CN110074905A - Active ankle-joint prosthetic device with connecting rod energy storage and center of gravity self-regulation - Google Patents
Active ankle-joint prosthetic device with connecting rod energy storage and center of gravity self-regulation Download PDFInfo
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- CN110074905A CN110074905A CN201910438441.2A CN201910438441A CN110074905A CN 110074905 A CN110074905 A CN 110074905A CN 201910438441 A CN201910438441 A CN 201910438441A CN 110074905 A CN110074905 A CN 110074905A
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- connecting rod
- prosthetic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2002/6614—Feet
- A61F2002/6657—Feet having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The present invention devises the active ankle-joint prosthetic device with connecting rod energy storage and center of gravity self-regulation, and basic structure is containing driving motor, pedestal, the series-connected spring system of three circuit link mechanism of class muscle, the parallel springs system of the submissive slider-crank mechanism of class muscle, pressure sensor, carbon fiber prosthetic foot, heel buffer spring system, center of gravity self-regulation block system angular transducer, driving shaft.Two kinds of link type spring systems are able to achieve continuously energy storage and release energy, provide energy for prosthetic device, reduce the energy output of motor.In addition, advantages such as link mechanism have structure simple, and easy processing manufactures, and production cost is low.Because biological joint is non-homogeneous solid, it embodies ankle-joint and bends and stretches the non-constant of pivot center, center of gravity self-regulation block system is able to achieve the function, play the self-regulating function of gravity center of human body Yu ankle-joint prosthetic device, meet the kinetic characteristic of ankle-joint, comfort level of the prosthetic device in walking is improved, the service life of ankle-joint prosthetic device is extended.
Description
Technical field
The invention belongs to rehabilitation medical robot technical fields, in particular to the master with connecting rod energy storage and center of gravity self-regulation
Ejector half ankle-joint prosthetic device.
Background technique
Data according to Second National disabled person generaI investigation analyze gained, currently, the number of domestic patients with amputation has reached
About 24,120,000 person-times, account for about the one third of domestic total disabled person's number.Artificial limb can compensate the limbs that patients with amputation loses, because
This, research and development and manufacture for prosthetic device still have biggish domestic and abroad market prospect.However, existing currently on the market
Artificial limb is passive-type or main passive-type, in addition, still belonging to the primary stage for the exploitation of ankle-joint artificial limb in domestic market, far
Fall behind the exploitation of knee joint artificial limb etc..Based on this, scholars study ankle motion mechanism etc., and to its artificial limb machine
Structure has carried out some structure designs and has improved, but the passive-type ankle-joint prosthetic device that the movement for being only considered mostly is single,
In the process of walking, which often needs patients with amputation to consume itself metabolic energy.In recent years, as scientific and technical ground constantly mentions
It rising, scholars develop some intelligent ankle-joint prosthetic devices, though these mechanism structures have carried out Curve guide impeller, but still it is more multiple
It is miscellaneous.In addition, and higher cost not mature enough for the control method in the mechanism, makes cheap passive ankle-joint artificial limb in market
On it is still more welcome.Based on this, devise it is a there is connecting rod energy storage and center of gravity to be self-regulated active ankle-joint prosthetic device, should
Mechanism structure is simple and controllable, and manufacturing cost is low.Introduce the variable rate spring storage of the imitative muscle based on novel multi-connecting-rod mechanism
Energy device is able to achieve patients with amputation the energy storage and energy release operation of ankle-joint artificial limb, the ankle-joint in gait processes
Prosthetic device bionical effect with higher.
Summary of the invention
Technical problem of the invention is to devise a kind of active ankle-joint with connecting rod energy storage and center of gravity self-regulation
Prosthetic device, the structural instability for solving spring arrangement in current active ankle-joint prosthetic device urgently to be resolved is high,
The problems such as spring energy storage device and ankle-joint artificial limb motion fitness difference and ankle-joint and gravity center of human body are uncoordinated.Mechanism supplement
Existing active prosthetic device and human body lower limbs move and the technical design structures such as gravity center of human body's bad adaptability in the market
Shortcoming makes the design and model of human ankle height imitation biochemistry of ankle-joint prosthetic device, derives the Bionic Design of prosthetic device.
The present invention adopts the following technical scheme that realization:
Active ankle-joint prosthetic device with connecting rod energy storage and center of gravity self-regulation, it is characterised in that: including driving electricity
Machine (1), pedestal (2), the series-connected spring system (3) of class muscle six-bar linkage, the parallel springs of the submissive slider-crank mechanism of class muscle
System (4), pressure sensor (5), carbon fiber prosthetic foot (6), heel buffer spring system (7), center of gravity self-regulation block system
(8), angular transducer (9), driving shaft (10).
The series-connected spring system (3) of the three circuit link mechanism of class muscle includes: pedestal (3-1), small erection joint (3-
2), screw rod (3-3), cover board (3-4), take-up housing (3-5), oilless bearing (3-6), pressure spring one (3-7), adjusting nut (3-8), greatly
Erection joint (3-9) is installed nut (3-10), small free bearing (3-11), big free bearing (3-12), connecting rod one (3-13), two (3- of connecting rod
14), connecting rod three (3-15), cylindrical drum (3-16), pressure spring two (3-17) are adjusted round nut (3-18), piston rod (3-19)；
Constitute the connection between the components of the series-connected spring system of three circuit link mechanism of class muscle: when driving motor (1)
When carbon fiber prosthetic foot (6) being driven to do flexion and extension, the screw rod (3-3) installed with it carries out identical follow-up motion；Screw rod (3-3)
It is connected through a screw thread with small erection joint (3-2) and big erection joint (3-9), and small erection joint (3-2) and big erection joint
(3-9) forms revolute pair with pedestal (3-1) and small free bearing (3-11) respectively；Take-up housing (3-5) and oilless bearing (3-6) are assembled
Prismatic pair is formed together and with screw rod (3-3), the introducing of oilless bearing (3-6) improves the guiding performance of take-up housing；Pedestal (3-
1) and big free bearing (3-12) and piston rod (3-19) and cylindrical drum (3-16) are respectively formed revolute pair, and piston rod (3-19) and
Cylindrical drum (3-16) forms prismatic pair；For in three circuit link mechanisms, connecting rod one (3-13), connecting rod two (3-14) and connecting rod three
(3-15) formed a public revolute pair, and the other end respectively with big free bearing (3-12), cylindrical drum (3-16) and take-up housing
(3-5) forms three revolute pairs.In addition, the adjusting nut (3-8) and adjusting round nut (3- that are introduced in the spring energy agency
18) it is adjustable spring rate, the stiffness characteristics for changing spring system are close to the biomechanics characteristic of related muscles.
The parallel springs system (4) of the submissive slider-crank mechanism of class muscle includes: flexible turning hinge (4-1), empty active
Bar (4-2), mounting base one (4-3), connecting rod (4-4), mounting base two (4-5), cover board (4-6), sliding block (4-7), oilless bearing (4-
8), pressure spring (4-9) is adjusted round nut (4-10), screw rod (4-11), nut (4-12), mounting base three (4-13).
Constitute the connection between the components of the submissive slider-crank mechanism of class muscle: mounting base one (4-3) is fixed on carbon fiber
Prosthetic foot (6) simultaneously forms revolute pair with connecting rod (4-4)；Connecting rod (4-4) and sliding block (4-7) form revolute pair；Sliding block (4-7) with it is oil-free
Bearing (4-8) assembly forms prismatic pair together and with screw rod (4-11), and the introducing of oilless bearing (4-8) improves the guiding of sliding block
Property；During sole level land is liftoff to toe, carbon fiber prosthetic foot (6) is realized at flexible turning hinge (4-1) and is rotated, to drive cunning
Block (4-7) slides obliquely.In addition, adjusting round nut (4-10) is adjustable spring rate, change the stiffness characteristics of spring system
It is close to the biomechanics characteristic of related muscles.
The heel buffer spring system (7) includes: pedestal (7-1), cylindrical drum (7-2), adjusts round nut (7-3),
Compressed spring (7-4), piston rod (7-5).
Constitute heel buffer spring system components between connection: pedestal (7-1) respectively with cylindrical drum (7-2) with
Piston rod (7-5) forms revolute pair；Cylindrical drum (7-2) and piston rod (7-5) form a prismatic pair, pass through the flexible of prismatic pair
Compression and restoring operation to compressed spring, that is, when realizing heelstrike buffering accumulated energy effect and heeloff when power-assisted make
With.
Center of gravity self-regulation block system (8) includes: pedestal (8-1), to heart concave pad block (8-2), to cardiac prominence block (8-3),
Cover clamp (8-4), high rigidity pressure spring (8-5).
Constitute the connection between the components of center of gravity self-regulation block system: to heart concave pad block (8-2) and to cardiac prominence block (8-3)
Concentric fit forms a class ball pair, and assembles with pedestal (8-1)；Cover clamp (8-4) is installed on pedestal (8-1), with Gao Gang
Degree pressure spring (8-5) limits the large rotation angle to cardiac prominence block (8-3) jointly and retains certain corner leeway.Due to biological joint
It is non-homogeneous geometry, can obtain it to bend and stretch pivot center to ankle-joint dissection and analysis is non-constant axis, is based on this, the block
The self-regulation that the introducing of system makes the pivot center of ankle-joint flexion and extension do low-angle with the change of position of human center is made
With meeting the biological motion characteristic of ankle.
Compared with prior art, the present invention has the following advantages: being introduced in (1) serial spring energy-storage system three times
Road link mechanism realizes the function of a single input and multi-output.Multi-output mode can be respectively ankle-joint artificial limb in plantar flexion and
Required energy is provided in dorsiflex campaign, reduces the output of motor power, is preferably moved in addition, three circuit link mechanisms have
Characteristic has the stability of movement.(2) submissive slider-crank mechanism is introduced in parallel springs energy-storage system, when tiptoe is liftoff
When kicking phase, the rotation between toe and sole is realized by flexible hinge, which adapts to the movement of person's toe completely.It is in parallel
The ankle prosthesis that is introduced as of spring energy-storage system realizes continuous, stable energy storage and release mould in continuous gait
Formula, energy supply when meeting model of human ankle movement.(3) since biological joint is non-homogeneous geometry, to ankle-joint solution
It is non-constant axis that subdivision analysis, which can obtain it and bend and stretch pivot center,.The introducing of center of gravity self-regulation block system, is able to achieve ankle-joint artificial limb
Bend and stretch pivot center and the height adaptive feature of gravity center of human body, keep ankle with respect to Impact direction and to the torque of mass center
It is constant, it is conducive to extend the service life of prosthetic device.In addition, the kinematics of link mechanism is relatively easy, it is easy to produce and process
Manufacture, the design of the mechanism can be to provide important borrow in the design of other Joint orthosis mechanisms or even the design of precision mechanism
Mirror.
Detailed description of the invention
Fig. 1 has connecting rod energy storage and the active ankle-joint prosthetic device of center of gravity self-regulation and center of gravity self-regulation block system structure
Illustraton of model；
The series-connected spring system structural model figure of three circuit link mechanism of Fig. 2 class muscle；
The parallel springs system structure model figure of the submissive slider-crank mechanism of Fig. 3 class muscle；
Fig. 4 heel buffer spring system structure model figure；
In figure: driving motor (1), pedestal (2), the series-connected spring system (3) of class muscle six-bar linkage, the submissive crank of class muscle
The parallel springs system (4) of slide block mechanism, pressure sensor (5), carbon fiber prosthetic foot (6), heel buffer spring system (7),
Center of gravity is self-regulated block system (8), angular transducer (9), driving shaft (10).The serial spring of three circuit link mechanism of class muscle
System (3) includes: pedestal (3-1), small erection joint (3-2), screw rod (3-3), cover board (3-4), take-up housing (3-5), oil-free axis
It holds (3-6), pressure spring one (3-7), adjusting nut (3-8), big erection joint (3-9), installs nut (3-10), small free bearing (3-
11), big free bearing (3-12), connecting rod one (3-13), connecting rod two (3-14), connecting rod three (3-15), cylindrical drum (3-16), pressure spring two
(3-17) is adjusted round nut (3-18), piston rod (3-19)；The parallel springs system (4) of the submissive slider-crank mechanism of class muscle
Include: flexible turning hinge (4-1), empty driving lever (4-2), mounting base one (4-3), connecting rod (4-4), mounting base two (4-5), cover board
(4-6), sliding block (4-7), oilless bearing (4-8), pressure spring (4-9) are adjusted round nut (4-10), screw rod (4-11), nut (4-
12), mounting base three (4-13).Heel buffer spring system (7) includes: pedestal (7-1), cylindrical drum (7-2), adjusts round nut
(7-3), compressed spring (7-4), piston rod (7-5)；Center of gravity self-regulation block system (8) includes: pedestal (8-1), to heart concave pad block
(8-2), to cardiac prominence block (8-3), cover clamp (8-4), high rigidity pressure spring (8-5).
Specific embodiment
To further appreciate that the active ankle-joint artificial limb machine provided by the invention with connecting rod energy storage and center of gravity self-regulation
Structure is with reference to the accompanying drawing specifically addressed the present invention with specific embodiment.
Fig. 1 is provided by the invention with connecting rod energy storage and the active ankle-joint prosthetic device structural model of center of gravity self-regulation
Figure, basic structure include driving motor (1), pedestal (2), the series-connected spring system (3) of class muscle six-bar linkage, and class muscle is submissive
The parallel springs system (4) of slider-crank mechanism, pressure sensor (5), carbon fiber prosthetic foot (6), heel buffer spring system
(7), center of gravity self-regulation block system (8), angular transducer (9), driving shaft (10).The ankle-joint prosthetic device can realize plantar flexion and
The function of dorsiflex, meanwhile, series-parallel spring system is introduced, certain energy supplement can be provided for the continuous movement of the mechanism,
The output of motor power is reduced, the design cost etc. of ankle-joint prosthetic device is reduced.Center of gravity self-regulation block system described in figure
It (8) include pedestal (8-1), to heart concave pad block (8-2), to cardiac prominence block (8-3), cover clamp (8-4), high rigidity pressure spring (8-5).It is right
Heart concave pad block (8-2) and to cardiac prominence block (8-3) concentric fit formed a class ball pair, and with pedestal (8-1) assemble；Cover clamp
(8-4) is installed on pedestal (8-1), limits large rotation angle and guarantor to cardiac prominence block (8-3) jointly with high rigidity pressure spring (8-5)
Stay certain corner leeway.Since biological joint is non-homogeneous geometry, to ankle-joint dissection and analysis can obtain its bend and stretch turn
Shaft line is non-constant axis, is based on this, the introducing of the block system makes the pivot center of ankle-joint flexion and extension with gravity center of human body
The change of position and the self-regulation effect for doing low-angle, meet the biological motion characteristic of ankle.
Fig. 2 is the series-connected spring system structural model figure of three circuit link mechanism of class muscle provided by the invention, including foot
Seat (3-1), small erection joint (3-2), screw rod (3-3), cover board (3-4), take-up housing (3-5), oilless bearing (3-6), pressure spring one
(3-7), adjusting nut (3-8), big erection joint (3-9) are installed nut (3-10), small free bearing (3-11), big free bearing (3-12),
Connecting rod one (3-13), connecting rod two (3-14), connecting rod three (3-15), cylindrical drum (3-16), pressure spring two (3-17) adjust round nut
(3-18), piston rod (3-19)；When driving motor (1) drives carbon fiber prosthetic foot (6) to do flexion and extension, the spiral shell installed with it
Bar (3-3) carries out identical follow-up motion；Screw rod (3-3) and small erection joint (3-2) and big erection joint (3-9) pass through screw thread
Connection, and small erection joint (3-2) and big erection joint (3-9) form with pedestal (3-1) and small free bearing (3-11) rotate respectively
It is secondary；Take-up housing (3-5) and oilless bearing (3-6) are assembled together and are formed prismatic pair with screw rod (3-8), oilless bearing (3-6)
Introduce the guiding performance for improving take-up housing；Pedestal (3-1) and big free bearing (3-12) and piston rod (3-19) and cylindrical drum (3-16)
It is respectively formed revolute pair, and piston rod (3-19) and cylindrical drum (3-16) form prismatic pair；For connecting in three circuit link mechanisms
Bar one (3-13), connecting rod two (3-14) and connecting rod three (3-15) form a public revolute pair, and the other end is cut with scissors with big respectively
Seat (3-12), cylindrical drum (3-16) and take-up housing (3-5) form three revolute pairs.In addition, introduced in the spring energy agency
Adjusting nut (3-8) and adjusting round nut (3-18) are adjustable spring rate, and the stiffness characteristics for changing spring system connect it
The biomechanics characteristic of nearly related muscles.
Fig. 3 is the parallel springs system structure model figure of the submissive slider-crank mechanism of class muscle provided by the invention, including
Flexible turning hinge (4-1), empty driving lever (4-2), mounting base one (4-3), connecting rod (4-4), mounting base two (4-5), cover board (4-6),
Sliding block (4-7), oilless bearing (4-8), pressure spring (4-9) are adjusted round nut (4-10), screw rod (4-11), nut (4-12), installation
Three (4-13) of seat.Mounting base one (4-3) is fixed on carbon fiber prosthetic foot (6) and forms revolute pair with connecting rod (4-4)；Connecting rod (4-4)
Revolute pair is formed with sliding block (4-7)；Sliding block (4-7) and oilless bearing (4-8) are assembled together and are formed with screw rod (4-11) and moved
Pair, the introducing of oilless bearing (4-8) improve the guiding performance of sliding block；During sole level land is liftoff to toe, carbon fiber is false
Foot (6) is realized at flexible turning hinge (4-1) and is rotated, to slide obliquely with movable slider (4-7).In addition, adjusting round nut (4-
10) it is adjustable spring rate, the stiffness characteristics for changing spring system are close to the biomechanics characteristic of related muscles.
Fig. 4 is heel buffer spring system structure model figure provided by the invention, including pedestal (7-1), cylindrical drum (7-
2) round nut (7-3), is adjusted, compressed spring (7-4), piston rod (7-5).Pedestal (7-1) respectively with it is cylindrical drum (7-2) and living
Stopper rod (7-5) forms revolute pair；Cylindrical drum (7-2) and piston rod (7-5) form a prismatic pair, pass through the flexible of prismatic pair
Compression and restoring operation to compressed spring, that is, when realizing heelstrike buffering accumulated energy effect and heeloff when power-assisted make
With.
Active ankle-joint prosthetic device of the present invention with connecting rod energy storage and center of gravity self-regulation, driving motor
(1) when carbon fiber prosthetic foot (6) and pedestal (8-1) being driven to rotate, the spring energy-storage system in ankle-joint prosthetic device will do it phase
The operation for the movement energy storage and release energy answered.When the ankle-joint prosthetic device does curvature movement, carbon fiber prosthetic foot (6) is driven
Piston rod (3-19's) above pushes away, and makes pressure spring two (3-17) compression and energy storage, discharges energy when ankle-joint prosthetic device sets back
Amount, reduces the output of electric flux.When the ankle-joint prosthetic device does stretching routine, carbon fiber prosthetic foot (6) drives take-up housing (3-
5) above push away, makes pressure spring one (3-7) compression and energy storage, releases energy when ankle-joint prosthetic device sets back, reduce electric energy
The output of amount.When toe, which rotates, carries out the liftoff stage, the pressure spring (4-9) in parallel springs system is compressed by sliding block (4-7),
For big energy needed for liftoff provide of kicking one's legs, which also has the energy storage of pressure spring one (3-7) and the participation of release.Due to biology
Joint is non-homogeneous geometry, and can obtain it to bend and stretch pivot center to ankle-joint dissection and analysis is non-constant axis, and center of gravity is certainly
The self-regulating function that block system plays change of the ankle-joint pivot center with position of human center is adjusted, ankle is met
Biological motion characteristic improves human body in gait processes to the comfort level of ankle-joint prosthetic device, extends ankle-joint prosthetic device
Service life.
Claims (7)
1. the active ankle-joint prosthetic device with connecting rod energy storage and center of gravity self-regulation, basic system includes: driving motor
(1), pedestal (2), the series-connected spring system (3) of class muscle six-bar linkage, the parallel springs system of the submissive slider-crank mechanism of class muscle
It unites (4), pressure sensor (5), carbon fiber prosthetic foot (6), heel buffer spring system (7), center of gravity self-regulation block system (8),
Angular transducer (9), driving shaft (10), the mechanism belong to the ankle-joint prosthetic device of single rotational freedom, can effective compensation amputation
The ankle-joint flexion and extension of patient.
2. according to claim 1 have connecting rod energy storage and the active ankle-joint prosthetic device of center of gravity self-regulation, feature
Be: the series-connected spring system of the three circuit link mechanism of class muscle includes pedestal (3-1), small erection joint (3-2), spiral shell
Bar (3-3), cover board (3-4), take-up housing (3-5), oilless bearing (3-6), pressure spring one (3-7), adjusting nut (3-8) are big to install
Connector (3-9) is installed nut (3-10), small free bearing (3-11), big free bearing (3-12), connecting rod one (3-13), connecting rod two (3-14),
Connecting rod three (3-15), cylindrical drum (3-16), pressure spring two (3-17) are adjusted round nut (3-18), piston rod (3-19).
3. the connection between the components of the series-connected spring system of three circuit link mechanism of class muscle according to claim 2:
Screw rod (3-3) is connected through a screw thread with small erection joint (3-2) and big erection joint (3-9), small erection joint (3-2) He great An
Joint (3-9) forms revolute pair with pedestal (3-1) and small free bearing (3-11) respectively, take-up housing (3-5) and oilless bearing (3-6)
Assembly forms prismatic pair together and with screw rod (3-3), and the introducing of oilless bearing (3-6) improves the guiding performance of take-up housing, pedestal
(3-1) and big free bearing (3-12) and piston rod (3-19) and cylindrical drum (3-16) are respectively formed revolute pair, piston rod (3-19) and
Cylindrical drum (3-16) forms prismatic pair, the three (3- of connecting rod one (3-13), connecting rod two (3-14) and connecting rod in three circuit link mechanisms
15) formed a public revolute pair, the other end respectively with big free bearing (3-12), cylindrical drum (3-16) and take-up housing (3-5) shape
Adjusting nut (3-8) is introduced at three revolute pairs, in the spring energy agency and adjusts round nut (3-18) is adjustable spring
Rigidity, the stiffness characteristics for changing spring system are close to the biomechanics characteristic of related muscles.
4. according to claim 1 have connecting rod energy storage and the active ankle-joint prosthetic device of center of gravity self-regulation, feature
Be: the parallel springs system of the submissive slider-crank mechanism of class muscle includes flexible turning hinge (4-1), empty driving lever (4-
2), mounting base one (4-3), connecting rod (4-4), mounting base two (4-5), cover board (4-6), sliding block (4-7), oilless bearing (4-8), pressure
Spring (4-9) is adjusted round nut (4-10), screw rod (4-11), nut (4-12), mounting base three (4-13).
5. the connection between the components of the submissive slider-crank mechanism of class muscle according to claim 4: mounting base one (4-3)
It is fixed on carbon fiber prosthetic foot (6) and forms revolute pair with connecting rod (4-4), connecting rod (4-4) and sliding block (4-7) form revolute pair, sliding
Block (4-7) and oilless bearing (4-8) are assembled together and are formed prismatic pair with screw rod (4-11), and the introducing of oilless bearing (4-8) mentions
The high guiding performance of sliding block, during sole level land is liftoff to toe, carbon fiber prosthetic foot (6) is in flexible turning hinge (4-1) realization
Rotation adjusts round nut (4-10) and is adjustable spring rate, change spring system to slide obliquely with movable slider (4-7)
Stiffness characteristics be close to the biomechanics characteristics of related muscles.
6. according to claim 1 have connecting rod energy storage and the active ankle-joint prosthetic device of center of gravity self-regulation, feature
Be: the center of gravity self-regulation block system includes pedestal (8-1), to heart concave pad block (8-2), to cardiac prominence block (8-3), cover clamp
(8-4), high rigidity pressure spring (8-5).
7. the connection between the components of center of gravity according to claim 5 self-regulation block system: to heart concave pad block (8-2) and right
Cardiac prominence block (8-3) concentric fit forms a class ball pair and assembles with pedestal (8-1), and cover clamp (8-4) is installed on pedestal (8-1)
And limit the large rotation angle to cardiac prominence block (8-3) jointly with high rigidity pressure spring (8-5) and retain certain corner leeway, due to
Biological joint is non-homogeneous geometry, and can obtain it to bend and stretch pivot center to ankle-joint dissection and analysis is non-constant axis, weight
Heart self-regulation block system plays the self-regulating function of change of the ankle-joint pivot center with position of human center, meets ankle-joint
The biological motion characteristic at place improves human body in gait processes to the comfort level of ankle-joint prosthetic device, extends ankle-joint artificial limb
The service life of mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438441.2A CN110074905B (en) | 2019-05-24 | 2019-05-24 | Active ankle joint prosthesis mechanism with connecting rod energy storage and gravity center self-adjustment functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438441.2A CN110074905B (en) | 2019-05-24 | 2019-05-24 | Active ankle joint prosthesis mechanism with connecting rod energy storage and gravity center self-adjustment functions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110074905A true CN110074905A (en) | 2019-08-02 |
| CN110074905B CN110074905B (en) | 2020-10-09 |
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| CN201910438441.2A Expired - Fee Related CN110074905B (en) | 2019-05-24 | 2019-05-24 | Active ankle joint prosthesis mechanism with connecting rod energy storage and gravity center self-adjustment functions |
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| DE102020119175A1 (en) | 2020-07-21 | 2022-01-27 | Ottobock Se & Co. Kgaa | prosthetic foot |
| CN114044065A (en) * | 2021-11-10 | 2022-02-15 | 江苏科技大学 | Lower limb structure of biped robot and movement method thereof |
| CN114435505A (en) * | 2021-12-21 | 2022-05-06 | 之江实验室 | Flexible foot of robot |
| CN115192275A (en) * | 2022-06-30 | 2022-10-18 | 吉林大学 | Bionic active artificial limb integrating knee and ankle |
| CN117814969A (en) * | 2024-03-04 | 2024-04-05 | 吉林大学 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
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| WO2023204982A2 (en) * | 2022-04-07 | 2023-10-26 | University Of Utah Research Foundation | Semi-active ankle and foot prosthesis powered by a lockable series-elastic actuator |
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| CN115192275B (en) * | 2022-06-30 | 2024-05-17 | 吉林大学 | Bionic active artificial limb integrating knee and ankle |
| CN117814969A (en) * | 2024-03-04 | 2024-04-05 | 吉林大学 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
| CN117814969B (en) * | 2024-03-04 | 2024-06-07 | 吉林大学 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
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