CN209220587U - A kind of hydraulic biomimetic ankle - Google Patents
A kind of hydraulic biomimetic ankle Download PDFInfo
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- CN209220587U CN209220587U CN201821726667.XU CN201821726667U CN209220587U CN 209220587 U CN209220587 U CN 209220587U CN 201821726667 U CN201821726667 U CN 201821726667U CN 209220587 U CN209220587 U CN 209220587U
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- hydraulic
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Abstract
The utility model relates to a kind of hydraulic biomimetic ankles, comprising: fixing seat, lower end can be connect with carbon fiber energy storing foot；Hydraulic buffering mechanism is fitted in fixing seat, and the shaft of hydraulic buffering mechanism is parallel with frontal axis, damping force when for providing biomimetic ankle plantar Qu Yundong and carry on the back Qu Yundong；Truncated rectangular pyramids structural member, upper end can be connect with prosthetic socket, the shaft connection of lower end and hydraulic buffering mechanism, and truncated rectangular pyramids structural member can carry out sagittal rotary oscillation around the shaft of hydraulic buffering mechanism.The hydraulic biomimetic ankle that the utility model provides a kind of damping of integrated hydraulic and runback bit function is integrated, has the characteristics that light-weight, small in size and noiseless, allows ankle-joint close to true ankle, provides easily excellent artificial limb for more individuals with disabilities.
Description
Technical field
The utility model relates to a kind of technical field of bio-simulation machinery, specifically about a kind of damping of integrated hydraulic and Self-resetting
The hydraulic biomimetic ankle that function is integrated.
Background technique
In recent years, due to traffic accident, disease etc., the people of below-Knee amputation gradually increases, and dresses ankle-joint artificial limb
It can achieve compensatory greatly to human body missing function.Existing ankle-joint artificial limb is mostly passive type, is expired using sole self-deformation amount
Screen resilience required for sufficient deformed limb, movement get up it is more inflexible, stiff, flexibility is poor.For creeping for stair activity, up and down
The walking basic need assembler stump on slope and the body swing of crotch provide power, take action laborious, cause residual
Disease personage brings many inconvenience in normal life.
Although the transmission device of intelligent ankle influences currently, the research direction of below-knee prosthesis tends to intelligent development
The volume of ankle-joint, weight, noise, it is more it is important that more expensive in price, cause individuals with disabilities in selection artificial limb
Have to give up assembly intelligent artificial limb when wearing, continue using passive ankle.In addition, studies in China primarily focuses on knee joint artificial limb
The realization of function, and ankle-joint be considered merely as elastic energy storage structure auxiliary human body walking, some key technologies wait development with it is complete
It is kind.
Utility model content
In view of the above problems, the object of the present invention is to provide a kind of dampings of integrated hydraulic and runback bit function to be integrated
Hydraulic biomimetic ankle.
To achieve the above object, the utility model takes following technical scheme: a kind of hydraulic biomimetic ankle, comprising: Gu
Reservation, lower end can be connect with carbon fiber energy storing foot；Hydraulic buffering mechanism is pressed on the fixing seat, and the hydraulic cushion
The shaft of mechanism is parallel with frontal axis, damping force when for providing biomimetic ankle plantar Qu Yundong and carry on the back Qu Yundong；It is tetragonous
Platform structural member, upper end can be connect with prosthetic socket, and lower end is connect with the shaft of the hydraulic buffering mechanism, the truncated rectangular pyramids knot
Component can carry out sagittal rotary oscillation around the shaft of the hydraulic buffering mechanism.
The hydraulic biomimetic ankle, it is preferred that the hydraulic buffering mechanism includes: hydraulic shell；Rotor, rotation are set
It sets in the hydraulic case body；Fixed tab, the first end of the fixed tab link into an integrated entity with the hydraulic shell, and second
End is contacted with the rotor seal；Mobile wing, the first end of the mobile wing link into an integrated entity with the rotor, second end
It is in sealing contact with the hydraulic shell；The rotor, fixed tab and mobile wing are jointly by the inner cavity of the hydraulic shell point
It is divided into the first hydraulic cavities and the second hydraulic cavities；It is hydraulic for being connected to described first that at least two are offered on the fixed tab
The hydraulic runner of chamber and the second hydraulic cavities is provided with control hydraulic refrigerant in hydraulic runner described in wherein at least one by described the
One hydraulic cavities flow to the first check valve of second hydraulic cavities, be provided in remaining described hydraulic runner control hydraulic refrigerant by
Second hydraulic cavities flow to the second one-way valve of first hydraulic cavities.
The hydraulic biomimetic ankle, it is preferred that the hydraulic shell includes hydraulic shell, sealing cover and hydraulic end
Lid, the hydraulic shell are the tubular of open at both ends, and the sealing cover and hydraulic end cap are sequentially fixed at the hydraulic shell
Two open ends, to seal the inner cavity of the hydraulic shell.
The hydraulic biomimetic ankle, it is preferred that radially offered on the hydraulic shell and the flow of pressurized
The adjustment hole of road connection, screws the useful regulating valve to adjust the hydraulic runner area of passage in the adjustment hole.
The hydraulic biomimetic ankle, it is preferred that be additionally provided in the hydraulic case body for keeping the rotor multiple
The elastic component of position, it is normally to line position that reset position, which is set as truncated rectangular pyramids structural member level when stationary state,.
The hydraulic biomimetic ankle, it is preferred that the elastic component be assemblied in the sealing cover and hydraulic end cap it
Between whirlpool spring, the first end of the whirlpool spring is fixed on the rotor, and second end is fixed on the hydraulic shell.
The hydraulic biomimetic ankle, it is preferred that the upper end of the truncated rectangular pyramids structural member, which has, to be used to receive with artificial limb
Chamber connection standard connector, lower end have inverted U free bearing, and two vertical arm of the free bearing respectively with the hydraulic buffering mechanism
Rotor connection.
The hydraulic biomimetic ankle, it is preferred that the fixing seat in the transverse arm front and rear sides for being located at the free bearing
On be provided with limited block so that truncated rectangular pyramids structural member according in the fixing seat limited block carry out rotary oscillation, maximum can
Rotary oscillation range is that two limited blocks are formed by angle.
The hydraulic biomimetic ankle, it is preferred that the two ends of rotor of the hydraulic buffering mechanism respectively offers threaded hole,
The free bearing of the truncated rectangular pyramids structural member is by key fixing glue screw-threaded coupling on the rotor of the hydraulic buffering mechanism.
Because the utility model adopts the above technical scheme, it has the following advantages: 1, the utility model is mainly by fixing
Seat, hydraulic buffering mechanism and truncated rectangular pyramids structural member composition, hydraulic biomimetic ankle section can when walking for prosthetic wearing person's normal gait
To determine the movement of plantar flexion or back song according to artificial limb foot supporting point, artificial limb can carry out angular deflection forward or backward, same with this
When hydraulic buffering mechanism active force is absorbed, ankle-joint simulation normal person's run trace have certain angle rotation；When foot
When changing supporting point, hydraulic buffering mechanism internal reset elastic component can restore ankle rotation angle, wait next Motor execution.2,
It is slow to change hydraulic buffering mechanism internal hydraulic pressure that the utility model can adjust regulating valve according to individual sports level status difference
The adjustment of impulse force, hydraulic cushion can change absorption of the hydraulic buffering mechanism to active force, make wearer's step curve movement more
Steadily.3, the damping of the utility model integrated hydraulic and runback bit function are integrated, and to increase stump movement buffering, protect deformed limb two
Secondary injury saves physical strength for providing partial power to individuals with disabilities in walking process.4, the utility model is directed to flexibility
It is designed ankle-joint with volume, weight and noise etc., has the characteristics that light-weight, small in size and noiseless, ankle is allowed to close
Section provides convenient excellent artificial limb close to true ankle, for more individuals with disabilities.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the configuration schematic diagram of the utility model；
Fig. 3 is the configuration schematic diagram of the utility model hydraulic buffering mechanism.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.It should be appreciated, however, that attached drawing mentions
For only for more fully understanding the utility model, they should not be interpreted as limitations of the present invention.
As shown in Figure 1 and Figure 2, hydraulic biomimetic ankle provided by the utility model includes fixing seat 1, hydraulic buffering mechanism 2
With truncated rectangular pyramids structural member 3.Wherein, 1 lower end of fixing seat can be connect with carbon fiber energy storing foot 4, and hydraulic buffering mechanism 2 is fitted in fixation
On seat 1, and the shaft of hydraulic buffering mechanism 2 is parallel with frontal axis, and hydraulic buffering mechanism 2 is mainly used to provide biomimetic ankle
Damping force when plantar Qu Yundong and back Qu Yundong.The upper end of truncated rectangular pyramids structural member 3, which has, to be used to (not show in figure with prosthetic socket
Out) connect standard connector 31, lower end have inverted U free bearing 32, and two vertical arm of the free bearing 32 respectively with hydraulic cushion machine
The shaft of structure 2 connects, and such truncated rectangular pyramids structural member 3 can carry out sagittal rotation pendulum around the shaft of hydraulic buffering mechanism 2
It is dynamic.
As shown in figure 3, hydraulic buffering mechanism 2 includes hydraulic shell 21, rotor 22, fixed tab 23 and mobile wing 24.
Rotor 22 is rotatably arranged in hydraulic shell 21, and the first end of fixed tab 23 links into an integrated entity with hydraulic shell 21, second end
It is in sealing contact with rotor 22；The first end of mobile wing 24 links into an integrated entity with rotor 22, and second end and hydraulic shell 21 seal
Contact, the inner cavity of hydraulic shell 21 is divided into the first hydraulic cavities jointly by such rotor 22, fixed tab 23 and mobile wing 24
201 and second hydraulic cavities 202.At least two are offered on fixed tab 23 to be used to be connected to the first hydraulic cavities 201 and the second liquid
The hydraulic runner (not shown) of chamber 202 is pressed, control hydraulic medium is provided in the hydraulic runner of wherein at least one by first
Hydraulic cavities 201 flow to the first check valve 25 of the second hydraulic cavities 202, and control hydraulic medium is provided in remaining hydraulic runner by the
Two hydraulic cavities 202 flow to the second one-way valve 26 of the first hydraulic cavities 201.As a result, when biomimetic ankle carries out plantar Qu Yundong/back song
When movement, rotor 22 drives mobile wing 24 to compress 201/ second hydraulic cavities 202 of the first hydraulic cavities, the first hydraulic cavities 201/ second
Hydraulic medium in hydraulic cavities 202 flows to 202/ first hydraulic cavities of the second hydraulic cavities through 25/ second one-way valve 26 of the first check valve
201, thus damping force when providing plantar Qu Yundong/back Qu Yundong for biomimetic ankle.
In above-described embodiment, it is preferred that hydraulic shell 21 includes hydraulic shell 211, sealing cover 212 and hydraulic end cap 213,
Hydraulic shell 211 is the tubular of open at both ends, and sealing cover 212 and hydraulic end cap 213 are sequentially fixed at the two of hydraulic shell 211 and open
Mouth end, with the inner cavity of sealed hydraulic shell 211.
In above-described embodiment, it is preferred that radially offer the adjustment hole being connected to hydraulic runner on hydraulic shell 211
214, the useful regulating valve 27 to adjust hydraulic runner area of passage is screwed in adjustment hole 214, it in this way can be according to user's body
Weight, motion state, by screwing out or precession regulating valve 27 adjusts the size of hydraulic runner area of passage, thus control plantar flexion,
Carry on the back damping size when Qu Yundong.
In above-described embodiment, it is preferred that the elastic component 28 for resetting rotor 22 is additionally provided in hydraulic shell 21,
Reset position is set as 3 horizontal position of truncated rectangular pyramids structural member when stationary state, this position is sagittal plane to line initial position).
In above-described embodiment, it is preferred that elastic component 28 is the whirlpool spring being assemblied between sealing cover 212 and hydraulic end cap 213,
The first end of whirlpool spring is fixed on rotor 22, and second end is fixed on hydraulic shell 211.
In above-described embodiment, it is preferred that be provided with limit in the fixing seat 1 of transverse arm front and rear sides for being located at free bearing 32
Block 5, such truncated rectangular pyramids structural member 3 can carry out rotary oscillation, maximum rotatable swing model according to the limited block 5 in fixing seat 1
It encloses and is formed by angle for two limited blocks 5.
In above-described embodiment, it is preferred that 22 both ends of rotor of hydraulic buffering mechanism 2 respectively offer threaded hole, truncated rectangular pyramids knot
The free bearing 32 of component 3 is by 6 screw-threaded coupling of key fixing glue on the rotor 22 of hydraulic buffering mechanism 2.
The various embodiments described above are merely to illustrate the utility model, wherein the structure of each component, connection type and manufacture craft
Etc. may be changed, all equivalents and improvement carried out on the basis of technical solutions of the utility model,
It should not exclude except the protection scope of the utility model.
Claims (9)
1. a kind of hydraulic biomimetic ankle characterized by comprising
Fixing seat (1), lower end can be connect with carbon fiber energy storing foot；
Hydraulic buffering mechanism (2) is fitted on the fixing seat (1), and the shaft and frontal axis of the hydraulic buffering mechanism (2)
Parallel, when for providing biomimetic ankle plantar Qu Yundong and carry on the back Qu Yundong damping force；
Truncated rectangular pyramids structural member (3), upper end can be connect with prosthetic socket, and the shaft of lower end and the hydraulic buffering mechanism (2) connects
It connects, the truncated rectangular pyramids structural member (3) can carry out sagittal rotary oscillation around the shaft of the hydraulic buffering mechanism (2).
2. hydraulic biomimetic ankle according to claim 1, which is characterized in that the hydraulic buffering mechanism (2) includes:
Hydraulic shell (21)；
Rotor (22) is rotatably arranged in the hydraulic shell (21)；
Fixed tab (23), the first end of the fixed tab (23) link into an integrated entity with the hydraulic shell (21), second end
It is in sealing contact with the rotor (22)；
Mobile wing (24), first end and the rotor (22) of the mobile wing (24) link into an integrated entity, second end and institute
It is in sealing contact to state hydraulic shell (21)；
The inner cavity of the hydraulic shell (21) is divided by the rotor (22), fixed tab (23) and mobile wing (24) jointly
First hydraulic cavities (201) and the second hydraulic cavities (202)；At least two are offered on the fixed tab (23) to be used to be connected to institute
The hydraulic runner of the first hydraulic cavities (201) and the second hydraulic cavities (202) is stated, is provided in hydraulic runner described in wherein at least one
Control hydraulic refrigerant is flowed to the first check valve (25) of second hydraulic cavities (202) by first hydraulic cavities (201), remaining
It is provided with control hydraulic refrigerant in the hydraulic runner, first hydraulic cavities (201) are flowed to by second hydraulic cavities (202)
Second one-way valve (26).
3. hydraulic biomimetic ankle according to claim 2, which is characterized in that the hydraulic shell (21) includes hydraulic outer
Shell (211), sealing cover (212) and hydraulic end cap (213), the hydraulic shell (211) are the tubular of open at both ends, the sealing
Lid (212) and hydraulic end cap (213) are sequentially fixed at two open ends of the hydraulic shell (211), described hydraulic outer to seal
The inner cavity of shell (211).
4. hydraulic biomimetic ankle according to claim 3, which is characterized in that along diameter on the hydraulic shell (211)
To offering the adjustment hole (214) being connected to the hydraulic runner, is screwed in the adjustment hole (214) and useful adjust the liquid
Press the regulating valve (27) of runner area of passage.
5. hydraulic biomimetic ankle according to claim 3, which is characterized in that also set up in the hydraulic shell (21)
There is the elastic component (28) for resetting the rotor (22), reset position is set as truncated rectangular pyramids structural member when stationary state
(3) horizontal for normally to line position.
6. hydraulic biomimetic ankle according to claim 5, which is characterized in that the elastic component (28) is described to be assemblied in
Whirlpool spring between sealing cover (212) and hydraulic end cap (213), the first end of the whirlpool spring are fixed on the rotor (22), the
Two ends are fixed on the hydraulic shell (211).
7. according to the described in any item hydraulic biomimetic ankles of claim 2 to 6, which is characterized in that the truncated rectangular pyramids structural member
(3) upper end has the standard connector (31) for being used to connect with prosthetic socket, and lower end has inverted U free bearing (32), and institute
Two vertical arm for stating free bearing (32) are connect with the rotor (22) of the hydraulic buffering mechanism (2) respectively.
8. hydraulic biomimetic ankle according to claim 7, which is characterized in that before the transverse arm for being located at the free bearing (32)
Limited block (5) are provided in the fixing seat (1) of two sides afterwards, so that truncated rectangular pyramids structural member (3) is according to the fixing seat (1)
On limited block (5) carry out rotary oscillation, maximum rotatable hunting range is that two limited blocks (5) are formed by angle.
9. hydraulic biomimetic ankle according to claim 7, which is characterized in that the rotor of the hydraulic buffering mechanism (2)
(22) both ends respectively offer threaded hole, and the free bearing (32) of the truncated rectangular pyramids structural member (3) is existed by key fixing glue (6) screw-threaded coupling
On the rotor (22) of the hydraulic buffering mechanism (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821726667.XU CN209220587U (en) | 2018-10-24 | 2018-10-24 | A kind of hydraulic biomimetic ankle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821726667.XU CN209220587U (en) | 2018-10-24 | 2018-10-24 | A kind of hydraulic biomimetic ankle |
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| Publication Number | Publication Date |
|---|---|
| CN209220587U true CN209220587U (en) | 2019-08-09 |
Family
ID=67500716
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821726667.XU Active CN209220587U (en) | 2018-10-24 | 2018-10-24 | A kind of hydraulic biomimetic ankle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110478094A (en) * | 2019-09-13 | 2019-11-22 | 湖南嘉米机电科技有限公司 | Integrated intelligent artificial limb |
| CN111084681A (en) * | 2018-10-24 | 2020-05-01 | 北京工道风行智能技术有限公司 | Hydraulic bionic ankle joint |
| CN116602801A (en) * | 2023-06-08 | 2023-08-18 | 湖南轶疆医疗科技有限公司 | Bionic artificial limb with leg, knee and ankle linkage |
-
2018
- 2018-10-24 CN CN201821726667.XU patent/CN209220587U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111084681A (en) * | 2018-10-24 | 2020-05-01 | 北京工道风行智能技术有限公司 | Hydraulic bionic ankle joint |
| CN110478094A (en) * | 2019-09-13 | 2019-11-22 | 湖南嘉米机电科技有限公司 | Integrated intelligent artificial limb |
| CN110478094B (en) * | 2019-09-13 | 2023-09-05 | 湖南轶疆生态环境科技有限公司 | Integrated intelligent artificial limb |
| CN116602801A (en) * | 2023-06-08 | 2023-08-18 | 湖南轶疆医疗科技有限公司 | Bionic artificial limb with leg, knee and ankle linkage |
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