CN110368152A - Booster type knee joint artificial limb - Google Patents
Booster type knee joint artificial limb Download PDFInfo
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- CN110368152A CN110368152A CN201910663016.3A CN201910663016A CN110368152A CN 110368152 A CN110368152 A CN 110368152A CN 201910663016 A CN201910663016 A CN 201910663016A CN 110368152 A CN110368152 A CN 110368152A
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- joint
- artificial limb
- component
- booster type
- knee joint
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 121
- 210000003414 extremity Anatomy 0.000 title claims abstract description 96
- 238000002266 amputation Methods 0.000 claims abstract description 37
- 210000000689 upper leg Anatomy 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 36
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 13
- 238000005452 bending Methods 0.000 claims description 10
- 210000003141 lower extremity Anatomy 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 210000003127 knee Anatomy 0.000 claims description 4
- 230000005021 gait Effects 0.000 abstract description 20
- 210000004394 hip joint Anatomy 0.000 abstract description 6
- 230000002829 reductive effect Effects 0.000 abstract description 3
- 230000009184 walking Effects 0.000 description 39
- 210000002683 foot Anatomy 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000009467 reduction Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 238000011542 limb amputation Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- 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
- A61F2/64—Knee joints
Abstract
The present invention provides a kind of booster type knee joint artificial limbs, including thigh connector, shank connector, the upper joint component being connected with thigh connector, the servomechanism that the hypozygal component and driving upper joint component and hypozygal component being connected with shank connector relatively rotate, servomechanism includes for amplifying moment and generating the harmonic wave speed reducing machine of knee joint driving force, for driving the drive shaft of harmonic wave speed reducing machine, it is connected with drive shaft to drive the driving motor of drive shaft turns, harmonic wave speed reducing machine includes waveform generator, flexbile gear and firm gear, waveform generator is connected with drive shaft, flexbile gear is connected with hypozygal component, firm gear is connected with upper joint component.Booster type knee joint artificial limb of the invention, between the upper joint component and hypozygal component of rotation connection, it is equipped with harmonic wave speed reducing machine, harmonic wave speed reducing machine amplifies torque, the output torque of installation one side hip joint of artificial limb is reduced, the gait for enabling patients with amputation to keep Symmetrical Natural for a long time is walked.
Description
Technical field
The invention belongs to simulation of human body prosthesis technique fields, are to be related to a kind of booster type knee joint artificial limb more specifically.
Background technique
The missing of limbs brings inconvenience to the life and work of disabled person, to help lower limb amputation patient to restore basic
Walking function, usually at patient's amputation position install artificial limb.In recent years, prosthesis technique has made great progress.In order to make
Patient has preferably walking experience, makes patient during walking, can be realized basic rhaeboscelia and function of stretching one's legs, and lower limb are false
Limb is usually equipped with the flexible artificial limb knee-joint with stretching routine in the position for being located at human body knee joint.Common artificial limb knee-joint
Predominantly passive-type and half active artificial limb knee-joint generally use the pneumatic/hydraulic damping system simulation human body of labyrinth
Muscle-tendon tissue, then movement of knee joints of artificial limbs is driven by lower limb deformed limb, since above-mentioned artificial limb knee-joint is short of power,
Energy provides aspect existing defects, makes the lower limb amputation patient energy consumed by level walking for dressing artificial limb knee-joint product
It is higher by 60% than Healthy People, and its output torque for installing one side hip joint of artificial limb is three times of Healthy People, causes wearing false
The patients with amputation energy consumption of limb is larger, gait is unnatural, it is difficult to realize symmetrical gait and efficient natural walking, dress for a long time
Amputee can be also set to generate feeling of fatigue, thus cannot long-time normal walking.
Summary of the invention
The purpose of the present invention is to provide a kind of booster type knee joint artificial limbs, it is intended to solve artificial limb existing in the prior art
Structure is complicated, and artificial limb knee-joint driving force is insufficient, it is difficult to the problem of realizing symmetrical gait and long-time normal walking.
To achieve the above object, the technical solution adopted by the present invention is that providing a kind of booster type knee joint artificial limb, including with
In the thigh connector of the connection above-knee remaining lower extremity of patients with amputation, the shank connector for connecting artificial foot and the thigh
Hypozygal component connector connected upper joint component and be connected with the shank connector, the upper joint component with it is described
Hypozygal component is rotatedly connected；The booster type knee joint artificial limb further includes for driving the upper joint component and described ShiShimonoseki
Section component relatively rotates so that the thigh connector and the shank connector carry out the power-assisted of bending with stretching routine
Mechanism, the servomechanism include for amplifying moment and generating the harmonic wave speed reducing machine, described for driving of knee joint driving force
The drive shaft of harmonic wave speed reducing machine is connected to drive the driving motor of the drive shaft turns with the drive shaft, and the harmonic wave subtracts
Fast machine includes waveform generator, the flexbile gear being connected with the waveform generator and the firm gear being connected with the flexbile gear, the harmonic wave
Speed reducer is connected with the upper joint component, and the moment input end of the harmonic wave speed reducing machine is connected with the drive shaft, described humorous
The torque output end of wave speed reducer is connected with the hypozygal component.
Further, the upper joint component includes side by side and spaced first socket joint and second joint seat institute
The accommodating space being formed between the first socket joint and the second joint seat for accommodating the harmonic wave speed reducing machine is stated, it is described humorous
Wave speed reducer is placed in the accommodating space；The harmonic wave speed reducing machine include the waveform generator being connected with the drive shaft,
The flexbile gear being connected with the waveform generator and the firm gear being connected with the flexbile gear, the two sides of the firm gear are individually fixed in described
In first socket joint and the second joint seat, offered in first socket joint for for the flexbile gear and the hypozygal
The connected slot of component, the flexbile gear are connected with the hypozygal component；One end of the drive shaft and the second joint seat
Rotation connection, the other end of the drive shaft stretch out the slot and are rotatablely connected with the hypozygal component.
Further, the hypozygal component includes the first joint arm and the setting being set on the outside of first socket joint
Second joint arm on the outside of the second joint seat, the other end of the drive shaft and first joint arm are rotatablely connected,
And the top of first joint arm is fixedly connected with the flexbile gear, the top of the second joint arm and the second joint seat
It is rotatedly connected, first joint arm is connected with the lower part of the second joint arm.
Further, the positive limit for limiting the second joint arm turned position is respectively provided on the second joint arm
Switch and negative limit switch.
Further, the booster type knee joint artificial limb further includes the transmission mechanism for amplifying moment, the driver
Structure include the driving pulley being set in the driving motor output shaft, the driven pulley being set in the drive shaft and
The synchronous belt being connected on the driving pulley and the driven pulley.
Further, the transmission mechanism further includes the strainer for adjusting the synchronous belt tensioning degree, described
Strainer includes the tensioning shaft being installed on first joint arm and rotational installation on the tensioning shaft and being pressed on institute
State the tightener sheave on synchronous belt.
Further, the inside of first joint arm is equipped with the first groove, and the inside of the second joint arm is equipped with the
Two grooves, first groove and second groove cooperatively form the accommodating cavity for accommodating the driving motor, the drive
Dynamic motor is placed in the accommodating cavity, and the output shaft offered on first joint arm for the driving motor stretches out the appearance
Set the axis hole of chamber.
Further, the booster type knee joint artificial limb further includes the protective cover for protecting the transmission mechanism, described
Protective cover covers on the lateral surface of first joint arm, and the transmission mechanism is placed in the protective cover.
Further, the booster type knee joint artificial limb further includes the potentiometer for measuring knee joint rotational angle, institute
State the hinge point that potentiometer is set to the upper joint component Yu the hypozygal component.
Further, the booster type knee joint artificial limb further includes the motor encoder for measuring knee joint rotational angle
Device, the motor encoder are connected with the driving motor.
The beneficial effect of booster type knee joint artificial limb provided by the invention is: compared with prior art, the present invention provides
Booster type knee joint artificial limb be provided between the upper joint component and the hypozygal component of rotation connection with harmonic wave
The servomechanism of speed reducer drives drive shaft turns by driving motor, and drive shaft drives harmonic wave speed reducing machine.Subtract in harmonic gear
In fast transmission process, the torque output end of harmonic wave speed reducing machine can amplify torque, provide enough winks to artificial limb knee-joint
When driving force, the hypozygal component being connected on flexbile gear relatively rotates with the upper joint component being connected in firm gear, complete
At between thigh connector and shank connector bending and stretching routine.Then when in use, due to harmonic wave speed reducing machine transmission ratio
Greatly, stable drive, high without impact, noiseless and kinematic accuracy, the artificial limb knee-joint can provide sufficiently large power-assisted and instantaneous
Power is walked for human normal, to reduce patients with amputation energy consumed by level walking, and reduces patients with amputation
The output torque for installing one side hip joint of artificial limb enables patients with amputation that symmetrical and natural gait to be kept to carry out for a long time efficient
Ground walking.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the schematic perspective view of booster type knee joint artificial limb provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of partial enlargement in Fig. 1；
Fig. 3 is the configuration schematic diagram of booster type knee joint artificial limb provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram one of the section view provided in an embodiment of the present invention for being equipped with booster type knee joint artificial limb；
Fig. 5 is the structural schematic diagram two of the section view provided in an embodiment of the present invention for being equipped with booster type knee joint artificial limb.
Wherein, each attached drawing main mark in figure:
The artificial foot of 1-；2- shank connector；3- upper joint component；The first socket joint of 31-；311- slot；32- second joint
Seat；
4- hypozygal component；The first joint arm of 41-；The first groove of 411-；412- axis hole；42- second joint arm；421-
Two grooves；
5- drive shaft；6- harmonic wave speed reducing machine；61- waveform generator；62- flexbile gear；63- firm gear；7- driving motor；
8- transmission mechanism；81- driving pulley；82- driven pulley；83- synchronous belt；
9- strainer；91- tensioning shaft；92- tightener sheave；
10- protective cover；20- potentiometer；30- motor encoder；40- jointing.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It should be noted that it can be directly another when element is referred to as " being connected to " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined." several " are meant that one or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside two elements.It for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
Also referring to Fig. 1 to Fig. 5, now booster type knee joint artificial limb provided by the invention is illustrated.The present invention mentions
The booster type knee joint artificial limb of confession, including for connecting the above-knee remaining lower extremity of patients with amputation thigh connector 1, for connecting people
The shank connector 2 of work foot 1, the upper joint component 3 being connected with thigh connector 1 and the hypozygal being connected with shank connector 2
Component 4, upper joint component 3 are rotatedly connected with hypozygal component 4 so that booster type knee joint artificial limb be able to carry out when walking it is curved
Bent and stretching routine.Booster type knee joint artificial limb further includes for driving upper joint component 3 and hypozygal component 4 that opposite turn occurs
It moves so that thigh connector 1 and shank connector 2 carry out the servomechanism of bending with stretching routine, servomechanism includes for putting
High-torque simultaneously generates the harmonic wave speed reducing machine 6 of knee joint driving force, the drive shaft 5 for driving harmonic wave speed reducing machine 6 and drive shaft 5
It is connected with the driving motor 7 for driving drive shaft 5 to rotate, harmonic wave speed reducing machine 6 (firm gear 63) is connected with upper joint component 3, and harmonic wave subtracts
The moment input end (waveform generator 61) of fast machine 6 is connected with drive shaft 5, the torque output end (flexbile gear 62) of harmonic wave speed reducing machine 6
It is connected with hypozygal component, is amplified by output torque of the harmonic wave speed reducing machine 6 to driving motor, harmonic wave speed reducing machine 6 is driven
Than big, stable drive, it is high without impact, noiseless and kinematic accuracy, be easy to implement the transmission of artificial limb knee-joint, reduce driving electricity
The impact and vibration that machine 7 directly drives, preferably to help patients with amputation to realize symmetrical gait walking, and when amputee being made to walk
It is able to maintain human body natural's gait.
The basic functional principle of booster type knee joint artificial limb provided by the invention: thigh connector 1 is connected to amputation and is suffered from
The above-knee remaining lower extremity part of person, shank connector 2 is connected on artificial foot 1, and driving motor 7 drives drive shaft 5 to rotate, driving
5 drive waveforms generator 61 of axis rotates, and the flexible bearing assembled on waveform generator 61 makes flexbile gear 62 (flexible gear) generation can
Flexible deformation is controlled, and flexbile gear 62 (flexible gear) is meshed to generate harmonic reduction gear biography with firm gear 63 (rigid gear)
It is dynamic.In harmonic reduction gear transmission process, the driving force of driving motor 7 can carry out moment amplification by harmonic wave speed reducing machine 6,
Give artificial limb knee-joint to provide enough power, generate knee joint driving force, be connected to the hypozygal component 4 of flexbile gear 62 with connect
It is relatively rotated in the upper joint component 3 of firm gear 63 so that thigh connector 1 and shank connector 2 carry out bending and stretch fortune
It is dynamic, the driving force of enough human normal walkings can be provided at artificial limb knee-joint, to reduce patient in level walking institute
The energy of consumption reduces the output torque of installation one side hip joint of artificial limb.Meanwhile artificial limb knee-joint active servomechanism part
The harmonic wave speed reducing machine 6 driven using driving motor 7, makes hypozygal component 4 relatively rotate with upper joint component 3, to make
Thigh connector 1 and shank connector 2 smoothly complete bending and stretching routine, and 6 transmission ratio of harmonic wave speed reducing machine is big, transmission is flat
Surely, high without impact, noiseless and kinematic accuracy, it is easy to implement the transmission of artificial limb knee-joint, preferably to help patients with amputation
Human body natural's gait is able to maintain when realizing symmetrical gait walking, and amputee being made to walk.
It is dressed in patients with amputation in dynamic knee joint walking process of the invention, the normal workflow of artificial limb knee-joint is such as
Under:
(1) before the heel of the artificial foot 1 of artificial limb and ground face contact, driving motor 7 generates turning moment, overcomes artificial limb knee
Inertia force, gravity and the frictional force in joint and drive the shank connector 2 of artificial limb knee-joint to be put relative to thigh connector 1
It is dynamic.
(2) heel of the artificial foot 1 of artificial limb and ground face contact after, into the support phase initial stage of walking, the foot of the artificial foot 1 of artificial limb
With bottoming out, the driving moment of artificial limb knee-joint increases at this time, and shank connector 2 is made to generate the thrust advanced.
(3) in the support phase mid-term of walking, the driving moment of artificial limb knee-joint is gradually decreased.
(4) in the support phase latter stage of walking, the driving moment variation of artificial limb knee-joint is less, keeps stablizing.
(5) after plantar flexion pedals ground, artificial limb knee-joint enters the swing item initial stage of walking.At this point, the toe of the artificial foot 1 of artificial limb
Liftoff artificial limb knee-joint enters under the drive of driving motor 7 swings bending state, and ankle-joint is restored to nature.
(6) in the swing phase middle and later periods of walking, artificial limb knee-joint swings stretching, extension by the maximum state of bending angle.
The power assist formula knee prosthetic devices designed according to the present invention drive harmonic wave speed reducing machine 6 by driving motor 7
Structure enough and stable driving forces are provided to artificial limb knee-joint, the biomechanical parameter of simulated implementation normal gait makes
The power assist formula knee joint artificial limb putting before being able to satisfy the walking of patients with amputation normal gait, is able to maintain human body natural's step
State.Also, the power assist formula knee joint artificial limb is compact-sized, light-weight, small in size, helps to reduce patients with amputation walking institute
The energy consumption needed mitigates the pressure that patient's natural joint is born during normal walking, patients with amputation is enable to grow
Time keeps symmetrical gait to carry out efficient natural walking, and patients with amputation is made not only to be easier to complete upper and lower stair and squat, rise
Etc. daily elemental motion, walking with load can be also realized for patients with amputation, stands up and sits down and run the compound actions such as jump.
Booster type knee joint artificial limb provided by the invention, compared with prior art, rotation connection upper joint component 3 with
Between hypozygal component 4, it is provided with the servomechanism with harmonic wave speed reducing machine 6, drives drive shaft 5 to rotate by driving motor 7,
Drive shaft 5 is smoothly rotated without impact ground drive waveforms generator 61, and the flexbile gear 62 assembled on waveform generator 61 generates controllably
Flexible deformation, flexbile gear 62 are simultaneously meshed with firm gear 63 to generate harmonic reduction gear transmission.In harmonic reduction gear transmission process
In, harmonic wave speed reducing machine 6 can amplify torque, provide enough driving forces to artificial limb knee-joint, be connected on flexbile gear 62
Hypozygal component 4 relatively rotate with the upper joint component 3 being connected in firm gear 63, complete thigh connector 1 and shank
Bending and stretching routine between connector 2.Then when in use, since 6 transmission ratio of harmonic wave speed reducing machine is big, stable drive, Wu Chong
Hit, noiseless and kinematic accuracy it is high, the artificial limb knee-joint can provide enough energy for human normal walk, to reduce
Patients with amputation energy consumed by level walking, and the output torque of installation one side hip joint of artificial limb is reduced, realize amputation
Patient can keep symmetrical gait to walk with carrying out efficient natural for a long time.Also, the power assist formula knee joint artificial limb structure
It is compact, light-weight, small in size, help to reduce energy consumption required for patients with amputation is walked, mitigates patient's natural joint and exist
Normal walking makes born pressure, not only make patients with amputation be easier to complete upper and lower stair and squat, rise etc. it is daily substantially dynamic
Make, walking with load can be also realized for patients with amputation, stands up and sits down and run the compound actions such as jump.
Specifically, artificial limb standard connection connector 40 and upper joint component is respectively adopted in thigh connector 1 and shank connector 2
3 and hypozygal component 4 connect, in order to customize replacement, realize can according to patients with amputation individual difference and using purpose not
Carry out personalized customization together.Also, thigh connector 1 includes the transfemoral sockets for accommodating the above-knee portion remnants of patients with amputation
(not shown), transfemoral sockets upper end are connected to the above-knee nubbin of patients with amputation, realize between deformed limb and artificial limb securely
Connection.The lower end of transfemoral sockets is connect by modular connection with thigh connector 1.Wherein, transfemoral sockets can be according to difference
Patient is customized, to meet the use demand of different patients with amputation.Shank connector 2 can also be according to the need of different patients with amputation
It asks, carries out the shank connector 2 of replacement different length, to adapt to the long patients with amputation of different legs.
Preferably, waveform generator 61 is placed in the medium position of 5 axial direction of drive shaft, and drive shaft 5 passes through pin shaft
Connect with waveform generator 61, make uniform force, it is compact-sized so that 5 stability and high efficiency of drive shaft to waveform generator 61 into
Row driving guarantees that knee joint servomechanism carries out stabilized driving to knee joint.
Specifically, motor driver (not shown) and sensor capture card (not shown) are solid by four screws
It is scheduled on motor driver fixing piece, controller mounting shell is fixed on motor driver fixing piece by screw hole.Driving electricity
Machine 7 is by motor assist fixing piece and is fixed on controller mounting shell.In use, in motor driver and controller mounting shell
Controller be electrically connected, motor driver is controlled by controller, driving motor 7 is driven to work, and adopted by sensor
Truck is acquired the operating parameter of driving motor 7.
Further, a kind of tool also referring to Fig. 3 and Fig. 4, as booster type knee joint artificial limb provided by the invention
Body embodiment, upper joint component 3 include side by side and spaced first socket joint 31 and second joint seat 32 first joint
The accommodating space for accommodating harmonic wave speed reducing machine 6 is formed between seat 31 and second joint seat 32, harmonic wave speed reducing machine 6 is placed in
In between emptying；Harmonic wave speed reducing machine 6 includes the waveform generator 61 being connected with drive shaft 5, the flexbile gear being connected with waveform generator 61
62 and the firm gear 63 that is connected with flexbile gear 62, firm gear 63 is connected with upper joint component 3, and the two sides of firm gear 63 are individually fixed in first
In socket joint 31 and second joint seat 32, offered in the first socket joint 31 for being connected with hypozygal component 4 for flexbile gear 62
Slot 311, flexbile gear 62 are connected with hypozygal component 4, to drive hypozygal component 4 to relatively rotate with respect to upper joint component 3.
One end of drive shaft 5 is rotatablely connected by bearing and second joint seat 32, and the other end of drive shaft 5 stretches out slot 311 and under
Joint assembly 4 is rotatablely connected by bearing.
In the present embodiment, upper joint component 3 include side by side and spaced first socket joint 31 and second joint seat 32,
The accommodating space for accommodating harmonic wave speed reducing machine 6, harmonic wave speed reducing machine 6 are formed between first socket joint 31 and second joint seat 32
It is placed in accommodating space, it is compact-sized, reduce the overall volume of booster type knee joint artificial limb, and harmonic wave speed reducing machine 6 is avoided to send out
The raw risk for being involved in clothing or limbs conveniently realizes the movement transmitting between artificial limb knee-joint, while ensuring safety, tool
There are higher movement transmission efficiency and more stable working performance.Also, knee joint drive part is used harmonic wave speed reducing machine 6
Structure, be able to satisfy patients with amputation can be by knee joint normal walking in the case where, relative to air pressure or hydraulic-driven knot
Structure has the characteristics that compact-sized, light weight is convenient.
Further, a kind of tool also referring to Fig. 3 and Fig. 4, as booster type knee joint artificial limb provided by the invention
Body embodiment, hypozygal component 4 include being set to first joint arm 41 in 31 outside of the first socket joint and being set to the second pass
The second joint arm 42 in 32 outside of seat is saved, the other end of drive shaft 5 stretches out slot 311 and turns with the first joint arm 41 by bearing
Dynamic connection, and the portion on the first joint arm 41 is fixedly connected with flexbile gear 62, the portion on second joint arm 42 is set by bearing rotation
It is placed on 32 outer end face of second joint seat, the first joint arm 41 is connected with the lower part of second joint arm 42.
In the present embodiment, harmonic wave speed reducing machine 6 and drive shaft 5 are placed between the first socket joint 31 and second joint seat 32 and are formed
Accommodating space in, and the both ends of drive shaft 5 pass through bearing rotation with the first joint arm 41 and second joint seat 32 respectively and connect
It connects, the two sides of the firm gear 63 of harmonic wave speed reducing machine 6 are individually fixed on the first socket joint 31 and second joint seat 32, harmonic wave speed reducing machine
6 flexbile gear 62 is fixedly connected with the portion on the first joint arm 41, and the portion on second joint arm 42 is rotatably dispose in by bearing
On two socket joints, 32 outer end face, the first joint arm 41 is connected with the lower part of second joint arm 42, keeps entire booster type knee joint false
Limb and its driving structure keep the consistency of two sides, and structure is more compact, is more uniformly stressed stabilization, are easy to implement artificial limb knee pass
The transmission of section, preferably to help patients with amputation to realize symmetrical gait walking, and while making amputee walk be able to maintain human body from
Right gait.
Further, also referring to Fig. 3, Fig. 4 and Fig. 5, as booster type knee joint artificial limb provided by the invention one
Specific embodiment is planted, the positive limit that restriction 42 turned position of second joint arm is respectively provided on second joint arm 42 is opened
Pass and negative limit switch.In use, positive limit switch and negative limit switch is electrical with the controller of control driving motor 7 respectively
Connection, is defined with the extreme position rotated by positive limit switch and negative limit switch to second joint arm 42, to guarantee
While booster type knee joint artificial limb is safe and reliable, the intelligentized control method of artificial limb is realized, it is easy to operate, it is convenient and practical.
Further, a kind of tool also referring to Fig. 3 and Fig. 4, as booster type knee joint artificial limb provided by the invention
Body embodiment, booster type knee joint artificial limb further include the transmission mechanism 8 for amplifying moment, and transmission mechanism 8 includes being set to
Driving pulley 81 on 7 output shaft of driving motor, the driven pulley 82 being set in drive shaft 5 and it is connected to driving pulley
81 and driven pulley 82 on synchronous belt 83.
In use, driving motor 7 drives driving pulley 81 to rotate, driving pulley 81 drives driven pulley by synchronous belt 83
82 rotations, driven pulley 82 drive drive shaft 5 to rotate, to be rotated by 5 drive waveforms generator 61 of drive shaft, waveform occurs
The flexible bearing assembled on device 61 make flexbile gear 62 (flexible gear) generate controlled elasticity deformation, and flexbile gear 62 (flexible gear) with
Firm gear 63 (rigid gear) is meshed to generate harmonic reduction gear transmission.In harmonic reduction gear transmission process, driving electricity
The driving force of machine 7 can carry out moment amplification by harmonic wave speed reducing machine 6, provide enough power to artificial limb knee-joint, generate knee
Joint drive power, be connected to the first of flexbile gear 62 joint arm 41 and be rotationally connected on 32 outer end face of second joint seat second
Joint arm 42 relatively rotates with the upper joint component 3 (the first socket joint 31 and second joint seat 32) for being connected to firm gear 63,
So that thigh connector 1 and shank connector 2 carry out bending and stretching routine, enough human bodies can be provided at artificial limb knee-joint
The driving force of normal walking reduces installation artificial limb side hip and closes to reduce patient's energy consumed by level walking
The output torque of section.Also, the both ends of drive shaft 5 pass through bearing and second joint seat 32 respectively and the first joint arm 41 is hinged,
The compact and stability for improving booster type knee joint artificial limb structure protects entire booster type knee joint artificial limb and its driving structure
The consistency for holding two sides, is more uniformly stressed stabilization, is easy to implement the transmission of artificial limb knee-joint, and preferably help patients with amputation is real
Human body natural's gait is able to maintain when showing symmetrical gait walking, and amputee being made to walk.
In this example, the driving force of driving motor 7 is driven in drive shaft 5 by 83 transmission mechanism 8 of synchronous belt, is utilized
The torque that 83 transmission mechanism 8 of synchronous belt exports driving motor 7 amplifies, and improves driving of the servomechanism to artificial limb knee-joint
Power, it is possible to provide enough energy are walked for human normal, to reduce patient's energy consumed by level walking, and are reduced
The output torque of installation one side hip joint of artificial limb realizes that patients with amputation can keep symmetrical gait to carry out efficient natural for a long time
Walking.Also, by the cooperation of 83 transmission mechanism 8 and drive shaft 5 of synchronous belt, carry out driving motor 7 and harmonic wave speed reducing machine 6
Arranged in parallel further reduces booster type knee joint artificial limb appearance profile size, makes booster type knee joint artificial limb overall structure
It is compact, meet patients with amputation can be by knee joint normal walking in the case where, relative to air pressure or hydraulic-driven structure
Have the characteristics that wearing walking is relatively easily convenient.
Further, a kind of tool also referring to Fig. 3 and Fig. 4, as booster type knee joint artificial limb provided by the invention
Body embodiment, transmission mechanism 8 further include the strainer 9 for adjusting 83 tensioning degree of synchronous belt, and strainer 9 includes position
The tensioning shaft 91 being adjustably mounted on the first joint arm 41 and rotational installation are set on tensioning shaft 91 and being pressed on synchronous belt
Tightener sheave 92 on 83.
In the present embodiment, the strainer 9 for adjusting 83 tensioning degree of synchronous belt is equipped on the first joint arm 41, it can
Elastic adjusting is carried out to synchronous belt 83 according to different patients with amputation use demands by strainer 9, it is false with booster type knee joint
Limb reaches optimal assisted walk using effect, and it is loose or even de- to can avoid generation during torque is transmitted of synchronous belt 83
It falls, influences the normal use of booster type knee joint artificial limb.
Further, a kind of tool also referring to Fig. 3 and Fig. 4, as booster type knee joint artificial limb provided by the invention
Body embodiment, the inside of the first joint arm 41 are equipped with the first groove 411, and the inside of second joint arm 42 is equipped with the second groove
421, the first groove 411 and the second groove 421 cooperatively form the accommodating cavity for accommodating driving motor 7, and driving motor 7 is placed in appearance
It sets in chamber, the axis hole 412 for stretching out accommodating cavity for the output shaft of driving motor 7 is offered on the first joint arm 41.
In the present embodiment, driving motor 7 is placed in the accommodating cooperatively formed by the first groove 411 and the second groove 421
In chamber, compact-sized, reduction booster type knee joint artificial limb overall volume was both made, and can avoid driving motor 7 and be involved in clothing
The risk of object or limbs conveniently realizes the movement transmitting between artificial limb knee-joint, while ensuring safety, with higher
Move transmission efficiency and more stable working performance.
Further, a kind of tool also referring to Fig. 1 to Fig. 4, as booster type knee joint artificial limb provided by the invention
Body embodiment, booster type knee joint artificial limb further include the protective cover 10 for protecting transmission mechanism 8, and protective cover 10 covers in first
On the lateral surface of joint arm 41, transmission mechanism 8 is placed in protective cover 10.In the present embodiment, in the lateral surface of the first joint arm 41
It is equipped with protective cover 10, and 83 transmission mechanism 8 of synchronous belt is placed in protective cover 10, has both made booster type knee joint artificial limb outer wheels
Exterior feature coordinates beauty, and makes booster type knee joint artificial limb compact-sized, reduces booster type knee joint artificial limb overall volume, easily
Realize artificial limb knee-joint between movement transmitting, while ensuring safety, movement transmission efficiency with higher and relatively surely
Fixed working performance.Also, the setting of protective cover 10 not only can avoid the risk that synchronous belt 83 is involved in clothing or limbs,
It can also prevent from synchronous belt 83 from touching foreign materials away at runtime to work normally or even damage.
Further, a kind of tool also referring to Fig. 1 and Fig. 2, as booster type knee joint artificial limb provided by the invention
Body embodiment, booster type knee joint artificial limb further include the potentiometer 20 for measuring knee joint rotational angle, and potentiometer 20 is set
It is placed in the hinge point of upper joint component 3 Yu hypozygal component 4.When in use, by the control of potentiometer 20 and control driving motor 7
Device processed is electrically connected, and to be measured by potentiometer 20 to knee joint rotational angle, is normally walked by controller simulated implementation
Capable biomechanical parameter realizes the walking that patients with amputation can keep symmetrical gait to carry out efficient natural for a long time.Also,
While guaranteeing that booster type knee joint artificial limb is accurately run, the intelligentized control method of artificial limb is realized, it is easy to operate, it is convenient and practical.
Further, a kind of tool also referring to Fig. 1 and Fig. 2, as booster type knee joint artificial limb provided by the invention
Body embodiment, booster type knee joint artificial limb further include the motor encoder 30 for measuring knee joint rotational angle, and motor is compiled
Code device 30 is connected with the output shaft of driving motor 7.When in use, by the controller of motor encoder 30 and control driving motor 7
It is electrically connected, to be measured by rotational angle of the motor encoder 30 to driving motor 7, just by controller simulated implementation
The biomechanical parameter of Chang Buhang realizes the walking that patients with amputation can keep symmetrical gait to carry out efficient natural for a long time.And
And while guaranteeing that booster type knee joint artificial limb is accurately run, the intelligentized control method of artificial limb is realized, it is easy to operate, it is convenient
It is practical.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of booster type knee joint artificial limb, including for connecting the above-knee remaining lower extremity of patients with amputation thigh connector, be used for
The shank connector for connecting artificial foot, the upper joint component being connected with the thigh connector and it is connected with the shank connector
Hypozygal component, the upper joint component is rotatedly connected with the hypozygal component；It is characterized by: the booster type knee closes
Section artificial limb further includes for driving the upper joint component and the hypozygal component to relatively rotate so that the thigh connects
Fitting and the shank connector carry out the servomechanism of bending with stretching routine, and the servomechanism includes being used for amplifying moment
And generate the harmonic wave speed reducing machine of knee joint driving force, the drive shaft for driving the harmonic wave speed reducing machine, with the drive shaft phase
Even to drive the driving motor of the drive shaft turns, the harmonic wave speed reducing machine is connected with the upper joint component, the harmonic wave
The moment input end of speed reducer is connected with the drive shaft, the torque output end of the harmonic wave speed reducing machine and the hypozygal component
It is connected.
2. booster type knee joint artificial limb as described in claim 1, it is characterised in that: the upper joint component include side by side and
Every the first socket joint and second joint seat of setting, it is formed between first socket joint and the second joint seat for holding
The accommodating space of the harmonic wave speed reducing machine is set, the harmonic wave speed reducing machine is placed in the accommodating space；The harmonic wave speed reducing machine
It is connected including the waveform generator being connected with the drive shaft, the flexbile gear being connected with the waveform generator and with the flexbile gear
Firm gear, the two sides of the firm gear are individually fixed in first socket joint and the second joint seat, first socket joint
On offer slot for being connected with the hypozygal component for the flexbile gear, the flexbile gear and the hypozygal component phase
Even；One end of the drive shaft and the second joint seat are rotatablely connected, and the other end of the drive shaft stretches out the slot simultaneously
It is rotatablely connected with the hypozygal component.
3. booster type knee joint artificial limb as claimed in claim 2, it is characterised in that: the hypozygal component includes being set to institute
The second joint arm stating the first joint arm on the outside of the first socket joint and being set on the outside of the second joint seat, the drive shaft
The other end and first joint arm be rotatablely connected, and the top of first joint arm is fixedly connected with the flexbile gear, institute
The top and the second joint seat for stating second joint arm are rotatedly connected, under first joint arm and the second joint arm
Portion is connected.
4. booster type knee joint artificial limb as claimed in claim 3, it is characterised in that: be respectively equipped with use on the second joint arm
In the positive limit switch and negative limit switch that limit the second joint arm turned position.
5. booster type knee joint artificial limb as claimed in claim 3, it is characterised in that: the booster type knee joint artificial limb further includes
For the transmission mechanism of amplifying moment, the transmission mechanism include the driving pulley being set in the driving motor output shaft,
The driven pulley being set in the drive shaft and the synchronous belt being connected on the driving pulley and the driven pulley.
6. booster type knee joint artificial limb as claimed in claim 5, it is characterised in that: the transmission mechanism further includes for adjusting
The strainer of the synchronous belt tensioning degree, the strainer include the tensioning shaft being installed on first joint arm,
And rotational installation is on the tensioning shaft and the tightener sheave that is pressed on the synchronous belt.
7. booster type knee joint artificial limb as claimed in claim 5, it is characterised in that: the inside of first joint arm is equipped with the
One groove, the inside of the second joint arm are equipped with the second groove, and first groove and second groove cooperatively form use
In the accommodating cavity for accommodating the driving motor, the driving motor is placed in the accommodating cavity, opens up on first joint arm
There is the output shaft for the driving motor to stretch out the axis hole of the accommodating cavity.
8. booster type knee joint artificial limb as claimed in claim 5, it is characterised in that: the booster type knee joint artificial limb further includes
For protecting the protective cover of the transmission mechanism, the protective cover is covered on the lateral surface of first joint arm, the transmission
Mechanism is placed in the protective cover.
9. booster type knee joint artificial limb as claimed in any one of claims 1 to 8, it is characterised in that: the booster type knee joint
Artificial limb further includes the potentiometer for measuring knee joint rotational angle, the potentiometer be set to the upper joint component with it is described
The hinge point of hypozygal component.
10. booster type knee joint artificial limb as claimed in claim 9, it is characterised in that: the booster type knee joint artificial limb also wraps
The motor encoder for measuring knee joint rotational angle is included, the motor encoder is connected with the driving motor.
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| CN201910663016.3A CN110368152A (en) | 2019-07-22 | 2019-07-22 | Booster type knee joint artificial limb |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910663016.3A CN110368152A (en) | 2019-07-22 | 2019-07-22 | Booster type knee joint artificial limb |
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| CN110368152A true CN110368152A (en) | 2019-10-25 |
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| CN110721011A (en) * | 2019-11-29 | 2020-01-24 | 吉林大学 | Active-passive hybrid artificial limb knee joint |
| CN112353534A (en) * | 2020-10-28 | 2021-02-12 | 北京工道风行智能技术有限公司 | Intelligent hydraulic motor hybrid drive knee joint device |
| CN113456321A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic active knee joint |
| CN113876474A (en) * | 2021-09-22 | 2022-01-04 | 复旦大学 | Modular power artificial limb |
| EP4049631A4 (en) * | 2020-12-30 | 2023-03-01 | Korea Labor Welfare Corporation Co., Ltd. | Hybrid knee prosthesis having multi-functional rotary hydraulic cylinder |
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| CN110721011B (en) * | 2019-11-29 | 2024-04-19 | 吉林大学 | Active and passive hybrid artificial limb knee joint |
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| EP4049631A4 (en) * | 2020-12-30 | 2023-03-01 | Korea Labor Welfare Corporation Co., Ltd. | Hybrid knee prosthesis having multi-functional rotary hydraulic cylinder |
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