CN113081414A - Intelligent artificial limb with active bending and locking functions - Google Patents

Intelligent artificial limb with active bending and locking functions Download PDF

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Publication number
CN113081414A
CN113081414A CN202110537495.1A CN202110537495A CN113081414A CN 113081414 A CN113081414 A CN 113081414A CN 202110537495 A CN202110537495 A CN 202110537495A CN 113081414 A CN113081414 A CN 113081414A
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CN
China
Prior art keywords
hydraulic cylinder
joint head
rack
joint
active
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
CN202110537495.1A
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Chinese (zh)
Inventor
黄元清
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Hunan Yijiang Medical Tech Co ltd
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Hunan Yijiang Medical Tech Co ltd
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Publication date
Application filed by Hunan Yijiang Medical Tech Co ltd filed Critical Hunan Yijiang Medical Tech Co ltd
Priority to CN202110537495.1A priority Critical patent/CN113081414A/en
Publication of CN113081414A publication Critical patent/CN113081414A/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
    • A61F2/604—Joints for artificial legs
    • 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
    • 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
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2002/607—Lower legs
    • 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
    • A61F2002/608—Upper legs
    • 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
    • A61F2002/6614—Feet
    • 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

An intelligent prosthesis with active bend locking including a thigh member, a calf member and an ankle foot member, the calf member comprising: the ankle joint comprises a rack and a joint head hinged to the top of the rack, wherein the bottom of the rack is connected with an ankle foot piece; a hydraulic cylinder is hinged in the frame, and a hydraulic rod of the hydraulic cylinder is connected with a joint head; an active servo motor connected with the hinged end of the hydraulic rod is arranged on the joint head; the hydraulic cylinder active servo motors are all connected with the controller; the two sides of the frame are respectively movably connected with a connecting rod, the upper part of the hydraulic cylinder is respectively connected with the two connecting rods, the two sides of the lower part of the joint head are provided with lock discs, and the inner sides of the connecting rods are provided with lock heads which can be contacted with the lock discs. The invention realizes the intelligent adjustment of the bending damping of the artificial limb, can realize the joint locking when standing, greatly enhances the stability of the artificial limb joint, has the function of going upstairs and downstairs, and has natural and smooth mode switching.

Description

Intelligent artificial limb with active bending and locking functions
Technical Field
The invention relates to the technical field of intelligent artificial limbs, in particular to an intelligent artificial limb with an active bending and locking function.
Background
Due to various reasons such as war, disease, industrial injury, traffic accident and natural disaster, millions of people lose healthy lower limbs, some people lose labor capacity, and the normal social interaction of the people is prevented, so that the people bear huge physical and mental pressure; on the other hand, the physical disabilities often affect the daily lives of people, and reduce the living quality of people and bring heavy burden to the family and the society for nursing the people. Since the limb cannot be regenerated at the current medical level, fitting these amputees with prostheses is also an important means to compensate for the defective limb.
The general artificial limb has no active bending capability, is labored to use, and is easy to cause fatigue of a patient, and the general artificial limb is complex in mode adjustment, often needs special actions or manual adjustment, and is not natural and coherent.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and providing an intelligent artificial limb with an active bending and locking function, which is labor-saving and greatly facilitates the walking of a patient.
The technical scheme adopted by the invention for solving the technical problems is as follows: an intelligent prosthesis having active bend locking functionality, comprising a thigh member, a calf member and an ankle foot member, the calf member comprising: the ankle joint comprises a rack and a joint head hinged to the top of the rack, wherein the bottom of the rack is connected with an ankle foot piece; a hydraulic cylinder is hinged in the rack, and a hydraulic rod of the hydraulic cylinder is connected with a joint head; an active servo motor connected with the hinged end of the hydraulic rod is arranged on the joint head; the hydraulic cylinder active servo motors are all connected with the controller; the two sides of the rack are respectively and movably connected with a connecting rod, the upper part of the hydraulic cylinder is respectively connected with the two connecting rods, the two sides of the lower part of the joint head are provided with lock discs, and the inner sides of the connecting rods are provided with lock heads which can be contacted with the lock discs.
Furthermore, a threaded valve core communicated with the interior is arranged on the hydraulic cylinder, and the threaded valve core is connected with a servo motor arranged on the connecting rod; the hydraulic rod is connected with two pistons in the hydraulic cylinder, the middle of the two pistons is separated by a fixing plug to form two oil cavities for extension and flexion of the knee joint respectively, the two oil cavities are connected with a one-way valve and a digital needle valve driven by a servo motor respectively, and the servo motor receives a control instruction which is controlled and output by a controller and is used for controlling the opening degree of the needle valve to adjust the damping force of the knee joint.
Furthermore, the number of the threaded valve cores is two, the upper threads of the two threaded valve cores are sleeved with gear sets which are meshed with each other, and the outer sides of the gear sets are connected with the connecting rod.
Furthermore, the gear set comprises a clamping seat for mounting the gear, and the clamping seat is fixedly connected with the connecting rod.
Furthermore, the top of hydraulic stem articulates there is the connecting block, the connecting block is articulated with the joint head.
Furthermore, angle sensors connected with the controller are arranged on two sides of the joint head, and the angle sensors are connected with the rotating shaft of the connecting block.
Furthermore, a rubber ring is sleeved on the lock head.
The working principle is as follows: the controller collects angle sensor signals, drives the servo motor when determining the upstairs movement, converts the motor rotation into the vertical movement of the threaded valve core through the screw nut structure between the gear set and the threaded valve core to control the opening and closing size of the overflow valve, and further controls the telescopic damping of the hydraulic cylinder; when the joint head is pressed downwards, the lock plate extrudes the lock head connected with the connecting rod downwards, the threaded valve core is pressed downwards, the overflow valve is closed, the effect of locking the bending and stretching of the hydraulic cylinder is achieved, and the hydraulic cylinder is locked in a standing mode.
The invention has the advantages of realizing the intelligent adjustment of the bending damping of the artificial limb, realizing the joint locking when standing, greatly enhancing the stability of the artificial limb joint, having the function of going upstairs and downstairs and naturally and smoothly switching the modes of going upstairs and downstairs.
Drawings
Fig. 1 is a schematic structural view of the present invention.
In the drawings: 1. joint head, 11, lock dish, 2, pneumatic cylinder, 3, hydraulic stem, 31, connecting block, 4, servo motor, 5, connecting rod, 51, tapered end, 6, gear train, 61, cassette, 7, screw valve core, 8, angle sensor, 9, frame.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention:
as shown in FIG. 1, an embodiment of an intelligent prosthesis with active flexion locking includes a thigh member, a calf member, and an ankle member, the calf member including: the ankle joint comprises a frame 9 and a joint head 1 hinged to the top of the frame 9, wherein the bottom of the frame 9 is connected with an ankle foot piece; a hydraulic cylinder 2 is hinged in the frame 9, and a hydraulic rod 3 of the hydraulic cylinder 2 is connected with the joint head 1; an active servo motor connected with the hinged end of the hydraulic rod 3 is arranged on the joint head 1; the active servo motors of the hydraulic cylinders 2 are all connected with a controller.
The two sides of the frame 9 are respectively movably connected with a connecting rod 5, the upper part of the hydraulic cylinder 2 is respectively connected with the two connecting rods 5, the two sides of the lower part of the joint head 1 are provided with lock discs 11, the inner side of the connecting rod 5 is provided with a lock head 51 which can be contacted with the lock discs 11, and the lock head 51 is sleeved with a rubber ring.
The hydraulic cylinder 2 is provided with a threaded valve core 7 communicated with the interior, and the threaded valve core 7 is connected with a servo motor arranged on the connecting rod 5; the hydraulic rod 3 is connected with two pistons in the hydraulic cylinder 4, the middle of the two pistons is separated by a fixed plug to form two oil cavities for knee joint extension and flexion respectively, the two oil cavities are connected with a one-way valve and a digital needle valve driven by a servo motor respectively, and the servo motor receives a control command output by the controller and is used for controlling the opening of the needle valve to adjust the knee joint damping force.
The threaded valve cores 7 are arranged side by side in two numbers, the threads on the upper parts of the two threaded valve cores 7 are respectively sleeved with a gear set 6 which is meshed with each other, the outer side of the gear set 6 is connected with the connecting rod 5, the gear set 6 comprises a clamping seat 61 for mounting a gear, and the clamping seat 61 is fixedly connected with the connecting rod 5.
The top of hydraulic stem 3 articulates there is connecting block 31, and connecting block 31 articulates with joint head 1.
The both sides of joint head 1 all are equipped with the angle sensor 8 of being connected with the controller, and angle sensor 8 is connected with the rotation axis of connecting block 31.
Those not described in detail in the specification are well within the skill of the art.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as being within the protection scope of the present invention.

Claims (7)

1. An intelligent prosthesis having active bend locking functionality, comprising a thigh member, a calf member and an ankle foot member, the calf member comprising: the ankle joint comprises a rack and a joint head hinged to the top of the rack, wherein the bottom of the rack is connected with an ankle foot piece; a hydraulic cylinder is hinged in the rack, and a hydraulic rod of the hydraulic cylinder is connected with a joint head; an active servo motor connected with the hinged end of the hydraulic rod is arranged on the joint head; the hydraulic cylinder active servo motors are all connected with the controller; the two sides of the rack are respectively and movably connected with a connecting rod, the upper part of the hydraulic cylinder is respectively connected with the two connecting rods, the two sides of the lower part of the joint head are provided with lock discs, and the inner sides of the connecting rods are provided with lock heads which can be contacted with the lock discs.
2. An intelligent artificial limb with an active bending locking function according to claim 1, wherein the hydraulic cylinder is provided with a threaded valve core communicated with the inside, and the threaded valve core is connected with a servo motor arranged on a connecting rod; the hydraulic rod is connected with two pistons in the hydraulic cylinder, the middle of the two pistons is separated by a fixed plug to form two oil cavities for knee joint extension and flexion respectively, and the two oil cavities are connected with a one-way valve and a needle valve for adjusting the threaded valve core respectively.
3. An intelligent artificial limb with an active bending locking function according to claim 2, wherein the threaded valve cores are arranged in two side by side, the upper threads of the two threaded valve cores are sleeved with gear sets which are engaged with each other, and the outer sides of the gear sets are connected with the connecting rod.
4. An intelligent prosthetic limb with active bending locking function according to claim 3, wherein the gear set includes a clamp seat for mounting a gear, and the clamp seat is fixedly connected with the connecting rod.
5. An intelligent artificial limb with active bending locking function according to claim 4 is characterized in that the top end of the hydraulic rod is hinged with a connecting block, and the connecting block is hinged with a joint head.
6. An intelligent artificial limb with active bending locking function according to claim 5 is characterized in that the two sides of the joint head are provided with angle sensors connected with the controller, and the angle sensors are connected with the rotating shaft of the connecting block.
7. An intelligent prosthesis with active bending locking function as claimed in claim 6, wherein the locking head is sleeved with a rubber ring.
CN202110537495.1A 2021-05-18 2021-05-18 Intelligent artificial limb with active bending and locking functions Pending CN113081414A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110537495.1A CN113081414A (en) 2021-05-18 2021-05-18 Intelligent artificial limb with active bending and locking functions

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110537495.1A CN113081414A (en) 2021-05-18 2021-05-18 Intelligent artificial limb with active bending and locking functions

Publications (1)

Publication Number Publication Date
CN113081414A true CN113081414A (en) 2021-07-09

Family

ID=76665792

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110537495.1A Pending CN113081414A (en) 2021-05-18 2021-05-18 Intelligent artificial limb with active bending and locking functions

Country Status (1)

Country Link
CN (1) CN113081414A (en)

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