CN201814690U - Active bionic ankle joint artificial limb - Google Patents
Active bionic ankle joint artificial limb Download PDFInfo
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- CN201814690U CN201814690U CN2010205355055U CN201020535505U CN201814690U CN 201814690 U CN201814690 U CN 201814690U CN 2010205355055 U CN2010205355055 U CN 2010205355055U CN 201020535505 U CN201020535505 U CN 201020535505U CN 201814690 U CN201814690 U CN 201814690U
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- ankle joint
- stretch
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Abstract
The utility model provides an active bionic ankle joint artificial limb. The active bionic ankle joint artificial limb comprises a foot plate, an ankle joint seat, a rotating shaft, a bionic ankle bone, a first rod end joint, a first extension rod, a second rod end joint, a second extension rod, a motor stand, a stepping motor, a screw transmission mechanism, an extension rod positioning connecting piece, a nonlinear pressure spring mechanism, a gear seat, a gear, an angle sensor, a data acquisition mechanism and a data control mechanism. The active bionic ankle joint artificial limb can conveniently provide active force, is favorable for reducing the energy dissipation by adopting the method of combining active control and passive control, also can move in a way approximate to the law governing the variation of the normal human ankle joint, and meanwhile, meet the requirements for flexibility and stability during the movement of the human ankle joint.
Description
Technical field
This utility model relates to a kind of biomimetic features, particularly a kind of active biomimetic ankle artificial limb.
Background technology
The labyrinth of human body ankle joint determines its forms of motion to comprise: the interior outward turning campaign in turn up in the flexion and extension in the sagittal plane, the frontal plane motion and the horizontal plane.The human body ankle joint belongs to trochoid, and in normal walking movement, the placement center of the bionical astragalus of ankle joint in the ankle nest is changing, its movement locus ovalize, and the movable axis of ankle joint has certain gradient, and often is in the variation.During walking movement, the ankle joint instantaneous centre of rotation drop near the bionical body of talus one among a small circle in.The main motion of ankle joint is bending and stretching in the sagittal plane, and interior outward turning and in the motion amplitude that turns up less relatively.Therefore, when design ankle joint artificial limb, the sagittal activity of bending and stretching mainly is provided, and has a fixed center of rotation and a rotating shaft, be designed to non-restriction formula again simultaneously, can carry out to a certain degree little side direction activity and rotary moveable.
Based on the kinesiology and the dynamics of ankle joint self, develop a bionic-type ankle joint that approaches human body ankle motion function, consider the mode that ACTIVE CONTROL and Passive Control combine.Can better meet the demand of people with disability patient, guarantee that the patient walks and stable standing freely in correct mode lower limb ankle joint artificial limb.
The utility model content
The purpose of this utility model exactly in order to address the above problem, provides a kind of active biomimetic ankle artificial limb.
The purpose of this utility model realizes by following technical scheme: a kind of active biomimetic ankle artificial limb, and it comprises:
The foot plate;
The ankle joint seat is connected on the sole, and its front portion is provided with guide channel;
Turning cylinder is installed on the ankle joint seat;
Bionical astragalus is installed on the turning cylinder;
The first rod end joint, be sleeved on the bionical astragalus and and bionical astragalus between leave the gap;
First bends and stretches bar, and the lower end links to each other with the first rod end joint, and the upper end is used for linking to each other with shank, and the centre is provided with one section plane tooth bar;
The second rod end joint, the lower end is connected with the axis of rolling, and axis of rolling two ends are connected with rolling bearing, and rolling bearing is arranged in the guide channel of ankle joint seat and can moves forward and backward along guide channel;
Second bends and stretches bar, is connected the top in the second rod end joint;
The motor bearing is installed in first top of bending and stretching bar;
Motor is installed on the motor bearing;
Lead screw transmission mechanism, the upper end links to each other with the electric machine main shaft transmission, and lower end and second is bent and stretched bar and is linked to each other and can drive second and bend and stretch bar and do flexion and extension up and down;
Bend and stretch the bar positioning link, be connected first and bend and stretch bar and second and bend and stretch between the bar and to bend and stretch bar and second with first and bend and stretch lateral separation positioning and fixing between the bar, and bend and stretch bar and be fixedly linked, bend and stretch bar and slide and link to each other with second with first;
Non-linear stage clip mechanism, the lower end is fixed on the turning cylinder, and the upper end is stuck in first and bends and stretches the bending and stretching on the bar positioning link of bar both sides;
Pinion stand is installed in second and bends and stretches on the bar;
Gear is installed on the pinion stand and with the first plane tooth bar engaged transmission of bending and stretching bar and links to each other, and the motion of gear drives first and bends and stretches bar and do flexion and extension up and down;
Angular transducer, totally two two ends that are separately positioned on turning cylinder;
Data acquisition mechanism telecom-connects with angular transducer;
Data Control mechanism telecom-connects with motor.
Described lead screw transmission mechanism comprises screw mandrel and feed screw nut, and the upper end of screw mandrel links to each other with electric machine main shaft, and the lower end is threaded with the feed screw nut, and the feed screw nut is fixed on second upper end of bending and stretching bar.
Described non-linear stage clip mechanism comprises symmetrically arranged two press spring bases and two stage clips in pairs, two press spring bases are separately fixed at the two ends of turning cylinder, one end of two stage clips is connected on the press spring base of correspondence position, and the other end is connected to the both sides of bending and stretching the bar positioning link.
This utility model utilizes motor to be connected with screw mandrel to drive roller to move up and down and realizes the joint flexion and extension, guide channel guarantees that there is enough moving horizontally in screw mandrel drive joint when rotating, the rod end joint can provide multivariant joint motions, the stability of non-linear stage clip mechanism's assurance ankle joint when doing flexion and extension, angular transducer provides the feedback signal of angle variation, realizes the characteristics of motion that changes near normal human's ankle joint angle by data collecting system and data control system.
This utility model is a active biomimetic ankle artificial limb that active force can conveniently be provided, the mode that adopts ACTIVE CONTROL to combine with Passive Control, help reducing energy loss, and can realize the characteristics of motion, have the requirement of motility and stability when satisfying the human body ankle motion simultaneously near the variation of normal human's ankle joint angle.
Description of drawings
Fig. 1 is the stereochemical structure front view of the active biomimetic ankle artificial limb of this utility model;
Fig. 2 is side-looking structure of the present utility model (not containing a sole) sketch map;
Fig. 3 is a partial structurtes sketch map of the present utility model.
The specific embodiment
Below in conjunction with drawings and the specific embodiments, the utility model is described in further detail.
Referring to Fig. 1, cooperate referring to Fig. 2, Fig. 3.Active biomimetic ankle artificial limb of the present utility model comprises that sole 1, ankle joint seat 2, turning cylinder 3, bionical astragalus 4, the first rod end joint 5, first bend and stretch that bar 6, the second rod end joint 7, second bend and stretch bar 8, motor bearing 9, motor 10, lead screw transmission mechanism 11, bend and stretch bar positioning link 12, non-linear stage clip mechanism 13, pinion stand 14, gear 15, angular transducer 16, data acquisition mechanism 17 and Data Control mechanism 18.
Turning cylinder 3 is movably arranged on the ankle joint seat 2 and to two ends and stretches out.
The first rod end joint 5 be sleeved on the bionical astragalus 4 and and bionical astragalus 4 between leave the gap.
First lower end of bending and stretching bar 6 links to each other with the first rod end joint 5, and the upper end is used for linking to each other with shank, and the centre is provided with one section plane tooth bar 61.
The lower end in the second rod end joint 7 is connected with the axis of rolling 71, and the axis of rolling 71 two ends are connected with rolling bearing 72, and rolling bearing 72 is arranged in the guide channel 21 of ankle joint seat and can moves forward and backward along guide channel.
Second bends and stretches the top that bar 8 is connected the second rod end joint 7.
Motor bearing 9 is installed in first top of bending and stretching bar 6.
Motor 10 is installed on the motor bearing 9, and its electric machine main shaft stretches out downwards.
Lead screw transmission mechanism 11 comprises screw mandrel 111 and feed screw nut 112, and the upper end of screw mandrel 111 links to each other with electric machine main shaft, and the lower end is threaded with feed screw nut 112, and the feed screw nut is fixed on second upper end of bending and stretching bar 8.Lead screw transmission mechanism 11 can drive second and bend and stretch bar 8 do flexion and extensions up and down.
Bend and stretch bar positioning link 12 and be connected first and bend and stretch bar 6 and second and bend and stretch between the bar 8 and to bend and stretch bar and second with first and bend and stretch lateral separation positioning and fixing between the bar, and bend and stretch bar 6 and be fixedly linked, bend and stretch bar 8 and slide and link to each other with second with first.
Non-linear stage clip mechanism 13 comprises symmetrically arranged two press spring bases 131 and two stage clips 132 in pairs, two press spring bases 131 are separately fixed at the two ends of turning cylinder 3, one end of two stage clips 132 is connected on the press spring base 131 of correspondence position, and the other end is connected to first and bends and stretches the bending and stretching on the bar positioning link 12 of bar both sides.
Gear 15 is installed on the pinion stand 14 and with first plane tooth bar 61 engaged transmission of bending and stretching bar 6 and links to each other, and the motion of gear 15 drives first and bends and stretches bar 6 do flexion and extensions up and down.
This utility model utilizes the turning effort realization joint flexion and extension of the driving force of motor by screw mandrel, guide channel guarantees that there is enough moving horizontally in motor screw mandrel drive joint when rotating, the rod end joint can provide multivariant joint motions, the stability of non-linear stage clip mechanism's assurance ankle joint when doing flexion and extension.The feedback signal that the ankle motion angle changes is provided by angular transducer, realizes the characteristics of motion that changes near normal human's ankle joint angle by data collecting system and data control system.
The design maximum stroke of the guide channel in this utility model is 5.17mm; The stroke of screw mandrel is 30.05mm.Their effect is the restriction ankle dorsal flexion and opens up rotational angle in the wrong within human body ankle joint normal physiological scope.
After sole lands, owing to the reason of road conditions makes the sole both sides be subjected to out-of-balance force, the second rod end joint 7 can provide the joint motions of coronalplane, non-linear stage clip mechanism 13 is connected with the first rod end joint 5 by turning cylinder 3, two stage clips 132 are adjusted the size that angle changes size and stage clip restoring force by the degree of shrinkage of adjusting self on press spring base 131, guarantee that it also can be at other direction componental movements in the easy motion in sagittal plane.
Claims (3)
1. active biomimetic ankle artificial limb is characterized in that comprising:
The foot plate;
The ankle joint seat is connected on the sole, and its front portion is provided with guide channel;
Turning cylinder is installed on the ankle joint seat;
Bionical astragalus is installed on the turning cylinder;
The first rod end joint, be sleeved on the bionical astragalus and and bionical astragalus between leave the gap;
First bends and stretches bar, and the lower end links to each other with the first rod end joint, and the upper end is used for linking to each other with shank, and the centre is provided with one section plane tooth bar;
The second rod end joint, the lower end is connected with the axis of rolling, and axis of rolling two ends are connected with rolling bearing, and rolling bearing is arranged in the guide channel of ankle joint seat and can moves forward and backward along guide channel;
Second bends and stretches bar, is connected the top in the second rod end joint;
The motor bearing is installed in first top of bending and stretching bar;
Motor is installed on the motor bearing;
Lead screw transmission mechanism, the upper end links to each other with the electric machine main shaft transmission, and lower end and second is bent and stretched bar and is linked to each other and can drive second and bend and stretch bar and do flexion and extension up and down;
Bend and stretch the bar positioning link, be connected first and bend and stretch bar and second and bend and stretch between the bar and to bend and stretch bar and second with first and bend and stretch lateral separation positioning and fixing between the bar, and bend and stretch bar and be fixedly linked, bend and stretch bar and slide and link to each other with second with first;
Non-linear stage clip mechanism, the lower end is fixed on the turning cylinder, and the upper end is stuck in first and bends and stretches the bending and stretching on the bar positioning link of bar both sides;
Pinion stand is installed in second and bends and stretches on the bar;
Gear is installed on the pinion stand and with the first plane tooth bar engaged transmission of bending and stretching bar and links to each other, and the motion of gear drives first and bends and stretches bar and do flexion and extension up and down;
Angular transducer, totally two two ends that are separately positioned on turning cylinder;
Data acquisition mechanism telecom-connects with angular transducer;
Data Control mechanism telecom-connects with motor.
2. active biomimetic ankle artificial limb according to claim 1, it is characterized in that: described lead screw transmission mechanism comprises screw mandrel and feed screw nut, the upper end of screw mandrel links to each other with electric machine main shaft, and the lower end is threaded with the feed screw nut, and the feed screw nut is fixed on second upper end of bending and stretching bar.
3. active biomimetic ankle artificial limb according to claim 1, it is characterized in that: described non-linear stage clip mechanism comprises symmetrically arranged two press spring bases and two stage clips in pairs, two press spring bases are separately fixed at the two ends of turning cylinder, one end of two stage clips is connected on the press spring base of correspondence position, and the other end is connected to the both sides of bending and stretching the bar positioning link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205355055U CN201814690U (en) | 2010-09-19 | 2010-09-19 | Active bionic ankle joint artificial limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205355055U CN201814690U (en) | 2010-09-19 | 2010-09-19 | Active bionic ankle joint artificial limb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201814690U true CN201814690U (en) | 2011-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205355055U Expired - Fee Related CN201814690U (en) | 2010-09-19 | 2010-09-19 | Active bionic ankle joint artificial limb |
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| CN (1) | CN201814690U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102397118A (en) * | 2010-09-19 | 2012-04-04 | 上海理工大学 | Bionic ankle joint |
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| CN107870583A (en) * | 2017-11-10 | 2018-04-03 | 国家康复辅具研究中心 | artificial limb control method, device and storage medium |
| CN113827381A (en) * | 2021-09-22 | 2021-12-24 | 复旦大学 | Double-drive ankle joint artificial limb |
| CN114869548A (en) * | 2022-04-26 | 2022-08-09 | 吉林大学 | Bionic passive multi-degree-of-freedom ankle joint prosthesis |
-
2010
- 2010-09-19 CN CN2010205355055U patent/CN201814690U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102397118A (en) * | 2010-09-19 | 2012-04-04 | 上海理工大学 | Bionic ankle joint |
| CN103271783A (en) * | 2013-05-16 | 2013-09-04 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103271783B (en) * | 2013-05-16 | 2015-04-15 | 清华大学 | Artificial limb knee joint with assistance function |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| CN107870583A (en) * | 2017-11-10 | 2018-04-03 | 国家康复辅具研究中心 | artificial limb control method, device and storage medium |
| CN113827381A (en) * | 2021-09-22 | 2021-12-24 | 复旦大学 | Double-drive ankle joint artificial limb |
| CN113827381B (en) * | 2021-09-22 | 2024-01-30 | 复旦大学 | Dual-drive ankle joint artificial limb |
| CN114869548A (en) * | 2022-04-26 | 2022-08-09 | 吉林大学 | Bionic passive multi-degree-of-freedom ankle joint prosthesis |
| CN114869548B (en) * | 2022-04-26 | 2024-05-31 | 吉林大学 | Bionic passive multi-freedom-degree ankle joint artificial limb |
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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: 20110504 Termination date: 20110919 |