CN204562472U - A kind ofly lead the integrated ankle joint of passive combination drive and false leg structure - Google Patents
A kind ofly lead the integrated ankle joint of passive combination drive and false leg structure Download PDFInfo
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- CN204562472U CN204562472U CN201520110830.XU CN201520110830U CN204562472U CN 204562472 U CN204562472 U CN 204562472U CN 201520110830 U CN201520110830 U CN 201520110830U CN 204562472 U CN204562472 U CN 204562472U
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- ankle joint
- snap close
- foot
- spring
- leg structure
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Abstract
This utility model provides a kind of and leads the integrated ankle joint of passive combination drive and false leg structure, the different motion phase of snap fit foot body is set, compression or retracting spring drive foot body to advance: when heelstrike, rear catch is opened, the locking of front snap close, and spring-compressed carries out energy storage; When tiptoe lands, front snap close and rear catch are all locked, and keep-spring is fixed; When ankle joint angle of inclination is minimum, rear catch is locked, and front snap close is opened, retracting spring.Different characteristics can be revealed at the different gait periodic charts of walking, the flexible member of its inside can when heel strike storage power, release energy when toe is liftoff, the portion of energy of standing needed for the phase later stage is effectively provided, and when passive energy shortage, can initiatively trigger ankle joint drive motors with makeup energy, realize the dynamic performance similar with human body, improve wearing comfort and the road conditions adaptive capacity of ankle joint and false foot.
Description
Technical field
This utility model belongs to rehabilitation mechanical field, is specifically related to a kind ofly lead the integrated ankle joint of passive combination drive and false leg structure.
Background technology
In existing false ankle arthrosis design, usually ankle joint is designed to passive joint, realizes damping or energy storage effect by means of only flexible members such as springs.Because it does not have initiatively acting ability, walking step state difference compared with natural joint is comparatively large, causes both sides gait asymmetric.And by finding body biomechanics analysis, in the process of walking, model of human ankle mainly does positive work.Therefore, passive ankle joint can not meet the requirement of initiatively doing work of ankle joint.
For existing false foot, major part is all that sole is designed to whole carbon fiber board, makes it have certain elastic buffer ability.But in fact, in different state phase intervals, the foot of human body has different stiffness characteristics, and has certain energy storage effect, and the false foot of this single structure can not meet the demands.America's MIT biological study proposes a kind of a few part such as forefoot, rear heel that is divided into by foot and forms, and the gait adopting survivor of a murder attempt's snap close and sliding shackle to realize between two soles coordinates, and enhances the bionical characteristic of false foot.In the design of existing false foot and ankle joint, general ankle joint, can only passive energy-absorbing and release without active driving force, larger with normal human's ankle joint different from those.And the design of its foot is generally unitary elasticity structure, what do not have similar human foot shows different characteristics at different gait cycles.
In prior art, application number be 201010286882.4 patent of invention disclose a kind of biomimetic ankle, comprise sole, ankle joint seat, turning cylinder, bionical astragalus, bar bent and stretched in the first rod end joint, first, bar is bent and stretched in the second rod end joint, second, motor support base, motor, lead screw transmission mechanism, bend and stretch bar positioning link, non-linear stage clip mechanism, pinion stand, gear, angular transducer, data acquisition mechanism and Data Control mechanism.The mode adopting ACTIVE CONTROL to combine with Passive Control, is conducive to reducing energy loss, and can realizes the characteristics of motion close to the change of normal human's ankle joint angle, has the requirement of motility and stability when meeting model of human ankle motion simultaneously.But above-mentioned patent does not have bionical characteristic, and the mode that main Passive Control combines is arranged and indefinite.
In view of the foregoing, this utility model provides a kind of and leads the integrated ankle joint of passive combination drive and false leg structure.
Utility model content
This utility model provides a kind of and leads the integrated ankle joint of passive combination drive and false leg structure, comprise motor, foot body, snap close and spring, snap close comprises front snap close and rear catch, described foot body comprises instep, the forward foot in a step, tiptoe, the rear foot, heel, transition axis, ankle joint axle and connecting plate, and wherein the forward foot in a step and tiptoe are connected; The rear foot and heel are connected; Instep, the forward foot in a step are connected by transition axis with the rear foot; Ankle joint axle and connecting plate are connected, and connecting plate and instep are connected.
Wherein: state is that vola controls phase heelstrike, rear catch is opened, the locking of front snap close, and spring-compressed carries out energy storage; Tiptoe lands as dorsiflex controls phase, and front snap close and rear catch are all locked, and keep-spring is fixed; Be vola power phase when ankle joint angle of inclination is minimum, rear catch is locked, and front snap close is opened, retracting spring.
Preferably, described motor comprises ankle joint motor and front snap close motor.
Preferably, described integrated ankle joint and false leg structure also comprise bevel gear, and ankle joint motor drives described bevel gear to slow down and break-in, drive ankle joint axle to rotate.
Preferably, if the spring of release sends energy shortage to make tiptoe liftoff, then control ankle joint motor movement, supplement required energy.
The integrated ankle joint of the passive combination drive of master provided according to this utility model and false leg structure, be provided with the different motion phase of snap fit foot body, compression or retracting spring drive foot body to advance: when heelstrike, rear catch is opened, the locking of front snap close, and spring-compressed carries out energy storage; When tiptoe lands, front snap close and rear catch are all locked, and keep-spring is fixed; When ankle joint angle of inclination is minimum, rear catch is locked, and front snap close is opened, retracting spring.Different characteristics can be revealed at the different gait periodic charts of walking, the flexible member of its inside can when heel strike storage power, release energy when toe is liftoff, the portion of energy of standing needed for the phase later stage is effectively provided, and when passive energy shortage, can initiatively trigger ankle joint drive motors with makeup energy, realize the dynamic performance similar with human body, improve wearing comfort and the road conditions adaptive capacity of ankle joint and false foot.The structure of integration reduces system cost simultaneously, is conducive to realizing gait control, strengthens its gait adaptability.
Accompanying drawing explanation
In order to be illustrated more clearly in this utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the integrated ankle joint of the passive combination drive of master that this utility model preferred embodiment provides and false leg structure front view;
Fig. 2 is the integrated ankle joint of the passive combination drive of master that this utility model preferred embodiment provides and false leg structure side view.
Detailed description of the invention
Hereinafter also describe this utility model in detail with reference to accompanying drawing in conjunction with the embodiments.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
Fig. 1 is the integrated ankle joint of the passive combination drive of master that this utility model preferred embodiment provides and false leg structure front view; Fig. 2 is the integrated ankle joint of the passive combination drive of master that this utility model preferred embodiment provides and false leg structure side view.As shown in Figures 1 and 2, the integrated ankle joint of the passive combination drive of the master that this utility model preferred embodiment provides and false leg structure comprise motor, foot body, snap close and spring 10, the different motion phase of described snap fit foot body, compression or retracting spring 10 drive foot body to advance.
Wherein, described snap close comprises front snap close 11 and rear catch 12; Described motor comprises ankle joint motor 1 and front snap close motor 3; Described foot body comprises instep 4, the forward foot in a step 5, tiptoe 6, the rear foot 8, heel 9, transition axis 7, ankle joint axle 2 and connecting plate 14, and wherein the forward foot in a step 5 and tiptoe 6 are connected; The rear foot 8 and heel 9 are connected; Instep 4, the forward foot in a step 5 are connected by transition axis 7 with the rear foot 8, and three can rotate relatively; Ankle joint axle 2 and connecting plate 14 are connected, and connecting plate 14 and instep 4 are connected.Relative rotation angle is controlled by front snap close 11 between instep 4 and the forward foot in a step 5; Relative rotation angle is controlled by rear catch 12 between instep 4 and heel 9.
In this, described ankle joint and false leg structure also comprise bevel gear 13, and wherein, ankle joint motor 1 drives described bevel gear 13 to slow down and break-in, drive ankle joint axle 2 to rotate.
The integrated ankle joint that this utility model provides and false leg structure work process as follows: when normally walking, heelstrike, enter vola control phase, control rear catch open, front snap close locking, spring-compressed carries out energy storage; Shank is forward rocking motion under effect of inertia, and ankle joint angle is slowly reduced, and tiptoe slowly lands, and enter dorsiflex and control phase, front snap close and rear catch are all locked, and keep-spring is fixed; When ankle joint angle is decreased to minimum, enter vola power phase, rear catch is locked, and front snap close is opened, the energy stored in retracting spring.In this, if the spring of release sends energy shortage to make tiptoe liftoff, then control ankle joint motor movement, supplement required energy, realize main passive mixture control.Then, tiptoe is liftoff, carries out swing phase, and front and back snap close all resets, when heel contacts to earth again, enter next gait cycle.
In sum, the integrated ankle joint of the passive combination drive of master provided according to this utility model and false leg structure, be provided with the different motion phase of snap fit foot body, compression or retracting spring drive foot body to advance: when heelstrike, rear catch is opened, the locking of front snap close, and spring-compressed carries out energy storage; When tiptoe lands, front snap close and rear catch are all locked, and keep-spring is fixed; When ankle joint angle of inclination is minimum, rear catch is locked, and front snap close is opened, retracting spring.So, passive matrix ensure that the low energy consumption of system, active drive ensure that power producing characteristics and the acting ability in joint, normal walking movement can be completed, there is again lower energy consumption, and with model of human ankle and foot, there is close mechanical characteristic, achieve the effect of the damping of similar people's foot, energy storage and release.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses this utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, this utility model can not be restricted to embodiment illustrated herein, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (4)
1. the integrated ankle joint of the passive combination drive of master and false leg structure, it is characterized in that, comprise motor, foot body, snap close and spring, snap close comprises front snap close and rear catch, described foot body comprises instep, the forward foot in a step, tiptoe, the rear foot, heel, transition axis, ankle joint axle and connecting plate, and wherein the forward foot in a step and tiptoe are connected; The rear foot and heel are connected; Instep, the forward foot in a step are connected by transition axis with the rear foot; Ankle joint axle and connecting plate are connected, and connecting plate and instep are connected;
Wherein, state is that vola controls phase heelstrike, and rear catch is opened, the locking of front snap close, and spring-compressed carries out energy storage;
Tiptoe lands as dorsiflex controls phase, and front snap close and rear catch are all locked, and keep-spring is fixed;
Be vola power phase when ankle joint angle of inclination is minimum, rear catch is locked, and front snap close is opened, retracting spring.
2. integrated ankle joint according to claim 1 and false leg structure, is characterized in that, described motor comprises ankle joint motor and front snap close motor.
3. integrated ankle joint according to claim 1 and 2 and false leg structure, is characterized in that, also comprise bevel gear, and ankle joint motor drives described bevel gear to slow down and break-in, drives ankle joint axle to rotate.
4. integrated ankle joint according to claim 1 and 2 and false leg structure, is characterized in that, if the spring of release sends energy shortage to make tiptoe liftoff, then controls ankle joint motor movement, supplement required energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520110830.XU CN204562472U (en) | 2015-02-15 | 2015-02-15 | A kind ofly lead the integrated ankle joint of passive combination drive and false leg structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520110830.XU CN204562472U (en) | 2015-02-15 | 2015-02-15 | A kind ofly lead the integrated ankle joint of passive combination drive and false leg structure |
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| Publication Number | Publication Date |
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| CN204562472U true CN204562472U (en) | 2015-08-19 |
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| CN201520110830.XU Expired - Fee Related CN204562472U (en) | 2015-02-15 | 2015-02-15 | A kind ofly lead the integrated ankle joint of passive combination drive and false leg structure |
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| CN (1) | CN204562472U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104605964A (en) * | 2015-02-15 | 2015-05-13 | 苏州大学 | Active-passive hybrid driven integrated ankle joint and artificial foot structure |
-
2015
- 2015-02-15 CN CN201520110830.XU patent/CN204562472U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104605964A (en) * | 2015-02-15 | 2015-05-13 | 苏州大学 | Active-passive hybrid driven integrated ankle joint and artificial foot structure |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20190215 |
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| CF01 | Termination of patent right due to non-payment of annual fee |