CN111603283A - Active artificial limb ankle joint - Google Patents

Active artificial limb ankle joint Download PDF

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Publication number
CN111603283A
CN111603283A CN202010629543.5A CN202010629543A CN111603283A CN 111603283 A CN111603283 A CN 111603283A CN 202010629543 A CN202010629543 A CN 202010629543A CN 111603283 A CN111603283 A CN 111603283A
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CN
China
Prior art keywords
electric push
connecting piece
push rod
ankle joint
piece
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Granted
Application number
CN202010629543.5A
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Chinese (zh)
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CN111603283B (en
Inventor
修豪华
任雷
钱志辉
王旭
任露泉
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Jilin University
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Jilin University
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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
    • A61F2/68—Operating or control means
    • 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
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

The invention discloses an active artificial limb ankle joint, which comprises a shank connecting piece, an ankle joint rotating piece, an electric push rod assembly, a transmission assembly, an artificial foot connecting piece and an artificial foot, wherein the upper part of the electric push rod is connected with a U-shaped connecting piece through bolts and nuts to form a free rotating pair, the telescopic end of the electric push rod is connected with a transmission shaft to form a rotating pair, a gear and a rack are meshed for transmission, the electric push rod is used as a power source to actively drive the ankle joint to dorsiflex and plantarflex, the whole artificial limb ankle joint has the characteristics of light weight and low cost, and a transmission system adopts a transmission mode of a gear rack and a slide block guide rail, so that the active artificial limb ankle joint has the characteristics of.

Description

Active artificial limb ankle joint
Technical Field
The invention belongs to the technical field of rehabilitation aids, and particularly relates to an active artificial limb ankle joint.
Background
The lower limb artificial limb is taken as a walking rehabilitation assistive device and is widely applied to lower limb amputation patient groups. The ankle joint plays a key role when a person walks as an important part in the artificial limb. The artificial limb ankle joint can be generally divided into a passive type and an active type, the passive ankle joint is generally a single-shaft ankle or a universal ankle joint and the like, and the passive ankle joint does not have the problems of self-regulation of gait, incapability of supplying energy and the like, so that the energy consumption of a person is increased when the person walks, and the gait is asymmetric; an active ankle joint refers to an ankle joint that can provide additional energy supply, generally classified as electrically driven, hydraulic or pneumatic depending on the energy source, can reduce the amputee's energy expenditure and provide good gait control. The motor is a commonly used electric driving element and has the defects of large volume and high cost, and a traditional transmission system is generally composed of complex belt wheel and lead screw transmission, so that the whole driving ankle joint is complex and heavy.
Disclosure of Invention
In order to solve the problems, the invention provides an active artificial limb ankle joint, which aims to solve the problems of heavy weight, high cost and complex transmission of the traditional active artificial limb ankle joint.
In order to achieve the purpose, the invention adopts the following technical scheme:
an active artificial limb ankle joint is characterized by comprising a shank connecting piece, an ankle joint rotating piece, an electric push rod component, a transmission component, a prosthetic foot connecting piece and a prosthetic foot;
the shank connecting piece is fixedly connected to the upper part of the ankle joint rotating piece, and the electric push rod assembly comprises two electric push rods, two U-shaped connecting pieces, an electric push rod supporting piece and an L-shaped supporting piece; the transmission assembly comprises two gears, two connecting rods, two connecting rod fixing seats, two straight racks, a sliding block, a guide rail, a bottom plate, two gear seats, a transmission shaft, an I-shaped connecting piece and a sliding block connecting piece;
the upper part of the electric push rod is connected with the U-shaped connecting piece through bolts and nuts to form a free rotation pair, the telescopic end of the electric push rod is connected with the transmission shaft to form a rotation pair, the U-shaped connecting piece is fixed on the electric push rod supporting piece, the lower end of the electric push rod supporting piece is fixedly connected with the L-shaped supporting piece, the telescopic end of the electric push rod can be freely telescopic and used for pushing the rotation shaft to move, and the L-shaped supporting piece is fixed on the bottom plate and used for increasing the strength and the stability; the two gears are arranged between the two gear seats through a rotating shaft, the gears and the racks are in meshed transmission, one end of the connecting rod is connected with the connecting rod fixing seat through a cantilever pin to form a rotating pair, the other end of the connecting rod is connected with the transmission shaft to form a rotating pair, the connecting rod fixing seat is fixed on the bottom plate, the racks are fixedly connected with the sliding block, the sliding block is matched with the guide rail to form linear motion, the guide rail is fixed on the bottom plate, the gear seats are fixed on the bottom plate, one end of the I-shaped connecting piece forms a rotating pair with the transmission shaft, the other end of the I-shaped connecting piece is connected with the;
one end of the artificial foot connecting piece is fixedly connected with the bottom plate, and the other end of the artificial foot connecting piece is fixedly connected with the artificial foot.
The artificial foot is a carbon fiber foot plate or a cosmetic foot.
The invention has the beneficial effects that:
1. the invention adopts the electric push rod (linear servo driver) as a power source, so that the whole artificial limb ankle joint has the characteristics of light weight and low cost.
2. The transmission system adopts a transmission mode of a gear rack and a slide block guide rail, and has the characteristics of simple structure, small volume and easy control.
Drawings
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a rear view of the present invention.
Fig. 4 is a side view of the present invention.
Detailed Description
Referring to fig. 1, an active prosthetic ankle joint comprises: a shank connecting piece 1, an ankle joint rotating piece 2, an electric push rod component 3, a transmission component 4, a prosthetic foot connecting piece 5 and a prosthetic foot 6.
Referring to fig. 2, 3 and 4, the lower leg link 1 is fixedly connected to the upper portion of the ankle joint rotation member 2, and the electric push rod assembly 3 includes two electric push rods 31, two U-shaped links 32, an electric push rod supporter 33 and an L-shaped supporter 34; the transmission assembly 4 comprises two gears 41, two connecting rods 42, two connecting rod fixing seats 43, two spur racks 44, a sliding block 45, a guide rail 46, a bottom plate 47, two gear seats 48, a transmission shaft 49, an I-shaped connecting piece 410 and a sliding block connecting piece 411;
the upper part of the electric push rod 31 is provided with a round hole which is connected with the U-shaped connecting piece 32 through a bolt and a nut to form a free rotation pair, the telescopic end of the electric push rod 31 is connected with the transmission shaft 49 to form a rotation pair, the U-shaped connecting piece 32 is fixed on the electric push rod supporting piece 33, the lower end of the electric push rod supporting piece 33 is fixedly connected with the L-shaped supporting piece 34 through a bolt and a nut, and the L-shaped supporting piece 34 is fixed on the bottom plate 47 through a bolt and a nut; the two gears 41 are arranged between two gear seats 48 through a rotating shaft, one end of the connecting rod 42 is connected with the connecting rod fixing seat 43 through a cantilever pin to form a rotating pair, the other end of the connecting rod 42 is connected with the transmission shaft 49 to form a rotating pair, the connecting rod fixing seat 43 is fixed on the bottom plate 47 through a bolt and a nut, the rack 44 is fixed on the sliding block 45, the guide rail 46 is fixed on the bottom plate 47 through a bolt and a nut, the gear seats 48 are fixed on the bottom plate 47, one end of the I-shaped connecting piece 410 and the transmission shaft 49 form a rotating pair, the other end of the I-shaped connecting piece 410 is connected with the sliding block connecting piece 411 to form a rotating pair;
one end of the artificial foot connecting piece 5 is fixedly connected with the bottom plate 47 through a bolt and a nut, and the other end is fixedly connected with the artificial foot 6 through a bolt and a nut.
The working principle of the invention is as follows:
after the electric push rod 31 extends, the transmission shaft 49 is driven to move downwards, the transmission shaft 49 pushes the I-shaped connecting piece 410, the sliding block connecting piece 411 and the sliding block 45 to move forwards, and the ankle joint bends plantarfledly under the action of the gear 41 and the rack 44; in a similar way, after the electric push rod 31 is contracted, the transmission shaft 49 is driven to move upwards, the transmission shaft 49 pushes the i-shaped connecting piece 410, the sliding block connecting piece 411 and the sliding block 45 to move backwards, and the ankle joint is dorsiflexed under the action of the gear 41 and the rack 44.

Claims (2)

1. An active prosthetic ankle joint, comprising: comprises a shank connecting piece (1), an ankle joint rotating piece (2), an electric push rod component (3), a transmission component (4), a prosthetic foot connecting piece (5) and a prosthetic foot (6);
the shank connecting piece (1) is fixedly connected to the upper part of the ankle joint rotating piece (2), and the electric push rod assembly (3) comprises two electric push rods (31), two U-shaped connecting pieces (32), an electric push rod supporting piece (33) and an L-shaped supporting piece (34); the transmission assembly (4) comprises two gears (41), two connecting rods (42), two connecting rod fixing seats (43), two straight racks (44), a sliding block (45), a guide rail (46), a base plate (47), two gear seats (48), a transmission shaft (49), an I-shaped connecting piece (410) and a sliding block connecting piece (411);
the upper part of the electric push rod (31) is connected with the U-shaped connecting piece (32) through bolts and nuts to form a free rotating pair, the telescopic end of the electric push rod (31) is connected with the transmission shaft (49) to form a rotating pair, the U-shaped connecting piece (32) is fixed on the electric push rod supporting piece (33), the lower end of the electric push rod supporting piece (33) is fixedly connected with the L-shaped supporting piece (34), and the L-shaped supporting piece (34) is fixed on the bottom plate (47); the two gears (41) are arranged between two gear seats (48) through a rotating shaft, the gears (41) and a rack (44) are in meshed transmission, one end of a connecting rod (42) is connected with a connecting rod fixing seat (43) through a cantilever pin to form a rotating pair, the other end of the connecting rod (42) is connected with a transmission shaft (49) to form a rotating pair, the connecting rod fixing seat (43) is fixed on a bottom plate (47), the rack (44) is fixedly connected with a sliding block (45), the sliding block (45) is matched with a guide rail (46) to form linear motion, the guide rail (46) is fixed on the bottom plate (47), the gear seats (48) are fixed on the bottom plate (47), one end of an I-shaped connecting piece (410) and the transmission shaft (49) form a rotating pair, the other end of the I-shaped connecting piece (410) is connected with the sliding block connecting piece (411) to form a rotating pair, and;
one end of the artificial foot connecting piece (5) is fixedly connected with the bottom plate (47), and the other end is fixedly connected with the artificial foot (6).
2. The active prosthetic ankle joint of claim 1, wherein: the method is characterized in that: the artificial foot (6) is a carbon fiber foot plate or a beauty foot.
CN202010629543.5A 2020-07-03 2020-07-03 Active artificial limb ankle joint Active CN111603283B (en)

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CN111603283B CN111603283B (en) 2024-06-21

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113057768A (en) * 2021-03-16 2021-07-02 吉林大学 Compact type active artificial limb ankle joint
CN113456321A (en) * 2021-06-30 2021-10-01 吉林大学 Bionic active knee joint

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102397118A (en) * 2010-09-19 2012-04-04 上海理工大学 Bionic ankle joint
CN103006357A (en) * 2012-12-19 2013-04-03 南京工程学院 Active-passive combined low-power-consumption ankle joint prosthesis
CN105125381A (en) * 2015-10-19 2015-12-09 吉林大学 Multi-degree-of-freedom adjustable ankle and knee joint linkage rehabilitative training machine
CN105997436A (en) * 2016-07-06 2016-10-12 燕山大学 Four-degree-of-freedom multi-pose lower limb rehabilitation robot
CN107349036A (en) * 2017-06-20 2017-11-17 南京工程学院 Ankle-joint artificial limb based on flexible actuator
CN108721050A (en) * 2018-05-25 2018-11-02 合肥工业大学 Limbs active-passive rehabilitation training device and control method under a kind of magnetorheological force feedback type
CN110353949A (en) * 2019-08-08 2019-10-22 北京交通大学 A kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution
CN212213952U (en) * 2020-07-03 2020-12-25 吉林大学 Active artificial limb ankle joint

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102397118A (en) * 2010-09-19 2012-04-04 上海理工大学 Bionic ankle joint
CN103006357A (en) * 2012-12-19 2013-04-03 南京工程学院 Active-passive combined low-power-consumption ankle joint prosthesis
CN105125381A (en) * 2015-10-19 2015-12-09 吉林大学 Multi-degree-of-freedom adjustable ankle and knee joint linkage rehabilitative training machine
CN105997436A (en) * 2016-07-06 2016-10-12 燕山大学 Four-degree-of-freedom multi-pose lower limb rehabilitation robot
CN107349036A (en) * 2017-06-20 2017-11-17 南京工程学院 Ankle-joint artificial limb based on flexible actuator
CN108721050A (en) * 2018-05-25 2018-11-02 合肥工业大学 Limbs active-passive rehabilitation training device and control method under a kind of magnetorheological force feedback type
CN110353949A (en) * 2019-08-08 2019-10-22 北京交通大学 A kind of active knee ankle-joint prosthetic device based on change born of the same parents' parallel institution
CN212213952U (en) * 2020-07-03 2020-12-25 吉林大学 Active artificial limb ankle joint

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
许森赫: "《国内外3D打印在骨科的发展状况》", 《中国实验诊断学》, 28 February 2018 (2018-02-28), pages 367 - 370 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113057768A (en) * 2021-03-16 2021-07-02 吉林大学 Compact type active artificial limb ankle joint
CN113456321A (en) * 2021-06-30 2021-10-01 吉林大学 Bionic active knee joint

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