CN111544165A - Bionic power device for artificial limb joint - Google Patents
Bionic power device for artificial limb joint Download PDFInfo
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- CN111544165A CN111544165A CN202010263997.5A CN202010263997A CN111544165A CN 111544165 A CN111544165 A CN 111544165A CN 202010263997 A CN202010263997 A CN 202010263997A CN 111544165 A CN111544165 A CN 111544165A
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- artificial limb
- joint
- connecting rod
- limb joint
- power 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
- A61F2/68—Operating or control means
Abstract
The invention provides a bionic power device for an artificial limb joint, which comprises two connecting rods, a supporting component and a driving module; the two connecting rods are respectively arranged on two opposite sides of the supporting component; one end of the connecting rod is movably connected with an externally connected artificial limb joint, and the other end of the connecting rod is in transmission connection with the driving module through the buffer component; the driving module is fixed at the tail end of the supporting component, and the head end of the supporting component is movably connected with the artificial limb joint, so that the artificial limb joint bionic power device which is wide in application and can share the stress of the wound surface of a human body is provided.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a bionic power device for an artificial limb joint.
Background
Similar bionic power devices for artificial limb joints exist, such as a human bionic knee joint and hip joint transmission system (application number: 201610884289.7) applied by Qinghua university in 2016, and a human joint motion assisting device and a human motion assisting device (application number: 201510741175.2) applied by electronic technology university in 2015.
The inventor finds that the existing bionic power device similar to the artificial limb joint generally has the following disadvantages:
1. sagittal plane, the power plant and the kinematic joint are completely asymmetric.
2. The flexible power transmission structure does not bear the stress of the wound of the human body.
3. The difference between the motion characteristics generated by the power device and the normal motion characteristics of a person is large, the step length, the pace, the gait and the leg lifting height on two sides of the human body are asymmetrical, and the walking gait is mechanically stiff.
4. The existing power device has larger volume and regular shape, the appearance of the artificial limb is greatly changed after the power device is arranged on the artificial limb, and the bionic characteristic is not obvious.
5. The existing device can only generate power simply, can not realize the quantitative angle rotation of the human artificial limb joint, and can not be matched with the motion characteristics of the human body
Disclosure of Invention
The invention aims to provide a bionic power device of an artificial limb joint, which is widely applied and can share the stress of the wound surface of a human body.
In order to achieve the aim, the invention provides a bionic power device of an artificial limb joint, which comprises two connecting rods, a supporting component and a driving module; the two connecting rods are respectively arranged on two opposite sides of the supporting component; one end of the connecting rod is movably connected with an externally connected artificial limb joint, and the other end of the connecting rod is in transmission connection with the driving module through a buffer assembly; the drive module is fixed at the tail end of the support component, and the head end of the support component is movably connected with the artificial limb joint.
Preferably, the device further comprises a sensor module; the sensor module comprises a pressure sensor and a torque sensor; the pressure sensor is arranged at the connecting end of the buffer assembly and the driving module;
the torque sensor is arranged at the head end of the supporting component and is positioned at the connecting end of the supporting component and the artificial limb joint.
Preferably, the connecting rod is a solid rod with a certain curvature; one end of the connecting rod is movably connected with the artificial limb joint through a pin shaft, so that the connecting rod and the artificial limb joint can axially rotate by taking the pin shaft as an axis.
Preferably, the support assembly comprises a support rod, a side bracket and a bottom bracket;
the two side brackets are detachably arranged on two opposite sides of the supporting rod; a slotted hole is preset in the side bracket, the buffer assembly is pre-buried in the slotted hole, and one end of the connecting rod is inserted into the slotted hole and is mutually overlapped with one end of the buffer assembly; one end of the driving module is inserted into the slot hole and is in lap joint with the other end of the buffer assembly;
the bottom bracket is connected to the tail end of the supporting rod; a driving assembly mounting groove is preset on the bottom bracket, and the driving module is arranged in the driving assembly mounting groove;
the top end of the supporting rod is movably connected with the artificial limb joint through a pin shaft, so that the artificial limb joint can axially rotate by taking the pin shaft as an axis.
Preferably, a limit baffle is preset in the slotted hole and used for preventing the buffering assembly from popping out of the slotted hole.
Preferably, the damping member is a coil spring.
Preferably, the driving module is a linear motor, and a transmission shaft of the linear motor is in non-fixed lap joint with the spring.
Compared with the prior art, the invention has the advantages that:
1. the power unit and the kinematic joint are completely symmetrical in the sagittal plane.
2. The power transmission structure with the combination of rigidity and flexibility can share the stress of the injury of the human body.
3. The motion characteristics generated by the linear motor and the power assisting device of the spring are similar to the normal motion characteristics of a person, the step length, the step speed and the gait symmetry of the healthy limb and the artificial limb of the person are better, and the walking gait is natural.
4. The linear motor has small volume and flexible and variable shape, and after being installed on the artificial limb, the appearance of the artificial limb is similar to the appearance of a healthy limb of a human body, the bionic characteristic is obvious, and the appearance is natural.
5. The artificial limb joint motion control system is simple in structural design, has the functions of matching with artificial limb motion parameter acquisition, analysis and processing, and realizes accurate motion control of the human artificial limb joint.
6. Has the functions of antagonistic movement and buffering and shock absorption, can reduce impact and abrasion in the using process and improve the using comfort.
7. When the device is used, the stress distribution of the artificial limb is reasonable, and the service life of the artificial limb is longer.
Drawings
Fig. 1 is a schematic structural diagram of a bionic power device of a prosthetic joint in a prosthetic standing state in the embodiment of the invention.
FIG. 2 is a schematic structural diagram of a bionic power device for a prosthetic joint in a half-sectional view state according to an embodiment of the invention.
FIG. 3 is a schematic structural diagram of a bionic power device for a prosthetic joint in a side view according to an embodiment of the present invention.
FIG. 4 is a schematic structural diagram of the artificial hip joint position where the bionic power device of the artificial joint is installed in the embodiment of the invention.
FIG. 5 is a schematic structural diagram of the artificial joint bionic power device installed at the position of the artificial knee joint in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be further described below.
Example 1:
as shown in fig. 1, 2 and 3, the present embodiment provides a bionic power device for a prosthetic joint, wherein two side brackets 3 are detachably mounted on two opposite sides of a support rod 4; a slotted hole is preset in the side bracket 3, the buffer assembly is pre-embedded in the slotted hole, and one end of the connecting rod 1 is inserted into the slotted hole and is mutually lapped with one end of the buffer assembly; one end of the driving module is inserted into the slot hole and is lapped with the other end of the buffer component, in this embodiment, the buffer component is a spring 9; the spring 9 serves the purpose of cushioning and transmitting power between the drive module and the connecting rod 1.
In this embodiment, a limiting baffle 2 is pre-arranged in the slot hole for preventing the spring 9 from popping out from the slot hole, and limiting the rotation range of the connecting rod 1 to avoid the overlarge angle rotation.
The bottom bracket 7 is connected with the tail end of the supporting rod 4; a driving assembly mounting groove is preset on the bottom bracket 7, and the driving module is arranged in the driving assembly mounting groove; in the present embodiment, the drive motor is a linear motor 6. The linear motor 6 is used to transmit force to the spring 9 and control the amount of compression.
The top end of the support rod 4 is movably connected with the artificial limb joint through a pin shaft, so that the artificial limb joint can axially rotate by taking the pin shaft as an axis; and simultaneously, the whole supporting function is also realized.
In the present embodiment, the connecting rod 1 is a solid rod having a certain curvature; one end of the connecting rod 1 is movably connected with the artificial limb joint through a pin shaft, so that the connecting rod 1 and the artificial limb joint can axially rotate by taking the pin shaft as an axis. The connecting end between the connecting rod 1 and the spring 9 is a spherical connecting head 10, so that the transmission between the connecting rod 1 and the spring 9 and the movement of the connecting rod 1 are facilitated.
In this embodiment, the present invention further comprises a sensor module; the sensor module comprises a pressure sensor 5 and a torque sensor 11; the pressure sensor 5 is arranged at the connecting end of the buffer assembly and the driving module, is specifically positioned at the lap joint point of the spring 9 and the transmission rod of the linear motor 6, and is used for detecting the pressure value between the linear motor 6 and the spring 9 so as to provide higher-quality acting force for the artificial limb. In order to facilitate the overlapping of the pressure sensor 5, the invention provides a clamping plate 8 between the spring 9 and the transmission rod of the linear motor 6.
The torque sensor 11 is arranged at the head end of the supporting component, is positioned at the connecting end of the supporting component and the artificial limb joint, is mainly used for detecting the torque value of the joint, and further feeds back information to the linear motor 6 so as to accurately control the rotation angle of the joint.
As shown in FIG. 4, the prosthetic joint employed in this embodiment is a hip prosthesis; the hip prosthesis is movably connected with the support rod 4 and the connecting rods 1 at the two sides of the support rod 4 through pin shafts; the structure of the two connecting rods 1 is designed according to the requirements of the motion joint of the artificial limb; in the using process, after the healthy side limb of the human body moves, the artificial limb can be bent backwards under the action of the change of the gravity center of the human body, the two linear motors 6 adjust the elongation according to the parameters of detection elements such as an angle measuring device and the like, the torque sensor 11 and the pressure sensor 5 feed back accurate adjustment parameters of a control center, and then the space positions of the two springs 9 are adjusted, the connecting rods 1 on the two sides are in contact with the springs 9 at specific positions, the springs 9 are compressed quantitatively, when the healthy side limb of the human body is in a gait support period, the artificial limb leaves the ground, the springs 9 release energy, and under the action of the connecting rods 1, the supporting rod 4 is enabled to rotate around a fixed shaft by a corresponding amount of angle, and finally accurate quantitative movement of the hip.
Example 2
As shown in fig. 5, the general structure of embodiment 2 is similar to that of embodiment 1, and the similar structure is not repeated herein, and the difference technical characteristics are that embodiment 2 adopts a knee joint prosthesis; in the using process, when a human body lifts a leg, the artificial limb can bend under the action of the weight of the human body, the two linear motors 6 adjust the elongation according to the parameters of detection elements such as an angle measuring device and the like arranged on the side-healthy leg, the torque sensor 11 and the pressure sensor 5 feed back accurate adjustment parameters to the control center, further adjusting the space positions of the two springs 9, the connecting rods 1 at the two sides are contacted with the springs 9 at specific positions, the artificial limb joint is bent, the springs 9 are compressed quantitatively, when the healthy side limbs of the human body are in a gait support period, the artificial limb leaves the ground, the symmetrical springs 9 on the two sides can relax one to apply acting force to the connecting rod 1, the spring 9 on the other side is compressed to absorb the acting force of the connecting rod 1 and limit the moving position, and then the supporting rod 4 rotates around the fixed shaft by a corresponding amount of angle, the movement range of the supporting rod 4 is limited, and finally the accurate quantitative movement of the knee joint prosthesis is realized.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A bionic power device for a prosthetic joint is characterized by comprising two connecting rods, a supporting component and a driving module; the two connecting rods are respectively arranged on two opposite sides of the supporting component; one end of the connecting rod is movably connected with an externally connected artificial limb joint, and the other end of the connecting rod is in transmission connection with the driving module through a buffer assembly; the drive module is fixed at the tail end of the support component, and the head end of the support component is movably connected with the artificial limb joint.
2. A prosthetic joint biomimetic powered device as recited in claim 1, further comprising a sensor module; the sensor module comprises a pressure sensor and a torque sensor; the pressure sensor is arranged at the connecting end of the buffer assembly and the driving module;
the torque sensor is arranged at the head end of the supporting component and is positioned at the connecting end of the supporting component and the artificial limb joint.
3. A biomimetic power device for a prosthetic joint according to claim 1, wherein the connecting rod is a solid rod having a degree of curvature; one end of the connecting rod is movably connected with the artificial limb joint through a pin shaft, so that the connecting rod and the artificial limb joint all use the pin shaft as an axis to complete axial rotation.
4. A prosthetic joint biomimetic powered device as recited in claim 1, wherein the support assembly includes a support bar, a side bracket, and a bottom bracket;
the two side brackets are detachably arranged on two opposite sides of the supporting rod; a slotted hole is preset in the side bracket, the buffer assembly is pre-buried in the slotted hole, and one end of the connecting rod is inserted into the slotted hole and is mutually overlapped with one end of the buffer assembly; one end of the driving module is inserted into the slot hole and is in lap joint with the other end of the buffer assembly;
the bottom bracket is connected to the tail end of the supporting rod; a driving assembly mounting groove is preset on the bottom bracket, and the driving module is arranged in the driving assembly mounting groove;
the top end of the supporting rod is movably connected with the artificial limb joint through a pin shaft, so that the artificial limb joint can axially rotate by taking the pin shaft as an axis.
5. A bionic power device for a prosthetic joint according to claim 4, wherein a limit stop is pre-arranged in the slot for preventing the buffer assembly from popping out of the slot.
6. A prosthetic joint biomimetic powered device as recited in claim 1, wherein the dampening assembly is a coil spring.
7. A bionic power device for a prosthetic joint according to claim 1, wherein the drive module is a linear motor, and a transmission shaft of the linear motor is in non-fixed lap joint with the spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010263997.5A CN111544165B (en) | 2020-04-07 | 2020-04-07 | Bionic power device for artificial limb joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010263997.5A CN111544165B (en) | 2020-04-07 | 2020-04-07 | Bionic power device for artificial limb joint |
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| CN111544165A true CN111544165A (en) | 2020-08-18 |
| CN111544165B CN111544165B (en) | 2023-03-24 |
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| CN202010263997.5A Active CN111544165B (en) | 2020-04-07 | 2020-04-07 | Bionic power device for artificial limb joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113693797A (en) * | 2021-08-27 | 2021-11-26 | 吉林大学 | Small-size multi-axis ankle joint artificial limb |
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| CN1693036A (en) * | 2005-05-19 | 2005-11-09 | 江南大学 | Fluid driven, single-freedom and flexible bending joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113693797A (en) * | 2021-08-27 | 2021-11-26 | 吉林大学 | Small-size multi-axis ankle joint artificial limb |
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| CN111544165B (en) | 2023-03-24 |
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