CN210784862U - Integrated intelligent artificial limb - Google Patents
Integrated intelligent artificial limb Download PDFInfo
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- CN210784862U CN210784862U CN201921523706.0U CN201921523706U CN210784862U CN 210784862 U CN210784862 U CN 210784862U CN 201921523706 U CN201921523706 U CN 201921523706U CN 210784862 U CN210784862 U CN 210784862U
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Abstract
The utility model discloses an integrated intelligent artificial limb, which comprises a knee joint base, a knee joint shaft, a hydraulic rod, a support frame, a support rod and an ankle foot device; the upper end of the knee joint base is connected with a thigh sleeve seat, the knee joint shaft penetrates through the left side and the right side of the knee joint base, the support frame is sleeved at the two ends of the knee joint shaft, the upper end of the hydraulic rod is hinged at the rear end of the knee joint base, the lower end of the hydraulic rod is hinged in the middle of the bottom of the support frame through the hydraulic hinge seat, the support rod is arranged at the bottom end of the support frame, and the ankle foot device is connected to the bottom end of the; the front part of the knee joint base is provided with a knee joint motor, a knee joint shaft is connected with a gear limiting device, and the knee joint motor is connected with the supporting frame through the gear limiting device; a linkage mechanism is arranged between the ankle foot device and the knee joint base. The utility model discloses realize the coordinated work of knee joint and ankle foot's linkage, can effectually accomplish the preceding pendulum, touch to the earth and various actions of back pendulum, accomplish to provide the stable support body, prevent the purpose of falling down.
Description
Technical Field
The utility model relates to a recovered utensil technical field of assisting, concretely relates to integrative intelligent artificial limb.
Background
Due to various reasons such as war, disease, industrial injury, traffic accident and natural disaster, millions of people lose healthy lower limbs, some people lose labor capacity, and the normal social interaction of the people is prevented, so that the people bear huge physical and mental pressure; on the other hand, the physical disabilities often affect the daily lives of people, and reduce the living quality of people and bring heavy burden to the family and the society for nursing the people. Since the limb cannot be regenerated at the current medical level, fitting these amputees with prostheses is also an important means to compensate for the defective limb.
The existing artificial limb knee joints are mainly passive and semi-active artificial limb knee joints, a complicated air pressure/hydraulic damping system is generally adopted to simulate human muscle-tendon tissues, the knee joints are driven to move by the stumps, the defects exist in the aspect of energy supply, the artificial limb knee joints cannot actively go upstairs or downstairs and climb slopes, and the amputee can generate fatigue feeling after being worn for a long time.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is, overcome the above-mentioned defect that prior art exists, provide the linkage coordination work who realizes knee joint and ankle foot, can effectual completion front pendulum, touch to the earth and various actions of back pendulum, accomplish to provide the outrigger body, prevent the integrative intelligent artificial limb who falls down.
The utility model provides a technical scheme that its technical problem adopted is: an integrated intelligent artificial limb comprises a knee joint base, a knee joint shaft, a hydraulic rod, a support frame, a support rod and an ankle foot device; the upper end of the knee joint base is connected with a thigh sleeve seat, the knee joint shaft penetrates through the left side and the right side of the knee joint base, the support frame is sleeved at two ends of the knee joint shaft, the upper end of the hydraulic rod is hinged at the rear end of the knee joint base, the lower end of the hydraulic rod is hinged in the middle of the bottom of the support frame through a hydraulic hinge seat, the support rod is arranged at the bottom end of the support frame, and the ankle foot device is connected to the bottom end of the support rod; the front part of the knee joint base is provided with a knee joint motor, the knee joint shaft is connected with a gear limiting device, and the knee joint motor is connected with the support frame through the gear limiting device; a linkage mechanism is arranged between the ankle foot device and the knee joint base; the knee joint motor is connected with a controller arranged on one side of the support frame.
Furthermore, the gear limiting device comprises a driving gear, a limiting gear, a lock head and an electromagnet; the driving gear is arranged on an output shaft of the knee joint motor, the limiting gear is arranged on a knee joint shaft, the tooth section of the limiting gear is meshed with the driving gear, the lower end of the limiting gear is provided with a limiting head, a support frame below the limiting head is provided with a movable lock head, the movable lock head is connected with an electromagnet arranged below the movable lock head, the electromagnet is connected with the controller, a limiting block is arranged on the support frame behind the movable lock head, and the limiting block corresponds to the limiting head in front of the limiting block.
Furthermore, a damping plate is arranged at the lower part of the hydraulic rod, and the tail end of the damping plate is connected with a damping motor.
Furthermore, the damping plate is a sector gear and is connected with an output shaft of the damping motor through a gear.
Furthermore, the linkage mechanism comprises an upper connecting rod, a pivoting plate and a Y-shaped connecting rod, the upper end of the upper connecting rod is hinged to a limit gear behind the knee joint shaft, the lower end of the upper connecting rod is hinged to the upper portion of the pivoting plate, the front end of the pivoting plate is hinged to the bottom end of the supporting frame, the lower portion of the pivoting plate is hinged to the upper end of the Y-shaped connecting rod, and the lower end of the Y-shaped connecting rod is connected with a hinge seat arranged on the rear side of the ankle foot device.
Furthermore, an angle sensor is arranged on one side of the knee joint shaft and connected with the controller.
Further, ankle foot device includes supporting seat, articulated seat, spherical crown seat, sole, heel seat and heel board, the upper end of supporting seat is connected with the bracing piece, and the lower extreme of supporting seat is connected with articulated seat through articulated chamber, the lower extreme of articulated seat is connected with spherical crown seat through fixed chamber, the below of spherical crown seat fixed mounting has sole, heel seat and heel board in proper order.
Furthermore, the spherical crown seat is connected with the rear end of the foot plate, the rear end of the heel seat is connected with the rear end of the foot plate, and the front end of the heel plate is connected with the front end of the heel seat.
Furthermore, the upper end of the spherical crown seat is a spherical crown, a connecting screw rod is arranged in the spherical crown, and the connecting screw rod is fixed in the fixed cavity through a bolt.
Further, the front end of spherical crown seat is provided with downwardly open's last installation cavity, install the preceding pressure sensor who is connected with the controller in going up the installation cavity, the bottom of heel seat is provided with downwardly open's lower installation cavity, install the back pressure sensor who is connected with the controller in the installation cavity down.
Further, the lower end of the front pressure sensor is provided with buffer rubber.
Furthermore, the front end of the supporting seat is provided with an inclined plane.
Furthermore, the supporting rod is a telescopic rod.
Furthermore, the included angle scope between knee joint base and the support frame is 0 degree ~85 degrees, the home range of articulated seat is 0 degree ~25 degrees.
The working principle is as follows:
when a wearer bends the legs upstairs, the controller controls the knee joint motor and the gear limiting device to enable the support frame and the support rod to rotate around the knee joint shaft, and then the range of a movable included angle between the thigh component and the shank component is 0-85 degrees; meanwhile, under the linkage of the upper connecting rod, the pivoting plate and the Y-shaped connecting rod, the front end of the foot plate is lifted, and the moving range of the foot plate connected with the hinging seat ranges from 0 degree to 25 degrees.
The beneficial effects of the utility model are that, there are knee joint motor, damping motor, hydraulic stem, angle sensor and preceding, back pressure sensor through controller integrated control to and link gear and ankle foot device, realize the linkage coordination work of knee joint and ankle foot, can effectual completion preceding pendulum, touch to the earth and various actions of back pendulum, accomplish to provide the outrigger body, prevent the purpose of falling down.
Drawings
FIG. l is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of the linkage of the present invention;
fig. 3 is a schematic structural view of the gear limiting device of the present invention;
FIG. 4 is a schematic structural diagram of the damping adjustment device of the present invention;
FIG. 5 is an exploded view of the ankle portion of the invention;
FIG. 6 is a schematic view of the ankle portion of the present invention in its entirety;
fig. 7 is a schematic structural view of the present invention in a forward swing state;
fig. 8 is a schematic structural view of the present invention in a rear swing state.
In the drawings: 1. a knee joint base 11, a thigh sleeve seat 12, a knee joint shaft 121, a gear limiting device 1211, a driving gear 1212, a limiting gear 12121, a limiting head 12122, a tooth section 1213, a movable locking head 1214, an electromagnet 122, a knee joint motor 1231, an angle sensor 1232, a controller 13, a hydraulic rod 131, a hydraulic hinge seat 132, a damping plate 133, a damping motor 14, an upper connecting rod 141, a pivot plate 142, y-shaped connecting rod, 2, support frame, 20, limiting block, 21, support rod, 22, support seat, 221, inclined plane, 222, hinged cavity, 23, hinged seat, 233, fixed cavity, 31, connecting screw, 32, spherical crown seat, 321, spherical crown, 332, upper mounting cavity, 3321, front pressure sensor, 3322, buffer rubber, 341, foot plate, 342, heel seat, 3421, lower mounting cavity, 3422, rear pressure sensor, 343, heel plate.
Detailed Description
The following embodiments are described in detail with reference to the following examples:
as shown in fig. 1-6, the integrated intelligent artificial limb comprises a knee joint base 1, a knee joint shaft 12, a hydraulic rod 13, a support frame 2, a support rod 21 and an ankle foot device; the upper end of the knee joint base 1 is connected with a thigh sleeve seat 11, a knee joint shaft 12 penetrates through the left side and the right side of the knee joint base 1, a support frame 2 is sleeved at two ends of the knee joint shaft 12, the upper end of a hydraulic rod 13 is hinged at the rear end of the knee joint base 1, the lower end of the hydraulic rod 13 is hinged in the middle of the bottom of the support frame 2 through a hydraulic hinge seat 131, a support rod 21 is arranged at the bottom end of the support frame 2, and an ankle foot device is connected at the bottom end of the support rod 21; the front part of the knee joint base 1 is provided with a knee joint motor 122, the knee joint shaft 12 is connected with a gear limiting device 121, and the knee joint motor 122 is connected with the support frame 2 through the gear limiting device 121; a linkage mechanism is arranged between the ankle foot device and the knee joint base 1; the knee joint motor 122 is connected with a controller 1232 arranged at one side of the support frame 2, and the support rod 21 is a telescopic rod.
The gear limiting device 121 comprises a driving gear 1211, a limiting gear 1212, a lock head 1213 and an electromagnet 1214; the driving gear 1211 is arranged on an output shaft of the knee joint motor 122, the limit gear 1212 is arranged on the knee joint shaft 12, a tooth section 12122 of the limit gear 1212 is meshed with the driving gear 1211, a limit head 12121 is arranged at the lower end of the limit gear 1212, a movable lock head 1213 is arranged on the support frame 2 below the limit head 12121, the movable lock head 1213 is connected with an electromagnet 1214 arranged below, the electromagnet 1214 is connected with the controller 1232, a limit block 20 is arranged on the support frame 2 behind the movable lock head 1213, and the limit block 20 corresponds to the limit head 12121 in front of the limit block 20.
The lower part of the hydraulic rod 13 is provided with a damping plate 132, the end of the damping plate 132 is connected with a damping motor 133, and the damping plate 132 is a sector gear and is connected with the output shaft of the damping motor 133 through a gear.
The linkage mechanism comprises an upper connecting rod 14, a pivoting plate 141 and a Y-shaped connecting rod 142, the upper end of the upper connecting rod 14 is hinged on a limit gear 1212 at the rear of the knee joint shaft 12, the lower end of the upper connecting rod 14 is hinged on the upper part of the pivoting plate 141, the front end of the pivoting plate 141 is hinged at the bottom end of the support frame 2, the lower part of the pivoting plate 141 is hinged with the upper end of the Y-shaped connecting rod 142, the lower end of the Y-shaped connecting rod 142 is connected with a hinged seat 23 arranged at the rear side of the ankle foot device, one side of the knee joint shaft 12 is provided with an angle sensor 1231, and the angle sensor 1231 is connected with a.
The ankle foot device comprises a supporting seat 22, a hinged seat 23, a spherical crown seat 32, a foot plate 341, a heel seat 342 and a heel plate 343, wherein the upper end of the supporting seat 22 is connected with the supporting rod 21, the lower end of the supporting seat 22 is connected with the hinged seat 23 through a hinged cavity 222, the lower end of the hinged seat 23 is connected with the spherical crown seat 32 through a fixed cavity 233, and the foot plate 341, the heel seat 342 and the heel plate 343 are fixedly arranged below the spherical crown seat 32 in sequence; the spherical crown seat 32 is connected with the rear end of the foot plate 341, the rear end of the heel seat 342 is connected with the rear end of the foot plate 341, the front end of the heel plate 343 is connected with the front end of the heel seat 342, the upper end of the spherical crown seat 32 is a spherical crown 321, a connecting screw rod 31 is arranged in the spherical crown 321, and the connecting screw rod 31 is fixed in the fixed cavity 233 through a bolt; an upper mounting cavity 332 with a downward opening is arranged at the front end of the spherical crown seat 32, a front pressure sensor 3321 connected with the controller 1232 is arranged in the upper mounting cavity 332, a lower mounting cavity 3421 with a downward opening is arranged at the bottom end of the heel seat 342, and a rear pressure sensor 3422 connected with the controller 1232 is arranged in the lower mounting cavity 3421; the lower end of the front pressure sensor 3321 is provided with a buffer rubber 3322; the front end of the support seat 22 is provided with a slope 221.
The included angle range between the knee joint base 1 and the support frame 2 is 0 degree to 85 degrees, and the moving range of the hinged seat 23 is 0 degree to 25 degrees.
Forward swinging action: as shown in fig. 7, the controller 1232 controls the electromagnet 1214 to extend out of the movable lock head 1213, so that the movable lock head 1213 is located between the limit head 12121 and the limit block 20; the controller 1232 controls the knee joint motor and the driving gear 1211 and drives the limit gear 1212 to rotate, the limit head 12121 pushes the movable lock head 1213 and the limit block 20 to move together with the support frame 2, so that the support frame 2 rotates forwards around the rotary knee joint base 1, the included angle between the support frame 2 and the front of the thigh is slowly increased, and the support frame 2 and the ankle foot device are further lifted forwards; in the process, foot plate 341 can be slightly lifted forward due to the action of the linkage mechanism.
Touchdown action: with the foot plate 341 and the heel plate 343 landing sequentially, the front pressure sensor 321 and the rear pressure sensor 3422 transmit signals to the controller 1232, and the controller 1232 outputs control to the damping motor 133, so that the damping motor 133 drives the hydraulic rod 13 to perform damping adjustment, and the softness of the rotation action is ensured; after the foot plate 341 is contacted with the ground, when the included angle between the knee joint base 1 and the support frame 2 reaches 85 degrees, the controller 1232 controls the hydraulic rod 13 to be locked, and at the moment, the hydraulic rod 13 provides supporting force for the shank; when the foot plate 341 is lifted off the ground, the hydraulic rod 13 is controlled to be loosened, so that the purposes of providing a stable support body and preventing falling are achieved.
Back swing action: as shown in fig. 8, the controller 1232 controls the electromagnet 1214 to retract the movable lock head 1213 such that the movable lock head 1213 is positioned below the limit head 12121; meanwhile, the knee joint motor 122 is in a no-load state, at the moment, the support frame 2 is stretched through the inertia of people walking, when a wearer lifts the thigh gradually, the knee joint base 1 is lifted, so that the support frame 2 is slowly reduced in an included angle with the front of the thigh along with the action of gravity, and the support frame 2 can be freely kept in a vertical state under the action of gravity.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be considered to be within the protection scope of the present invention.
Those not described in detail in the specification are well within the skill of the art.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be considered to be within the protection scope of the present invention.
Claims (10)
1. The integrated intelligent artificial limb is characterized by comprising a knee joint base, a knee joint shaft, a hydraulic rod, a support frame, a support rod and an ankle foot device; the upper end of the knee joint base is connected with a thigh sleeve seat, the knee joint shaft penetrates through the left side and the right side of the knee joint base, the support frame is sleeved at two ends of the knee joint shaft, the upper end of the hydraulic rod is hinged at the rear end of the knee joint base, the lower end of the hydraulic rod is hinged in the middle of the bottom of the support frame through a hydraulic hinge seat, the support rod is arranged at the bottom end of the support frame, and the ankle foot device is connected to the bottom end of the support rod; the front part of the knee joint base is provided with a knee joint motor, the knee joint shaft is connected with a gear limiting device, and the knee joint motor is connected with the support frame through the gear limiting device; a linkage mechanism is arranged between the ankle foot device and the knee joint base; the knee joint motor is connected with a controller arranged on one side of the support frame.
2. The integrated intelligent prosthesis of claim 1, wherein the linkage mechanism comprises an upper connecting rod, a pivoting plate and a Y-shaped connecting rod, the upper end of the upper connecting rod is hinged to the limit gear behind the knee joint shaft, the lower end of the upper connecting rod is hinged to the upper part of the pivoting plate, the front end of the pivoting plate is hinged to the bottom end of the support frame, the lower part of the pivoting plate is hinged to the upper end of the Y-shaped connecting rod, and the lower end of the Y-shaped connecting rod is connected to a hinge seat arranged at the rear side of the ankle foot device.
3. An integrated intelligent prosthesis according to claim 1 or 2, wherein the gear limiting device comprises a driving gear, a limiting gear, a lock head and an electromagnet; the driving gear is arranged on an output shaft of the knee joint motor, the limiting gear is arranged on a knee joint shaft, the tooth section of the limiting gear is meshed with the driving gear, the lower end of the limiting gear is provided with a limiting head, a support frame below the limiting head is provided with a movable lock head, the movable lock head is connected with an electromagnet arranged below the movable lock head, the electromagnet is connected with the controller, a limiting block is arranged on the support frame behind the movable lock head, and the limiting block corresponds to the limiting head in front of the limiting block.
4. An integrated intelligent prosthesis according to claim 3, wherein the ankle foot device comprises a support base, a hinge base, a spherical crown base, a foot plate, a heel base and a heel plate, the upper end of the support base is connected with the support rod, the lower end of the support base is connected with the hinge base through a hinge cavity, the lower end of the hinge base is connected with the spherical crown base through a fixing cavity, and the foot plate, the heel base and the heel plate are fixedly mounted below the spherical crown base in sequence.
5. An integrated intelligent prosthesis according to claim 4, in which the spherical cap base is connected to the rear end of the foot plate, the rear end of the heel base is connected to the rear end of the foot plate, and the front end of the heel plate is connected to the front end of the heel base.
6. The integrated intelligent prosthesis of claim 5, wherein the upper end of the spherical cap base is a spherical cap, and the spherical cap is provided with a connecting screw rod therein, and the connecting screw rod is fixed in the fixing cavity through a bolt.
7. The integrated intelligent prosthesis of claim 6, wherein an angle sensor is disposed at one side of the knee joint shaft, the angle sensor is connected to the controller, an upper mounting cavity with a downward opening is disposed at the front end of the spherical cap seat, a front pressure sensor connected to the controller is installed in the upper mounting cavity, a lower mounting cavity with a downward opening is disposed at the bottom end of the heel seat, and a rear pressure sensor connected to the controller is installed in the lower mounting cavity.
8. The integrated intelligent prosthesis of claim 7, wherein the lower end of the front pressure sensor is provided with a buffer rubber, the front end of the supporting seat is provided with an inclined surface, and the supporting rod is a telescopic rod.
9. An integrated intelligent prosthesis according to claim 8, wherein the lower part of the hydraulic rod is provided with a damping plate, the damping plate is a sector gear, and the damping plate is connected with the output shaft of the damping motor through a gear.
10. An integrated intelligent prosthesis according to claim 9, wherein the included angle between the knee joint base and the support frame is 0-85 degrees, and the range of motion of the hinged seat is 0-25 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921523706.0U CN210784862U (en) | 2019-09-13 | 2019-09-13 | Integrated intelligent artificial limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921523706.0U CN210784862U (en) | 2019-09-13 | 2019-09-13 | Integrated intelligent artificial limb |
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| Publication Number | Publication Date |
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| CN210784862U true CN210784862U (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921523706.0U Active CN210784862U (en) | 2019-09-13 | 2019-09-13 | Integrated intelligent artificial limb |
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Cited By (2)
| 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 |
| CN118044926A (en) * | 2024-03-29 | 2024-05-17 | 北京精博现代假肢矫形器技术有限公司 | Modular artificial limb movable part structure linkage device |
-
2019
- 2019-09-13 CN CN201921523706.0U patent/CN210784862U/en active Active
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 |
| 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 |
| CN118044926A (en) * | 2024-03-29 | 2024-05-17 | 北京精博现代假肢矫形器技术有限公司 | Modular artificial limb movable part structure linkage device |
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Effective date of registration: 20200916 Address after: 518017 1118, room 11, block A, Jiangsu building, 6013 Yitian Road, Shenzhen, Guangdong, Futian District. Patentee after: SHENZHEN FUERTAI MEDICAL TECHNOLOGY Co.,Ltd. Address before: 410000 1108, room 11, Hunan medical equipment building, 229 yuan yuan Road, Changsha High-tech Zone, Hunan. Patentee before: HUNAN JIAMI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. |