KR20200109567A - Artificial foot joint with plantarflexion and dorsiflexion means - Google Patents

Abstract

The present invention relates to a hydraulic ankle joint device. The hydraulic ankle joint device comprises: an ankle joint part (10); a sole part (20); a hydraulic cylinder (30); a resistant level adjustment nozzle part (50); and a nozzle opening/closing part (60). According to the present invention, a compression spring is rapidly and automatically restored by restoring power and a decrease in hydraulic pressure, and thus supporting power can be provided when a user steps down on a sloped surface or steps down stairs.

Description

Hydraulic ankle joint device {Artificial foot joint with plantarflexion and dorsiflexion means}

The present invention relates to a hydraulic ankle joint device.

In general, a person with a loss of lower limbs wears a lower limb prosthesis as a body replacement device for walking, and uses an artificial foot instead of the foot. The artificial foot is a fixed type or an ankle joint rotation type by weight, and the artificial foot is designed so as not to interfere with walking on a flat ground.

As a technology for artificial feet, artificial feet injected with elastic material (domestic patent registration 10-1512233) are known, but it is difficult to standardize them for general use, and an ankle angle adjustment device (domestic patent registration 10-1341958) was developed. In this uneven place, it is inconvenient to use, and the hybrid ankle joint device (Korean Patent Laid-Open No. 10-2016-0138604) has attempted the concept of two-axis automation and floor, but has a problem of increasing cost.

An ankle joint device including a bracket that is coupled to the sole of the foot and the upper part is coupled with the prosthesis, a motor drive unit that is fixed to the bracket to adjust the angle of the sole of the foot during swing phase, and a hydraulic cylinder that adjusts the angle of the sole of the foot during the standing phase is released in Korea It was developed as Patent No. 10-2016-0138604, but it has a problem that noise is generated and durability is deteriorated because the motor must be rotated for each stand and swing phase.

In addition, since the artificial foot does not have a separate ankle function, the functions of the ankle joint function of the human body, such as the abdominal-jeoflexion rotation and the inner-valgus rotation, are made to function by changing the angle to the deformation of the artificial foot, so it is difficult to match the user's body characteristics.

The present invention is to solve this problem, and the length of the upper shaft of the piston combined with the piston of the hydraulic cylinder is increased by the combination of two rotary joints and one moving joint, and the hydraulic pressure is increased when the piston moves to the upper chamber. And, it is intended to provide a hydraulic ankle joint device that provides support when descending a slope or descending stairs by functioning to quickly and automatically return to the lower chamber with the force and hydraulic pressure to restore the compression spring to the lower chamber.

The present invention for this purpose is an ankle joint having a first axis of the function of the ankle joint axis at the lower end, a third axis hingedly coupled to the sidewall of the upper axis of the piston, and a pyramid adapter coupled to the prosthesis at the upper end;

The sole of the kill material is hinged at the first axis and supported to hinge the second axis, which is a cylinder rotation axis, to the heel of the foot;

A piston that functions as a piston inside the cylinder body that is hinged to the second shaft at the bottom, the upper piston shaft connected to the upper piston shaft that interlocks with the piston and wraps the elastic spring around the outer circumference, and the piston upper shaft exposed to the top of the cylinder body can rotate. A hydraulic cylinder having a piston upper holder hingedly coupled to the third shaft;

When the ankle joint is operated in an upright position, the elastic spring in the hydraulic cylinder is compressed and moves so that the upper piston shaft holder and the upper piston shaft move away from the top of the cylinder body. A resistance level control nozzle in which the opening and closing nozzle body in the nozzle housing moves in the opening direction of the flow path so that the hydraulic resistance acts to increase in the upper chamber where the elastic spring is accommodated, and the compressed elastic spring and the piston automatically return to the initial state at the swing stage. part;

Resistance level control by linking with the pyramid adapter In the standing period when the nozzle part is opened and closed, the nozzle body wire is pulled to adjust the resistance level.The opening and closing nozzle body of the nozzle part closes the flow path, and in the swing stage, the nozzle body wire is released and the opening and closing nozzle body is driven to open the flow path. It provides a hydraulic ankle joint device including a pyramid adapter installed on the bottom of a housing and a nozzle opening/closing operation unit having a lever to which a nozzle body wire is connected.

As described above, in the present invention, the length of the upper shaft of the piston combined with the piston of the hydraulic cylinder is increased by the combination of the two rotating joints and one moving joint, and the hydraulic pressure increases when the piston moves to the upper chamber. Each of them provides a hydraulic ankle joint device that provides support when descending a slope or descending stairs by quickly automatically returning to the lower chamber with a force that restores the compression spring and a decrease in hydraulic pressure.

1 is a photograph of an ankle region explaining dorsiflexion low flexion and medial valgus of the present invention,
FIG. 2 is a graph of dorsiflexion and valgus angle according to the stance and swing phase of FIG. 1,
3 is a stance and swing phase diagram of the present invention,
Figure 4 is a perspective view of the swing phase of the present invention,
5 is a cross-sectional view taken along line AA of FIG. 4;
6 is a cross-sectional view taken along line BB of FIG. 4;
7 is a diagram showing the operating principle of the nozzle unit of the present invention,
8 is a cross-sectional view illustrating a principle in which the position of the third axis is changed due to an increase in the upper axis of the cylinder of the present invention;
9 is a view showing the principle that the distance from the second axis to the third axis of the present invention changes.
10 is an enlarged cross-sectional view showing an example of the resistance level nozzle part of the present invention;
11 is a perspective view of the stance phase of the present invention,
12 is a cross-sectional view of FIG. 11.

1 is a photograph of an ankle part explaining the dorsiflexion, low flexion and medial valgus of the present invention. Dorsiflexion refers to the movement of the ankle joint in the instep direction of the stance. The normal operating range is 0~70°. Conversely, the movement toward the sole of the foot is called plantar flexion during swing phase.

FIG. 2 is a graph of dorsiflexion, low flexion and medial valgus angle according to the stance and swing phase of FIG. 1, and FIG. 3 is a walking state diagram. After the heel of one leg is grounded in a standing state while walking, The gait cycle is called until the heel contacts the support surface. The walking cycle consists of two cycles. It consists of a stance phase from the heel to the ground until the toe falls off the support surface, and a swing phase from the toe to the coaxial heel to the ground (遊脚期). have. The left and right stance planes are partially overlapped. In normal walking, 60% is called the stance phase and the remaining 40% is called the swing phase.

The stance period refers to the distance between the floor and the leg in one cycle of walking. ), (4) paper machine (踵離床期), and (5) stepping machine.

The swing phase refers to the distance between the legs and the floor during one cycle of walking, and is divided into three phases: accelerator, swing phase, and reducer (遊脚中期).

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

In the present invention, as shown in Figs. 4 to 8, the lower end is the first axis (P1) of the ankle joint axis function, the center part is the third axis (P3) hinged with the side wall of the upper piston shaft holder 40, and the upper end is An ankle joint portion 10 having a pyramid adapter 15 coupled to the prosthesis;

The sole part 20 of the kill material hinged at the first axis P1 and supported to hinge the second axis P2, which is a cylinder rotation axis, to the heel of the foot;

The upper piston shaft (31), which functions as a piston inside the cylinder body (32) hinged to the second shaft (P2) at the bottom, is integrally interlocked with the piston (31) and wraps the elastic spring (33) on the outer circumferential surface ( A hydraulic pressure having a piston upper shaft 34 connected to 31a) and a piston upper holder 40 hingedly coupled to the piston upper shaft 34 exposed to the top of the cylinder body 32 so as to be rotatable and hinged with the third shaft P3 Cylinder 30;

When the ankle joint (10) is operated in a standing position, the elastic spring (33) in the hydraulic cylinder (30) is compressed so that the piston upper shaft holder (40) and the piston upper shaft (34) move away from the top of the cylinder body (32). At the same time, the nozzle body wire 61 of the nozzle opening/closing operation part 60 moves in the direction in which the opening/closing nozzle body 54 is closed, so that the hydraulic resistance increases in the upper chamber 32a in which the elastic spring 33 is accommodated. And, in the swing stage, the resistance level adjustment nozzle unit configured to move the opening and closing nozzle body 54 in the nozzle housing 52 in the opening direction of the flow path so that the compressed elastic spring 33 and the piston 31 automatically return to the initial state. (50); And

When the opening and closing of the resistance level control nozzle unit 50 in conjunction with the pyramid adapter 15 is standing, the opening and closing nozzle body 54 of the resistance level control nozzle unit 50 by pulling the nozzle body wire 61 closes the flow path, In the nozzle body wire 61 is released, the opening and closing nozzle body 54 is driven to open the flow path, and the pyramid adapter 15 installed on the bottom of the adapter housing 11 and the lever 62 to which the nozzle body wire 61 is connected are connected. The branch is configured to include a nozzle opening and closing operation unit 60.

The pyramid adapter 15 further includes a push bar 16 protruding downward from an eccentric portion of the lower surface to perform an eccentric pressing function,

Below the push bar 16, a lever 63 connected to pull the nozzle body wire 61 by a seesaw action is installed at the stand.

A damper ring 18 is installed between the outer wall of the pyramid adapter 15 and the inner wall of the adapter housing 11 to buffer when the pyramid adapter 15 is lowered, and the pyramid adapter 15 contacts the upper end of the damper ring 18. ) A buffer ring 17 is formed to buffer the descent.

The resistance level adjustment nozzle unit 50 includes an opening/closing nozzle body 54 accommodated in the nozzle housing 52 to perform a closing and opening function in connection with the nozzle body wire 61,

A first flow path 55-1 and a second channel that are added to the opening/closing nozzle body 54 and communicate with the upper chamber 32a and the lower chamber 32b separated by the piston 31 of the hydraulic cylinder 30, respectively. The flow path 55-2 is configured to include a valve body 56 that closes or opens through.

The lever 62 is supported so as to function as a lever on the lever axis 63 fixed to the bottom sidewall of the lower part of the pyramid adapter 15,

One upper end forms an inclined surface to interlock with the push bar 16,

On the other side, a nozzle body wire 61 is installed,

It is preferable that the lever shaft 63 is installed closer to the push bar 16 than the upper position of the nozzle body wire 61.

The hydraulic cylinder 30 divides the moving space of the piston 31 into an upper chamber 32a and a lower chamber 32b around the piston 31, as shown in FIG. 10, and a piston 31 acting as a piston,

The upper piston shaft 31a which acts as a central axis from the upper side of the piston 31 and coaxially accommodates the elastic spring 33 in the upper chamber 32a of the outer diameter,

It serves as a central axis from the lower side of the piston (31) and includes a lower piston shaft (31b) that guides the movement of the lower chamber (32b) in position,

The upper piston shaft (31a) has an inner diameter threaded portion (35) on the inner diameter, and the upper piston shaft (34) screwed with the inner diameter threaded portion (35) at the top of the hydraulic cylinder (30), and the upper piston shaft (34) from the upper side to enable rotation. It comprises a piston upper shaft holder 40 integrally coupled.

In the present invention configured as described above, when operated in a standing position as shown in FIGS. 11 and 12 in the swing phase state of FIGS. 4 and 5, the ankle joint part 10 is centered on the first axis P1 which is the ankle joint axis. The piston upper shaft holder 40 of the hydraulic cylinder 30 moves clockwise toward the instep of 20), and the lower end is supported at the position of the second shaft P2 of the cylinder shaft function at the heel position than the first shaft P1. It is coupled to be supported by the third axis P3 from the side of the ankle joint part 10. In this case, the ankle joint 10 has an internal space 19 accommodating the upper piston shaft holder 40 supporting the hydraulic cylinder 30 and the upper piston shaft 34 as shown in FIG. 6.

In general, in order for the first axis P1 and the second axis P2 to be in the correct position and the third axis P3 to rotate in the forward direction of the sole of the foot, the second axis ( Since the distance (a) to P2) and the distance (b) from the first axis (P1) to the third axis (P3) are fixed, the distance between the second axis (P2) and the third axis (P3) The distance must be increased (c'>c). This is when the upper piston shaft holder 40 supporting the upper piston shaft 34 of the hydraulic cylinder 30 rotates (for example, rotates in the state of FIG. 5 to 12), and the upper piston shaft 34 connected thereto. As the position of the piston 31 moves upward, the distance between the second shaft P2 and the third shaft P3 increases (see FIGS. 8 and 9). That is, as the piston 31 moves upward, the elastic spring 33 is compressed based on FIG. 10, and at the same time, the opening/closing nozzle body 54 interlocks with the nozzle body wire 61 so that the second flow path 55-2 Since the flow with the first passage 55-1 is blocked, the hydraulic pressure moves to the upper chamber 32a by operating the check valve CV1 as shown in FIG. 7, so the hydraulic pressure in the upper chamber 32a is compressed and It prevents it from proceeding. Therefore, when descending an inclined surface or descending stairs, hydraulic resistance is generated to support the weight stably and the angle of the ankle joint is changed, providing a more natural and comfortable walking. At the same time, the elastic spring 33 is compressed in the stance phase to maintain the elastic force and acts to stably walk even in the case of sudden changes in the floor environment.

On the other hand, in the swing phase, since the foot falls from the ground, the pressing pressure of the pyramid adapter 15 shown in FIG. 6, which was acting to press the sole of the foot, is released, so that the lever 62 is restored clockwise around the lever axis 63 , This is because the opening/closing nozzle body 54 due to the nozzle body wire 61 is restored as shown in FIG. 10 to allow the first flow path 55-1 and the second flow path 55-2 to pass, and thus a large flow path 56-1, 56-2) provides a minimum hydraulic resistance condition that allows the ankle to return to its original position by the elastic force of the elastic spring 33 that was compressed by opening. Accordingly, the piston 31 is restored to the initial position (low flexing state) by the elastic force of the elastic spring 33.

The piston upper shaft 34 of the present invention is provided with a length adjustment lever and functions to adjust the ankle joint angle. This is the principle of adjusting the angle of the ankle joint regardless of the position of the piston by changing the screwing length of the piston upper shaft 34 and the inner screw part 35. Therefore, it provides an appropriate ankle joint angle adjustment function when the heel height of a shoe is changed or when walking barefoot.

10; Ankle joint 11; Adapter housing 15; Pyramid adapter 16; Push bar 17; Buffer ring 18; Damper ring P1; 1st axis P2; 2nd axis P3; 3rd axis 20; Foot sole 30; Hydraulic cylinder 31; Piston 311; upper piston axis 31b; lower piston axis 32; cylinder body 32a; upper chamber 32b; Lower chamber 33; elastic spring 34; upper piston shaft 35; inner thread portion 40; upper piston shaft holder 50; nozzle portion 52; nozzle housing 54; opening/closing nozzle body 55-1; first passage 55-2; second passage 56; valve body 57; stopper 60; nozzle opening/closing operation part 61; nozzle body wire 62; lever 63; lever axis

Claims (6)

The lower part has a first axis (P1) of the ankle joint axis function, the center part has a third axis (P3) hinged with the side wall of the piston upper shaft holder (40), and the upper part has a pyramid adapter (15) that couples with the prosthesis. Ankle part 10;
The sole part 20 of the kill material hinged at the first axis P1 and supported to hinge the second axis P2, which is a cylinder rotation axis, to the heel of the foot;
The upper piston shaft (31), which functions as a piston inside the cylinder body (32) hinged to the second shaft (P2) at the bottom, is integrally interlocked with the piston (31) and wraps the elastic spring (33) on the outer circumferential surface ( A hydraulic pressure having a piston upper shaft 34 connected to 31a) and a piston upper holder 40 hingedly coupled to the piston upper shaft 34 exposed to the top of the cylinder body 32 so as to be rotatable and hinged with the third shaft P3 Cylinder 30;
When the ankle joint (10) is operated in a standing position, the elastic spring (33) in the hydraulic cylinder (30) is compressed so that the piston upper shaft holder (40) and the piston upper shaft (34) move away from the top of the cylinder body (32). At the same time, the nozzle body wire 61 of the nozzle opening/closing operation part 60 moves in the direction in which the opening/closing nozzle body 54 is closed, so that the hydraulic resistance increases in the upper chamber 32a in which the elastic spring 33 is accommodated. And, in the swing stage, the resistance level adjustment nozzle unit configured to move the opening and closing nozzle body 54 in the nozzle housing 52 in the opening direction of the flow path so that the compressed elastic spring 33 and the piston 31 automatically return to the initial state. (50);
When the opening and closing of the resistance level control nozzle unit 50 in connection with the pyramid adapter 15 is established, the opening/closing nozzle body 54 of the resistance level control nozzle unit 50 by pulling the nozzle body wire 61 closes the flow path. In each, the nozzle body wire 61 is released and the opening and closing nozzle body 54 is driven to open the flow path, and the lever 62 to which the pyramid adapter 15 installed on the bottom of the adapter housing 11 and the nozzle body wire 61 is connected. A hydraulic ankle joint device comprising a nozzle opening and closing operation unit 60 having a ).
The method of claim 1, wherein the pyramid adapter (15) further comprises a push bar (16) protruding downward from an eccentric portion of the lower surface to function as an eccentric pressing,
A hydraulic ankle joint device, characterized in that a lever (63) connected to pull the nozzle body wire (61) by a seesaw action is installed under the push bar (16).
The method of claim 2, wherein a damper ring (18) is installed between the outer wall of the pyramid adapter (15) and the inner wall of the adapter housing (11) when the pyramid adapter (15) descends, and contacts the upper end of the damper ring (18). A hydraulic ankle joint device, characterized in that a cushioning ring (17) for buffering a descent is formed at a portion of the pyramid adapter (15).
The method of claim 1, wherein the resistance level adjustment nozzle unit 50 includes an opening/closing nozzle body 54 accommodated in the nozzle housing 52 to perform a closing and opening function in connection with the nozzle body wire 61,
A first flow path 55-1 and a second channel that are added to the opening/closing nozzle body 54 and communicate with the upper chamber 32a and the lower chamber 32b separated by the piston 31 of the hydraulic cylinder 30, respectively. A hydraulic ankle joint device comprising a valve body 56 that closes or opens the flow path 55-2.
The method of claim 2, wherein the lever (62) is supported to function as a lever on a lever axis (63) fixed to the bottom side wall of the lower part of the pyramid adapter (15),
One upper end forms an inclined surface to interlock with the push bar 16,
On the other side, a nozzle body wire 61 is installed,
The lever shaft 63 is a hydraulic ankle joint device, characterized in that the nozzle body wire 61 is installed closer to the push bar 16 than the upper position.
The method of claim 4, wherein the hydraulic cylinder (30) divides the moving space of the piston (31) into an upper chamber (32a) and a lower chamber (32b) around the piston (31) to act as a piston (31),
The upper piston shaft 31a which acts as a central axis from the upper side of the piston 31 and coaxially accommodates the elastic spring 33 in the upper chamber 32a of the outer diameter,
It serves as a central axis from the lower side of the piston (31) and includes a lower piston shaft (31b) that guides the movement of the lower chamber (32b) in place,
The upper piston shaft (31a) has an inner diameter threaded portion (35) on the inner diameter, and the upper piston shaft (34) screwed with the inner diameter threaded portion (35) at the top of the hydraulic cylinder (30), and the upper piston shaft (34) from the upper side to enable rotation. Hydraulic ankle joint device, characterized in that configured to include the integrally coupled piston top holder (40).

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