CN111714259B - A multi-axis ankle joint prosthesis with adjustable joint axis angle - Google Patents

A multi-axis ankle joint prosthesis with adjustable joint axis angle Download PDF

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Publication number
CN111714259B
CN111714259B CN202010390157.5A CN202010390157A CN111714259B CN 111714259 B CN111714259 B CN 111714259B CN 202010390157 A CN202010390157 A CN 202010390157A CN 111714259 B CN111714259 B CN 111714259B
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plate
groove
connecting plate
iii
spring
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CN111714259A (en
Inventor
任雷
曾懿
王坤阳
钱志辉
修豪华
梁威
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Beijing Daqi Yuequan Biomimetic Technology Co ltd
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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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
    • 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

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

Abstract

The invention relates to a multiaxial ankle joint artificial limb with an adjustable joint shaft angle, which belongs to the technical field of artificial limbs of bionic human bodies and comprises a front part, a joint shaft part, a left part, an upper cover, a rear part, a right part, a bottom cover and four springs, wherein the joint shaft part is positioned in a space enclosed by the front part, the left part, the upper cover, the rear part, the right part and the bottom cover, the space angle between the joint shaft and the lower joint shaft is adjusted by adjusting the positions of groove plates in the front part and the rear part, and the space angle of the ankle joint shaft is adjusted by adjusting the positions of the groove plates in the left part and the right part, so that the artificial limb can be attached to the ankle joint structure of the human body to. The ankle joint adjusting device can adjust different ankle joint shaft angles for different wearers, thereby improving the comfort level of the wearers, improving the movement coordination between the affected side and the normal side limbs of the wearers, improving the environmental adaptability, being suitable for different road surface changes and reducing the energy consumption of the wearers.

Description

Joint shaft angle adjustable multiaxis ankle joint artificial limb
Technical Field
The invention belongs to the technical field of bionic human body artificial limbs, and particularly relates to a multi-axis ankle joint artificial limb with an adjustable joint shaft angle.
Background
The ankle joint artificial limbs related to the market at present are mainly divided into an active artificial limb and a passive artificial limb, wherein the passive artificial limb mainly adopts a single-shaft design, and the dynamic characteristics of the motion of the passive artificial limb are greatly different from those of limbs of a healthy person, so that the gait of a wearer is unnatural in the using process, the walking process is uncomfortable, and the adaptability to different environment pavements is low. The existing multiaxial ankle joint artificial limb products on the market have fixed space angles of two shafts, but different amputees have different walking biomechanical characteristics, so that the products have low personalized adaptation degree, and the movement coordination of the affected side and the normal side of a wearer is poor.
Disclosure of Invention
The invention aims to provide a multiaxial ankle joint prosthesis product with an adjustable joint shaft angle, which can adjust the spatial angle position of an ankle joint motion shaft in a personalized manner according to the biomechanical characteristics of ankle joints of different patients, thereby improving the motion coordination of an affected side and a normal side limb of a wearer, improving the environmental adaptability and wearing comfort of the prosthesis, coping with different road surface changes and reducing the energy consumption of the wearer.
The invention comprises a front part A, a joint shaft part B, a right part C, an upper cover D, a rear part E, a left part F, a bottom cover G, a spring I1, a spring II 2, a spring III 3 and a spring IV 4, wherein the lower end of a front connecting plate 5 of the front part A is fixedly connected on the front end of the bottom cover G; the lower end of a rear connecting plate 12 at the rear part E is fixedly connected to the upper surface of the rear end of the bottom cover G; the upper end of a right connecting plate 22 of the right part C is fixedly connected below the right end of the upper cover D; the upper end of a left connecting plate 17 of the left part F is fixedly connected below the left end of the upper cover D; the joint shaft part B is positioned in a space enclosed by the front part A, the right part C, the upper cover D, the rear part E, the left part F and the bottom cover G, and is in a cross state with a high rear part and a low front part; the front ball sleeve B4 of the joint shaft part B is in sliding connection with a slot formed by the straight slot ij and the 60-degree slot Ig in the front part A in a staggered manner; a rear ball sleeve B2 of the joint shaft part B is in sliding connection with a slot formed by the interleaving of a straight slot IIm and a 60-degree slot IIo in the rear part E; a right ball sleeve B1 of the joint shaft part B is in sliding connection with a slot formed by the interleaving of a straight slot III f2 and a 45-degree slot I d2 in the right part C; a left ball sleeve B3 of the joint shaft part B is in sliding connection with a slot formed by the straight slot IVz and the 45-degree slot IIc 2 in the left part F in a staggered manner; the lower end of the spring I1 is fixedly connected with a spring seat I p of the bottom cover G; the upper end of the spring I1 is fixedly connected with a spring seat IIIr of a right connecting plate 22 in the right part C; the lower end of the spring II 2 is fixedly connected with a spring seat IIq of the bottom cover G; the upper end of the spring II 2 is fixedly connected with a spring seat IV u of the left connecting plate 17 in the left part F; the rear end of the spring III 3 is fixedly connected to the front of a spring seat VE of the rear connecting plate 12 in the rear part E; the front end of the spring III 3 is fixedly connected to the rear surface of a spring seat VIx of the left connecting plate 17 in the left part F; the rear end of the spring IV 4 is fixedly connected to the front of a spring seat VI x of the left connecting plate 17 in the left part F; the front end of the spring IV 4 is fixedly connected to the rear of a spring seat VII c of the front connecting plate 5 in the front part A.
The front part A consists of a front connecting plate 5, a straight groove plate I6, a 60-degree groove plate I7, a lead screw I8 and a long shaft I9, wherein the upper end of the front connecting plate 5 is provided with a spring seat VII c; a straight groove ij is arranged on the straight groove plate I6; a 60-degree groove Ig is arranged on the 60-degree groove plate I7; the notch of the straight groove plate I6 faces the right and is arranged in the inner groove of the front connecting plate 5, the long shaft I9 is in clearance fit with the hole I I of the straight groove plate I6, and the long shaft I9 is in interference fit with the hole pair IIb of the front connecting plate 5; the notch of the 60-degree groove plate I7 faces the right and is arranged in the outer groove of the front connecting plate 5, and the screw I8 is in sliding connection with the hole IIIh of the 60-degree groove plate I7; two ends of the screw I8 are fixedly connected with two holes of the hole pair IVa of the front connecting plate 5; two nuts are screwed on the screw rods I8 on the left side and the right side of the 60-degree groove plate I7.
The joint shaft part B consists of a subtalar joint shaft 30, an SR4 ball sleeve pair I26, an SR5 ball sleeve pair II 27, an on-shaft spring group 29, an ankle joint shaft 25, a long telescopic arm pair 28 and a short telescopic arm pair 32, wherein the ankle joint shaft 25 and the subtalar joint shaft 30 are arranged up and down and are fixedly connected through a bolt 31; the four springs of the on-axis spring group 29 are respectively sleeved on the front arm and the rear arm of the lower joint shaft 30 and the left arm and the right arm of the ankle joint shaft 25; the two long telescopic arms of the long telescopic arm pair 28 are respectively connected with the long shaft hole pairs j2 of the front and rear arms of the subtalar joint shaft 30 in a sliding way; two short telescopic arms of the short telescopic arm pair 32 are respectively connected with the short shaft hole pairs i2 of the left arm and the right arm of the ankle joint shaft 25 in a sliding way; the SR4 ball sleeve pair I26 consists of a right ball sleeve B1 and a left ball sleeve B3, and two spherical grooves of a spherical groove pair I m2 in the SR4 ball sleeve pair I26 are connected with two spherical ends of the short telescopic arm pair 32 in a sliding manner; the SR5 ball sleeve pair II 27 consists of a rear ball sleeve B2 and a front ball sleeve B4, and two spherical grooves of a spherical groove pair II k2 in the SR5 ball sleeve pair II 27 are connected with two spherical ends of the long telescopic arm pair 28 in a sliding manner; the four telescopic arms can be telescopic and rotatable in the corresponding shaft holes; when the four telescopic arms are telescopic, the four springs are all in a compressed state.
The right part C consists of a screw II 24, a straight groove plate III 21, a right connecting plate 22, a 45-degree groove plate I23 and a long shaft II 20, wherein a spring seat IIIr is arranged on the right connecting plate 22; a straight groove IIIf 2 is arranged on the straight groove plate III 21; the 45-degree groove I23 is provided with a 45-degree groove Id 2; the straight groove plate III 21 is arranged in an inner groove of the right connecting plate 22, the long shaft II 20 is in clearance fit with a hole VIII g2 of the straight groove plate III 21, and the long shaft II 20 is in interference fit with the hole pair VT of the right connecting plate 22; the 45-degree groove Id 2 of the 45-degree groove plate I23 is an outer groove which is arranged on the right connecting plate 22 in a mode that the front part is low and the rear part is high, and the screw II 24 is in sliding connection with the hole VII e2 of the 45-degree groove plate I23; two ends of a screw II 24 are fixedly connected with two holes of the hole pair VI of the right connecting plate 22; two nuts are screwed on the screw rods II 24 on the front side and the rear side of the 45-degree groove plate I23.
The rear part E consists of a straight groove plate II 10, a 60-degree groove plate II 11, a rear connecting plate 12, a screw rod III 13 and a long shaft III 14, wherein a spring seat VE is arranged at the upper end of the rear connecting plate 12; a straight groove IIm is arranged on the straight groove plate II 10; a 60-degree groove II o is formed in the 60-degree groove plate II 11; a gap of the straight groove plate II 10 faces the left and is arranged in an outer groove of the rear connecting plate 12, and the screw rod III 13 is in sliding connection with a hole IX k of the straight groove plate II 10; two ends of the screw rod III 13 are fixedly connected with two holes of the hole pair X and the hole pair X of the rear connecting plate 12; two nuts are screwed on the screw rods III 13 on the left side and the right side of the straight groove plate II 10; the notch of the 60-degree groove plate II 11 is arranged in the inner groove of the rear connecting plate 12 towards the left, the long shaft III 14 is in clearance fit with the hole XI n of the 60-degree groove plate II 11, and the long shaft III 14 is in interference fit with the hole XIIf of the rear connecting plate 12.
The left part F consists of a lead screw IV 15, a long shaft IV 16, a left connecting plate 17, a 45-degree groove plate II 18 and a straight groove plate IV 19, wherein a spring seat VI x and a spring seat IV u are arranged on the left connecting plate 17; a 45-degree groove IIc 2 is formed in the 45-degree groove plate II 18; a straight groove IV z is arranged on the straight groove plate IV 19; the straight groove plate IV 19 is arranged in an outer groove of the left connecting plate 17, and the lead screw IV 15 is in sliding connection with a hole XIIIa 2 of the straight groove plate IV 19; two ends of the lead screw IV 15 are fixedly connected with two holes of the hole pair XIVv; two nuts are screwed on the lead screws IV 15 on the front side and the rear side of the straight groove plate IV 19; the 45-degree groove IIc 2 of the 45-degree groove plate II 18 is arranged in the inner groove of the left connecting plate 17 in a mode that the rear part is higher than the front part, the front part is lower than the front part, the long shaft IV 16 is in clearance fit with the hole XVb 2 of the 45-degree groove plate II 18, and the long shaft IV 16 is in interference fit with the hole pair XVIw of the left connecting plate 17.
A spring seat Ip is arranged on the left and right transverse center lines of the bottom cover G close to the right, and a spring seat IIq is arranged on the left and right transverse center lines of the bottom cover G close to the left.
The angle adjusting process of the joint shaft of the invention is as follows:
1. the upper cover D is opened and the nut attached to the bolt 31 is loosened.
2. Keeping two nuts on a lead screw I8 of the front part A at a screwing position, keeping two nuts on a lead screw IV 15 of the rear part E at a screwing position, and fixing the positions of a straight groove plate I6, a 60-degree groove plate I7, a 60-degree groove plate II 11 and a straight groove plate II 10, so that a front ball sleeve B4 and a rear ball sleeve B2 which are positioned at the front end and the rear end of the subtalar joint shaft 30 and are in sliding connection with the front part A and the rear part E are fixed, and the position of the subtalar joint shaft 30 is fixed.
3. Two nuts on a lead screw II 24 of the right part C are unscrewed, two nuts on a lead screw IV 15 of the left part F are unscrewed, so that the straight groove plates III 21 and 45-degree groove plates I23 can slide on the right connecting plate 22, and the 45-degree groove plates II 18 and the straight groove plates IV 19 can slide on the left connecting plate 17.
4. The straight groove plate IV 19 which is placed on the left connecting plate 17 in a front-back sliding mode drives the SR4 ball sleeve pair I26 which is positioned at the left end and the right end of the ankle joint shaft 25 to move back and forth, so that the ankle joint shaft 25 is driven to rotate front and back, and the projection angle of the ankle joint shaft 25 on the cross section is adjusted. After the adjustment is completed, nuts positioned on two sides of the straight groove plate IV 19 are screwed to fix the straight groove plate IV.
5. The 45-degree groove plate I23 placed on the right connecting plate 22 in a sliding mode drives the SR4 ball sleeve pairs I26 located at the left end and the right end of the ankle joint shaft 25 to move up and down, so that the ankle joint shaft 25 is driven to rotate up and down, and the projection angle of the ankle joint shaft 25 on the coronal plane is adjusted. After the adjustment is finished, nuts positioned on two sides of the 45-degree groove plate I23 are screwed to be fixed.
6. The 4-and 5-step nuts are tightened to fix the position of the ankle joint shaft 25.
7. Two nuts on the lead screw I8 of the front portion A are unscrewed, and two nuts on the lead screw IV 15 of the rear portion E are unscrewed, so that the straight groove plates I6 and 60-degree groove plates I7 can slide on the front connecting plate 5, and the straight groove plates II 10 and 60-degree groove plates II 11 can slide on the rear connecting plate 12.
8. The straight groove plate II 10 which is placed on the rear connecting plate 12 in a sliding mode drives the SR5 ball sleeve pair I27 which is located at the front end and the rear end of the subtalar joint shaft 30 to move left and right, so that the subtalar joint shaft 30 is driven to rotate left and right, and the projection angle of the subtalar joint shaft 30 in the sagittal plane is adjusted. And after the adjustment is finished, nuts positioned on two sides of the straight groove plate II 10 are screwed to fix the straight groove plate II.
9. The 60-degree groove plate I7 which is placed on the front connecting plate 5 in a sliding mode drives the SR5 ball sleeve pair I27 located at the front end and the rear end of the subtalar joint shaft 30 to move up and down, so that the subtalar joint shaft 30 is driven to rotate up and down, and the projection angle of the subtalar joint shaft 30 on the cross section is adjusted. And after the adjustment is finished, nuts positioned on two sides of the 60-degree groove plate I7 are screwed to fix the groove plate I.
10. The nut connected to the bolt 31 is tightened to prevent the subtalar joint shaft 30 and the ankle joint shaft 25 from rotating relative to each other, and the upper lid D is closed.
So far, the angle of the joint shaft is adjusted.
The invention can firstly measure the joint angle of the ankle joint at one side of the human body limb, then carry out angle adjustment on the joint shaft of the artificial limb product, and can carry out angle fine adjustment on the artificial limb joint shaft according to the use feeling of a user after being worn until the optimal wearing and using effect is achieved. The invention can greatly improve the problems of low matching degree, poor adaptability and large energy consumption of wearers of artificial limb products, and has simple and efficient adjustment process.
Drawings
FIG. 1 is a perspective view of a multiaxial ankle joint prosthesis with an adjustable joint axis angle
FIG. 2 is a right side view of a multi-axial ankle joint prosthesis with an adjustable joint axis angle
FIG. 3 is a perspective view of the front portion A
FIG. 4 is a perspective view of the rear section E
FIG. 5 is a perspective view of the front connection plate 5
FIG. 6 is a perspective view of the rear connecting plate 12
FIG. 7 is a perspective view of a 60 slot plate I7
FIG. 8 is a perspective view of the straight fluted plate I6
FIG. 9 is a perspective view of the straight fluted plate II 10
FIG. 10 is a perspective view of a 60 degree slot plate II 11
FIG. 11 is a perspective view of the base plate
FIG. 12 is a perspective view of the left part F
FIG. 13 is a perspective view of the right part C
FIG. 14 is a perspective view of the right connecting plate 22
FIG. 15 is a perspective view of the left connecting plate 17
FIG. 16 is a perspective view of a straight groove plate IV 19
FIG. 17 is a perspective view of a 45 ° slot plate II 18
FIG. 18 is a perspective view of a 45 slot plate I23
FIG. 19 is a perspective view of a straight fluted plate III 21
FIG. 20 is a perspective view of the joint shaft portion B
FIG. 21 is a perspective view of the ankle joint shaft 25
FIG. 22 is a perspective view of the subtalar joint axis 30
FIG. 23 is a perspective view of one SR5 hemisphere cover forming the ball cover pair II 27
FIG. 24 is a perspective view of one SR4 hemisphere cover forming a ball cover pair I26
FIG. 25 is a cross-sectional view of h2 indicated in FIG. 20
FIG. 26 is a perspective view of one of the long telescopic arms of the pair of long telescopic arms 28
FIG. 27 is a perspective view of one of the short telescopic arms of the pair of short telescopic arms 32
Wherein: A. front B, joint shaft portion C, right D, upper cover E, rear F, left G, bottom cover 1, spring I2, spring II 3, spring III 4, spring IV 5, front connecting plate 6, straight slotted plate I7.60 degree slotted plate I8, lead screw I9, long axis I10, straight slotted plate II 11.60 degree slotted plate II 12, rear connecting plate 13, lead screw III 14, long axis III 15, lead screw IV 16, long axis IV 17, left connecting plate 18.45 degree slotted plate II 19, straight slotted plate IV 20, long axis II 21, straight slotted plate III 22, right connecting plate 23.45 degree slotted plate I24, lead screw II 25, ankle joint shaft 26, SR4 ball sleeve pair I27, SR5 ball sleeve pair II 28, long telescopic arm pair 29, on-axis spring set 30, lower joint shaft 31, bolt 32, short telescopic arm pair B1, right ball sleeve B2, rear ball sleeve B3, left ball sleeve B B4., front ball sleeve A, IV b, spring seat hole pair D. Hole pair XII.60 degree groove IH, hole III i, hole Ij, straight groove Ik, hole IX m, straight groove IIn, hole XI.60 degree groove IIp, spring seat Iq, spring seat IIr, spring seat III s, hole pair VI, hole pair V u, spring seat IV v, hole pair XIV w, hole pair XVIx, spring seat VI z. straight groove IV a2, hole XIII b2. hole XV 2.45 degree groove IId 2.45 degree groove I e2., hole pair f2. straight groove III g2, hole VIII i2. short shaft hole j2. long shaft hole k2. spherical groove IIm 2 spherical groove II
Detailed Description
As shown in fig. 1 and 2, the present invention comprises a front portion a, a joint shaft portion B, a right portion C, an upper cover D, a rear portion E, a left portion F, a bottom cover G, a spring i 1, a spring ii 2, a spring iii 3, and a spring iv 4, wherein a lower end of a front connecting plate 5 of the front portion a is fixedly connected to a front end of the bottom cover G; the lower end of a rear connecting plate 12 at the rear part E is fixedly connected to the upper surface of the rear end of the bottom cover G; the upper end of a right connecting plate 22 of the right part C is fixedly connected below the right end of the upper cover D; the upper end of a left connecting plate 17 of the left part F is fixedly connected below the left end of the upper cover D; the joint shaft part B is positioned in a space enclosed by the front part A, the right part C, the upper cover D, the rear part E, the left part F and the bottom cover G, and is in a cross state with a high rear part and a low front part; the front ball sleeve B4 of the joint shaft part B is in sliding connection with a slot formed by the straight slot ij and the 60-degree slot Ig in the front part A in a staggered manner; a rear ball sleeve B2 of the joint shaft part B is in sliding connection with a slot formed by the interleaving of a straight slot IIm and a 60-degree slot IIo in the rear part E; a right ball sleeve B1 of the joint shaft part B is in sliding connection with a slot formed by the interleaving of a straight slot III f2 and a 45-degree slot I d2 in the right part C; a left ball sleeve B3 of the joint shaft part B is in sliding connection with a slot formed by the straight slot IVz and the 45-degree slot IIc 2 in the left part F in a staggered manner; the lower end of the spring I1 is fixedly connected with a spring seat I p of the bottom cover G; the upper end of the spring I1 is fixedly connected with a spring seat IIIr of a right connecting plate 22 in the right part C; the lower end of the spring II 2 is fixedly connected with a spring seat IIq of the bottom cover G; the upper end of the spring II 2 is fixedly connected with a spring seat IV u of the left connecting plate 17 in the left part F; the rear end of the spring III 3 is fixedly connected to the front of a spring seat VE of the rear connecting plate 12 in the rear part E; the front end of the spring III 3 is fixedly connected to the rear surface of a spring seat VIx of the left connecting plate 17 in the left part F; the rear end of the spring IV 4 is fixedly connected to the front of a spring seat VI x of the left connecting plate 17 in the left part F; the front end of the spring IV 4 is fixedly connected to the rear of a spring seat VII c of the front connecting plate 5 in the front part A. The telescopic range of the four telescopic arms in the joint shaft part B is enough to meet the telescopic length required by the straight groove plates II 10, the 60-degree groove plates I7, the 45-degree groove plates I23 and the straight groove plates IV 19 during sliding; the four springs of the spring group 29 on the shaft are always in a compressed state, so that the swing of the joint shaft part B in the mechanism is effectively reduced in the using process; the spring I1 and the spring II 2 play a role in controlling the left-right turning degree and the resetting of the artificial limb, and the spring III 3 and the spring IV 4 play a role in controlling the front-back turning degree and the resetting of the artificial limb.
As shown in fig. 3, 5, 7 and 8, the front portion a is composed of a front connecting plate 5, a straight groove plate i6, a 60-degree groove plate i7, a lead screw i 8 and a long shaft i 9, wherein the upper end of the front connecting plate 5 is provided with a spring seat vic; a straight groove ij is arranged on the straight groove plate I6; a 60-degree groove Ig is arranged on the 60-degree groove plate I7; the notch of the straight groove plate I6 faces the right and is arranged in the inner groove of the front connecting plate 5, the long shaft I9 is in clearance fit with the hole I I of the straight groove plate I6, and the long shaft I9 is in interference fit with the hole pair IIb of the front connecting plate 5; the notch of the 60-degree groove plate I7 faces the right and is arranged in the outer groove of the front connecting plate 5, and the screw I8 is in sliding connection with the hole IIIh of the 60-degree groove plate I7; two ends of the screw I8 are fixedly connected with two holes of the hole pair IVa of the front connecting plate 5; two nuts are screwed on the screw rods I8 on the left side and the right side of the 60-degree groove plate I7.
As shown in fig. 20 to 27, the joint shaft portion B is composed of a subtalar joint shaft 30, an SR4 ball sleeve pair i 26, an SR5 ball sleeve pair ii 27, an on-shaft spring set 29, an ankle joint shaft 25, a long telescopic arm pair 28 and a short telescopic arm pair 32, wherein the ankle joint shaft 25 and the subtalar joint shaft 30 are arranged up and down and are fixedly connected through a bolt 31; the four springs of the on-axis spring group 29 are respectively sleeved on the front arm and the rear arm of the lower joint shaft 30 and the left arm and the right arm of the ankle joint shaft 25; the two long telescopic arms of the long telescopic arm pair 28 are respectively connected with the long shaft hole pairs j2 of the front and rear arms of the subtalar joint shaft 30 in a sliding way; two short telescopic arms of the short telescopic arm pair 32 are respectively connected with the short shaft hole pairs i2 of the left arm and the right arm of the ankle joint shaft 25 in a sliding way; the SR4 ball sleeve pair I26 consists of a right ball sleeve B1 and a left ball sleeve B3, and two spherical grooves of a spherical groove pair I m2 in the SR4 ball sleeve pair I26 are connected with two spherical ends of the short telescopic arm pair 32 in a sliding manner; the SR5 ball sleeve pair II 27 consists of a rear ball sleeve B2 and a front ball sleeve B4, and two spherical grooves of a spherical groove pair II k2 in the SR5 ball sleeve pair II 27 are connected with two spherical ends of the long telescopic arm pair 28 in a sliding manner; the four telescopic arms can be telescopic and rotatable in the corresponding shaft holes; when the four telescopic arms are telescopic, the four springs are all in a compressed state.
As shown in fig. 13, 14, 18 and 19, the right part C is composed of a screw ii 24, a straight groove plate iii 21, a right connecting plate 22, a 45 ° groove plate i23 and a long shaft ii 20, wherein a spring seat iiir is arranged on the right connecting plate 22; a straight groove IIIf 2 is arranged on the straight groove plate III 21; the 45-degree groove I23 is provided with a 45-degree groove Id 2; the straight groove plate III 21 is arranged in an inner groove of the right connecting plate 22, the long shaft II 20 is in clearance fit with a hole VIII g2 of the straight groove plate III 21, and the long shaft II 20 is in interference fit with the hole pair VT of the right connecting plate 22; the 45-degree groove Id 2 of the 45-degree groove plate I23 is an outer groove which is arranged on the right connecting plate 22 in a mode that the front part is low and the rear part is high, and the screw II 24 is in sliding connection with the hole VII e2 of the 45-degree groove plate I23; two ends of a screw II 24 are fixedly connected with two holes of the hole pair VI of the right connecting plate 22; two nuts are screwed on the screw rods II 24 on the front side and the rear side of the 45-degree groove plate I23.
As shown in fig. 4, 6, 9 and 10, the rear portion E is composed of a straight groove plate ii 10, a 60 ° groove plate ii 11, a rear connecting plate 12, a screw rod iii 13 and a long shaft iii 14, wherein a spring seat ve is arranged at the upper end of the rear connecting plate 12; a straight groove IIm is arranged on the straight groove plate II 10; a 60-degree groove II o is formed in the 60-degree groove plate II 11; a gap of the straight groove plate II 10 faces the left and is arranged in an outer groove of the rear connecting plate 12, and the screw rod III 13 is in sliding connection with a hole IX k of the straight groove plate II 10; two ends of the screw rod III 13 are fixedly connected with two holes of the hole pair X and the hole pair X of the rear connecting plate 12; two nuts are screwed on the screw rods III 13 on the left side and the right side of the straight groove plate II 10; the notch of the 60-degree groove plate II 11 is arranged in the inner groove of the rear connecting plate 12 towards the left, the long shaft III 14 is in clearance fit with the hole XI n of the 60-degree groove plate II 11, and the long shaft III 14 is in interference fit with the hole XIIf of the rear connecting plate 12.
As shown in fig. 12 and 15 to 17, the left portion F is composed of a lead screw iv 15, a long shaft iv 16, a left connecting plate 17, a 45 ° slotted plate ii 18, and a straight slotted plate iv 19, wherein a spring seat vex and a spring seat ivu are arranged on the left connecting plate 17; a 45-degree groove IIc 2 is formed in the 45-degree groove plate II 18; a straight groove IV z is arranged on the straight groove plate IV 19; the straight groove plate IV 19 is arranged in an outer groove of the left connecting plate 17, and the lead screw IV 15 is in sliding connection with a hole XIIIa 2 of the straight groove plate IV 19; two ends of the lead screw IV 15 are fixedly connected with two holes of the hole pair XIVv; two nuts are screwed on the lead screws IV 15 on the front side and the rear side of the straight groove plate IV 19; the 45-degree groove IIc 2 of the 45-degree groove plate II 18 is arranged in the inner groove of the left connecting plate 17 in a mode that the rear part is higher than the front part, the front part is lower than the front part, the long shaft IV 16 is in clearance fit with the hole XVb 2 of the 45-degree groove plate II 18, and the long shaft IV 16 is in interference fit with the hole pair XVIw of the left connecting plate 17.
As shown in FIG. 11, a spring seat Ip is arranged on the bottom cover G close to the right of the left and right transverse center lines, and a spring seat IIq is arranged on the bottom cover G close to the left of the left and right transverse center lines.

Claims (1)

1.一种关节轴角度可调节式多轴踝关节假肢，其特征在于由前部(A)、关节轴部分(B)、右部(C)、上盖(D)、后部(E)、左部(F)、底盖(G)、弹簧Ⅰ(1)、弹簧Ⅱ(2)、弹簧Ⅲ(3)、弹簧Ⅳ(4)组成，其中前部(A)的前连接板(5)下端固接于底盖(G)的前端上面；后部(E)的后连接板(12)下端固接于底盖(G)的后端上面；右部(C)的右连接板(22)上端固接于上盖(D)的右端下面；左部(F)的左连接板(17)上端固接于上盖(D)的左端下面；关节轴部分(B)位于前部(A)、右部(C)、上盖(D)、后部(E)、左部(F)、底盖(G)围成的空间内，且关节轴部分(B)呈后高前低的十字状态；关节轴部分(B)的前球套(B4)与前部(A)中直槽Ⅰ(j)和60°槽Ⅰ(g)交错形成的插槽滑动连接；关节轴部分(B)的后球套(B2)与后部(E)中直槽Ⅱ(m)和60°槽Ⅱ(o)交错形成的插槽滑动连接；关节轴部分(B)的右球套(B1)与右部(C)中直槽Ⅲ(f2)和45°槽Ⅰ(d2)交错形成的插槽滑动连接；关节轴部分(B)的左球套(B3)与左部(F)中直槽Ⅳ(z)和45°槽Ⅱ(c2)交错形成的插槽滑动连接；弹簧Ⅰ(1)的下端固接于底盖(G)的弹簧座Ⅰ(p)；弹簧Ⅰ(1)的上端固接于右部(C)中右连接板(22)的弹簧座Ⅲ(r)；弹簧Ⅱ(2)的下端固接于底盖(G)的弹簧座Ⅱ(q)；弹簧Ⅱ(2)的上端固接于左部(F)中左连接板(17)的弹簧座Ⅳ(u)；弹簧Ⅲ(3)的后端固接于后部(E)中后连接板(12)的弹簧座Ⅴ(e)前面；弹簧Ⅲ(3)的前端固接于左部(F)中左连接板(17)的弹簧座Ⅵ(x)后面；弹簧Ⅳ(4)的后端固接于左部(F)中左连接板(17)的弹簧座Ⅵ(x)前面；弹簧Ⅳ(4)的前端固接于前部(A)中前连接板(5)的弹簧座Ⅶ(c)后面；所述的前部(A)由前连接板(5)、直槽板Ⅰ(6)、60°槽板Ⅰ(7)、丝杠Ⅰ(8)、长轴Ⅰ(9)组成，其中前连接板(5)上端设有弹簧座Ⅶ(c)；直槽板Ⅰ(6)上设有直槽Ⅰ(j)；60°槽板Ⅰ(7)上设有60°槽Ⅰ(g)；直槽板I(6)的缺口朝右置于前连接板(5)的内槽，长轴Ⅰ(9)与直槽板Ⅰ(6)的孔Ⅰ(i)间隙配合，长轴Ⅰ(9)与前连接板(5)的孔对Ⅱ(b)过盈配合；60°槽板I(7)的缺口朝右置于前连接板(5)的外槽，丝杠Ⅰ(8)与60°槽板Ⅰ(7)的孔Ⅲ(h)滑动连接；丝杠Ⅰ(8)两端固接于前连接板(5)的孔对Ⅳ(a)的两个孔；两个螺母旋于60°槽板I(7)左右两侧的丝杠Ⅰ(8)上；所述的关节轴部分(B)由距下关节轴(30)、SR4球套对Ⅰ(26)、SR5球套对Ⅱ(27)、轴上弹簧组(29)、踝关节轴(25)、长伸缩臂对(28)和短伸缩臂对(32)组成，其中踝关节轴(25)与距下关节轴(30)上下排列并经螺栓(31)固连；轴上弹簧组(29)的四个弹簧分别套在距下关节轴(30)的前后两臂和踝关节轴(25)的左右两臂上；长伸缩臂对(28)的两个长伸缩臂分别与距下关节轴(30)前后两臂的长轴孔对(j2)滑动连接；短伸缩臂对(32)的两个短伸缩臂分别与踝关节轴(25)左右两臂的短轴孔对(i2)滑动连接；SR4球套对Ⅰ(26)由右球套(B1)和左球套(B3)组成，SR4球套对Ⅰ(26)中球面槽对Ⅰ(m2)的两个球面槽与短伸缩臂对(32)的两个球端滑动连接；SR5球套对Ⅱ(27)由后球套(B2)和前球套(B4)组成，SR5球套对Ⅱ(27)中球面槽对Ⅱ(k2)的两个球面槽与长伸缩臂对(28)的两个球端滑动连接；四个伸缩臂在相应的轴孔中都能伸缩和转动；四个伸缩臂在伸缩时，四个弹簧都处于压缩状态；所述的右部(C)由丝杠Ⅱ(24)、直槽板Ⅲ(21)、右连接板(22)、45°槽板Ⅰ(23)、长轴Ⅱ(20)组成，其中右连接板(22)上设有弹簧座Ⅲ(r)；直槽板Ⅲ(21)上设有直槽Ⅲ(f2)；45°槽板Ⅰ(23)上设有45°槽Ⅰ(d2)；直槽板Ⅲ(21)置于右连接板(22)的内槽，长轴Ⅱ(20)与直槽板Ⅲ(21)的孔Ⅷ(g2)间隙配合，长轴Ⅱ(20)与右连接板(22)的孔对Ⅴ(t)过盈配合；45°槽板Ⅰ(23)的45°槽Ⅰ(d2)呈前低后高置于右连接板(22)的外槽，丝杠Ⅱ(24)与45°槽板Ⅰ(23)的孔Ⅶ(e2)滑动连接；丝杠Ⅱ(24)两端固接于右连接板(22)的孔对Ⅵ(s)的两个孔；两个螺母旋于45°槽板I(23)前后两侧的丝杠Ⅱ(24)上；所述的后部(E)由直槽板Ⅱ(10)、60°槽板Ⅱ(11)、后连接板(12)、丝杠Ⅲ(13)、长轴Ⅲ(14)组成，其中后连接板(12)上端设有弹簧座Ⅴ(e)；直槽板Ⅱ(10)上设有直槽Ⅱ(m)；60°槽板Ⅱ(11)上设有60°槽Ⅱ(o)；直槽板Ⅱ(10)缺口朝左置于后连接板(12)的外槽，丝杠Ⅲ(13)与直槽板Ⅱ(10)的孔Ⅸ(k)滑动连接；丝杠Ⅲ(13)两端固接于后连接板(12)的孔对Ⅹ(d)的两个孔；两个螺母旋于直槽板Ⅱ(10)左右两侧的丝杠Ⅲ(13)上；60°槽板Ⅱ(11)缺口处朝左置于后连接板(12)的内槽，长轴Ⅲ(14)与60°槽板Ⅱ(11)的孔Ⅺ(n)间隙配合，长轴Ⅲ(14)与后连接板(12)的孔对Ⅻ(f)过盈配合；所述的左部(F)由丝杠Ⅳ(15)、长轴Ⅳ(16)、左连接板(17)、45°槽板Ⅱ(18)、直槽板Ⅳ(19)组成，其中左连接板(17)上设有弹簧座Ⅵ(x)和弹簧座Ⅳ(u)；45°槽板Ⅱ(18)上设有45°槽Ⅱ(c2)；直槽板Ⅳ(19)上设有直槽Ⅳ(z)；直槽板Ⅳ(19)置于左连接板(17)的外槽，丝杠Ⅳ(15)与直槽板Ⅳ(19)的孔ⅩⅢ(a2)滑动连接；丝杠Ⅳ(15)两端固接于孔对ⅩⅣ(v)的两个孔；两个螺母旋于直槽板Ⅳ(19)前后两侧的丝杠Ⅳ(15)上；45°槽板Ⅱ(18)的45°槽Ⅱ(c2)呈后高前低置于左连接板(17)的内槽，长轴Ⅳ(16)与45°槽板Ⅱ(18)的孔ⅩⅤ(b2)间隙配合，长轴Ⅳ(16)与左连接板(17)的孔对ⅩⅥ(w)过盈配合；所述的底盖(G)上面左右横向中心线靠右设有弹簧座Ⅰ(p)，底盖(G)上面左右横向中心线靠左设有弹簧座Ⅱ(q)。1. A multi-axis ankle joint prosthesis with adjustable joint axis angle, characterized in that it consists of a front part (A), a joint axis part (B), a right part (C), an upper cover (D), and a rear part (E) , left part (F), bottom cover (G), spring I (1), spring II (2), spring III (3), spring IV (4), among which the front connecting plate (5) of the front part (A) ) The lower end is fixed on the top of the front end of the bottom cover (G); the lower end of the rear connecting plate (12) of the rear part (E) is fixed on the top of the rear end of the bottom cover (G); the right connecting plate ( 22) The upper end is fixed under the right end of the upper cover (D); the upper end of the left connecting plate (17) of the left part (F) is fixed under the left end of the upper cover (D); the joint shaft part (B) is located in the front part ( A), the right part (C), the upper cover (D), the rear part (E), the left part (F), and the space enclosed by the bottom cover (G), and the joint shaft part (B) is high in the back and low in the front the cross state; the front ball sleeve (B4) of the joint shaft part (B) is slidably connected with the slot formed by the straight groove I (j) and the 60° groove I (g) in the front part (A); the joint shaft part ( The rear ball sleeve (B2) of B) is slidably connected to the slot formed by the staggered straight groove II (m) and 60° groove II (o) in the rear (E); the right ball sleeve (B1) of the joint shaft part (B) ) is slidably connected to the slot formed by the staggered straight groove III (f2) and 45° groove I (d2) in the right part (C); the left ball sleeve (B3) of the joint shaft part (B) is connected to the left part (F) The slot formed by the straight groove IV (z) and the 45° groove II (c2) is staggered and connected by sliding; the lower end of the spring I (1) is fixed to the spring seat I (p) of the bottom cover (G); the spring I (1) The upper end of the spring II (2) is fixed to the spring seat III (r) of the right connecting plate (22) in the right part (C); the lower end of the spring II (2) is fixed to the spring seat II (q) of the bottom cover (G); The upper end of (2) is fixed to the spring seat IV (u) of the left connecting plate (17) in the left part (F); the rear end of the spring III (3) is fixed to the rear connecting plate (12) of the rear part (E). ) in front of the spring seat V (e); the front end of the spring III (3) is fixed behind the spring seat VI (x) of the left connecting plate (17) in the left part (F); the rear end of the spring IV (4) is fixed Connected to the front of the spring seat VI (x) of the left connecting plate (17) in the left part (F); the front end of the spring IV (4) is fixed to the spring seat VII ( c) Back; the front part (A) consists of front connecting plate (5), straight groove plate I (6), 60° groove plate I (7), lead screw I (8), long axis I (9) The upper end of the front connecting plate (5) is provided with a spring seat VII (c); the straight groove plate I (6) is provided with a straight groove I (j); the 60° groove plate I (7) is provided with a 60° groove Ⅰ(g); The notch of the straight groove plate I (6) is placed in the inner groove of the front connecting plate (5) toward the right, and the long axis I (9) is clearance fit with the hole I (i) of the straight groove plate I (6). , the long axis I (9) is an interference fit with the hole pair II (b) of the front connecting plate (5); the notch of the 60° slot plate I (7) is placed in the outer groove of the front connecting plate (5) towards the right, The hole III ( h) Sliding connection; both ends of the lead screw I (8) are fixed to the holes of the front connecting plate (5) to the two holes of IV (a); the two nuts are screwed to the left and right sides of the 60° groove plate I (7). on the lead screw I (8); the joint shaft part (B) consists of the subtalar joint shaft (30), the SR4 ball sleeve pair I (26), the SR5 ball sleeve pair II (27), the shaft spring group ( 29), an ankle joint shaft (25), a pair of long telescopic arms (28) and a pair of short telescopic arms (32), wherein the ankle joint shaft (25) and the subtalar joint shaft (30) are arranged up and down and are connected by bolts (31) The four springs of the spring group (29) on the shaft are respectively sleeved on the front and rear arms of the subtalar joint shaft (30) and the left and right arms of the ankle joint shaft (25); The long telescopic arms are respectively slidably connected to the pair of long shaft holes (j2) of the front and rear arms of the subtalar joint shaft (30); The short shaft hole pair (i2) of the arm is slidably connected; the SR4 ball sleeve pair I (26) consists of the right ball sleeve (B1) and the left ball sleeve (B3), and the spherical groove pair I ( The two spherical grooves of m2) are slidably connected with the two ball ends of the short telescopic arm pair (32); the SR5 ball sleeve pair II (27) is composed of the rear ball sleeve (B2) and the front ball sleeve (B4). The SR5 ball sleeve The two spherical grooves of the spherical groove pair II (k2) in the pair II (27) are slidably connected with the two ball ends of the long telescopic arm pair (28); the four telescopic arms can be telescopic and rotated in the corresponding shaft holes; When the four telescopic arms are stretched, the four springs are in a compressed state; the right part (C) consists of the screw II (24), the straight groove plate III (21), the right connecting plate (22), and the 45° groove. Plate I (23) and long axis II (20), of which the right connecting plate (22) is provided with a spring seat III (r); the straight groove plate III (21) is provided with a straight groove III (f2); 45° The slot plate I (23) is provided with a 45° slot I (d2); the straight slot plate III (21) is placed in the inner slot of the right connecting plate (22), the long axis II (20) and the straight slot plate III (21) The hole VIII (g2) of the 45° slot plate I (23) has a clearance fit, and the long axis II (20) has an interference fit with the hole pair V (t) of the right connecting plate (22). The front low and rear high are placed in the outer groove of the right connecting plate (22), the lead screw II (24) is slidingly connected with the hole VII (e2) of the 45° groove plate I (23); the two ends of the lead screw II (24) are fixedly connected The holes of the right connecting plate (22) are opposite to the two holes of VI (s); the two nuts are screwed on the lead screws II (24) on the front and rear sides of the 45° groove plate I (23); the rear part ( E) It consists of straight groove plate II (10), 60° groove plate II (11), rear connecting plate (12), lead screw III (13), and long axis III (14), of which the upper end of the rear connecting plate (12) There is a spring seat V(e); the straight groove plate II (10) is provided with a straight groove II (m); the 60° groove plate II (11) is provided with a 60° groove II (o); the straight groove plate II ( 10) The notch is placed in the outer groove of the rear connecting plate (12) towards the left, and the lead screw III (13) ) is slidably connected with the hole IX(k) of the straight groove plate II (10); the two ends of the screw III (13) are fixed to the two holes of the hole of the rear connecting plate (12) to the two holes of X (d); two nuts Screw on the lead screw III (13) on the left and right sides of the straight groove plate II (10); the notch of the 60° groove plate II (11) is placed in the inner groove of the rear connecting plate (12) toward the left, and the long axis III (14) ) clearance fit with hole XI(n) of 60° slot plate II (11), interference fit between long axis III (14) and hole pair XII (f) of rear connecting plate (12); the left part (F) ) consists of lead screw IV (15), long axis IV (16), left connecting plate (17), 45° slot plate II (18), straight slot plate IV (19), of which the left connecting plate (17) is provided with There are spring seat VI (x) and spring seat IV (u); 45° groove plate II (18) is provided with 45° groove II (c2); straight groove plate IV (19) is provided with straight groove IV (z) ;The straight groove plate Ⅳ (19) is placed in the outer groove of the left connecting plate (17), and the lead screw Ⅳ (15) is slidingly connected with the hole XIII (a2) of the straight groove plate Ⅳ (19); The end is fixed to the two holes of the hole pair XIV(v); the two nuts are screwed on the lead screw IV(15) on the front and rear sides of the straight slot plate IV (19); 45° of the 45° slot plate II (18) Slot II (c2) is placed in the inner groove of the left connecting plate (17) in the rear high and front low. The long axis IV (16) is in clearance fit with the hole XV (b2) of the 45° groove plate II (18). The long axis IV ( 16) Interference fit with the hole of the left connecting plate (17) to XVI (w); the bottom cover (G) is provided with a spring seat I (p) on the right of the left and right lateral centerlines, and the bottom cover (G) is above There is a spring seat II (q) on the left of the left and right lateral centerlines.
CN202010390157.5A 2020-05-11 2020-05-11 A multi-axis ankle joint prosthesis with adjustable joint axis angle Active CN111714259B (en)

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CN112022449B (en) * 2020-08-14 2021-07-02 吉林大学 A multi-axis ankle joint prosthesis with adjustable joint axis angle based on fixed axis length
CN112618118B (en) * 2020-12-16 2021-10-01 吉林大学 A spherical structure of the joint axis angle adjustable multi-axis ankle joint prosthesis
CN113288531B (en) * 2021-05-10 2022-05-20 吉林大学 Multi-axis ankle joint artificial limb

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