CN108420574B - 一种应用于踝足假肢的变刚度储能机构 - Google Patents

一种应用于踝足假肢的变刚度储能机构 Download PDF

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CN108420574B
CN108420574B CN201711201584.9A CN201711201584A CN108420574B CN 108420574 B CN108420574 B CN 108420574B CN 201711201584 A CN201711201584 A CN 201711201584A CN 108420574 B CN108420574 B CN 108420574B
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高亮
宋志涛
胡成颢
王美思
董昊臻
钟浩然
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Huazhong University of Science and Technology
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Abstract

本发明属于变刚度机构领域，并公开了一种应用于踝足假肢的变刚度储能机构，包括小腿板、固定脚、弹簧连接端A、拉伸弹簧、导轮、弹簧连接端B、连杆和传送带；拉伸弹簧的一端固定安装在弹簧连接端A上而其另一端固定连接在弹簧连接端B上；弹簧连接端B上设置有滑动凸台，小腿板上设置有弧形滑槽；连杆的一端安装在滑动凸台上而另一端安装在小腿板上；传送带的一端安装在固定脚上而另一端固定安装在滑动凸台上。本发明通过使用变刚度储能机构模拟类跟腱关节，实现支撑相转变为摆动相时保持小刚度，利于液压缸杆件伸出做正功，摆动相转变为支撑相时刚度非线性增加，吸收、存储能量，缓冲减震。

Description

一种应用于踝足假肢的变刚度储能机构
技术领域
本发明属于变刚度机构领域，更具体地，涉及一种应用于踝足假肢的变刚度储能机构。
背景技术
变刚度储能机构设计已成为医疗假肢器械研究领域中的一个重要研究方向，在人体助力双足行走过程中，处于支撑相的单腿不需要过大刚度，因为在支撑相转换成摆动相时，液压缸驱动杆件伸出做正功，此时刚度过大将影响液压缸的运动；而在由摆动相转换为支撑相时，相比于双足同时直立的过渡姿态，迈开步子时的重心有所降低，重力做正功，此时如果没有弹性元件，将驱动液压缸做负功，遵循能量守恒定律，把重力势能转化为热能消耗掉，这对于能量的最大化循环利用是极其不利的，故此时应该调节脚跟处弹性元件的刚度，吸收、存储能量，在下一个步态周期内转化为动能使用，同时也有减震的作用。
现有的义肢跟腱，在脚踝与脚掌的连接处，多使用刚性连接，这给患者的使用带来了诸多不便，如与地面刚性接触会直接反馈到患者肢体与义肢的连接处，造成患者的痛苦，同时，刚性连接也进一步限制了患者的运动速度，影响了患者的康复效果。
发明内容
针对现有技术的以上缺陷或改进需求，本发明提供了一种应用于踝足假肢的变刚度储能机构，采用变刚度进行储能这一特性可以更好地帮助人体高效稳定的行走。
为实现上述目的，按照本发明，提供了一种应用于踝足假肢的变刚度储能机构，其特征在于，包括小腿板、固定脚、弹簧连接端A、拉伸弹簧、导轮、弹簧连接端B、连杆和传送带，其中，
所述固定脚、弹簧连接端A、弹簧连接端B和导轮均安装在所述小腿板上；
所述拉伸弹簧的一端固定安装在所述弹簧连接端A上而其另一端固定连接在所述弹簧连接端B上；
所述弹簧连接端B上设置有滑动凸台，所述小腿板在对应于所述滑动凸台的位置设置有弧形滑槽，所述滑动凸台伸入所述弧形滑槽内并可在所述弧形滑槽内移动；
所述连杆的一端可转动安装在所述滑动凸台上而该连杆的另一端可转动安装在所述小腿板上；
所述传送带的一端固定安装在所述固定脚上而另一端固定安装在所述滑动凸台上，以用于拉动所述滑动凸台在所述弧形滑槽内移动，进而使所述拉伸弹簧伸长，并且所述传送带绕过所述导轮。
优选地，所述导轮可转动安装在所述小腿板上。
总体而言，通过本发明所构思的以上技术方案与现有技术相比，能够取得下列有益效果：
本发明通过使用变刚度储能机构模拟人类的跟腱关节，实现支撑相转变为摆动相时保持小刚度，摆动相转变为支撑相时刚度非线性增加，在此过程中可以起到吸收、存储能量，缓冲减震的作用；此外，该装置可以减轻义肢与地面接触时，地面的作用力对义肢对患者肢体的反馈；仿生人体刚度的踝关节模拟了人类跟腱的刚度，保证了患者对义肢的适应性，并提高了患者的康复效果。
附图说明
图1是本发明的结构示意图；
图2是本发明中的弹簧从竖直状态(虚线段)被拉伸到倾斜状态的示意简图；
图3是本发明工作时的力矩示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
参照图1～图3，一种应用于踝足假肢的变刚度储能机构，包括小腿板3、固定脚1、弹簧连接端A2、拉伸弹簧4、导轮5、弹簧连接端B6、连杆7和传送带，其中，
所述固定脚1、弹簧连接端A2、弹簧连接端B6和导轮5均安装在所述小腿板3上；
所述拉伸弹簧4的一端固定安装在所述弹簧连接端A2上而其另一端固定连接在所述弹簧连接端B6上；
所述弹簧连接端B6上设置有滑动凸台，所述小腿板3在对应于所述滑动凸台的位置设置有弧形滑槽，所述滑动凸台伸入所述弧形滑槽内并可在所述弧形滑槽内移动；
所述连杆7的一端可转动安装在所述滑动凸台上而该连杆7的另一端可转动安装在所述小腿板3上；
所述传送带的一端固定安装在所述固定脚1上而另一端固定安装在所述滑动凸台上，以用于拉动所述滑动凸台在所述弧形滑槽内移动，进而使所述拉伸弹簧4伸长，并且所述传送带绕过所述导轮5；
进一步，所述导轮5可转动安装在所述小腿板3上。
本发明的固定脚1、导轮5和连杆7，均是固定在小腿板3上的结构，传送带一端固定在固定脚1上，通过导轮5，另一端固定在连杆7上，而连杆7、弹簧连接端B、拉伸弹簧、弹簧连接端A组成变刚度弹性装置，每条腿的脚踝处均有两套这种变刚度弹性装置，对称放置，均衡受力。
当机器人双腿处于支撑相，或者单腿即将由支撑相转换为摆动相时，液压缸推动杆件伸出，此时不需要较大刚度，装置处于平衡位置，连杆7 如图2所示，处于竖直状态，此时刚度最小。当机器人单腿处于摆动相转换为支撑相的过程中，模仿人体行走时的姿态变化，脚尖先落地，随后身体前倾、重心跟上，膝盖弯曲，小腿以脚踝为中心向前倾，此时脚背有一个上扬的过程，拉动固定在固定脚1上的传动绳，经过导轮5、连杆7和弹簧连接端B，拉动拉伸弹簧，存储能量，吸收震动。另外，在刚度增加过程中，鉴于凸轮等机构的限定，使得刚度是非线性的变化，变化曲线如图3 所示。
本发明通过设计新的机械结构，使得拉伸弹簧可以进行非线性刚度变化，适应摆动相与支撑相互相转化时对脚踝处跟腱的刚度要求。
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (2)

1.一种应用于踝足假肢的变刚度储能机构，其特征在于，包括小腿板、固定脚、弹簧连接端A、拉伸弹簧、导轮、弹簧连接端B、连杆和传送带，其中，
所述固定脚、弹簧连接端A、弹簧连接端B和导轮均安装在所述小腿板上；
所述拉伸弹簧的一端固定安装在所述弹簧连接端A上而其另一端固定连接在所述弹簧连接端B上；
所述弹簧连接端B上设置有滑动凸台，所述小腿板在对应于所述滑动凸台的位置设置有弧形滑槽，所述滑动凸台伸入所述弧形滑槽内并可在所述弧形滑槽内移动；
所述连杆的一端可转动安装在所述滑动凸台上而该连杆的另一端可转动安装在所述小腿板上；
所述传送带的一端固定安装在所述固定脚上而另一端固定安装在所述滑动凸台上，以用于拉动所述滑动凸台在所述弧形滑槽内移动，进而使所述拉伸弹簧伸长，并且所述传送带绕过所述导轮。
2.根据权利要求1所述的一种应用于踝足假肢的变刚度储能机构，其特征在于，所述导轮可转动安装在所述小腿板上。
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Publication number Priority date Publication date Assignee Title
WO2000023017A1 (en) * 1998-10-22 2000-04-27 Fountainhead Prosthetic device using a cam-shaped wheel
CN101691036A (zh) * 2009-10-13 2010-04-07 东南大学 关节助力调节装置
CN201815109U (zh) * 2010-09-27 2011-05-04 浙江大学 一种仿蝗虫活动关节杠杆弹射机理的跳跃机器人
CN105943314A (zh) * 2016-05-10 2016-09-21 江南大学 一种基于多级弹簧锁机构的助力腿
WO2016189253A1 (fr) * 2015-05-27 2016-12-01 Université De Bordeaux Articulation de membre inférieur pour la locomotion bipède

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000023017A1 (en) * 1998-10-22 2000-04-27 Fountainhead Prosthetic device using a cam-shaped wheel
CN101691036A (zh) * 2009-10-13 2010-04-07 东南大学 关节助力调节装置
CN201815109U (zh) * 2010-09-27 2011-05-04 浙江大学 一种仿蝗虫活动关节杠杆弹射机理的跳跃机器人
WO2016189253A1 (fr) * 2015-05-27 2016-12-01 Université De Bordeaux Articulation de membre inférieur pour la locomotion bipède
CN105943314A (zh) * 2016-05-10 2016-09-21 江南大学 一种基于多级弹簧锁机构的助力腿

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