CN112603612A - Bionic lower limb - Google Patents

Bionic lower limb Download PDF

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Publication number
CN112603612A
CN112603612A CN202011560376.XA CN202011560376A CN112603612A CN 112603612 A CN112603612 A CN 112603612A CN 202011560376 A CN202011560376 A CN 202011560376A CN 112603612 A CN112603612 A CN 112603612A
Authority
CN
China
Prior art keywords
transmission
block
knee joint
lower limb
support frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011560376.XA
Other languages
Chinese (zh)
Inventor
彭芳
周文辉
于楚泓
赵梓樑
林维江
黄锐谦
黎萍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Electronic Science and Technology of China Zhongshan Institute
Original Assignee
University of Electronic Science and Technology of China Zhongshan Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Electronic Science and Technology of China Zhongshan Institute filed Critical University of Electronic Science and Technology of China Zhongshan Institute
Priority to CN202011560376.XA priority Critical patent/CN112603612A/en
Publication of CN112603612A publication Critical patent/CN112603612A/en
Pending legal-status Critical Current

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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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
    • 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
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A61F2002/5006—Dampers, e.g. hydraulic damper
    • 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
    • A61F2002/5081—Additional features

Landscapes

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

Abstract

The embodiment of the invention provides a bionic lower limb, which comprises a support frame and a knee joint transmission mechanism assembled on the support frame, wherein the knee joint transmission mechanism comprises a first power piece, a movable block driven by the first power piece to linearly reciprocate, and a first elastic buffer piece and a transmission block which are sleeved on the movable block along the linear moving direction of the movable block and mutually abutted, the transmission block is also in transmission connection with the output end of the knee joint transmission mechanism, and two opposite ends of the movable block are provided with limiting pieces which are respectively abutted against one ends of the first elastic buffer piece and the transmission block which are far away from each other so as to limit the first elastic buffer piece and the transmission block on the movable block. This embodiment can effectually alleviate external impact, and overall structure is simple relatively moreover, and the occupation volume is also less relatively.

Description

Bionic lower limb
Technical Field
The embodiment of the invention relates to the technical field of human body bionics, in particular to a bionic lower limb.
Background
The bionic lower limb is a rehabilitation assistive device which is worn on the body of a user with a disabled lower limb to replace a healthy lower limb to realize normal supporting and walking functions. The existing bionic lower limb mainly comprises a support frame, a knee joint mechanism and an ankle joint mechanism which are all assembled on the support frame, and a foot plate connected to the output end of the ankle joint mechanism. In conventional bionic lower limbs, the knee joint mechanism and the ankle joint mechanism are mostly controlled and driven by mechanical air pressure/hydraulic pressure, and cannot actively provide force assistance, such as: when a user climbs up and down stairs and climbs a slope, the bionic lower limbs can greatly consume the energy of the user and cannot provide good stability.
The industry also begins to set elastic modules in knee joint mechanisms and ankle joint mechanisms to form series elastic drivers, so that the knee joint mechanisms and the ankle joint mechanisms have the advantages of excellent output impedance, excellent back driving capability, high impact resistance, low energy consumption and the like. However, the existing series elastic driver applied to the articulated robot has a complex structure, increases the volume of the joint and improves the control difficulty.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a bionic lower limb which can provide main power for a human knee joint and has a simple structure.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions: the utility model provides a bionical low limbs, includes the support frame and assemble in knee joint drive mechanism on the support frame, knee joint drive mechanism include first power piece, by first power piece drive and sharp reciprocating motion's movable block and all establish extremely along the sharp movable direction cover of movable block on the movable block and the first elastic buffer spare and the transmission block of mutual butt, the transmission block still with knee joint drive mechanism's output transmission is connected, the relative both ends of movable block are provided with the butt respectively first elastic buffer spare and the one end that both keep away from each other of transmission block are with will first elastic buffer spare and transmission block are spacing locating part on the movable block.
Furthermore, the first power part is a motor, the knee joint transmission mechanism further comprises a screw rod assembled on the support frame by means of a screw rod fixing seat and in transmission connection with the output end of the motor, the movable block is a screw nut screwed on the screw rod, a flange edge is formed at one end of the screw nut, a positioning nut is screwed at the other end of the screw nut, and the flange edge and the positioning nut respectively form the limiting part.
Furthermore, the knee joint transmission mechanism further comprises a linear guide rail arranged in parallel with the screw rod and a sliding block arranged on the linear guide rail in a sliding manner, and the transmission block is fixedly connected with the sliding block.
Furthermore, the motor is in transmission connection with the screw rod through a gear set, and the gear set comprises a driving gear fixed on an output shaft of the motor and a driven gear fixed at one end of the screw rod and meshed with the driving gear.
Furthermore, knee joint drive mechanism includes the pin joint on the support frame and as the drive block of knee joint drive mechanism's output, the transmission piece is connected with the drive block through the double-end connecting rod, the both ends of double-end connecting rod respectively with transmission piece and drive block looks pin joint, just the axis of double-end connecting rod is skew the pivot axis of drive block and support frame.
Further, the bionic lower limb further comprises an ankle joint transmission mechanism assembled on the support frame and a foot plate driven by the ankle joint transmission mechanism to rotate, the ankle joint transmission mechanism comprises a second power part, an output shaft which is pivoted on the support frame and is in transmission connection with the second power part through a speed reduction module, a base which is sleeved on the output shaft and is fixed with the foot plate at one end, and a pressing block which is circumferentially fixed relative to the output shaft, wherein the base and the pressing block both extend towards the same side of the output shaft to respectively form a first plate body and a second plate body, a pressing column which extends towards the second plate body and correspondingly penetrates through the second plate body is assembled on the first plate body formed by extending the base, a through hole for the pressing column to penetrate through is correspondingly formed on the second plate body, and a second elastic buffer part is sleeved on each column body of the pressing column which is respectively positioned at two sides of the second plate body, the end, far away from the first plate body, of the pressure supporting column is further provided with a locking piece which is abutted against the second elastic buffer piece and used for limiting the second elastic buffer piece.
Furthermore, the speed reduction module comprises a gear transmission pair in transmission connection with the output end of the second power part and a multi-stage synchronous belt transmission pair, wherein two ends of the multi-stage synchronous belt transmission pair are respectively connected with the output end of the gear transmission pair and the output shaft.
Furthermore, the through hole is a slotted hole formed in the second plate body.
Furthermore, the gear transmission pair is two bevel gears which are vertical to each other in the axial direction.
Further, the double-end connecting rod includes threaded rod and two connectors, two the one end of connector is equipped with interior screw hole and the other end is equipped with the pin joint hole, two connectors respectively with the relative both ends spiro union of interior screw hole and threaded rod and with the pin joint hole respectively with transmission piece and drive block pin joint.
After the technical scheme is adopted, the embodiment of the invention at least has the following beneficial effects: according to the embodiment of the invention, the movable block is driven by the first power part to realize linear reciprocating movement, the first elastic buffer part is abutted between the movable block and the transmission block, and the first elastic buffer part and the transmission block are respectively limited by the limiting parts arranged at two opposite ends of the movable block, so that the movable block, the transmission block and the first elastic buffer part form a whole to move to drive the output end of the knee joint transmission mechanism to rotate, power is actively provided for the human knee joint, when the output end of the knee joint transmission mechanism is subjected to external impact, the first elastic buffer part can also effectively relieve the external impact, the whole structure is relatively simple, and larger torque can be output.
Drawings
FIG. 1 is a schematic perspective view of a bionic lower limb of the present invention with a support plate removed.
Fig. 2 is a schematic perspective view of an alternative embodiment of the bionic lower limb of the present invention.
FIG. 3 is a schematic perspective view of a knee joint transmission mechanism according to an alternative embodiment of the present invention.
FIG. 4 is a schematic perspective view of an ankle joint actuator according to an alternative embodiment of the present invention.
FIG. 5 is a schematic cross-sectional view of an alternative embodiment of a biomimetic lower extremity of the present invention along the medial axial plane of the length of the pressure post.
Detailed Description
The present application will now be described in further detail with reference to the accompanying drawings and specific examples. It should be understood that the following illustrative embodiments and description are only intended to explain the present invention, and are not intended to limit the present invention, and features of the embodiments and examples in the present application may be combined with each other without conflict.
As shown in fig. 1 to 3, an optional embodiment of the present invention provides a bionic lower limb, including a support frame 1 and a knee joint transmission mechanism 3 assembled on the support frame 1, wherein the knee joint transmission mechanism 3 includes a first power element 30, a movable block 31 driven by the first power element 30 to linearly reciprocate, and a first elastic buffer 32 and a transmission block 33 both sleeved on the movable block 31 along a linear moving direction of the movable block 31 and abutted against each other, the transmission block 33 is further in transmission connection with an output end 34 of the knee joint transmission mechanism 3, and two opposite ends of the movable block 31 are provided with a limiting member 310 respectively abutted against one end of the first elastic buffer 32 and the transmission block 33 which are far away from each other so as to limit the first elastic buffer 32 and the transmission block 33 on the movable block 31.
According to the embodiment of the invention, the movable block 31 is driven by the first power part 30 to realize linear reciprocating movement, the first elastic buffer part 32 is abutted between the movable block 31 and the transmission block 33, and the first elastic buffer part 32 and the transmission block 33 are limited by the limiting parts 310 arranged at the two opposite ends of the movable block 31 respectively, so that the movable block 31, the transmission block 33 and the first elastic buffer part 32 form a whole to move and drive the output end 34 of the knee joint transmission mechanism 3 to rotate, power is provided for the human knee joint actively, when the output end 34 of the knee joint transmission mechanism 3 is subjected to external impact, the first elastic buffer part 32 can also effectively relieve the external impact, the whole structure is relatively simple, and large torque can be output. In a specific implementation, the first elastic buffer 32 may be a coil spring.
In yet another alternative embodiment of the present invention, the first power member 30 is a motor, the knee joint transmission mechanism 3 further includes a lead screw 36 assembled to the support frame 1 by means of a lead screw fixing seat 35 and in transmission connection with an output end of the motor 30, the movable block 31 is a lead screw nut screwed on the lead screw 36, one end of the lead screw nut 31 is formed with a flange edge, and the other end is screwed with a positioning nut, and the flange edge and the positioning nut respectively constitute the limiting member 310. In the embodiment, the screw rod 36 is in transmission connection with the output end of the motor 30, the screw rod 36 guides the screw nut 31 to perform linear motion, the structure is simple, and the first elastic buffer 32 and the transmission block 33 can be effectively limited by the flange edge on the screw nut 31 and the positioning nut.
In yet another alternative embodiment of the present invention, the knee joint transmission mechanism 3 further includes a linear guide 37 disposed in parallel with the lead screw 36 and a slide block 38 slidably disposed on the linear guide 37, and the transmission block 33 is further fixedly connected to the slide block 38. The linear guide rail 37 and the sliding block 38 are arranged in the embodiment, so that the movement of the transmission block 33 can be effectively guided, and the transmission block 33 is prevented from deflecting in the movement process.
In yet another alternative embodiment of the present invention, the motor 30 is in transmission connection with the lead screw 36 through a gear set 301, and the gear set 301 includes a driving gear 3010 fixed on the output shaft of the motor and a driven gear 3012 fixed on an end of the lead screw 36 and meshed with the driving gear 3010. In the embodiment, the driving gear 3010 and the driven gear 3012 are engaged with each other, so that the transmission matching between the motor 30 and the lead screw 36 can be effectively realized, and the structure is relatively simple.
In yet another alternative embodiment of the present invention, as shown in fig. 2, the knee joint transmission mechanism 3 includes a driving block 34 pivoted on the support frame 1 and serving as an output end of the knee joint transmission mechanism 3, the driving block 33 is connected to the driving block 34 through a double-headed link 341, two ends of the double-headed link 341 are respectively pivoted to the driving block 33 and the driving block 34, and a central axis of the double-headed link 341 deviates from a pivoting axis of the driving block 34 and the support frame 1. This embodiment is through adopting drive block 34 as knee joint drive mechanism 3's output, conveniently drives human knee joint, and through setting up double-end connecting rod 341, with double-end connecting rod 341's axis skew moreover drive block 34 avoids two pin joint positions to influence each other with the pin joint axis of support frame 1, can effectual realization power transmission, simple structure.
In still another alternative embodiment of the present invention, as shown in fig. 1, 4 and 5, the bionic lower limb further includes an ankle joint transmission mechanism 5 assembled on the support frame 1 and a foot plate 7 driven by the ankle joint transmission mechanism 5 to rotate, the ankle joint transmission mechanism 5 includes a second power member 50, an output shaft 54 pivoted on the support frame 1 and connected with the second power member 50 through a speed reduction module 52 in a transmission manner, a base 56 sleeved on the output shaft 54 and fixed with the foot plate 7 at one end, and a pressing block 58 fixed opposite to the output shaft 54 in a circumferential direction, the base 56 and the pressing block 58 both extend to the same side of the output shaft 54 to form a first plate 561 and a second plate 581 respectively, a pressing column 563 extending towards the second plate 581 direction and correspondingly penetrating through the second plate 581 is assembled on the first plate 561 formed by extending from the base 56, a through hole 583 for the supporting column 563 to pass through is correspondingly formed in the second plate 581, a second elastic buffer 565 is respectively sleeved on the columns of the supporting column 563 located on two sides of the second plate 581, and a locking member 567 abutting against the second elastic buffer 565 for limiting the second elastic buffer 565 is further assembled at one end of the supporting column 563 away from the first plate 561. In this embodiment, when the pressing block 58 receives rotation torques in different directions and axially rotates in different directions with the output shaft 54, the second plate 581 synchronously rotates to correspondingly press the second elastic buffer 565 on one side of the rotation direction until the buffer elastic member 783 is in a compression balance state, so that the base 56 rotates, the power buffering can be effectively realized, and the power is actively provided to drive the foot plate 7 to move.
In yet another alternative embodiment of the present invention, the speed reducing module 52 includes a gear pair 521 drivingly connected to the output end of the second power element 50, and a multi-stage synchronous belt pair 523 having two ends respectively connected to the output end of the gear pair 521 and the output shaft 54. In the embodiment, the gear transmission pair 521 and the multi-stage synchronous belt transmission pair 523 are used to effectively realize the step-by-step transmission and power deceleration of the rotary power, and in specific implementation, the specific ratio of the rotating torque of the foot plate 7 to the ankle joint transmission mechanism 5 can be adjusted by changing the specific number of the multi-stage synchronous belt transmission pair 523.
In another alternative embodiment of the present invention, the through hole 583 is a long slot hole opened on the second plate 581. In this embodiment, when the second plate 581 presses the second elastic buffer 565 to move the base 56 and the pressing post 563 fixed on the base 56, the pressing post 563 substantially performs a circular motion around the output shaft 54, and the through hole 583 adopts a long slot hole, which facilitates the movement of the pressing post 563. In particular implementations, the second elastomeric dampener 565 may employ a coil spring.
In yet another alternative embodiment of the present invention, the gear pair 521 is two bevel gears 521a with mutually perpendicular axial directions. The gear transmission pair 521 of the present embodiment adopts two bevel gears 521a with mutually perpendicular axial directions, so that power steering and power transmission can be effectively achieved, and meanwhile, as shown in fig. 2, the second power member 50 and the output shaft 54 can be arranged perpendicular to each other in the axial direction, so that the overall occupied volume is smaller.
In another alternative embodiment of the present invention, the double-ended connecting rod 341 includes a threaded rod 341a and two connecting heads 341b, one end of each of the two connecting heads 341b is provided with an internal threaded hole 341c, and the other end is provided with a pivot hole 341d, and the two connecting heads 341b are respectively screwed with the two opposite ends of the threaded rod 341a through the internal threaded holes 341c and are respectively pivoted with the driving block 33 and the driving block 34 through the pivot holes 341 d. In the embodiment, the threaded rod 341a and the two connectors 341b form the double-ended connecting rod 341, and when the double-ended connecting rod 341 is specifically installed, the length of the whole double-ended connecting rod 341 can be adjusted by reasonably adjusting the length of the threaded rod 341a screwed into the inner screw hole 341c, so that a proper transmission ratio can be conveniently selected, and the assembly is also more convenient.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides a bionical low limbs, includes the support frame and assemble in knee joint drive mechanism on the support frame, a serial communication port, knee joint drive mechanism includes first power piece, by first power piece drive and sharp reciprocating motion's movable block and all establish to along the sharp activity direction cover of movable block on the movable block and the first elastic buffer spare and the transmission piece of mutual butt, the transmission piece still with knee joint drive mechanism's output transmission is connected, the relative both ends of movable block are provided with the butt respectively first elastic buffer spare and the one end of keeping away from each other of transmission piece both are in order to incite somebody to action first elastic buffer spare and transmission piece are spacing locating part on the movable block.
2. The bionic lower limb of claim 1, wherein the first power member is a motor, the knee joint transmission mechanism further comprises a screw rod assembled to the support frame by means of a screw rod fixing seat and in transmission connection with an output end of the motor, the movable block is a screw nut screwed on the screw rod, one end of the screw nut is provided with a flange edge, the other end of the screw nut is screwed with a positioning nut, and the flange edge and the positioning nut respectively form the limiting member.
3. The bionic lower limb of claim 2, wherein the knee joint transmission mechanism further comprises a linear guide rail arranged in parallel with the screw rod and a sliding block arranged on the linear guide rail in a sliding manner, and the transmission block is fixedly connected with the sliding block.
4. The bionic lower limb of claim 2, wherein the motor is in transmission connection with the screw rod through a gear set, and the gear set comprises a driving gear fixed on an output shaft of the motor and a driven gear fixed at one end of the screw rod and meshed with the driving gear.
5. The bionic lower limb of claim 1, wherein the knee joint transmission mechanism comprises a driving block pivoted on the support frame and serving as an output end of the knee joint transmission mechanism, the driving block is connected with the driving block through a double-end connecting rod, two ends of the double-end connecting rod are respectively pivoted with the driving block and the driving block, and a central axis of the double-end connecting rod deviates from a pivoting axis of the driving block and the support frame.
6. The bionic lower limb of claim 1, further comprising an ankle joint transmission mechanism assembled on the support frame and a foot plate driven by the ankle joint transmission mechanism to rotate, wherein the ankle joint transmission mechanism comprises a second power member, an output shaft pivoted on the support frame and in transmission connection with the second power member through a speed reduction module, a base sleeved on the output shaft and fixed with the foot plate at one end, and a pressing block circumferentially fixed relative to the output shaft, wherein the base and the pressing block both extend towards the same side of the output shaft and respectively form a first plate body and a second plate body, the first plate body formed by extending from the base is assembled with a pressing column extending towards the second plate body and correspondingly penetrating through the second plate body, and the second plate body is correspondingly provided with a through hole for the pressing column to pass through, the pressing column is located on the columns on two sides of the second plate body respectively and is provided with a second elastic buffer piece in a sleeved mode, and one end, away from the first plate body, of the pressing column is further provided with a locking piece of the second elastic buffer piece in a abutted mode and used for limiting.
7. The bionic lower limb of claim 6, wherein the speed reduction module comprises a gear transmission pair in transmission connection with the output end of the second power member and a multi-stage synchronous belt transmission pair with two ends respectively connected with the output end of the gear transmission pair and the output shaft.
8. The biomimetic lower limb of claim 6, wherein the through hole is a slotted hole formed in the second plate.
9. The biomimetic lower limb of claim 7, wherein the gear train is two bevel gears axially perpendicular to each other.
10. The bionic lower limb of claim 5, wherein the double-headed connecting rod comprises a threaded rod and two connectors, one end of each of the two connectors is provided with an internal threaded hole, the other end of each of the two connectors is provided with a pivoting hole, and the two connectors are respectively in threaded connection with the two opposite ends of the threaded rod through the internal threaded holes and are respectively pivoted with the transmission block and the driving block through the pivoting holes.
CN202011560376.XA 2020-12-25 2020-12-25 Bionic lower limb Pending CN112603612A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011560376.XA CN112603612A (en) 2020-12-25 2020-12-25 Bionic lower limb

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011560376.XA CN112603612A (en) 2020-12-25 2020-12-25 Bionic lower limb

Publications (1)

Publication Number Publication Date
CN112603612A true CN112603612A (en) 2021-04-06

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Application Number Title Priority Date Filing Date
CN202011560376.XA Pending CN112603612A (en) 2020-12-25 2020-12-25 Bionic lower limb

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210085492A1 (en) * 2017-12-12 2021-03-25 The Texas A&M University System Light weight, modular, powered, transfemoral prosthesis
CN113456322A (en) * 2021-06-30 2021-10-01 吉林大学 Bionic knee joint based on motor drive

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210085492A1 (en) * 2017-12-12 2021-03-25 The Texas A&M University System Light weight, modular, powered, transfemoral prosthesis
US11596530B2 (en) * 2017-12-12 2023-03-07 The Texas A&M University System Light weight, modular, powered, transfemoral prosthesis
CN113456322A (en) * 2021-06-30 2021-10-01 吉林大学 Bionic knee joint based on motor drive

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