CN201370655Y - Damping automatic-adjustable single-shaft prosthesis knee joint - Google Patents
Damping automatic-adjustable single-shaft prosthesis knee joint Download PDFInfo
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- CN201370655Y CN201370655Y CN200820157829U CN200820157829U CN201370655Y CN 201370655 Y CN201370655 Y CN 201370655Y CN 200820157829 U CN200820157829 U CN 200820157829U CN 200820157829 U CN200820157829 U CN 200820157829U CN 201370655 Y CN201370655 Y CN 201370655Y
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Abstract
The utility model relates to a damping automatic-adjustable single-shaft prosthesis knee joint, wherein a hydraulic damping cylinder is a double-piston structure damping cylinder, and the cylinder body of the damping cylinder is articulated with the lower chamber body of the knee joint by a pivot; a rotational body is articulated with the piston rod of the hydraulic damping cylinder by a pivot; the piston rod enters the cylinder body by the end cap of the piston; a piston cylinder inside the cylinder body is connected with two pistons, and the middle part of the two pistons are separated by a fixed plug to form two oil chambers for the stretching and the inflection of the knee joint respectively; and the two oil chambers are respectively connected with a one-way valve and a digital needle valve driven by a direct current actuating motor. The hydraulic damping cylinder is combined with a mechanical single-shaft knee joint; the piston rod works under sealing environment basically, thus lowering the effect on the service life by the external pollution; the utility model has the advantages of compact structure and easy realizing technique, and is capable of realizing the bilateral control of the damp; the swinging speed of the thigh prosthesis can be adjusted automatically by the control of a microcomputer; and simultaneously, the inflection damping is increased for preventing the human body from not standing stably when standing by the prosthesis, thus improving the stability of the supporting power of the prosthesis.
Description
Technical field
This utility model relates to a kind of artificial limb knee-joint, and especially a kind of the stretching, extension with the flexing damping regulated, and has automatic adjusting knee joint shaking peroid speed and the artificial limb knee-joint that supports the phase stability feature.
Background technology
The performance of human body artificial thigh depends on the comfortableness and the safety of wearer to a great extent.Mainly by the followability decision of swing speed, because if the joint damping can not change, then artificial limb can not change along with the variation in pace speed of strong limb the comfortableness of artificial limb, causes gait asymmetric, and patient's energy expenditure increases, and can produce great discomfort.Artificial limb is the important assurance of walking safety in the stability of the phase of support simultaneously.The employing mechanical damping of traditional simple artificial limb, its size can not be adjusted or can not change automatically with leg speed, therefore artificial limb is asymmetric with the generation of strong limb with the knee joint velocity of rotation of extensin period in the flexing of gait swing phase, guarantees by load-bearing self-locking or manual locking mechanism in that the stability of the phase of standing is also main.The seventies in last century, along with development of computer, many scholars begin to explore the application microcomputer motion of artificial limb knee-joint are controlled automatically, research microcomputerized control above-knee prosthesis.Along with improvement of computer science, above-knee prosthesis is being updated in recent years.Intelligent lap artificial limb can be regulated the knee joint damping automatically owing to adopt microprocessor control, thus approximate simulation people lower limb gait.How to make artificial leg can be automatically, any gait of full-time phase simulation, finish all functions of people's lower limb, and with people with disability's organic integration, be the research direction of current high-grade intelligent artificial leg.For solve traditional artificial leg not line speed can not naturally, arbitrarily follow the pedestrian not variation of line speed and the problem that changes, the clear husband in river at first conceived a kind of knee joint based on microprocessor among the Japanese scholar in 1986.This knee joint can be controlled motor adjusting cylinder loop needle-valve aperture by microprocessor and regulate the cylinder damping, thus control swing phase gait.Iceland OSSUR company has developed a kind of novel intelligent above-knee prosthesis (seeing international monopoly WO01/54630) of using electromagnetism rheological technique control joint damping recently, and this artificial limb mainly is to improve on high speed micro computer and antivibrator.Thereby can realize more leg speed control.Developed multiple commercial hydraulic micro computer artificial leg knee joint at present in the world, the Smart Magnetix Knee of the NI-C411 of the IP of the most famous C-LEG that comprises Otto Bock, Blatchford, Smart IP, Adaptive Knee, Nabco company, the Auto-Pilot electronics knee joint of De Lin company and Ossur company etc., wherein NI-C411 and Auto-Pilot knee joint are four connecting rod electronics knee joints.Take a broad view of these microcomputerized control knee joints, most of by control pneumatic cylinder or hydraulic cylinder control swing speed, and by controlling hydraulic cylinder or utilizing the four bar linkage knee joint structure control to support the stability of phase.In existing artificial limb hydraulic pressure knee joint, the hydraulic damping cylinder complex structure.In order to realize the inner normal circulation of hydraulic oil, need to adopt the overhanging structure of pull bar, cost height and the working service inconvenience of oil storage cylinder structure or vulnerable to pollution.If can be in the single shaft artificial limb knee-joint integrated a kind of simple for structure, piston rod packing work, compact dimensions, and can realize stretching the hydraulic cylinder of controlling automatically with the flexing bidirectional damper, will have important function to the performance of raising artificial thigh.
Summary of the invention
The technical problems to be solved in the utility model provides the more uniaxial damping automatic and adjustable of the microcomputerized control single shaft artificial limb knee-joint of advantages of simple of a kind of safe, comfortable, safety and structure.
For achieving the above object, the technical solution of the utility model is: a kind of damping automatic and adjustable single shaft artificial limb knee-joint, comprise knee joint top rotor, be characterized in, also comprise double-piston hydraulic damped cylinder, DC servo motor, single-axis knee joint, angular transducer.
The double-piston hydraulic damped cylinder is the dual-piston structure damped cylinder, and the damped cylinder cylinder body is hinged by pivot and knee joint lower cavity; Rotor is hinged by the piston rod of a pivot and hydraulic damping cylinder, piston rod enters in the cylinder body by the piston end cap, piston cylinder is connected with two pistons in cylinder interior, the centre of two-piston is separated by a fixing plug, form two oil pockets of knee joint stretching, extension and flexing respectively, and two digital needle-valves that oil pocket connects check valve respectively and driven by DC servo motor, DC servo motor receives by single chip machine controlling circuit plate output control instruction, and the aperture that is used to control needle-valve is regulated the knee joint damping force.
Rotor inside, knee joint top is the shell structure of cavity, knee joint top rotor passes through a turning cylinder and links to each other with kneed lower cavity, and it is external that an end protrudes the joint, and directly be connected with the turning cylinder of an angular transducer, the shell of angular transducer is connected with knee joint top rotor.
Bottom in the knee joint lower cavity is connected by the top of screw thread with a shin pipe joint.DC servo motor is fixed on the hydraulic cylinder outside by screw, and its output shaft is connected with needle-valve by the screw rod on it.
The beneficial effects of the utility model are: damped cylinder adopts dual-piston structure, equate to guarantee plunger shaft two ends volume, thus the proper flow of hydraulic oil in the assurance hydraulic cylinder.In order to make the piston cylinder compact conformation, the asphalt channel of piston cylinder is arranged on the intermediary fixed disk of rigid body with misplacing mutually, and two passages of knee joint stretching, extension and flexing are set, the control respectively of oil circuit flow when adopting two check valves to realize flexing and stretching respectively on this two passage respectively.Two digital valves that servo direct current motor drives have been used in the control of flow.This design is designed to integral structure to the kneed control executing mechanism of bidirectional damper control hydraulic pressure, can reduce volume.
The main body of artificial limb knee-joint adopts single shaft design simple for structure, and the rotor on top adopts the shell structure of internal cavities, with weight reduction.Because the Stabilization to the support phase of hydraulic damping cylinder, the knee joint turning cylinder is designed to the position near artificial thigh gravity vertical rear portion, to improve from the transition motility of the swing phase of standing.One angular transducer is installed on the knee joint turning cylinder, measure angle and angular velocity that knee joint is rotated, be used to judge residing position of knee joint and leg speed situation, its signal is sent in the microcomputer controller that is integrated in knee joint inside, controller is handled back output control signal by analysis and is given DC servo motor, to control kneed damping force, comprise the damping force of regulating flexing and stretching, extension according to the control scheme.This knee joint can realize the control of artificial thigh automatic damping with better simply structure, to improve the performance of artificial leg.
The artificial thigh knee joint helps stretches spring and is installed in damped cylinder inside, and can be according to patient's different disposable adjustment, setting.Designed a kind of special shin pipe joint in the knee joint bottom, its top is threaded with kneed lower cavity, and the open type structure is adopted in the bottom, can be connected fast with the shin pipe.
This utility model has adopted a kind of new type hydraulic damped cylinder and the combination of mechanical single-axis knee joint, piston rod is substantially in sealed environment work, reduced the influence of external contamination to service life, not only compact conformation, technology are convenient to realize for they, and can realize the two-way control of damping, thereby can regulate the swing speed of artificial thigh automatically by microcomputerized control, it prevents that by increasing the flexing damping human body from beating soft lower limb when artificial limb is stood simultaneously, to improve the stability that artificial limb supports phase.
Description of drawings
Fig. 1 is the cut-away view of damping automatic and adjustable single shaft artificial limb knee-joint;
Fig. 2 is the profile rearview of damping automatic and adjustable single shaft artificial limb knee-joint;
Fig. 3 is the profile front view of damping automatic and adjustable single shaft artificial limb knee-joint.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment this utility model is further described.
As Fig. 1, shown in 2,3, damping automatic and adjustable single shaft artificial limb knee-joint of the present utility model comprises knee joint top rotor 1, helps and stretches spring 10, piston rod 3, piston 4, digital needle-valve 15, check valve 16, knee joint lower cavity 9, two servo direct current motor motors 7, piston cylinder 12, shin pipe joint 13, angular transducer 21 etc.
Knee joint top rotor 1 passes through a turning cylinder and links to each other with kneed lower cavity 9, and an end is designed to protrude, and the joint is external directly is connected with the turning cylinder of an angular transducer 21, angular transducer adopts a kind of potentiometer, and the shell of potentiometer (angular transducer) 21 is connected with knee joint top rotor 1.The angle that the magnitude of voltage that potentiometer is surveyed promptly rotates corresponding to knee joint.
Bottom in the knee joint lower cavity is connected by the top of screw thread with a shin pipe joint 13.With screw 17 DC servo motor 7 is installed in the hydraulic cylinder outside, its axle is by being connected with needle-valve 15 with screw-rod structure.In order to guarantee that DC servo motor 7 has enough work spaces when knee joint is worked, have a circular port 22 bigger slightly in the front of knee joint lower cavity, so that can hold whole damped cylinder and operate as normal than DC servo motor 7 diameters.DC servo motor 7 can spur the telescopic location of Needle shaft when rotating.Side at hydraulic cylinder center fixed plug 6 has the passage 14 that is communicated with digital valve, at relative opposite side, an identical passage is arranged also, and this two passage is promptly realized the independent control of artificial thigh flexing and stretching, extension by check valve 16 separately.
Claims (4)
1. a damping automatic and adjustable single shaft artificial limb knee-joint comprises knee joint top rotor (1), it is characterized in that: also comprises double-piston hydraulic damped cylinder, DC servo motor (7), single-axis knee joint, angular transducer (21); Described double-piston hydraulic damped cylinder is the dual-piston structure damped cylinder, and damped cylinder cylinder body (12) is hinged by pivot (11) and knee joint lower cavity (9); Described rotor (1) is hinged with the piston rod (3) of hydraulic damping cylinder by a pivot (2), piston rod (3) enters in the cylinder body (12) by piston end cap (5), piston cylinder is internally connected with two pistons (18) at cylinder body (12), the centre of two-piston (18) is separated by a fixing plug (6), form two oil pockets of knee joint stretching, extension and flexing respectively, and two digital needle-valves (15) that oil pocket connects check valve (16) respectively and driven by DC servo motor (7), DC servo motor (7) receives the control instruction by single chip machine controlling circuit plate (8) output, and the aperture that is used to control needle-valve (15) is regulated the knee joint damping force.
2. damping automatic and adjustable single shaft artificial limb knee-joint according to claim 1, it is characterized in that: described knee joint top rotor (1) inside is the shell structure of cavity, knee joint top rotor (1) passes through a turning cylinder (11) and links to each other with kneed lower cavity (9), and it is external that an end protrudes the joint, and directly be connected with the turning cylinder (11) of an angular transducer (21), the shell of angular transducer (21) is connected with knee joint top rotor (1).
3. damping automatic and adjustable single shaft artificial limb knee-joint according to claim 1 is characterized in that: the bottom of described knee joint lower cavity (9) is connected by the top of screw thread with a shin pipe joint (13).
4. damping automatic and adjustable single shaft artificial limb knee-joint according to claim 1 is characterized in that: described DC servo motor (7) is fixed on hydraulic cylinder (12) outside by screw (17), and its output shaft is connected with needle-valve (15) by the screw rod on it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200820157829U CN201370655Y (en) | 2008-12-25 | 2008-12-25 | Damping automatic-adjustable single-shaft prosthesis knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200820157829U CN201370655Y (en) | 2008-12-25 | 2008-12-25 | Damping automatic-adjustable single-shaft prosthesis knee joint |
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| Publication Number | Publication Date |
|---|---|
| CN201370655Y true CN201370655Y (en) | 2009-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200820157829U Expired - Fee Related CN201370655Y (en) | 2008-12-25 | 2008-12-25 | Damping automatic-adjustable single-shaft prosthesis knee joint |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889916A (en) * | 2010-07-26 | 2010-11-24 | 东南大学 | Electro-hydraulic damping cylinder device applied to intelligent knee joint |
| CN106539633A (en) * | 2016-12-16 | 2017-03-29 | 上海理工大学 | For the straight push-plate type Flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106726028A (en) * | 2016-12-16 | 2017-05-31 | 上海理工大学 | For the orthogonal formula Flow-rate adjustment damped cylinder of intelligent knee joint |
| CN107397615A (en) * | 2017-07-25 | 2017-11-28 | 北京航空航天大学 | A kind of active ankle-joint artificial limb of single-degree-of-freedom based on Closed Hydraulic Driving system |
| CN109806036A (en) * | 2019-03-29 | 2019-05-28 | 上海理工大学 | A kind of key-shaped flume flow adjusting damping cylinder for intelligent knee joint |
| CN111110409A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| CN113520683A (en) * | 2021-07-08 | 2021-10-22 | 中国科学技术大学 | Lower limb prosthesis control system and method based on simulation learning |
-
2008
- 2008-12-25 CN CN200820157829U patent/CN201370655Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889916A (en) * | 2010-07-26 | 2010-11-24 | 东南大学 | Electro-hydraulic damping cylinder device applied to intelligent knee joint |
| CN106539633A (en) * | 2016-12-16 | 2017-03-29 | 上海理工大学 | For the straight push-plate type Flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106726028A (en) * | 2016-12-16 | 2017-05-31 | 上海理工大学 | For the orthogonal formula Flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106539633B (en) * | 2016-12-16 | 2018-06-26 | 上海理工大学 | For the straight push-plate type flow-rate adjustment damped cylinder of intelligent knee joint |
| CN106726028B (en) * | 2016-12-16 | 2018-06-26 | 上海理工大学 | For the orthogonal formula flow-rate adjustment damped cylinder of intelligent knee joint |
| CN107397615A (en) * | 2017-07-25 | 2017-11-28 | 北京航空航天大学 | A kind of active ankle-joint artificial limb of single-degree-of-freedom based on Closed Hydraulic Driving system |
| CN107397615B (en) * | 2017-07-25 | 2019-02-22 | 北京航空航天大学 | A kind of active ankle-joint artificial limb of single-degree-of-freedom based on Closed Hydraulic Driving system |
| CN109806036A (en) * | 2019-03-29 | 2019-05-28 | 上海理工大学 | A kind of key-shaped flume flow adjusting damping cylinder for intelligent knee joint |
| CN111110409A (en) * | 2020-01-16 | 2020-05-08 | 上海理工大学 | Active-passive hybrid drive intelligent artificial limb knee joint structure |
| CN113520683A (en) * | 2021-07-08 | 2021-10-22 | 中国科学技术大学 | Lower limb prosthesis control system and method based on simulation learning |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091230 Termination date: 20101225 |