CN116077248A - Passive intelligent artificial knee joint adopting crank moving guide rod mechanism - Google Patents

Abstract

The invention provides a passive intelligent artificial limb knee joint adopting a crank moving guide rod mechanism, which relates to the technical field of human body rehabilitation aids and is characterized by comprising a joint rotation module, a hydraulic module and a crank moving guide rod mechanism, wherein the joint rotation module is connected with the crank moving guide rod mechanism, the hydraulic module comprises a hydraulic cylinder, a damping adjustment module and a motor module, the hydraulic cylinder comprises a piston, the damping adjustment module comprises an extension oil duct and a buckling oil duct, when the piston moves upwards, the motor module controls the magnitude of buckling damping by adjusting the flow of the buckling oil duct, and when the piston moves downwards, the motor module controls the magnitude of the extension damping by adjusting the flow of the extension oil duct. In the use process of a wearer, the damping adjustment on the knee joint buckling and stretching is realized by respectively controlling the flow of the buckling oil duct and the stretching oil duct, so that the walking stability of the wearer is improved.

Description

Passive intelligent artificial knee joint adopting crank moving guide rod mechanism

Technical Field

The invention relates to the technical field of human body rehabilitation aids, in particular to a passive intelligent artificial limb knee joint adopting a crank moving guide rod mechanism.

Background

Along with the increasing of lower limb amputees and the continuous development of microelectronic, control and other technologies, intelligent lower limb prostheses gradually become research hotspots in the field of rehabilitation robots. As a core component of a lower limb prosthesis system, high performance knee joint prosthesis designs remain a major technical difficulty in current prosthesis designs. The existing intelligent artificial knee joint can be divided into a passive type artificial knee joint and an active type artificial knee joint according to a joint driving mode. The knee joint damping moment is adjusted according to the change of external conditions when the passive artificial limb knee joint walks to realize gait adjustment, but the passive artificial limb knee joint does not provide a main moment and can not assist a patient to walk up stairs. The active artificial knee joint can provide moment instead of leg muscle, so that a wearer can better complete a walking mode requiring the active moment such as going upstairs, but the active artificial knee joint has the defects of high energy consumption, high volume and weight of a battery, short endurance time and the like. At present, three modes of magneto-rheological, pneumatic and hydraulic are mainly adopted in the mode of adjusting damping in the artificial knee joint. The magnetorheological intelligent knee joint achieves the effect of adjusting damping by changing the magnetic field intensity through changing the current, but the viscosity change of the magnetorheological fluid is closely related to the magnetic field, and the magnetorheological fluid material has high requirements, and is not easy to control and not easy to improve the productivity. The opening of the valve inside the damping cylinder is adjusted by the hydraulic pressure and the air pressure through the driving of the motor by the microprocessor, so that the aim of damping adjustment is fulfilled, but the stability of the supporting performance of the air pressure knee joint is unreliable, and safety accidents are easily caused.

The patent numbers US201100873391A1, 105769395A, 106726028B, 106539633a and 107035808a all propose electronically controlled hydraulic damping cylinder structures for intelligent knee prostheses, but are all purely damping in nature and cannot provide a driving moment when climbing stairs or uphill. Patent No. 102065799a discloses a semi-actuated prosthetic knee device in which the actuated and non-actuated modes are achieved by means of a hydraulic pump and a damper regulator valve, but the hydraulic valve circuit is particularly complex, the hydraulic pump and motor making the structure complex and cumbersome. The patent number CN109806037A discloses a main and passive hybrid control type hydraulic four-bar artificial knee joint, and the control of the driving and damping is realized through a hydraulic pump and a damping adjusting valve, but the motor directly controls the four-bar mechanism, and a magnetic powder clutch is needed to ensure that the moment does not influence the passive control stage when the stepping motor is powered off because of the self-locking moment of the stepping motor, and the motor is placed at a position close to a human body, so that the safety of the human body is not facilitated.

Therefore, the person skilled in the art is dedicated to developing a passive intelligent artificial knee joint adopting a crank moving guide rod mechanism, a wearer transmits the crank moving guide rod mechanism formed between a joint rotating module and a hydraulic module to a piston rod in the wearing process to drive a piston to move up and down, meanwhile, needle valves are respectively arranged in a buckling oil duct and an extending oil duct, the flow of an oil duct is regulated by respectively controlling the contact areas of the needle valves and the buckling oil duct and the extending oil duct, damping regulation on buckling and extending of the knee joint is realized, and the walking stability of the wearer is improved.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention is directed to a method for adjusting the damping of flexion and extension of a prosthetic knee joint, thereby improving the stability of walking of a wearer.

In order to achieve the above purpose, the invention provides a passive intelligent artificial knee joint adopting a crank moving guide rod mechanism, which is characterized by comprising a joint rotation module, a hydraulic module and a crank moving guide rod mechanism, wherein the joint rotation module is connected with the crank moving guide rod mechanism, the hydraulic module comprises a hydraulic cylinder, a damping adjustment module and a motor module, the hydraulic cylinder comprises a piston, the crank moving guide rod mechanism is connected with the piston, the piston can move up and down in the hydraulic cylinder, the damping adjustment module comprises an extension oil duct and a buckling oil duct, when the piston moves upwards, the motor module controls the magnitude of buckling damping by adjusting the flow of the buckling oil duct, and when the piston moves downwards, the motor module controls the magnitude of the extension damping by adjusting the flow of the extension oil duct.

Further, the artificial limb device also comprises a stand, wherein the joint rotation module is positioned above the artificial limb and connected with the stand, and the hydraulic module is fixedly connected with the stand.

Further, the device also comprises a small rectangular pyramid, and the small rectangular pyramid is fixed below the frame.

Further, the crank moving guide rod mechanism comprises an upper connecting rod, a connecting rod and a piston rod, wherein the upper connecting rod is pivoted with the connecting rod, the piston rod is connected with the piston, when a wearer bends a knee, the upper connecting rod rotates anticlockwise relative to the frame, the connecting rod is driven to move so as to enable the piston rod to move upwards, and when the wearer stretches a knee, the upper connecting rod rotates clockwise relative to the frame, and the connecting rod is driven to move so as to enable the piston rod to move downwards.

Further, the motor module includes a first needle valve and a second needle valve, when the piston moves upward, the motor module realizes the flow adjustment of the buckling oil duct by controlling the contact area of the first needle valve and the buckling oil duct, and when the piston moves downward, the motor module realizes the flow adjustment of the extending oil duct by controlling the contact area of the second needle valve and the extending oil duct.

Further, the motor module further comprises a first voice coil motor, a second voice coil motor, a first thimble guide block, a second thimble guide block, a first needle valve connecting shaft and a second needle valve connecting shaft, wherein the first needle valve is fixedly connected with the first voice coil motor through the first needle valve connecting shaft, the second needle valve is fixedly connected with the second voice coil motor through the second needle valve connecting shaft, the first needle valve penetrates through the first thimble guide block, and the second needle valve penetrates through the second thimble guide block.

Further, the joint rotation module comprises an upper connecting rod small quadrangular frustum, a first rotation bearing, a rotation shaft, a shaft sleeve, a second rotation bearing, a rotation clamp spring, an inertial sensor fixing block, an inertial sensor and a connecting rod shaft, wherein the upper connecting rod small quadrangular frustum is fixedly connected with the upper connecting rod, the upper connecting rod is pivoted with the rotation shaft, the first rotation bearing and the second rotation bearing are arranged at two ends of the rotation shaft, the inner side of the first rotation bearing and the inner side of the second rotation bearing are axially fixed through the shaft sleeve, the outer side of the second rotation bearing is fixed through the rotation clamp spring, and the inertial sensor is fixed on the side edge of the upper connecting rod through the inertial sensor fixing block.

Further, the hydraulic cylinder further comprises a hydraulic cylinder cover, a cylinder body and a first one-way valve, the cylinder body is fixedly connected to the frame, the hydraulic cylinder cover is fixedly connected with the cylinder body, the motor module is fixedly connected to the cylinder body, and when the piston moves downwards, hydraulic oil returns to the upper oil cavity from the oil port at the lower end of the hydraulic cylinder through the first one-way valve through the extension oil duct.

Further, the damping adjustment module further comprises a second one-way valve, and when the piston moves upwards, hydraulic oil returns to the lower oil cavity from the oil port at the upper end of the hydraulic cylinder through the buckling oil duct and passes through the second one-way valve.

Further, the damping adjusting module further comprises an adjusting seat, an energy storage piston and a stop block, the adjusting seat is fixedly connected to the cylinder body, an energy storage cavity is formed in the adjusting seat, the energy storage piston and the stop block are arranged in the energy storage cavity, the stop block is fixedly connected with the adjusting seat, the buckling oil duct and the stretching oil duct are arranged in the adjusting seat, and a cylindrical notch is formed in an oil port of the upper portion of the adjusting seat to install an energy accumulator.

The invention provides a passive intelligent artificial limb knee joint adopting a crank moving guide rod mechanism, wherein a crank moving guide rod mechanism is formed between a joint rotating module and a hydraulic module, joint angle change caused by movement is transmitted to a piston rod through the crank moving guide rod mechanism to drive a piston to move up and down, meanwhile, a voice coil motor controls a contact area of a needle valve, a buckling oil duct and an extension oil duct to regulate the flow of an oil duct, damping regulation on buckling and extension of the knee joint is realized, and walking stability of a wearer is improved.

The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.

Drawings

FIG. 1 is a schematic view of a passive intelligent prosthetic knee employing a crank movement guide in accordance with a preferred embodiment of the present invention;

FIG. 2 is an overall block diagram of a passive intelligent prosthetic knee employing a crank movement guide in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic and cross-sectional view of a passive intelligent prosthetic knee employing a crank movement guide in accordance with a preferred embodiment of the present invention;

FIG. 4 is a schematic illustration of a articulation module of a passive intelligent prosthetic knee employing a crank movement guide in accordance with a preferred embodiment of the present invention;

FIG. 5 is a schematic view of a hydraulic module configuration of a passive intelligent prosthetic knee employing a crank movement guide in accordance with a preferred embodiment of the present invention;

FIG. 6 is a cross-sectional view of an extension oil gallery of a hydraulic module of a passive intelligent prosthetic knee employing a crank movement guide in accordance with a preferred embodiment of the present invention;

FIG. 7 is a cross-sectional view of a flexion gallery of a hydraulic module of a passive intelligent prosthetic knee employing a crank movement guide in accordance with a preferred embodiment of the present invention;

the hydraulic actuator comprises a 1-joint rotation module, a 2-hydraulic module, a 3-rack, a 4-small rectangular pyramid, a 101-upper connecting rod small rectangular pyramid, a 102-upper connecting rod, a 103-first rotation bearing, a 104-rotation shaft, a 105-moment sensor, a 106-shaft sleeve, a 107-second rotation bearing, a 108-rotation clamp spring, a 109-inertia sensor fixing block, a 110-inertia sensor, a 111-connecting rod, a 112-connecting rod shaft, a 21-hydraulic cylinder, a 22-damping adjustment module, a 23-motor module, a 210-piston rod, a 211-hydraulic cylinder cover, a 212-sealing plug, a 213-piston, a 214-cylinder body, a 215-first one-way valve, a 220-adjustment seat, a 221-energy storage piston, a 222-threaded energy storage sealing cover, a 223-stop, a 224-first plug, a 225-second plug, a 226-second one-way valve, a 227-third plug, a 230-first needle valve, a 231-second needle valve, a 232-first needle guide block, a 233-second needle guide block, a 234-first needle valve connection shaft, a 235-second connection shaft, a 236-second motor, a 236-first needle valve, a 22-voice coil, and an extending oil duct and an oil path.

Detailed Description

The following description of the preferred embodiments of the present invention refers to the accompanying drawings, which make the technical contents thereof more clear and easy to understand. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.

In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.

As shown in fig. 2, the passive intelligent artificial knee joint adopting the crank moving guide rod mechanism comprises a joint rotation module 1, a hydraulic module 2, a frame 3 and a small rectangular pyramid 4, wherein the joint rotation module 1 is hinged with the frame 3 through a rotating shaft, the hydraulic module 2 is pivoted with the joint rotation module 1, the hydraulic module 2 is fixedly connected with the frame 3, and the small rectangular pyramid 4 is fixedly connected with the frame 3.

As shown in fig. 3, the upper link 102, the link 111, and the piston rod 210 form a crank movement guide mechanism. When the wearer bends his or her knee, the upper link 102 rotates counterclockwise, driving the link 111 to move the piston rod 210 upward. When the wearer extends his or her knee, the upper link 102 rotates clockwise, driving the link 111, causing the piston rod 210 to move downward.

As shown in fig. 4, the articulation module 1 includes an upper link small quadrangular frustum 101, a first rotation bearing 103, a rotation shaft 104, a torque sensor 105, a bushing 106, a second rotation bearing 107, a rotation snap spring 108, an inertial sensor fixing block 109, an inertial sensor 110, and a link shaft 112. The small quadrangular frustum of upper connecting rod 101 is fixed with upper connecting rod 102 through a screw, upper connecting rod 102 is pivoted with rotating shaft 106, upper connecting rod 102 is pivoted with connecting rod 111, first rotating bearing 103 and second rotating bearing 107 are arranged at two ends of rotating shaft 104, the inner side of the bearing is axially fixed through shaft sleeve 106, the outer side of second rotating bearing 107 is fixed through rotating clamp spring 108, and inertial sensor 110 is fixed at the side of upper connecting rod 102 through inertial sensor fixing block 109.

As shown in fig. 5, the hydraulic module 2 includes a hydraulic cylinder 21, a damping adjustment module 22, and a motor module 23. Hydraulic cylinder 21 includes a cylinder head 211, a sealing plug 212, a piston 213, a cylinder block 214, and a first check valve 215. The cylinder block 214 is fixedly connected to the frame 3, the piston rod 210 is pivoted with the connecting rod 111, the piston 213 is fixedly connected with the piston rod 210 through threads, the piston 213 can move up and down in the cylinder block 214, the hydraulic cylinder head 211 is fixedly connected with the cylinder block 214 through threads, and the motor module 23 is fixedly connected to the cylinder block 214 through threads. The damping adjustment module 22 comprises an adjustment seat 220, an energy storage piston 221, a threaded energy storage sealing cover 222, a stop block 223, a second one-way valve 226, a first plug 224, a second plug 225 and a third plug 227, wherein the adjustment seat 220 is fixed on the cylinder 214 through threaded connection, the hydraulic oil duct comprises an extension oil duct 2151 provided with the first one-way valve 215 and a buckling oil duct 2261 provided with the second one-way valve 226, the adjustment seat 220 is provided with an energy storage cavity, the energy storage piston 221 and the stop block 223 are arranged in the energy storage cavity, and a cylindrical notch is arranged at an oil port above the adjustment seat 220 for installing an energy accumulator; the motor module 23 includes first and second needle valves 230 and 231, first and second needle guide blocks 232 and 233, first and second needle connecting shafts 234 and 235, first and second voice coil motors 236 and 237, the first and second voice coil motors 236 and 237 being fixed to the cylinder 214 by screws, the first and second needle connecting shafts 234 and 235 being fixed to the first and second voice coil motors 236 and 237, respectively, the first and second needle valves 230 and 231 being fixed to the first and second needle connecting shafts 234 and 235 by screws, respectively, the stopper 223 being fixed to the adjusting seat 220 by screws, the first and second needle connecting shafts 234 and 235 being fixedly connected to the first and second voice coil motors 236 and 237 by screws, respectively, the first needle valve 230 passing through the first needle guide block 232 controlling a valve overlap area of an oil passage in the adjusting seat 220 to control a buckling 2261, and the second needle valve 231 passing through the second needle guide block 233 controlling a valve overlap area of an oil passage in the adjusting seat 220 to control an extension oil passage 2151.

As shown in fig. 6, when the piston moves downward, hydraulic oil returns to the upper oil chamber from the lower end oil port of the hydraulic cylinder 21 through the extension oil passage 2151 via the first check valve 215, and the second voice coil motor 237 adjusts the flow rate of the extension oil passage 2151 by controlling the contact area between the second needle valve 231 and the extension oil passage 2151, thereby controlling the magnitude of extension damping.

As shown in fig. 7, when the piston moves upward, hydraulic oil returns to the lower oil chamber from the upper end oil port of the hydraulic cylinder 21 through the buckling oil duct 2261 via the second check valve 226, and the first voice coil motor 236 adjusts the flow rate of the buckling oil duct 2261 by controlling the contact area between the first needle valve 230 and the buckling oil duct 2261, thereby controlling the magnitude of buckling damping.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (10)

1. The utility model provides an adopt crank to remove passive intelligent artificial limb knee joint of guide arm mechanism, its characterized in that, including joint rotation module, hydraulic module and crank to remove guide arm mechanism, wherein, joint rotation module with crank removes guide arm mechanism and links to each other, hydraulic module includes pneumatic cylinder, damping adjustment module and motor module, the pneumatic cylinder includes the piston, crank removes guide arm mechanism with the piston links to each other, the piston is in can reciprocate in the pneumatic cylinder, damping adjustment module includes extension oil duct and buckling oil duct, works as when the piston upward movement, motor module is through adjusting the flow control buckling damping's of buckling oil duct size, works as when the piston downward movement, motor module is through adjusting the flow control of extension oil duct extends damping's size.

2. The passive intelligent prosthetic knee employing the crank movement guide mechanism of claim 1, further comprising a frame, wherein the articulation module is positioned above the prosthesis and coupled to the frame, and wherein the hydraulic module is fixedly coupled to the frame.

3. A passive intelligent prosthetic knee employing a crank-moving guide mechanism according to claim 2, further comprising a small rectangular pyramid secured below the frame.

4. The passive intelligent prosthetic knee employing the crank movement guide mechanism according to claim 2, wherein the crank movement guide mechanism comprises an upper connecting rod, a connecting rod and a piston rod, the upper connecting rod is pivoted with the connecting rod, the piston rod is connected with the piston, when a wearer bends the knee, the upper connecting rod rotates anticlockwise relative to the frame to drive the connecting rod to move so as to enable the piston rod to move upwards, and when the wearer stretches the knee, the upper connecting rod rotates clockwise relative to the frame to drive the connecting rod to move so as to enable the piston rod to move downwards.

5. The passive intelligent prosthetic knee employing the crank movement guide mechanism according to claim 1, wherein the motor module includes a first needle valve and a second needle valve, and wherein the motor module effects flow adjustment of the flexion oil passage by controlling a contact area of the first needle valve with the flexion oil passage when the piston moves upward, and wherein the motor module effects flow adjustment of the extension oil passage by controlling a contact area of the second needle valve with the extension oil passage when the piston moves downward.

6. The passive intelligent prosthetic knee employing the crank movement guide mechanism of claim 5, wherein the motor module further comprises a first voice coil motor, a second voice coil motor, a first thimble guide block, a second thimble guide block, a first needle valve connecting shaft and a second needle valve connecting shaft, wherein the first needle valve is fixedly connected with the first voice coil motor through the first needle valve connecting shaft, the second needle valve is fixedly connected with the second voice coil motor through the second needle valve connecting shaft, the first needle valve penetrates through the first thimble guide block, and the second needle valve penetrates through the second thimble guide block.

7. The passive intelligent artificial knee joint adopting the crank moving guide rod mechanism according to claim 4, wherein the joint rotating module comprises an upper connecting rod small quadrangular frustum, a first rotating bearing, a rotating shaft, a shaft sleeve, a second rotating bearing, a rotating clamp spring, an inertial sensor fixing block, an inertial sensor and a connecting rod shaft, the upper connecting rod small quadrangular frustum is fixedly connected with the upper connecting rod, the upper connecting rod is pivoted with the rotating shaft, the first rotating bearing and the second rotating bearing are arranged at two ends of the rotating shaft, the inner side of the first rotating bearing and the inner side of the second rotating bearing are axially fixed through the shaft sleeve, the outer side of the second rotating bearing is fixed through the rotating clamp spring, and the inertial sensor is fixed on the side edge of the upper connecting rod through the inertial sensor fixing block.

8. The passive intelligent prosthetic knee employing the crank moving guide mechanism according to claim 2, wherein the hydraulic cylinder further comprises a hydraulic cylinder cover, a cylinder body and a first one-way valve, the cylinder body is fixedly connected to the frame, the hydraulic cylinder cover is fixedly connected to the cylinder body, the motor module is fixedly connected to the cylinder body, and when the piston moves downwards, hydraulic oil returns to the upper oil cavity from an oil port at the lower end of the hydraulic cylinder through the first one-way valve via the extension oil duct.

9. The passive intelligent prosthetic knee employing the crank moving guide mechanism according to claim 1, wherein the damping adjustment module further comprises a second check valve, and hydraulic oil is returned to the lower oil chamber from the upper end oil port of the hydraulic cylinder through the flexion oil passage via the second check valve when the piston moves upward.

10. The passive intelligent artificial knee joint adopting the crank moving guide rod mechanism according to claim 8, wherein the damping adjusting module further comprises an adjusting seat, an energy storage piston and a stop block, the adjusting seat is fixedly connected to the cylinder body, an energy storage cavity is formed in the adjusting seat, the energy storage piston and the stop block are arranged in the energy storage cavity, the stop block is fixedly connected with the adjusting seat, the buckling oil duct and the extension oil duct are arranged in the adjusting seat, and a cylindrical notch is formed in an oil port above the adjusting seat for installing an energy accumulator.

Images