KR101726180B1 - Prosthetic knee joint - Google Patents

Prosthetic knee joint Download PDF

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Publication number
KR101726180B1
KR101726180B1 KR1020150180811A KR20150180811A KR101726180B1 KR 101726180 B1 KR101726180 B1 KR 101726180B1 KR 1020150180811 A KR1020150180811 A KR 1020150180811A KR 20150180811 A KR20150180811 A KR 20150180811A KR 101726180 B1 KR101726180 B1 KR 101726180B1
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KR
South Korea
Prior art keywords
frame
shaft
pulley
motor
joint
Prior art date
Application number
KR1020150180811A
Other languages
Korean (ko)
Inventor
이철희
안형종
Original Assignee
인하대학교 산학협력단
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Publication date
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Priority to KR1020150180811A priority Critical patent/KR101726180B1/en
Application granted granted Critical
Publication of KR101726180B1 publication Critical patent/KR101726180B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A61F2/642—Polycentric joints, without longitudinal rotation
    • A61F2/644—Polycentric joints, without longitudinal rotation of the single-bar or multi-bar linkage type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/38—Joints for elbows or knees
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A61F2002/5004—Prostheses not implantable in the body having damping means, e.g. shock absorbers operated by electro- or magnetorheological fluids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Cardiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Prostheses (AREA)

Abstract

The present invention relates to a prosthetic knee joint comprising: a joint unit including a joint block having a shaft insertion hole punched therein, a shaft inserted in and fixed to the shaft insertion hole, a first frame and a second frame which are fitted to be rotated in both sides of the shaft with the joint block therebetween, a motor coupled with the outside of the first frame and providing rotation force, a first pulley disposed in the outside of the second frame and receiving rotation force transferred from the motor, and a second pulley disposed in the outside of the second frame to be fitted and fixed to the shaft and connected with the first pulley by a belt; and a lower leg unit having a connection block coupled with the first frame and the second frame. The present invention reduces the weight of a prosthetic leg and improves driving force. Thus, a wearer can actively walk on stairs, and wearability is improved. Also, fatigues can be effectively reduced.

Description

Prosthetic knee joint < RTI ID = 0.0 >

The present invention relates to prosthetic knee joints. More particularly, the present invention relates to a prosthetic knee joint having a lightweight structure so as to be easily walkable even in a stair walking situation with respect to a motor-based prosthesis.

Artificial wills are being developed to replace lost bodies with the development of science and technology. In recent years, research and development of active wills that can move away from the conventional passive form and reflect the wearer's intentions have been actively carried out.

Of these, prosthetic limbs are the areas where the most research and development takes place. They are divided into hip, prosthetic, knee, and hip prosthesis depending on the severity of the disease or accident.

In developing the active type prosthesis, the knee joint occupies the most important part. In order to realize the natural walking of the user, the movement is implemented using various power devices in the knee joint.

However, the conventional active prosthetic technique has a problem in that it is heavier and bulkier than conventional devices because many accessories such as a battery are inserted therein, which causes a serious adverse effect on the wearer's feeling of wear and fatigue. However, when the capacity of each part is reduced to lighten the weight, there arises a problem that sufficient power can not be outputted when the ramp or the stairs are walked.

In addition, in the case of a knee joint of the trinity link structure, there is a disadvantage that the operating angle is not sufficient and the cost of the prosthesis is expensive when a metal such as titanium, which is excellent in weight-to-weight stiffness, is used for lighter weight.

Therefore, there is a demand for the development of a prosthesis in which the structural weight is reduced in order to solve such a problem.

Korean Patent Laid-Open No. 10-2009-0124559 (December 23, 2009)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an artificial knee joint in which a weight is reduced by using a component optimized for weight reduction,

According to an aspect of the present invention, there is provided an articulated robot including a joint block having a shaft insertion hole drilled therein, a shaft inserted and fixed to the shaft insertion hole, a first frame rotatably mounted on both sides of the shaft, A second frame disposed outside the second frame, a motor coupled to the outside of the first frame to provide a rotational force, a first pulley disposed outside the second frame and receiving a rotational force from the motor, A joint portion fixed to the shaft and having a second pulley connected to the first pulley by a belt; And a leg portion having a connecting block coupled to the first frame and the second frame.

The leg knee joint may further include a harmonic drive disposed between the first frame and the second frame for receiving a rotational force from the motor and transmitting the rotational force to the first pulley.

In addition, the second frame may be provided with two tensioners that adjust the tension of the belt in contact with the belt, and one of the tensioners may be coupled to the elongated hole formed in the second frame to be movable.

Further, the motor is a BLDC motor.

By reducing the weight of the prosthesis and improving the driving force, the present invention has the effect of facilitating the walking of the stairs of the wearer, increasing the wearing comfort and reducing the fatigue effectively.

1 is a perspective view of an artificial knee joint according to a preferred embodiment of the present invention.
FIG. 2 is a perspective view of a knee joint according to a preferred embodiment of the present invention in a rotated state; FIG.
3 is a front view of a knee joint in accordance with a preferred embodiment of the present invention.
4 and 5 are exploded perspective views of an artificial knee joint according to a preferred embodiment of the present invention.
6 is a view showing a second frame of an ankle knee joint according to a preferred embodiment of the present invention.
7 is a view showing an articulation block and a shaft.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. Further, if it is determined that the gist of the present invention may be blurred, detailed description thereof will be omitted. Further, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be practiced by those skilled in the art.

FIG. 1 is a perspective view of an artificial knee joint according to a preferred embodiment of the present invention, FIG. 2 is a perspective view of an artificial knee joint according to a preferred embodiment of the present invention in a rotated state, and FIG. FIG. 2 is a front view of an artificial knee joint according to the present invention. 4 and 5 are exploded perspective views of an artificial knee joint according to a preferred embodiment of the present invention, FIG. 6 is a view showing a second frame of an artificial knee joint according to a preferred embodiment of the present invention, and FIG. 7 Is a view showing an articulation block and a shaft.

Hereinafter, an artificial knee joint 100 according to a preferred embodiment of the present invention will be described with reference to FIGS. 1 to 7. FIG.

The prosthetic knee joint 100 of the present invention comprises a joint 110 performing a function of the knee joint of the human body and a hip 180 coupled to a lower portion of the joint 110.

Specifically, the joint part 110 includes a joint block 112, a first clamp 115, a shaft 116, a first frame 120, a motor 130, a harmonic drive 140, a second frame 150, And includes a first pulley 160 and a second pulley 164.

A shaft insertion hole 114 is formed in a lower portion of the joint block 112 and a first clamp 115 is coupled to an upper portion of the joint block 112. The first clamp 115 allows other structures to be coupled to the joint block 112.

The shaft 116 is inserted and fixed in the shaft insertion hole 114 formed in the joint block 112. A first insertion groove 118a is formed in the shaft 116 for fixing the shaft 116 and a pin fixing hole 118b is inserted in the first insertion groove 118a.

7, a portion of the pin fixing hole 118b protrudes out of the outer circumferential surface of the shaft 116. The shaft insertion hole 114 is formed by a part of the pin fixing hole 118b protruding in this manner and the shaft 114 Can be inserted.

The shaft 116 inserted into the shaft insertion hole 114 is restricted in rotation by the pin fixture 118b.

The shaft 116 is provided with a second insertion groove 119a at a position spaced apart from the first insertion groove 118a and is inserted into the second insertion groove 119a and inserted into the hole 119b.

The jaws 119b are inserted into the shaft coupling holes 166 of the second pulley 164 to be described later together with the shaft 116 to restrict rotation of the second pulley 164.

The first frame 120 and the second frame 150 are pivotally mounted on both sides of the shaft 116 with the joint block 112 interposed therebetween and are coupled to each other by a connection block 182 described later. Preferably, the first frame 120 and the second frame 150 are formed in a streamlined structure so that unnecessary portions are removed to reduce weight.

A shaft through hole 122a through which one side of the shaft 116 passes is formed in the first frame 120. The inside of the shaft through hole 122a has a structure in which the bearing 122b is inserted.

The bearing 122b is interposed between the shaft 116 and the first frame 120 so that the rotation of the first frame 120 can be smoothly performed.

A shaft through hole 124a through which a driving shaft 132 of a motor 130, which will be described later, passes is formed at a central portion of the first frame 120. [

The inner side of the shaft through hole 124a is structured to be expanded so that the bearing 124b interposed between the first frame 120 and the drive shaft 132 can be inserted.

The motor 130 is coupled to the outside of the first frame 120 to provide rotational force. The driving shaft 132 of the motor 130 is connected to the harmonic drive 140 through the shaft through hole 124a as described above.

At this time, the motor 130 is preferably implemented as a flat type BLDC motor (Brushless Direct Current Motor). Flat type BLDC motors have high reliability, long-term use, good controllability and efficiency, but are suitable for prosthetics because of their low noise, small size and easy thickness.

The harmonic drive 140 is disposed between the first frame 120 and the second frame 150 and the driving shaft 132 of the motor 130 is coupled to the input end to receive the rotational force.

The harmonic drive 140 amplifies the rotational force transmitted from the motor 130 and outputs a torque sufficient for walking the step or the ramp.

The force amplified and outputted from the harmonic drive 140 is transmitted to the first pulley 160 through the pair of connection pins 142 provided at the output end.

The second frame 150 is fitted to the other side of the shaft 116 to face the first frame 120.

Specifically, the second frame 150 is disposed between the pin fixture 118b inserted into the shaft 116 and the pull tab 119b, and is configured to be rotatable about the shaft 116 as an axis.

To this end, the second frame 150 has a shaft through hole 152a through which the shaft 116 passes, and an inner side of the shaft through hole 152a has a structure that is expanded so that the bearing 152b can be inserted.

At this time, the bearing 152b is interposed between the second frame 150 and the shaft 116 to allow the second frame 150 to rotate smoothly.

A connecting pin through hole 154a is formed at a central portion of the second frame 150 so that the connecting pin 142 provided in the harmonic drive 140 can penetrate through the connecting pin hole 154a. So that a bearing 154b interposed between the rotating output end of the drive 140 and the second frame 150 can be inserted.

In addition, the second frame 150 has a long hole 156. The tensioner 168, which will be described later, is coupled to the long hole 156 to adjust the position of the tensioner 168 coupled thereto.

The first pulley 160 is disposed outside the second frame 150 and receives the rotational force generated from the motor 130 through the harmonic drive 140.

More specifically, the first pulley 160 includes a connection pin insertion hole 162 into which the pair of connection pins 142 are inserted. When the harmonic drive 140 rotates, And rotates together with the harmonic drive 140.

The second pulley 164 is disposed on the outer side of the second frame 150 and fixed in a state of being fitted to the shaft 116.

For this, a shaft coupling hole 166 is formed at the center of the second pulley 164 and formed in a shape corresponding to the shaft 116 into which the teep screw 119b is inserted. The second pulley 164 is loosened, 119b so as to be held in the state of being fixed to the shaft 116. [

The first pulley 160 and the second pulley 164 are connected by a belt 170 and the second pulley 164 connected to the belt 170 when the first pulley 160 rotates is in a fixed state The first frame 120 and the second frame 150 can be rotated.

Preferably, the belt 170 is implemented as a timing belt capable of reliably delivering power, and correspondingly, the first pulley 160 and the second pulley 164 also comprise a timing pulley.

The second frame 150 is provided with two tensioners 168 for adjusting the tension of the belt 170 in contact with the belt 170. One of the tensioners 168 is connected to the second frame 150, And is movable so as to be able to move. By doing so, the tension of the belt 170 can be easily adjusted.

The lower leg 180 includes a connecting block 182 coupled to the lower portion of the first frame 120 and the lower portion of the second frame 150, a second clamp 184 coupled to the lower portion of the connecting block 182, 184 coupled to the lower frame 186. [

At this time, the connection block 182 serves to couple the first frame 120 and the second frame 150 to each other, thereby achieving structural stability.

The second clamp 184 and the lower frame 186 function to correspond to the lower part of the human body and are provided so as to be capable of attaching components such as legs.

As described above, the knee joint 100 according to the preferred embodiment of the present invention has a relatively simple structure to provide a power enough to easily walk on a step or a slope while achieving weight reduction, thereby maximizing the convenience of the wearer There are advantages.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and accompanying drawings. The scope of protection of the present invention should be construed according to the claims, and all technical ideas within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

100: Ankle knee joint
110: joint 112: joint block
114: shaft insertion hole 115: first clamp
116: shaft 118a: first insertion groove
118b: pin fixing hole 119a: second insertion groove
119b: loose jib 120: first frame
122a: shaft through hole 122b: bearing
124a: shaft through hole 124b: bearing
130: motor 132: drive shaft
140: Harmonic drive 142: Connection pin
150: second frame 152a: shaft through hole
152b: Bearing 154a: Connection pin through hole
154b: Bearing 156: Slot
160: first pulley 162: connecting pin insertion hole
164: second pulley 166: shaft fastener
168: tensioner 170: belt
180: lower leg 182: connecting block
184: second clamp 186: lower frame

Claims (4)

A joint block having a shaft insertion hole,
A shaft inserted and fixed in the shaft insertion hole,
A first frame and a second frame rotatably fitted on both sides of the shaft with the joint block interposed therebetween,
A motor coupled to the outside of the first frame to provide a rotational force,
A first pulley disposed outside the second frame and receiving a rotational force from the motor,
A joint disposed on the outside of the second frame and fixed on the shaft, the second pulley being connected to the first pulley by a belt; And
And a lower leg having a connecting block coupled to the first frame and the second frame,
Further comprising a harmonic drive disposed between the first frame and the second frame to receive a rotational force from the motor and to transmit the rotational force to the first pulley. delete The method according to claim 1,
Wherein the second frame is provided with two tensioners which contact the belt and adjust the tension of the belt,
And one of the tensioners is coupled to the elongated hole formed in the second frame so as to be movable. The method of claim 3,
Wherein the motor is a BLDC motor.
KR1020150180811A 2015-12-17 2015-12-17 Prosthetic knee joint KR101726180B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150180811A KR101726180B1 (en) 2015-12-17 2015-12-17 Prosthetic knee joint

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Application Number Priority Date Filing Date Title
KR1020150180811A KR101726180B1 (en) 2015-12-17 2015-12-17 Prosthetic knee joint

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KR101726180B1 true KR101726180B1 (en) 2017-04-12

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050154473A1 (en) * 2004-01-13 2005-07-14 David Bassett Prosthetic knee mechanism
US7066964B2 (en) * 2004-03-12 2006-06-27 Hosmer-Dorrance Corporation Prosthetic knee and rotary hydraulic chamber
US7544214B2 (en) * 2003-10-17 2009-06-09 Ossur Hf Artificial multi-axis knee joint
KR20090124559A (en) 2008-05-30 2009-12-03 삼성전자주식회사 Walking robot
US8435309B2 (en) * 2007-01-05 2013-05-07 Victhom Human Bionics Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7544214B2 (en) * 2003-10-17 2009-06-09 Ossur Hf Artificial multi-axis knee joint
US20050154473A1 (en) * 2004-01-13 2005-07-14 David Bassett Prosthetic knee mechanism
US7066964B2 (en) * 2004-03-12 2006-06-27 Hosmer-Dorrance Corporation Prosthetic knee and rotary hydraulic chamber
US8435309B2 (en) * 2007-01-05 2013-05-07 Victhom Human Bionics Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission
KR20090124559A (en) 2008-05-30 2009-12-03 삼성전자주식회사 Walking robot

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