosis of active drive utilizes extra power to overcome above deficiency.
The ankle-foot orthosis of active drive follows controlled mechanism to control the motion of ankle foot by utilizing sensor.The power provided can not only prevent drop foot, is used for again assisting advancing, but the ankle-foot orthosis of current active drive mostly adopts planetary gear or ball-screw to realize slowing down, and causes mechanism very heavy, is not suitable for daily wearing.
Summary of the invention
In order to solve the defect of above-mentioned existence, the present invention devises a kind of active drive ankle-foot orthosis with plantar pressure measuring ability.Active drive ankle-foot orthosis of the present invention is on the one hand according to simulation of human body, devise intelligent pressure sensing vola, adopt spring steel plate to connect sensing vola heel and sole, the segmental structure of simulation Human Sole, make toe and sole can free bend in the process of walking; On the other hand, the sagittal plane of ankle joint devises the degree of freedom of an active drive, while preventing patient's drop foot, by the driving of direct current generator, effectively provide patient to advance required power, alleviate the walking burden of patient.
A kind of active drive ankle-foot orthosis with plantar pressure measuring ability of the present invention, it includes shank fixation kit (1), foot sensory package (2) and active drive assembly (3);
Shank fixation kit (1) includes the first connector (1A), the second connector (1B), the 3rd connector (1C), the 4th connector (1D), the 5th connector (1E), the 6th connector (1F), the 7th connector (1G), the 8th connector (1H), the 9th connector (1J), the tenth connector (1K), the tenth a connection piece (1L), the 12 connector (1M);
First connector (1A) is U-shaped structural member.First connector (1A) is provided with the first support arm (1A1), the second support arm (1A2) and the first transverse slat (1A3).First support arm (1A1) is connected with the upper end of the 3rd connector (1C).Second support arm (1A2) is connected with the upper end of the 4th connector (1D).First transverse slat (1A3) is connected with the 3rd linking arm (1M1) of the 12 connector (1M).
Second connector (1B) is U-shaped structural member.Second connector (1B) is provided with the 3rd support arm (1B1), the 4th support arm (1B2) and the second transverse slat (1B3).3rd support arm (1B1) is provided with front fixing surface plate (1B11) and rear fixed panel (1B12), the front fixing surface plate (1B11) of described 3rd support arm (1B1) is connected with the 3rd connector (1C), the rear fixed panel (1B12) of described 3rd support arm (1B1) is connected with the upper end of the 7th connector (1G).4th support arm (1B2) is provided with front fixing surface plate (1B21) and rear fixed panel (1B22), the front fixing surface plate (1B21) of described 4th support arm (1B2) is connected with the 4th connector (1D), the rear fixed panel (1B22) of described 4th support arm (1B2) is connected with the upper end of the 8th connector (1H).Second transverse slat (1B3) is connected with the 9th connector (1J) and the tenth connector (1L).
3rd connector (1C) bottom is provided with the first limit guide groove (1C2) and A through hole (1C1); First limit guide groove (1C2) is for placing the A projection of the 13 connector (2G) upper end, and A through hole (1C1) passes for A ankle joints of foot axle (35F).
4th connector (1D) bottom is provided with the second limit guide groove (1D2) and B through hole (1D1); Second limit guide groove (1D2) is for placing the B projection (2H3) of the 14 connector (2H) upper end, and B through hole (1D1) passes for B ankle joints of foot axle (36F).
5th connector (1E) is fixedly mounted on the 3rd connector (1C).
6th connector (1F) is fixedly mounted on the 4th connector (1D).
7th connector (1G) lower end is provided with the 3rd limit guide groove (1G1); A tensioning screw (33E) is placed with in 3rd limit guide groove (1G1).
8th connector (1H) lower end is provided with the 4th limit guide groove (1H1); B tensioning screw (34E) is placed with in 4th limit guide groove (1H1).
9th connector (1J) is L shape structural member.First linking arm (1J1) of the 9th connector (1J) is provided with screwed hole, first support arm (1J2) of the 9th connector (1J) is provided with the 3rd dead eye (1J3), is provided with B ball bearing (32B) in the 3rd dead eye (1J3).
Tenth connector (1K) is L shape structural member.Second linking arm (1K1) of the tenth connector (1K) is provided with screwed hole, second support arm (1K2) of the tenth connector (1K) is provided with the 4th dead eye (1K3), is provided with A ball bearing (31B) in the 4th dead eye (1K3).
The upper end of the tenth a connection piece (1L) is fixedly mounted on the 4th connector (1D), and the lower end of the tenth a connection piece (1L) is installed with photoelectric encoder (35D).
12 connector (1M) is L shape structural member.3rd linking arm (1M1) of the 12 connector (1M) is provided with screwed hole, and the 3rd support arm (1M2) of the 12 connector (1M) is provided with the through hole (1M3) passed for decelerator (3H).
Foot sensory package (2) includes shoestring part, sole portion, heel portion and 7 diaphragm pressure sensors and 1 accelerometer;
Wherein, lace segment divides and includes the first bandage (2A), the second bandage (2B), the 3rd bandage (2C), the 4th bandage (2D), the 5th bandage (2E), the first bandage connector (2X) and the second bandage connector (2Y);
Wherein, sole portion includes steel disc sole (2Q), toe base plate (2T), sole base plate (2U), the first supporting spring palm (2I), the second supporting spring palm (2J), the 3rd supporting spring palm (2K), the 4th supporting spring palm (2L), the 5th supporting spring palm 2M, the 6th supporting spring palm (2N), the 7th supporting spring palm (2P); The the first described supporting spring palm (2I), the second supporting spring palm (2J), the 3rd supporting spring palm (2K), the 4th supporting spring palm (2L), the 5th supporting spring palm (2M), the 6th supporting spring palm (2N) are identical with the polycrystalline substance that the 7th supporting spring slaps (2P);
Wherein, heel portion includes heelpiece flapper (2F), heel upper plate (2R), heel lower plate (2S), heel overhead gage (2V), heel lower baffle plate (2W), the 13 connector (2G) and the 14 connector (2H);
The through hole that first bandage connector (2X) is provided with AA through hole (2X1), AB through hole (2X2) and passes for the first bandage (2A) and the second bandage (2B) two ends; AA through hole (2X1) is for placing the first film pressure transducer (21); AB through hole (2X2) is for placing the second diaphragm pressure sensor (22).
The through hole that second bandage connector (2Y) is provided with AC through hole (2Y1), AD through hole (2Y2) and passes for the 3rd bandage (2C) and the 4th bandage (2D) two ends; AC through hole (2Y1) is for placing the 3rd diaphragm pressure sensor (23); AD through hole (2Y2) is for placing the 4th diaphragm pressure sensor (24).
Steel disc sole (2Q) is provided with BA through hole (2Q1), BB through hole (2Q2), BC through hole (2Q3), BD through hole (2Q4), BE through hole (2Q5), BF through hole (2Q6) and BG through hole (2Q7), BA through hole (2Q1) is for placing the first film pressure transducer (21), BB through hole (2Q2) is for placing the second diaphragm pressure sensor (22), BC through hole (2Q3) is for placing the 3rd diaphragm pressure sensor (23), BD through hole (2Q4) is for placing the 4th diaphragm pressure sensor (24), BE through hole (2Q5) is for placing the 5th diaphragm pressure sensor (25), BF through hole (2Q6) is for placing the 6th diaphragm pressure sensor (26), BG through hole (2Q7) is for placing the 7th diaphragm pressure sensor (27).
Toe base plate (2T) is provided with AA cavity (2T1), AB cavity (2T2), AA cavity (2T1) is for the lower surface of fixing the first film pressure transducer (21), and AB cavity (2T2) is for fixing the lower surface of the second diaphragm pressure sensor (22).
Sole base plate (2U) is provided with AC cavity (2U1), AD cavity (2U2), AC cavity (2U1) is for fixing the lower surface of the 3rd diaphragm pressure sensor (23), and AD cavity (2U2) is for fixing the lower surface of the 4th diaphragm pressure sensor (24).
Heel upper plate (2R) is provided with AE through hole (2R1), AF through hole (2R2), AG through hole (2R3), AE through hole (2R1) is for placing the 5th diaphragm pressure sensor (25), AF through hole (2R2) is for placing the 6th diaphragm pressure sensor (26), and AG through hole (2R3) is for placing the 7th diaphragm pressure sensor (27).
Heel lower plate (2S) is provided with AE cavity (2S1), AF cavity (2S2), AG cavity (2S3) and AH cavity (2S4), AE cavity (2S1) is for fixing the lower surface of the 5th diaphragm pressure sensor (25), AF cavity (2S2) is for fixing the lower surface of the 6th diaphragm pressure sensor (26), AG cavity (2S3) is for fixing the lower surface of the 7th diaphragm pressure sensor (27), and AH cavity (2S4) is for installing accelerometer.
The bottom of the first supporting spring palm (2I) is provided with circular bosses (2I1), described circular bosses (2I1) is provided with the cavity (2I3) for placing the first film pressure transducer (21), the center of described circular bosses (2I1) is AE through hole (2I2), this AE through hole (2I2) passes for screw, and the screw passed realizes the first supporting spring palm (2I) to fix with the upper surface of the first film pressure transducer (21);
The second supporting spring palm bottom of (2J) and the upper surface of the second diaphragm pressure sensor (22) are fixed, the 3rd supporting spring palm bottom of (2K) and the upper surface of the 3rd diaphragm pressure sensor (23) are fixed, the 4th supporting spring palm bottom of (2L) and the upper surface of the 4th diaphragm pressure sensor (24) are fixed, the 5th supporting spring palm bottom of (2M) and the upper surface of the 5th diaphragm pressure sensor (25) are fixed, the 6th supporting spring palm bottom of (2N) and the upper surface of the 6th diaphragm pressure sensor (26) are fixed, the 7th supporting spring palm bottom of (2P) and the upper surface of the 7th diaphragm pressure sensor (27) are fixed,
13 connector (2G) is provided with AA transverse connection (2G1), the longitudinal connector (2G2) of AA and A projection; AA transverse connection (2G1) is fixed with the side of heel lower plate (2S), and the opposite side of heel lower plate (2S) and the AB transverse connection (2H1) of the 14 connector (2H) are fixed; The upper end of the longitudinal connector (2G2) of AA is connected with the 3rd connector (1C), the longitudinal connector (2G2) of AA is connected with one end of heelpiece flapper (2F).
14 connector (2H) is provided with AB transverse connection (2H1), the longitudinal connector (2H2) of AB and B projection (2H3); AB transverse connection (2H1) is fixed with the opposite side of heel lower plate (2S), the upper end of the longitudinal connector (2H2) of AB is connected with the 4th connector (1D), the longitudinal connector (2H2) of AB is connected with the other end of heelpiece flapper (2F).
Active drive assembly (3) includes drive part, the first running part, the second running part, the first tensioning portion and the second tensioning portion;
Wherein, the photoelectric encoder (3F) of drive part is connected with direct current generator (3G) with decelerator (3H), in the drive shaft (3J) that decelerator (3H) stretches out, be provided with drive bevel gear (3A), drive bevel gear (3A) engages with driven wheel of differential (3B) and power transmission shaft 3C.
Wherein, the first running part includes A collar (31A), A synchronous pulley (31B), A ball bearing (31C), A key (31D), the first Timing Belt (3D), E collar (35A), C synchronous pulley (35B), code-disc (35C), photoelectric encoder (35D), screw (35E), A ankle joints of foot axle (35F), C key (35G); One end socket A synchronous pulley (31B) of first Timing Belt (3D), other end socket C synchronous pulley (35B) of the first Timing Belt (3D), A synchronous pulley (31B) is connected by A key (31D) one end with power transmission shaft (3C).A ankle joints of foot axle (35F) is connected on the longitudinal connector (2H2) of B of the 14 connector (2H), and A ankle joints of foot axle (35F) is placed in the B through hole (1D1) of the 4th connector (1D), C synchronous pulley (35B) is arranged on A ankle joints of foot axle (35F) by C key (35G), and code-disc (35C) and E collar (35A) are arranged on A ankle joints of foot axle (35F), the end-face helical of A ankle joints of foot axle (35F) is connected with screw (35E).Photoelectric encoder (35D) is arranged on the tenth a connection piece (1L).
Wherein, the second running part includes B collar (32A), B synchronous pulley (32B), B ball bearing (32C), B key (32D), the second Timing Belt (3E), F collar (36A), D synchronous pulley (36B), code-disc (35C), photoelectric encoder (35D), B locking nut (36E), B ankle joints of foot axle (36F), D key (36G); One end socket B synchronous pulley (32B) of second Timing Belt (3E), other end socket D synchronous pulley (36B) of the second Timing Belt (3E), B synchronous pulley (32B) is connected by the other end of B key (32D) with power transmission shaft (3C).B ankle joints of foot axle (36F) is connected on the longitudinal connector (2G2) of A of the 13 connector (2G), and B ankle joints of foot axle (36F) is placed in the A through hole (1C1) of the 3rd connector (1C), D synchronous pulley (36B) is arranged on B ankle joints of foot axle (36F) by D key (36G).
Wherein, the first tensioning portion includes C collar (33A), C ball bearing (33C), A tensioning screw (33E), A locking nut (33F); One end of A tensioning screw (33E) is through after the 4th limit guide groove (1H1) on the 8th connector (1H), be socketed with A locking nut (33F), C ball bearing (33C) and C collar (33A) in turn, C ball bearing (33C) is clamped on A tensioning screw (33E) by C collar (33A);
Wherein, the second tensioning portion includes D collar (34A), D ball bearing (34C), B tensioning screw (34E), B locking nut (34F); One end of B tensioning screw (34E) is through after the 3rd limit guide groove (1G1) on the 7th connector (1G), be socketed with B locking nut (34F), D ball bearing (34C) and D collar (34A) in turn, D ball bearing (34C) is clamped on B tensioning screw (34E) by D collar (34A);
Power transmission shaft (3C) is provided with the first shaft part (3C1), the second shaft part (3C2), the 3rd shaft part (3C3), the 4th shaft part (3C4), the 5th shaft part (3C5), the 6th shaft part (3C6) and the 7th shaft part (3C7);
Described second shaft part (3C2) is provided with the keyway for placing A key (31D);
Described 4th shaft part (3C4) is provided with keyway (3C41) and blind hole (3C42), realizes the fixing of driven wheel of differential (3B) and power transmission shaft (3C) by placing key in the keyway (3C41) and place pin in blind hole (3C42);
Described 6th shaft part (3C6) is provided with the keyway for placing B key (32D).
A collar (31A) is socketed on the first shaft part (3C1), A synchronous pulley (31B) is socketed on the second shaft part (3C2), the inner ring of A ball bearing (31C) is socketed on the 3rd shaft part (3C3), and the outer ring of A ball bearing (31C) is arranged in the 4th dead eye (1K3) of the tenth connector (1K).B collar (32A) is socketed on the 7th shaft part (3C7), B synchronous pulley (32B) is socketed on the 6th shaft part (3C6), the inner ring of B ball bearing (32C) is socketed on the 5th shaft part (3C5), and the outer ring of B ball bearing (32C) is arranged in the 3rd dead eye (1L3) of the 9th connector (1J).
A kind of advantage with the active drive ankle-foot orthosis of plantar pressure measuring ability of the present invention's design is:
1. realize the active drive of ankle-foot orthosis, the sagittal plane of ankle joint has the degree of freedom of an active drive, enrich the function of device, while preventing patient's drop foot, by the driving of direct current generator, effectively provide patient to advance required power, alleviate the walking burden of patient.
2. realize compact with the light and handy feature of mechanism by bevel gear and the two drive mechanism of Timing Belt, be applicable to the daily wearing of patient.Overlap by motor end and ankle two feedback control that photoelectric encoder system realizes single unit system, make the motor control of device more accurate.
3. according to simulation of human body, devise intelligent pressure sensing vola, spring steel plate is adopted to connect sensing vola heel and sole, the segmental structure of simulation Human Sole, make toe and sole can free bend in the process of walking, allow patient dress more comfortable, 7 diaphragm pressure sensors and accelerometer detect the plantar pressure in patient's walking process and acceleration of walking respectively in real time, for gait control.
Accompanying drawing explanation
Fig. 1 is a kind of structure chart with the active drive ankle-foot orthosis of plantar pressure measuring ability that the present invention designs.
Figure 1A is a kind of another viewing angle constructions figure with the active drive ankle-foot orthosis of plantar pressure measuring ability that the present invention designs.
Fig. 2 is the structure chart of the shank fixation kit of the active drive ankle-foot orthosis that the present invention designs.
Fig. 2 A is the exploded view of the shank fixation kit of the active drive ankle-foot orthosis that the present invention designs.
Fig. 3 is the structure chart of the foot sensory package of the active drive ankle-foot orthosis that the present invention designs.
Fig. 3 A is the exploded view of the foot sensory package of the active drive ankle-foot orthosis that the present invention designs.
Fig. 3 B is the structure chart of supporting spring in the foot sensory package of the active drive ankle-foot orthosis that the present invention designs.
Fig. 4 is the structure chart of the active drive assembly of the active drive ankle-foot orthosis that the present invention designs.
Fig. 4 A is the exploded view of the active drive assembly of the active drive ankle-foot orthosis that the present invention designs.
Fig. 4 B is the structure chart of power transmission shaft in the active drive assembly of the active drive ankle-foot orthosis that the present invention designs.
| 1. shank fixation kit | 1A. first connector | 1A1. first support arm |
| 1A2. second support arm | 1A3. first transverse slat | 1B. second connector |
| 1B1. the 3rd support arm | 1B11. front fixing surface plate | 1B12. rear fixed panel |
| 1B2. the 4th support arm | 1B21. front fixing surface plate | 1B22. rear fixed panel |
| 1B3. second transverse slat | 1C. the 3rd connector | 1C1.A through hole |
| 1C2. first limit guide groove | 1D. the 4th connector | 1D1.B through hole |
| 1D2. second limit guide groove | 1E. the 5th connector | 1F. the 6th connector |
| 1G. the 7th connector | 1G1. the 3rd limit guide groove | 1H. the 8th connector |
| 1H1. the 4th limit guide groove | 1J. the 9th connector | 1J1. first linking arm |
| 1J2. first support arm | 1J3. the 3rd dead eye | 1K. the tenth connector |
| 1K1. second linking arm | 1K2. second support arm | 1K3. the 4th dead eye |
| 1L. the tenth a connection piece | 1M. the 12 connector | 1M1. the 3rd linking arm |
| 1M2. the 3rd support arm | 1M3. through hole | 2. foot sensory package |
| 2A. first bandage | 2B. second bandage | 2C. the 3rd bandage |
| 2D. the 4th bandage | 2E. the 5th bandage | 2F. heelpiece flapper |
| 2G. the 13 connector | 2G1.AA transverse connection | The longitudinal connector of 2G2.AA |
| 2H. the 14 connector | 2H1.AB transverse connection | The longitudinal connector of 2H2.AB |
| 2I. first supporting spring is slapped | 2I1. circular bosses | 2I2.AH through hole |
| 2I3. cavity | 2J. second supporting spring is slapped | 2K. the 3rd supporting spring is slapped |
| 2L. the 4th supporting spring is slapped | 2M. the 5th supporting spring is slapped | 2N. the 6th supporting spring is slapped |
| 2P. the 7th supporting spring is slapped | 2Q. steel disc sole | 2Q1.BA through hole |
| 2Q2.BB through hole | 2Q3.BC through hole | 2Q4.BD through hole |
| 2Q5.BE through hole | 2Q6.BF through hole | 2Q7.BG through hole |
| 2R. heel upper plate | 2R1.AE through hole | 2R2.AF through hole |
| 2R3.AG through hole | 2S. heel lower plate | 2S1.AE cavity |
| 2S2.AF cavity | 2S3.AG cavity | 2S4.AH cavity |
| 2T. toe base plate | 2T1.AA cavity | 2T2.AB cavity |
| 2U. sole base plate | 2U1.AC cavity | 2U2.AD cavity |
| Block on 2V. heel | Block under 2W. heel | |
| 2X. first bandage connector | 2X1.AA through hole | 2X2.AB through hole |
| 2Y. second bandage connector | 2Y1.AC through hole | 2Y2.AD through hole |
| 21. the first film pressure transducers | 22. second diaphragm pressure sensors | 23. the 3rd diaphragm pressure sensors |
| 24. the 4th diaphragm pressure sensors | 25. the 5th diaphragm pressure sensors | 26. the 6th diaphragm pressure sensors |
| 27. the 7th diaphragm pressure sensors | 3. active drive assembly | 3A. drive bevel gear |
| 3B. driven wheel of differential | 3C. power transmission shaft | 3C1. first shaft part |
| 3C2. second shaft part | 3C3. the 3rd shaft part | 3C4. the 4th shaft part |
| 3C41. keyway | 3C42. blind hole | 3C5. the 5th shaft part |
| 3C6. the 6th shaft part | 3C7. the 7th shaft part | 3D. first Timing Belt |
| 3E. second Timing Belt | 3F. motor photoelectric encoder | 3G. direct current generator |
| 3H. decelerator | 3J. drive shaft | 31A.A collar |
| 31B.A synchronous pulley | 31C.A ball bearing | 31D.A key |
| 32A.B collar | 32B.B synchronous pulley | 32C.B ball bearing |
| 32D.B key | 33A.C collar | 33C.C ball bearing |
| 33E.A tensioning screw | 33F.A locking nut | 34A.D collar |
| 34C.D ball bearing | 34E.B tensioning screw | 34F.B locking nut |
| 35A.E collar | 35B.C synchronous pulley | 35C. code-disc |
| 35D. photoelectric encoder | 35E. screw | 35F.A ankle joints of foot axle |
| 35G.C key | 36A.F collar | 36B.D synchronous pulley |
| 36F.B ankle joints of foot axle | 36G.D key |
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 1, Figure 1A, a kind of active drive ankle-foot orthosis with plantar pressure measuring ability of the present invention's design, this active drive ankle-foot orthosis includes shank fixation kit 1, foot sensory package 2 and active drive assembly 3; Foot sensory package 2 is connected with shank fixation kit 1 with active drive assembly 3.
Shank fixation kit 1
Shown in Fig. 1, Figure 1A, Fig. 2, Fig. 2 A, shank fixation kit 1 includes the first connector 1A, the second connector 1B, the 3rd connector 1C, the 4th connector 1D, the 5th connector 1E, the 6th connector 1F, the 7th connector 1G, the 8th connector 1H, the 9th connector 1J, the tenth connector 1K, the tenth a connection piece 1L, the 12 connector 1M;
Wherein, the 3rd connector 1C is identical with the structure of the 4th connector 1D, and staggered relatively;
Wherein, the 5th connector 1E is identical with the structure of the 6th connector 1F, and staggered relatively;
Wherein, the 7th connector 1G is identical with the structure of the 8th connector 1H, and staggered relatively;
Wherein, the 9th connector 1J is identical with the structure of the tenth connector 1K, and staggered relatively.
First connector 1A is U-shaped structural member.First connector 1A is provided with the first support arm 1A1, the second support arm 1A2 and the first transverse slat 1A3, and the first support arm 1A1, the second support arm 1A2 and the first transverse slat 1A3 are respectively equipped with screwed hole.In order to alleviate the weight of the first connector 1A, it has lightening hole.First support arm 1A1 is connected with the upper end of the 3rd connector 1C.Second support arm 1A2 is connected with the upper end of the 4th connector 1D.First transverse slat 1A3 is connected with the 3rd linking arm 1M1 of the 12 connector 1M.
Second connector 1B is U-shaped structural member.Second connector 1B is provided with the 3rd support arm 1B1, the 4th support arm 1B2 and the second transverse slat 1B3, and the 3rd support arm 1B1, the 4th support arm 1B2 and the second transverse slat 1B3 are respectively equipped with screwed hole.In order to alleviate the weight of the second connector 1B, it has lightening hole.3rd support arm 1B1 is provided with front fixing surface plate 1B11 and rear fixed panel 1B12, and the front fixing surface plate 1B11 of described 3rd support arm 1B1 is connected with the 3rd connector 1C, the rear fixed panel 1B12 of described 3rd support arm 1B1 is connected with the upper end of the 7th connector 1G.4th support arm 1B2 is provided with front fixing surface plate 1B21 and rear fixed panel 1B22, and the front fixing surface plate 1B21 of described 4th support arm 1B2 is connected with the 4th connector 1D, the rear fixed panel 1B22 of described 4th support arm 1B2 is connected with the upper end of the 8th connector 1H.Second transverse slat 1B3 is connected with the 9th connector 1J and the tenth connector 1L.
3rd connector 1C is provided with multiple lightening hole and screwed hole, and the bottom of the 3rd connector 1C is provided with the first limit guide groove 1C2 and A through hole 1C1; First limit guide groove 1C2 is for placing the A projection of the 13 connector 2G upper end, and the first limit guide groove 1C2 realizes limiting the range of movement of described A projection; A through hole 1C1 is used for A ankle joints of foot axle 35F and passes.
4th connector 1D is provided with multiple lightening hole and screwed hole, and the bottom of the 4th connector 1D is provided with the second limit guide groove 1D2 and B through hole 1D1; Second limit guide groove 1D2 is for placing the B projection 2H3 of the 14 connector 2H upper end, and the second limit guide groove 1D2 realizes limiting the range of movement of described B projection 2H3; B through hole 1D1 is used for B ankle joints of foot axle 36F and passes.
5th connector 1E is provided with multiple lightening hole and screwed hole, and the 5th connector 1E is fixedly mounted on the 3rd connector 1C.
6th connector 1F is provided with multiple lightening hole and screwed hole, and the 6th connector 1F is fixedly mounted on the 4th connector 1D.Under the combination of the 5th connector 1E and the 6th connector 1F, and realized the shank of clamping people by rope or belt binding.
The upper end of the 7th connector 1G is provided with screwed hole, and the lower end of the 7th connector 1G is provided with the 3rd limit guide groove 1G1; A tensioning screw 33E is placed with in 3rd limit guide groove 1G1.After adjustment A tensioning screw 33E arrives suitable position in the 3rd limit guide groove 1G1, tightened by A locking nut 33F.
The upper end of the 8th connector 1H is provided with screwed hole, and the lower end of the 8th connector 1H is provided with the 4th limit guide groove 1H1; B tensioning screw 34E is placed with in 4th limit guide groove 1H1.After adjustment B tensioning screw 34E arrives suitable position in the 4th limit guide groove 1H1, tightened by B locking nut 34F.
9th connector 1J is L shape structural member.The first linking arm 1J1 of the 9th connector 1J is provided with screwed hole, and the first support arm 1J2 of the 9th connector 1J is provided with the 3rd dead eye 1J3, is provided with B ball bearing 32B in the 3rd dead eye 1J3.
Tenth connector 1K is L shape structural member.The second linking arm 1K1 of the tenth connector 1K is provided with screwed hole, and the second support arm 1K2 of the tenth connector 1K is provided with the 4th dead eye 1K3, is provided with A ball bearing 31B in the 4th dead eye 1K3.
The upper end of the tenth a connection piece 1L is fixedly mounted on the 4th connector 1D, and the lower end of the tenth a connection piece 1L is installed with photoelectric encoder 35D.
12 connector 1M is L shape structural member.The 3rd linking arm 1M1 of the 12 connector 1M is provided with screwed hole, and the 3rd support arm 1M2 of the 12 connector 1M is provided with the through hole 1M3 passed for decelerator 3H.
In the present invention, being assembled into of shank fixation kit 1: the first connector 1A is connected with the 3rd connector 1C, the 4th connector 1D and the 12 connector 1M; Second connector 1B is connected with the 3rd connector 1C, the 4th connector 1D, the 7th connector 1G, the 8th connector 1H, the 9th connector 1J and the tenth connector 1K; First connector 1A and the second connector 1B keeping parallelism; 3rd connector 1C is connected with the 5th connector 1E and the 13 connector 2G; 4th connector 1D is connected with the 6th connector 1F, the tenth a connection piece 1L and the 14 connector 2H.
Foot sensory package 2
Shown in Fig. 1, Figure 1A, Fig. 3, Fig. 3 A, foot sensory package 2 includes shoestring part, sole portion, heel portion and 7 diaphragm pressure sensors and 1 accelerometer;
Wherein, 7 diaphragm pressure sensors refer to the first film pressure transducer 21, second diaphragm pressure sensor 22, the 3rd diaphragm pressure sensor 23, the 4th diaphragm pressure sensor 24, the 5th diaphragm pressure sensor 25, the 6th diaphragm pressure sensor 26 and the 7th diaphragm pressure sensor 27;
Wherein, lace segment divides and includes the first bandage 2A, the second bandage 2B, the 3rd bandage 2C, the 4th bandage 2D, the 5th bandage 2E, the first bandage connector 2X and the second bandage connector 2Y;
Wherein, sole portion includes steel disc sole 2Q, toe base plate 2T, sole base plate 2U, the first supporting spring palm 2I, the second supporting spring palm 2J, the 3rd supporting spring palm 2K, the 4th supporting spring palm 2L, the 5th supporting spring palm 2M, the 6th supporting spring palm 2N, the 7th supporting spring palm 2P; The first described supporting spring palm 2I, the second supporting spring palm 2J, the 3rd supporting spring palm 2K, the 4th supporting spring palm 2L, the 5th supporting spring palm 2M, the 6th supporting spring palm 2N are identical with the polycrystalline substance of the 7th supporting spring palm 2P;
Wherein, heel portion includes heelpiece flapper 2F, heel upper plate 2R, heel lower plate 2S, heel overhead gage 2V, heel lower baffle plate 2W, the 13 connector 2G and the 14 connector 2H; 13 connector 2G is identical with the structure of the 14 connector 2H.
Shown in Fig. 3 A, the through hole that the first bandage connector 2X is provided with AA through hole 2X1, AB through hole 2X2 and passes for the first bandage 2A and the second bandage 2B two ends; AA through hole 2X1 is for placing the first film pressure transducer 21; AB through hole 2X2 is for placing the second diaphragm pressure sensor 22.
Shown in Fig. 3 A, the through hole that the second bandage connector 2Y is provided with AC through hole 2Y1, AD through hole 2Y2 and passes for the 3rd bandage 2C and the 4th bandage 2D two ends; AC through hole 2Y1 is for placing the 3rd diaphragm pressure sensor 23; AD through hole 2Y2 is for placing the 4th diaphragm pressure sensor 24.
Shown in Fig. 3 A, steel disc sole 2Q is provided with BA through hole 2Q1, BB through hole 2Q2, BC through hole 2Q3, BD through hole 2Q4, BE through hole 2Q5, BF through hole 2Q6 and BG through hole 2Q7, BA through hole 2Q1 is for placing the first film pressure transducer 21, BB through hole 2Q2 is for placing the second diaphragm pressure sensor 22, BC through hole 2Q3 is for placing the 3rd diaphragm pressure sensor 23, BD through hole 2Q4 is for placing the 4th diaphragm pressure sensor 24, BE through hole 2Q5 is for placing the 5th diaphragm pressure sensor 25, BF through hole 2Q6 is for placing the 6th diaphragm pressure sensor 26, BG through hole 2Q7 is for placing the 7th diaphragm pressure sensor 27.
Shown in Fig. 3 A, toe base plate 2T is provided with AA cavity 2T1, AB cavity 2T2, and AA cavity 2T1 is used for the lower surface of fixing the first film pressure transducer 21, and AB cavity 2T2 is for fixing the lower surface of the second diaphragm pressure sensor 22.
Shown in Fig. 3 A, sole base plate 2U is provided with AC cavity 2U1, AD cavity 2U2, and AC cavity 2U1 is for fixing the lower surface of the 3rd diaphragm pressure sensor 23, and AD cavity 2U2 is for fixing the lower surface of the 4th diaphragm pressure sensor 24.
Shown in Fig. 3 A, heel upper plate 2R is provided with AE through hole 2R1, AF through hole 2R2, AG through hole 2R3, AE through hole 2R1 is for placing the 5th diaphragm pressure sensor 25, AF through hole 2R2 for placing the 6th diaphragm pressure sensor 26, AG through hole 2R3 for placing the 7th diaphragm pressure sensor 27.
Shown in Fig. 3 A, heel lower plate 2S is provided with AE cavity 2S1, AF cavity 2S2, AG cavity 2S3 and AH cavity 2S4, AE cavity 2S1 is for fixing the lower surface of the 5th diaphragm pressure sensor 25, AF cavity 2S2 is for fixing the lower surface of the 6th diaphragm pressure sensor 26, AG cavity 2S3 is for fixing the lower surface of the 7th diaphragm pressure sensor 27, and AH cavity 2S4 is for installing accelerometer.
Shown in Fig. 3 A, Fig. 3 B, the bottom of the first supporting spring palm 2I is provided with circular bosses 2I1, described circular bosses 2I1 is provided with the cavity 2I3 for placing the first film pressure transducer 21, the center of described circular bosses 2I1 is AE through hole 2I2, this AE through hole 2I2 is used for screw and passes, the screw passed realizes the upper surface of the first supporting spring palm 2I and the first film pressure transducer 21 to fix, namely the first supporting spring palm bottom of 2I and the upper surface of the first film pressure transducer 21 are fixed, and the lower surface of the first film pressure transducer 21 is fixed in the AA cavity 2T1 of toe base plate 2T.In like manner:
The second supporting spring palm bottom of 2J and the upper surface of the second diaphragm pressure sensor 22 are fixed, and the lower surface of the second diaphragm pressure sensor 22 is fixed in the AB cavity 2T2 of toe base plate 2T;
The 3rd supporting spring palm bottom of 2K and the upper surface of the 3rd diaphragm pressure sensor 23 are fixed, and the lower surface of the 3rd diaphragm pressure sensor 23 is fixed in the AC cavity 2U1 of sole base plate 2U;
The 4th supporting spring palm bottom of 2L and the upper surface of the 4th diaphragm pressure sensor 24 are fixed, and the lower surface of the 4th diaphragm pressure sensor 24 is fixed in the AD cavity 2U2 of sole base plate 2U;
The 5th supporting spring palm bottom of 2M and the upper surface of the 5th diaphragm pressure sensor 25 are fixed, and the lower surface of the 5th diaphragm pressure sensor 25 is fixed in the AE cavity 2S1 of heel lower baffle plate 2S;
The 6th supporting spring palm bottom of 2N and the upper surface of the 6th diaphragm pressure sensor 26 are fixed, and the lower surface of the 6th diaphragm pressure sensor 26 is fixed in the AF cavity 2S2 of heel lower baffle plate 2S;
The 7th supporting spring palm bottom of 2P and the upper surface of the 7th diaphragm pressure sensor 27 are fixed, and the lower surface of the 7th diaphragm pressure sensor 27 is fixed in the AG cavity 2S3 of heel lower baffle plate 2S.
Shown in Fig. 3 A, the 13 connector 2G is T-shaped structure, which is provided with the longitudinal connector 2G2 of AA transverse connection 2G1, AA and A projection; The side of AA transverse connection 2G1 and heel lower plate 2S is fixed, and the opposite side of heel lower plate 2S and the AB transverse connection 2H1 of the 14 connector 2H fix; The upper end of the longitudinal connector 2G2 of AA is connected with the 3rd connector 1C, the longitudinal connector 2G2 of AA is connected with one end of heelpiece flapper 2F.
Shown in Fig. 3 A, the 14 connector 2H is T-shaped structure, which is provided with the longitudinal connector 2H2 and B projection 2H3 of AB transverse connection 2H1, AB; The opposite side of AB transverse connection 2H1 and heel lower plate 2S is fixed, and the upper end of the longitudinal connector 2H2 of AB is connected with the 4th connector 1D, and B projection 2H3 moves in the second stopper slot 1D2 of the 4th connector 1D.The longitudinal connector 2H2 of AB is connected with the other end of heelpiece flapper 2F.
In the present invention, being installed as of diaphragm pressure sensor: first the lower surface of the first film pressure transducer 21 and the second diaphragm pressure sensor 22 and toe base plate 2T are fixed, lower surface and the sole base plate 2U of the 3rd diaphragm pressure sensor 23 and the 4th diaphragm pressure sensor 24 fix, 5th diaphragm pressure sensor 25, lower surface and the heel lower plate 2S of the 6th diaphragm pressure sensor 26 and the 7th diaphragm pressure sensor 27 fix, then steel disc sole 2Q is placed, the first bandage connector 2X is placed again at toe position, the second bandage connector 2Y is placed at sole position, heel region places heel upper plate 2R, last first supporting spring of placing in the upper surface of the first bandage connector 2X slaps 2I and the second supporting spring palm 2J, the 3rd supporting spring palm 2K and the 4th supporting spring palm 2L is placed in the upper surface of the second bandage connector 2Y, the 5th supporting spring palm 2M is placed in the upper surface of heel upper plate 2R, 6th supporting spring palm 2N and the 7th supporting spring palm 2P.Screw is adopted to realize the fixing of diaphragm pressure sensor, intelligent pressure sensing vola have employed bionic design, it is furnished with 7 pressure transducers and one piece of accelerometer, when the foot of people trample upper after, contacted with seven diaphragm pressure sensors by seven supporting spring palms, carry out the pedal force of responsive people.
In the foot sensory package 2 of the present invention's design, steel disc sole 2Q is apery sole and the part that is structure as a whole, and is for plantar pressure is delivered to sensor, plays enlarge active surface simultaneously, reduces the local pressure of diaphragm pressure sensor.Supporting spring adopts separate design to become multi-disc, can increase the contact area between the vola of people and sensor, make wearing comfort.Supporting spring adopts silica gel material processing, plays absorbing, stable sensor.Foot vola is segmental structure, i.e. toe portion, sole part and heel portions, and toe and forefoot normally bend.
In the present invention, being assembled into of foot sensory package 2: 7 diaphragm pressure sensors and 1 accelerometer are arranged in the cavity in toe base plate 2T, sole base plate 2U and heel lower plate 2S by (A) respectively; (B) place steel disc sole 2Q, then place the first bandage connector 2X, the second bandage connector 2Y and heel upper plate 2R, finally put supporting spring again and compress; (C) 5 bandages are installed; (D) the 13 connector 2G, the 14 connector 2H and heelpiece flapper 2F are installed.
Active drive assembly 3
Shown in Fig. 1, Figure 1A, Fig. 4, Fig. 4 A, active drive assembly 3 includes drive part, the first running part, the second running part, the first tensioning portion and the second tensioning portion; First running part is identical with the structure of the second running part; First tensioning portion is identical with the structure of the second tensioning portion.
Wherein, drive part includes photoelectric encoder 3F, direct current generator 3G, decelerator 3H, drive shaft 3J, drive bevel gear 3A, driven wheel of differential 3B and power transmission shaft 3C.In the present invention, direct current generator 3G provides patient the power advanced needed for ankle joint plantar flexion, and direct current generator 3G can select model to be MaxonEC-powermax30 DC brushless motor.The output shaft of direct current generator 3G is installed planetary reducer 3H, and decelerator 3H can select model to be GP32HP, and speed reducing ratio is 190:1.The enumerator end of direct current generator 3G installs photoelectric encoder 3F, and photoelectric encoder 3F can select model to be the encoder of HEDL5540 type.The gear ratio of drive bevel gear 3A and driven wheel of differential 3B is 1:2, namely the number of teeth of drive bevel gear 3A is 12, the number of teeth of driven wheel of differential 3B is 24, after drive bevel gear 3A engages with driven wheel of differential 3B, driven wheel of differential 3B realizes respectively axially fixing with radial by pin and flat key on power transmission shaft 3C.
Wherein, the first running part includes A collar 31A, A synchronous pulley 31B, A ball bearing 31C, A key 31D, first Timing Belt 3D, E collar 35A, C synchronous pulley 35B, code-disc 35C, photoelectric encoder 35D, screw 35E, A ankle joints of foot axle 35F, C key 35G; In the present invention, the gear ratio of A synchronous pulley 31B and C synchronous pulley 35B is 1:2, one end socket A synchronous pulley 31B of the first Timing Belt 3D, the other end socket C synchronous pulley 35B of the first Timing Belt 3D realizes slowing effect, and A synchronous pulley 31B is connected with power transmission shaft 3C by flat key (A key 31D).A ankle joints of foot axle 35F is connected on the longitudinal connector 2H2 of B of the 14 connector 2H, A ankle joints of foot axle 35F is placed in the B through hole 1D1 of the 4th connector 1D, C synchronous pulley 35B is arranged on A ankle joints of foot axle 35F by C key 35G, and code-disc 35C and E collar 35A is arranged on A ankle joints of foot axle 35F, the end face of A ankle joints of foot axle 35F is provided with the screwed hole for mounting screw 35E.Photoelectric encoder 35D is arranged on the tenth a connection piece 1L.
Wherein, the second running part includes B collar 32A, B synchronous pulley 32B, B ball bearing 32C, B key 32D, second Timing Belt 3E, F collar 36A, D synchronous pulley 36B, code-disc 35C, photoelectric encoder 35D, B locking nut 36E, B ankle joints of foot axle 36F, D key 36G; In the present invention, the gear ratio of B synchronous pulley 32B and D synchronous pulley 36B is 1:2, one end socket B synchronous pulley 32B of the second Timing Belt 3E, the other end socket D synchronous pulley 36B of the second Timing Belt 3E realizes slowing effect, and B synchronous pulley 32B is connected with power transmission shaft 3C by flat key (B key 32D).B ankle joints of foot axle 36F is connected on the longitudinal connector 2G2 of A of the 13 connector 2G, and B ankle joints of foot axle 36F is placed in the A through hole 1C1 of the 3rd connector 1C, and D synchronous pulley 36B is arranged on B ankle joints of foot axle 36F by D key 36G.
In the present invention, ankle joint is provided with photoelectric encoder, and can realize the movement angle feedback of ankle joint, photoelectric encoder 35D can select 100 linear light photoelectric coders of Freescale.
Wherein, the first tensioning portion includes C collar 33A, C ball bearing 33C, A tensioning screw 33E, A locking nut 33F; One end of A tensioning screw 33E is through after the 4th limit guide groove 1h1 on the 8th connector 1H, be socketed with A locking nut 33F, C ball bearing 33C and C collar 33A in turn, C ball bearing 33C is clamped on A tensioning screw 33E by C collar 33A, stops C ball bearing 33C in the axially-movable of A tensioning screw 33E.In the present invention, fixed by the 4th limit guide groove 1h1 on the 8th connector 1H and A locking nut 33F and can realize the adjustable of A tensioning screw 33E position, A tensioning screw 33E is fixed in the 4th limit guide groove 1H1 of the 8th connector 1H.
Wherein, the second tensioning portion includes D collar 34A, D ball bearing 34C, B tensioning screw 34E, B locking nut 34F; One end of B tensioning screw 34E is through after the 3rd limit guide groove 1G1 on the 7th connector 1G, be socketed with B locking nut 34F, D ball bearing 34C and D collar 34A in turn, D ball bearing 34C is clamped on B tensioning screw 34E by D collar 34A, stops D ball bearing 34C in the axially-movable of B tensioning screw 34E.In the present invention, fixed by the 3rd limit guide groove 1G1 on the 7th connector 1G and B locking nut 34F and can realize the adjustable of B tensioning screw 34E position, B tensioning screw 34E is fixed in the 3rd limit guide groove 1G1 of the 7th connector 1G.
Shown in Fig. 4 B, power transmission shaft 3C is provided with the first shaft part 3C1, the second shaft part 3C2, the 3rd shaft part 3C3, the 4th shaft part 3C4, the 5th shaft part 3C5, the 6th shaft part 3C6 and the 7th shaft part 3C7; Power transmission shaft 3C is stepped design, for fixing driven wheel of differential 3B and two small synchronous pulley (A synchronous pulley 31A, B synchronous pulley 32A), is connected simultaneously, realize the transmission of direct current generator 3G moment of torsion by key.
Described second shaft part 3C2 is provided with the keyway for placing A key 31D;
Described 4th shaft part 3C4 is provided with keyway 3C41 and blind hole 3C42, realizes the fixing of driven wheel of differential 3B and power transmission shaft 3C by placing key and place pin in keyway 3C41 in blind hole 3C42;
Described 6th shaft part 3C6 is provided with the keyway for placing B key 32D.
A collar 31A is socketed on the first shaft part 3C1, and A collar 31A for clamping A synchronous pulley 31B, thus stops A synchronous pulley 31B axially moving at power transmission shaft 3C.A synchronous pulley 31B is socketed on the second shaft part 3C2, and by A key 31D, A synchronous pulley 31B is fixed on power transmission shaft 3C.The inner ring of A ball bearing 31C is socketed on the 3rd shaft part 3C3, and the outer ring of A ball bearing 31C is arranged in the 4th dead eye 1K3 of the tenth connector 1K.
B collar 32A is socketed on the 7th shaft part 3C7, and B collar 32A for clamping B synchronous pulley 33B, thus stops B synchronous pulley 32B axially moving at power transmission shaft 3C.B synchronous pulley 32B is socketed on the 6th shaft part 3C6, and by B key 32D, B synchronous pulley 32B is fixed on power transmission shaft 3C.The inner ring of B ball bearing 32C is socketed on the 5th shaft part 3C5, and the outer ring of B ball bearing 32C is arranged in the 3rd dead eye 1L3 of the 9th connector 1J.
In the present invention, being assembled into of active drive assembly 3: motor 3G and motor encoder 3F, decelerator 3H install, and be socketed drive bevel gear 3A on drive shaft 3J by (A); (B) driven wheel of differential 3B is socketed on power transmission shaft 3C, and the other end being provided with A ball bearing 31B, A synchronous pulley 31B and A collar 31A, power transmission shaft 3C in one end of power transmission shaft 3C is provided with B ball bearing 32B, B synchronous pulley 32B and B collar 32A; (C) one end of A tensioning screw 33E is through after the 4th limit guide groove 1h1 on the 8th connector 1H, is socketed with A locking nut 33F, C ball bearing 33C and C collar 33A in turn; One end of B tensioning screw 34E, through after the 3rd limit guide groove 1G1 on the 7th connector 1G, is socketed with B locking nut 34F, D ball bearing 34C and D collar 34A in turn; (D) A ankle joints of foot axle 35F is connected on the longitudinal connector 2H2 of B of the 14 connector 2H, A ankle joints of foot axle 35F is placed in the B through hole 1D1 of the 4th connector 1D, C synchronous pulley 35B is arranged on A ankle joints of foot axle 35F by C key 35G, and code-disc 35C and E collar 35A is arranged on A ankle joints of foot axle 35F, the end face of A ankle joints of foot axle 35F is provided with the screwed hole for mounting screw 35E.Photoelectric encoder 35D is arranged on the tenth a connection piece 1L.B ankle joints of foot axle 36F is connected on the longitudinal connector 2G2 of A of the 13 connector 2G, and B ankle joints of foot axle 36F is placed in the A through hole 1C1 of the 3rd connector 1C, and D synchronous pulley 36B is arranged on B ankle joints of foot axle 36F by D key 36G.(E) on A synchronous pulley 31B and C synchronous pulley 35B, be socketed the first Timing Belt 3D, B synchronous pulley 32B and D synchronous pulley 36B are socketed the second Timing Belt 3E.
Arrange the initial position of motor, the rated speed of motor is 15800rpm, nominal torque 120mNm, and power is 200W, and the speed reducing ratio of decelerator is 190:1, and bevel gear and the every 2:1 of synchronous belt drive mechanism speed reducing ratio, total gear ratio is 760:1.The output rated moment being delivered to ankle joints of foot axle is 91.2Nm, meets the torque capacity needed for the motion of human body ankle foot.
After patient has dressed the active drive ankle-foot orthosis of the present invention's design, by button activation motor, the torque of motor is passed in drive bevel gear by Flat dey joint, drive bevel gear and driven wheel of differential engage each other, driven wheel of differential is produced rotate, driven wheel of differential by flat key transmission of torque on power transmission shaft, power transmission shaft by the flat key at axle two ends transmission of torque to A, in B synchronous pulley, A synchronous pulley is meshed with the first Timing Belt, power transmission on C synchronous pulley, C synchronous pulley is connected by key and is connected with the turning cylinder of A ankle joint, A ankle joint is driven to rotate.B synchronous pulley is meshed with the second Timing Belt, and power transmission on D synchronous pulley, D synchronous pulley is connected by key and is connected with the turning cylinder of B ankle joint, drives B ankle joint to rotate.When direct current generator is rotated counterclockwise, active drive ankle-foot orthosis enters plantar flexion pattern, provides the power that patient advances walking, when direct current generator turns clockwise, drives ankle dorsal flexion, prevents drop foot.The photoelectric encoder of motor is for detecting motor speed and corner, and ankle joint photoelectric encoder, for detecting ankle joint corner, carries out real-time angular feedback control.
Claims (4)
1. there is an active drive ankle-foot orthosis for plantar pressure measuring ability, it is characterized in that: this active drive ankle-foot orthosis includes shank fixation kit (1), foot sensory package (2) and active drive assembly (3);
Shank fixation kit (1) includes the first connector (1A), the second connector (1B), the 3rd connector (1C), the 4th connector (1D), the 5th connector (1E), the 6th connector (1F), the 7th connector (1G), the 8th connector (1H), the 9th connector (1J), the tenth connector (1K), the tenth a connection piece (1L), the 12 connector (1M);
First connector (1A) is U-shaped structural member; First connector (1A) is provided with the first support arm (1A1), the second support arm (1A2) and the first transverse slat (1A3); First support arm (1A1) is connected with the upper end of the 3rd connector (1C); Second support arm (1A2) is connected with the upper end of the 4th connector (1D); First transverse slat (1A3) is connected with the 3rd linking arm (1M1) of the 12 connector (1M);
Second connector (1B) is U-shaped structural member; Second connector (1B) is provided with the 3rd support arm (1B1), the 4th support arm (1B2) and the second transverse slat (1B3); 3rd support arm (1B1) is provided with front fixing surface plate (1B11) and rear fixed panel (1B12), the front fixing surface plate (1B11) of described 3rd support arm (1B1) is connected with the 3rd connector (1C), the rear fixed panel (1B12) of described 3rd support arm (1B1) is connected with the upper end of the 7th connector (1G); 4th support arm (1B2) is provided with front fixing surface plate (1B21) and rear fixed panel (1B22), the front fixing surface plate (1B21) of described 4th support arm (1B2) is connected with the 4th connector (1D), the rear fixed panel (1B22) of described 4th support arm (1B2) is connected with the upper end of the 8th connector (1H); Second transverse slat (1B3) is connected with the 9th connector (1J) and the tenth connector (1L);
3rd connector (1C) bottom is provided with the first limit guide groove (1C2) and A through hole (1C1); First limit guide groove (1C2) is for placing the A projection of the 13 connector (2G) upper end, and A through hole (1C1) passes for A ankle joints of foot axle (35F);
4th connector (1D) bottom is provided with the second limit guide groove (1D2) and B through hole (1D1); Second limit guide groove (1D2) is for placing the B projection (2H3) of the 14 connector (2H) upper end, and B through hole (1D1) passes for B ankle joints of foot axle (36F);
5th connector (1E) is fixedly mounted on the 3rd connector (1C);
6th connector (1F) is fixedly mounted on the 4th connector (1D);
7th connector (1G) lower end is provided with the 3rd limit guide groove (1G1); A tensioning screw (33E) is placed with in 3rd limit guide groove (1G1);
8th connector (1H) lower end is provided with the 4th limit guide groove (1H1); B tensioning screw (34E) is placed with in 4th limit guide groove (1H1);
9th connector (1J) is L shape structural member; First linking arm (1J1) of the 9th connector (1J) is provided with screwed hole, first support arm (1J2) of the 9th connector (1J) is provided with the 3rd dead eye (1J3), is provided with B ball bearing (32B) in the 3rd dead eye (1J3);
Tenth connector (1K) is L shape structural member; Second linking arm (1K1) of the tenth connector (1K) is provided with screwed hole, second support arm (1K2) of the tenth connector (1K) is provided with the 4th dead eye (1K3), is provided with A ball bearing (31B) in the 4th dead eye (1K3);
The upper end of the tenth a connection piece (1L) is fixedly mounted on the 4th connector (1D), and the lower end of the tenth a connection piece (1L) is installed with photoelectric encoder (35D);
12 connector (1M) is L shape structural member; 3rd linking arm (1M1) of the 12 connector (1M) is provided with screwed hole, and the 3rd support arm (1M2) of the 12 connector (1M) is provided with the through hole (1M3) passed for decelerator (3H);
Foot sensory package (2) includes shoestring part, sole portion, heel portion and 7 diaphragm pressure sensors and 1 accelerometer;
Wherein, lace segment divides and includes the first bandage (2A), the second bandage (2B), the 3rd bandage (2C), the 4th bandage (2D), the 5th bandage (2E), the first bandage connector (2X) and the second bandage connector (2Y);
Wherein, sole portion includes steel disc sole (2Q), toe base plate (2T), sole base plate (2U), the first supporting spring palm (2I), the second supporting spring palm (2J), the 3rd supporting spring palm (2K), the 4th supporting spring palm (2L), the 5th supporting spring palm 2M, the 6th supporting spring palm (2N), the 7th supporting spring palm (2P); The the first described supporting spring palm (2I), the second supporting spring palm (2J), the 3rd supporting spring palm (2K), the 4th supporting spring palm (2L), the 5th supporting spring palm (2M), the 6th supporting spring palm (2N) are identical with the polycrystalline substance that the 7th supporting spring slaps (2P);
Wherein, heel portion includes heelpiece flapper (2F), heel upper plate (2R), heel lower plate (2S), heel overhead gage (2V), heel lower baffle plate (2W), the 13 connector (2G) and the 14 connector (2H);
The through hole that first bandage connector (2X) is provided with AA through hole (2X1), AB through hole (2X2) and passes for the first bandage (2A) and the second bandage (2B) two ends; AA through hole (2X1) is for placing the first film pressure transducer (21); AB through hole (2X2) is for placing the second diaphragm pressure sensor (22);
The through hole that second bandage connector (2Y) is provided with AC through hole (2Y1), AD through hole (2Y2) and passes for the 3rd bandage (2C) and the 4th bandage (2D) two ends; AC through hole (2Y1) is for placing the 3rd diaphragm pressure sensor (23); AD through hole (2Y2) is for placing the 4th diaphragm pressure sensor (24);
Steel disc sole (2Q) is provided with BA through hole (2Q1), BB through hole (2Q2), BC through hole (2Q3), BD through hole (2Q4), BE through hole (2Q5), BF through hole (2Q6) and BG through hole (2Q7), BA through hole (2Q1) is for placing the first film pressure transducer (21), BB through hole (2Q2) is for placing the second diaphragm pressure sensor (22), BC through hole (2Q3) is for placing the 3rd diaphragm pressure sensor (23), BD through hole (2Q4) is for placing the 4th diaphragm pressure sensor (24), BE through hole (2Q5) is for placing the 5th diaphragm pressure sensor (25), BF through hole (2Q6) is for placing the 6th diaphragm pressure sensor (26), BG through hole (2Q7) is for placing the 7th diaphragm pressure sensor (27),
Toe base plate (2T) is provided with AA cavity (2T1), AB cavity (2T2), AA cavity (2T1) is for the lower surface of fixing the first film pressure transducer (21), and AB cavity (2T2) is for fixing the lower surface of the second diaphragm pressure sensor (22);
Sole base plate (2U) is provided with AC cavity (2U1), AD cavity (2U2), AC cavity (2U1) is for fixing the lower surface of the 3rd diaphragm pressure sensor (23), and AD cavity (2U2) is for fixing the lower surface of the 4th diaphragm pressure sensor (24);
Heel upper plate (2R) is provided with AE through hole (2R1), AF through hole (2R2), AG through hole (2R3), AE through hole (2R1) is for placing the 5th diaphragm pressure sensor (25), AF through hole (2R2) is for placing the 6th diaphragm pressure sensor (26), and AG through hole (2R3) is for placing the 7th diaphragm pressure sensor (27);
Heel lower plate (2S) is provided with AE cavity (2S1), AF cavity (2S2), AG cavity (2S3) and AH cavity (2S4), AE cavity (2S1) is for fixing the lower surface of the 5th diaphragm pressure sensor (25), AF cavity (2S2) is for fixing the lower surface of the 6th diaphragm pressure sensor (26), AG cavity (2S3) is for fixing the lower surface of the 7th diaphragm pressure sensor (27), and AH cavity (2S4) is for installing accelerometer;
The bottom of the first supporting spring palm (2I) is provided with circular bosses (2I1), described circular bosses (2I1) is provided with the cavity (2I3) for placing the first film pressure transducer (21), the center of described circular bosses (2I1) is AE through hole (2I2), this AE through hole (2I2) passes for screw, and the screw passed realizes the first supporting spring palm (2I) to fix with the upper surface of the first film pressure transducer (21);
The second supporting spring palm bottom of (2J) and the upper surface of the second diaphragm pressure sensor (22) are fixed, the 3rd supporting spring palm bottom of (2K) and the upper surface of the 3rd diaphragm pressure sensor (23) are fixed, the 4th supporting spring palm bottom of (2L) and the upper surface of the 4th diaphragm pressure sensor (24) are fixed, the 5th supporting spring palm bottom of (2M) and the upper surface of the 5th diaphragm pressure sensor (25) are fixed, the 6th supporting spring palm bottom of (2N) and the upper surface of the 6th diaphragm pressure sensor (26) are fixed, the 7th supporting spring palm bottom of (2P) and the upper surface of the 7th diaphragm pressure sensor (27) are fixed,
13 connector (2G) is provided with AA transverse connection (2G1), the longitudinal connector (2G2) of AA and A projection; AA transverse connection (2G1) is fixed with the side of heel lower plate (2S), and the opposite side of heel lower plate (2S) and the AB transverse connection (2H1) of the 14 connector (2H) are fixed; The upper end of the longitudinal connector (2G2) of AA is connected with the 3rd connector (1C), the longitudinal connector (2G2) of AA is connected with one end of heelpiece flapper (2F);
14 connector (2H) is provided with AB transverse connection (2H1), the longitudinal connector (2H2) of AB and B projection (2H3); AB transverse connection (2H1) is fixed with the opposite side of heel lower plate (2S), the upper end of the longitudinal connector (2H2) of AB is connected with the 4th connector (1D), the longitudinal connector (2H2) of AB is connected with the other end of heelpiece flapper (2F);
Active drive assembly (3) includes drive part, the first running part, the second running part, the first tensioning portion and the second tensioning portion;
Wherein, the photoelectric encoder (3F) of drive part is connected with direct current generator (3G) with decelerator (3H), in the drive shaft (3J) that decelerator (3H) stretches out, be provided with drive bevel gear (3A), drive bevel gear (3A) engages with driven wheel of differential (3B) and power transmission shaft 3C;
Wherein, the first running part includes A collar (31A), A synchronous pulley (31B), A ball bearing (31C), A key (31D), the first Timing Belt (3D), E collar (35A), C synchronous pulley (35B), code-disc (35C), photoelectric encoder (35D), screw (35E), A ankle joints of foot axle (35F), C key (35G); One end socket A synchronous pulley (31B) of first Timing Belt (3D), other end socket C synchronous pulley (35B) of the first Timing Belt (3D), A synchronous pulley (31B) is connected by A key (31D) one end with power transmission shaft (3C); A ankle joints of foot axle (35F) is connected on the longitudinal connector (2H2) of B of the 14 connector (2H), and A ankle joints of foot axle (35F) is placed in the B through hole (1D1) of the 4th connector (1D), C synchronous pulley (35B) is arranged on A ankle joints of foot axle (35F) by C key (35G), and code-disc (35C) and E collar (35A) are arranged on A ankle joints of foot axle (35F), the end-face helical of A ankle joints of foot axle (35F) is connected with screw (35E); Photoelectric encoder (35D) is arranged on the tenth a connection piece (1L);
Wherein, the second running part includes B collar (32A), B synchronous pulley (32B), B ball bearing (32C), B key (32D), the second Timing Belt (3E), F collar (36A), D synchronous pulley (36B), code-disc (35C), photoelectric encoder (35D), B locking nut (36E), B ankle joints of foot axle (36F), D key (36G); One end socket B synchronous pulley (32B) of second Timing Belt (3E), other end socket D synchronous pulley (36B) of the second Timing Belt (3E), B synchronous pulley (32B) is connected by the other end of B key (32D) with power transmission shaft (3C); B ankle joints of foot axle (36F) is connected on the longitudinal connector (2G2) of A of the 13 connector (2G), and B ankle joints of foot axle (36F) is placed in the A through hole (1C1) of the 3rd connector (1C), D synchronous pulley (36B) is arranged on B ankle joints of foot axle (36F) by D key (36G);
Wherein, the first tensioning portion includes C collar (33A), C ball bearing (33C), A tensioning screw (33E), A locking nut (33F); One end of A tensioning screw (33E) is through after the 4th limit guide groove (1H1) on the 8th connector (1H), be socketed with A locking nut (33F), C ball bearing (33C) and C collar (33A) in turn, C ball bearing (33C) is clamped on A tensioning screw (33E) by C collar (33A);
Wherein, the second tensioning portion includes D collar (34A), D ball bearing (34C), B tensioning screw (34E), B locking nut (34F); One end of B tensioning screw (34E) is through after the 3rd limit guide groove (1G1) on the 7th connector (1G), be socketed with B locking nut (34F), D ball bearing (34C) and D collar (34A) in turn, D ball bearing (34C) is clamped on B tensioning screw (34E) by D collar (34A);
Power transmission shaft (3C) is provided with the first shaft part (3C1), the second shaft part (3C2), the 3rd shaft part (3C3), the 4th shaft part (3C4), the 5th shaft part (3C5), the 6th shaft part (3C6) and the 7th shaft part (3C7);
Described second shaft part (3C2) is provided with the keyway for placing A key (31D);
Described 4th shaft part (3C4) is provided with keyway (3C41) and blind hole (3C42), realizes the fixing of driven wheel of differential (3B) and power transmission shaft (3C) by placing key in the keyway (3C41) and place pin in blind hole (3C42);
Described 6th shaft part (3C6) is provided with the keyway for placing B key (32D);
A collar (31A) is socketed on the first shaft part (3C1), A synchronous pulley (31B) is socketed on the second shaft part (3C2), the inner ring of A ball bearing (31C) is socketed on the 3rd shaft part (3C3), and the outer ring of A ball bearing (31C) is arranged in the 4th dead eye (1K3) of the tenth connector (1K);
B collar (32A) is socketed on the 7th shaft part (3C7), B synchronous pulley (32B) is socketed on the 6th shaft part (3C6), the inner ring of B ball bearing (32C) is socketed on the 5th shaft part (3C5), and the outer ring of B ball bearing (32C) is arranged in the 3rd dead eye (1L3) of the 9th connector (1J).
2. the active drive ankle-foot orthosis with plantar pressure measuring ability according to claim 1, it is characterized in that: A synchronous pulley (31B) is 1:2 with the gear ratio of C synchronous pulley (35B), and B synchronous pulley (32B) is 1:2 with the gear ratio of D synchronous pulley (34B).
3. the active drive ankle-foot orthosis with plantar pressure measuring ability according to claim 1, is characterized in that: the speed reducing ratio of decelerator is 190:1, and drive bevel gear and synchronous belt drive mechanism speed reducing ratio are 2:1, and total gear ratio is 760:1.
4. the active drive ankle-foot orthosis with plantar pressure measuring ability according to claim 1, it is characterized in that: when direct current generator is rotated counterclockwise, active drive ankle-foot orthosis enters plantar flexion pattern, the power that patient advances walking is provided, when direct current generator (3G) turns clockwise, drive the dorsiflex of ankle joints of foot, prevent drop foot.
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| CN201410251985.5A CN104083237B (en) | 2014-06-09 | 2014-06-09 | There is the active drive ankle-foot orthosis of plantar pressure measuring ability |
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| CN201410251985.5A CN104083237B (en) | 2014-06-09 | 2014-06-09 | There is the active drive ankle-foot orthosis of plantar pressure measuring ability |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104269093B (en) * | 2014-10-11 | 2017-02-01 | 中国人民解放军总后勤部军需装备研究所 | Testing system for dummy walking with load |
| CN104490508B (en) * | 2014-12-15 | 2017-02-22 | 中国人民解放军总医院 | Drafting brace for ankle joint contracture |
| CN104939958B (en) * | 2015-07-14 | 2017-01-18 | 中国人民解放军总医院 | Ankle joint rehabilitation traction equipment with adjustable joint angles |
| CN106539661A (en) * | 2015-09-17 | 2017-03-29 | 山东经典医疗器械科技有限公司 | The ankle joint mechanism of lower limbs rehabilitation training robot pedipulator |
| CN108309528B (en) * | 2017-01-16 | 2020-02-18 | 上海理工大学 | A correction type pedal device for low limbs rehabilitation training device |
| CN109091283A (en) * | 2018-08-27 | 2018-12-28 | 王新 | A kind of medical arthrodesis device convenient for adjusting |
| CN109115386A (en) * | 2018-09-30 | 2019-01-01 | 中国船舶重工集团公司第七0七研究所 | A kind of plantar pressure measuring device for wearable ectoskeleton power-assisting robot |
| CN109648541B (en) * | 2018-11-16 | 2020-05-22 | 浙江大学 | Foot wearing device applied to exoskeleton robot |
| CN109481114B (en) * | 2018-11-27 | 2023-09-26 | 中国科学院合肥物质科学研究院 | Ankle-foot orthosis with adjustable freedom degree for cerebral apoplexy patient |
| CN109394231B (en) * | 2018-12-10 | 2021-06-11 | 吉林大学 | Standing motion balance monitoring and dynamics analysis system |
| CN109806055A (en) * | 2019-03-08 | 2019-05-28 | 蔡碎女 | A kind of orthopedic walking aid device of drop foot |
| CN110301999B (en) * | 2019-07-23 | 2021-11-09 | 杭州众康假肢矫形器有限公司 | Ankle-foot orthosis |
| CN110478100B (en) * | 2019-07-26 | 2022-06-24 | 四川护理职业学院附属医院 | Intelligent ankle and foot correction trainer for children with cerebral palsy |
| CN112704490A (en) * | 2020-12-23 | 2021-04-27 | 四川大学华西医院 | Monitoring device and monitoring method for nerve roots in spinal endoscopic minimally invasive surgery |
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