KR20230137699A - Artificial ankle apparatus controlled more accurately - Google Patents

Abstract

An ankle prosthesis device capable of precise control includes a base unit, a body unit, a block unit, a drive unit, and a rotation unit. The base unit is in contact with the ground. The body portion is fixed to the base unit in an upward direction and forms a first storage space therein. The block unit is rotatably connected to the upper part of the body and forms a second storage space therein. The driving unit is fixed to the block unit and provides a rotational driving force with a rotation axis in a first direction. The rotation unit is stored in the first and second storage spaces, receives rotational driving force from the drive unit, and rotates the body in a second direction perpendicular to the first direction as a rotation axis.

Description

Ankle prosthesis device capable of precise control {ARTIFICIAL ANKLE APPARATUS CONTROLLED MORE ACCURATELY}

The present invention relates to an ankle prosthesis device, and more specifically, in assisting a pedestrian's walking by active driving, by more precisely controlling the ankle angle, various movements required for walking are more accurately and precisely implemented, thereby improving the pedestrian's walking ability. This relates to an ankle prosthetic device that allows precise control to improve convenience.

A variety of body assistive devices, such as various types of prosthetic hands and prosthetic legs, are being developed to effectively replace necessary movements in place of amputated parts of a person.

In addition, these body assistive devices are designed in various ways depending on the amputated part, and in the case of ankle prosthetics, they are fixed to the ankle of a pedestrian and serve to assist the pedestrian's walking.

For example, in the case of ankle prosthesis devices, as in US Patent No. 9561118 or US Patent No. 9693883, the actuator extends vertically between the socket and the base to provide propulsion according to the pedestrian's walking. .

However, in the case of an ankle prosthesis device with such an actuator structure, there is a limitation in that control of the actuator motion cannot be performed precisely, and the accuracy or precision of the operation of the ankle prosthesis device is not high, causing discomfort to the user.

Accordingly, a drive mechanism through gear combination, such as a worm gear, is being applied to control the drive more accurately, and as in Japanese Patent Publication No. 2011-518633, a gear drive mechanism has been applied to a prosthetic leg for a patient with a femoral amputation.

However, in addition to prosthetic devices for the thigh, the gear drive mechanism is also applied to ankle prosthetic devices, so that more accurate and precise driving is realized, and the technical demand for a system that is easy to manufacture and has a relatively simple design structure is increasing. .

US Patent No. 9561118 US Patent No. 9693883 Japanese Patent Publication No. 2011-518633

Accordingly, the technical problem of the present invention was conceived in this regard, and the purpose of the present invention is to assist pedestrians in walking through active driving, by more precisely controlling the ankle angle, thereby making various movements required for walking more accurate. The goal is to provide an ankle prosthesis device that improves pedestrian convenience by implementing it precisely and allows precise control that is easy to manufacture and design with a simple driving mechanism.

An ankle prosthesis device according to an embodiment for realizing the object of the present invention described above includes a base unit, a body part, a block unit, a drive unit, and a rotation unit. The base unit is in contact with the ground. The body portion is fixed to the base unit in an upward direction and forms a first storage space therein. The block unit is rotatably connected to the upper part of the body and forms a second storage space therein. The driving unit is fixed to the block unit and provides a rotational driving force with a rotation axis in a first direction. The rotation unit is stored in the first and second storage spaces, receives rotational driving force from the drive unit, and rotates the body in a second direction perpendicular to the first direction as a rotation axis.

In one embodiment, as the rotation unit rotates, the block unit and the drive unit may also rotate together with the rotation unit in the second direction with respect to the body portion.

In one embodiment, the first direction may be toward the extension direction of the base unit, and the second direction may be a rotation axis around which the pedestrian's ankle rotates when walking.

In one embodiment, the block unit may include an expansion frame connected to the body in an upward direction, and a worm block forming an internal storage space at the top of the expansion frame.

In one embodiment, the drive unit may include a drive motor that generates the rotational driving force, and a worm gear connected to the drive motor, having gear teeth formed along the outer peripheral surface, and extending from the inside of the worm block. You can.

In one embodiment, the drive motor may be fixed to the front of the worm block.

In one embodiment, the rotation unit includes a worm wheel geared to the worm gear and receiving rotational driving force, a fixing unit that covers the outside of the worm wheel and is fixed to the expansion frame, and a rotation block formed in a lower part of the fixing unit. may include.

In one embodiment, the rotation unit may further include a worm wheel drive shaft that is connected to the rotation center of the worm wheel and rotates in the second direction as a rotation axis, and an end of which is fixed to the vertical frame of the body portion.

In one embodiment, the fixing unit and the rotating block may have a fan-shaped shape extending downward.

In one embodiment, the rotation block may have an outer surface that faces the horizontal frame of the body and has a rounded shape.

In one embodiment, it may further include a connection unit that is fixed to the upper surface of the block unit and has an upper connection portion formed on the upper side to be connected to the cut portion of the pedestrian.

According to embodiments of the present invention, as the gear connection mechanism of the worm gear is applied between the drive unit and the rotation unit, the driving force of the drive unit is not only changed in direction, but also the rotation drive of the rotation unit is controlled very precisely and accurately. can do.

In other words, the rotational drive of the rotation unit implements the rotational drive of the ankle when a pedestrian walks. As the rotational drive of the rotation unit is precisely and accurately controlled, the actual ankle movement of the pedestrian when walking is more precise and accurate. This can be implemented, improving the convenience of pedestrians when walking.

In addition, as the drive mechanism of the worm gear is applied, the drive unit can be positioned toward the front end of the body, thereby improving the ease of designing and manufacturing the ankle prosthesis device.

In addition, the fixed unit and rotating block that make up the rotating unit have a fan-shaped shape that expands toward the bottom, improving support against external forces generated when pedestrians walk and maintaining overall structural safety.

In particular, in the case of the rotating block, the outer surface has a rounded shape, so when the rotating block and the body portion rotate relative to each other, precise driving control can be possible by minimizing friction.

Figure 1 is a front perspective view showing an ankle prosthesis device according to an embodiment of the present invention.
Figure 2 is a rear perspective view showing the ankle prosthesis device of Figure 1.
FIG. 3 is a front view showing the ankle prosthesis device of FIG. 1, and FIG. 4 is a rear view showing the ankle prosthesis device of FIG. 1.
Figure 5 is an internal perspective view showing the connection state of the worm gear and worm wheel in the ankle prosthesis device of Figure 1.

Since the present invention can be subject to various changes and can have various forms, embodiments will be described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components. Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms.

The above terms are used only for the purpose of distinguishing one component from another. The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as “comprise” or “consist of” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

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

Figure 1 is a front perspective view showing an ankle prosthesis device according to an embodiment of the present invention. Figure 2 is a rear perspective view showing the ankle prosthesis device of Figure 1. FIG. 3 is a front view showing the ankle prosthesis device of FIG. 1, and FIG. 4 is a rear view showing the ankle prosthesis device of FIG. 1. Figure 5 is an internal perspective view showing the connection state of the worm gear and worm wheel in the ankle prosthesis device of Figure 1.

1 to 5, the ankle prosthesis device 10 according to this embodiment includes a base unit 100, a body portion 200, a block unit 300, a drive unit 400, and a rotation unit 500. and a connection unit 600.

In this case, the ankle prosthetic device 10 is a device that is connected to the ankle of a pedestrian who needs ankle assistance and assists the pedestrian's walking, and substantially implements the operating state of the ankle when the pedestrian walks.

Specifically, the base unit 100 is a part in contact with the ground and includes a first base frame 110 and a second base frame 120.

In this case, the first base frame 110 is positioned so that the ankle prosthetic device 10 is in a normal position (as shown in FIG. 1, the ankle prosthetic device is positioned on the ground without a separate external force). In this state, it may extend along the first direction (X), but may have an overall flexible curved shape like the shape of the sole of the foot.

At this time, it is obvious that the curved shape of the first base frame 110 can be designed in various ways, and the front end 111 located at the front and the rear end 112 located at the rear are each on the ground. It can be formed to contact.

Meanwhile, the second base frame 120 may be connected to the front end 111 of the first base frame 110 and generally extends in the first direction (X) of the first base frame 120. It may be extended with a predetermined inclination angle.

In this case, the second base frame 120 may also have an overall flexible curved shape, this flexible curved surface may be designed in various ways, and the inclination angle may also be varied.

However, the front end 121 of the second base frame 120 may be in contact with the ground at a fixed position, and the rear end 122 of the second base frame 120 may be in contact with the ground at a fixed position. Considering the direction of extension, it can be positioned upward by a predetermined height from the ground.

Meanwhile, as described above, in this embodiment, the base unit 100 of the ankle prosthesis device 10 has been described as including first and second base frames 110 and 120, but the base is not limited thereto. Unit 100 may be formed as one integrated base frame.

The body portion 200 is fixed to the rear end 122 of the second base frame 120 and extends upward.

In this case, the direction in which the body portion 200 extends is perpendicular to the direction in which the rear end 122 of the second base frame 120 extends, and may not be exactly perpendicular to the ground, but overall It may be directed upward in a direction toward the ankles of pedestrians located at the top of the ground.

Additionally, the direction in which the body portion 200 extends may vary depending on the walking state of the pedestrian.

The body portion 200 includes a pair of first and second vertical frames 210 and 220, and a horizontal frame 230.

The horizontal frame 230 fixes the body portion 200 on the rear end 122 of the second base frame 120, and is in close contact with the rear end 122 and fixed to a predetermined area.

The first and second vertical frames 210 and 220 extend parallel to each other in an upward direction from the horizontal frame 230. In this case, the amount of the horizontal frame 230 in the second direction (Y) Each may extend upward from the side end. At this time, the second direction (Y) is a direction perpendicular to the first direction (X).

As described above, as the first and second vertical frames 210 and 220 extend upward by a predetermined length, a first storage space 201 is formed inside the body portion 200.

The block unit 300 is connected to the upper part of the body 200 and includes a warm block 310 and a pair of first and second expansion frames 320 and 330.

The first and second expansion frames 320 and 330 are connected to the first and second vertical frames 210 and 220, respectively, and extend from the first and second vertical frames 210 and 220. extends toward the top.

Meanwhile, the first and second extension frames 320 and 330 are connected to be rotatable relative to the first and second vertical frames 210 and 220, respectively. That is, the first and second extension frames 320 and 330 rotate in the second direction (Y) with respect to the first and second vertical frames 210 and 220, as shown in the drawing. It rotates relative to the axis, and this relative rotation drive will be described later.

Meanwhile, the first and second extension frames 320 and 330 extend upward, and the first and second extension frames 320 and 330 are spaced apart from each other along the second direction (Y). As it is arranged, a second storage space 301 is formed between the first and second expansion frames 320 and 330.

In this case, the second storage space 301 is substantially formed in the upper part of the first storage space 201, and the first and second storage spaces 201 and 301 are open to each other. can form a space of

The warm block 310 is formed to have a predetermined block shape on the upper part of the first and second expansion frames 320 and 330. For example, it may have a square block shape, but its shape is It is not limited. However, hereinafter, the warm block 310 will be explained by taking the example of having a square block shape.

That is, as can be seen from FIGS. 2 to 4, the warm block 310 has a positive first direction in addition to a pair of side surfaces to which the first and second expansion frames 320 and 330 are connected. It includes a front part 311 formed in a direction facing (+X), and a rear part 312 formed in a direction facing a negative first direction (-X).

Accordingly, the lower surface of the warm block 310 faces the second storage space 301 formed between the first and second expansion frames 320 and 330, and the upper surface of the warm block 310 The connection unit 600, which will be described later, is fixed to the part.

In the warm block 310, the driving unit 400 is connected to the front part 311, and the driving unit 400 extends from the front part 311 to the rear part 312. It is bound to the (310) phase.

In the ankle prosthesis device 10 according to this embodiment, when a pedestrian wears the ankle prosthesis device 10, the first direction (X) corresponds to the direction in which the pedestrian walks, and the ankle prosthesis device ( Due to the structure of 10), the body portion 200 is connected to the rear end of the base unit 100, so there is relatively space at the front end of the base unit 100.

Accordingly, the drive unit 400 is connected to the front part 311 of the warm block 310, so that it can be located in a part with relatively space, and accordingly, the design of the ankle prosthesis device 10 The ease of use and convenience of manufacturing are improved, and the convenience of walking while an actual pedestrian is wearing the ankle prosthesis device 10 can also be improved.

That is, if the drive unit 400 is connected to the side part of the warm block 310, the normal ankle (or, if prosthetic devices are worn on both ankles, the prosthetic leg worn on the other ankle) during relative walking. Since the convenience of walking may be reduced due to contact with the device), this problem can be prevented through this embodiment.

The drive unit 400 includes a drive motor 410, a drive shaft 420, and a worm gear 430.

In this case, the drive motor 410 may be a drive motor that generates a rotational drive force, for example, and is connected to the front part 311 of the worm block 310 as described above.

The drive shaft 420 extends from the drive motor 410 in the first direction (X) and rotates by the rotational driving force of the drive motor 410. As shown, the drive shaft 420 is connected to the worm. It may extend through the block 310 to the rear portion 312.

In this case, the drawing illustrates that the drive motor 410 is connected to the front part 311 of the worm block 310 and the drive shaft 420 penetrates the worm block 310. However, unlike this, , the drive motor 410 is connected to the rear portion 312 of the worm block 310, and the drive shaft 420 may extend through the worm block 310 to the front portion 311.

Meanwhile, as shown in FIG. 5, the worm block 310 forms a predetermined internal storage space 302 inside, and the drive shaft 420 extends through the storage space 302.

In the case of the worm gear 430, it may be formed along the outer peripheral surface of the drive shaft 420. Alternatively, it is obvious that the drive shaft 420 itself may be formed as a worm gear.

In addition, the worm gear 430 is located on the internal storage space 302 formed by the worm block 310, and the drive motor 410 rotates in the first direction (X) about the rotation center axis. In this case, the first direction (X) is equally rotated as the central axis of rotation.

In the case of the worm gear 430, gear teeth are formed along the outer peripheral surface, and the driving force is transmitted through gear engagement with the rotation unit 500, which will be described later.

The rotation unit 500 receives driving force from the drive unit 400 and includes a worm wheel 510, a fixing unit 520, and a rotation block 530.

The worm wheel 510 has a wheel shape, and gear teeth formed on the outer peripheral surface are coupled to the gear teeth of the worm gear 430, and rotate in the second direction (Y) about the central axis of rotation.

That is, when the worm gear 430 rotates in the first direction (X) about the central axis of rotation, it receives this rotational driving force and changes the direction of rotation to rotate in the second direction (Y) about the central axis of rotation. .

At this time, as shown in FIG. 5, the rotation center of the worm wheel 510 is connected to the worm wheel drive shaft 511, and the worm wheel drive shaft 511 penetrates the first expansion frame 320 and extends the first extension frame 320. It is fixed on a vertical frame (210).

In this case, unlike shown, the worm wheel drive shaft 511 may pass through the second expansion frame 320 and be fixed on the second vertical frame 220, and the worm wheel drive shaft 511 may be fixed to the second vertical frame 220. It may be fixed to both the first and second vertical frames 210 and 220.

That is, the worm wheel drive shaft 511 is ultimately fixed on the body 200, and the rotational driving force by which the worm wheel 510 is driven is transmitted to the body 200.

Therefore, the block unit 300 consisting of the worm block 310 and the first and second expansion frames 320 and 330 maintains a fixed state regardless of the rotational drive of the worm wheel 510. By rotating the worm wheel 510, the body 200 and the base unit 100 to which the body 200 is fixed receive rotational driving force.

Accordingly, the block unit 300, the body portion 200, and the base unit 100 as a whole perform a relative rotation drive, and the rotation direction of this relative rotation drive is shown by an arrow in FIG. 1. As shown, it becomes a rotation direction with the second direction (Y) as the rotation center axis.

Meanwhile, the fixing unit 520 covers the outside of the worm wheel 510 and includes first and second storage spaces 201 and 301 formed between the worm block 310 and the body 200. It is located in

The fixing unit 520 includes a fixing block 521 and a fixing surface 522, and the rotation block 530 is fixed to the lower part of the fixing unit 520.

That is, the upper side of the fixing block 521 is located in the second storage space 301 and is arranged to cover the upper part of the worm wheel 510, and the fixing surface 522 is located on the lower side of the fixing block 521. ) is formed.

In this case, the fixing block 521 may be formed in a fan-shaped shape that expands from the upper side to the lower side, and may be formed to have a constant width along the second direction (Y).

In this way, as the fixed block 521 is formed to have a fan-shaped shape that expands toward the bottom, design margin can be provided at the upper side, so that the drive motor 410 is adjacent to the warm block 310. It can be arranged to do so, and at the same time, it is possible to cover the worm wheel 510 to form a stable structure.

As described above, the rotation block 530 is formed on the fixing surface 522, and the rotation block 530 has a rounded outer surface like a fan-shaped peripheral surface. In this case, the width of the rotating block 530 may also be formed to be similar to the width of the fixed block 521.

That is, the outer surface, that is, the lower surface, of the rotation block 530 has a round shape, is located in the first storage space 201, and is arranged to face the horizontal frame 230 of the body portion 200. do.

In this case, the outer surface of the rotation block 530 and the horizontal frame 230 may be spaced apart from each other at a predetermined distance.

Accordingly, the rotation block 530 rotates relative to the central axis of rotation in the second direction (Y) with respect to the first and second vertical frames 210 and 220 of the body portion 200. When rotating, friction between the rotation block 530 and the horizontal frame 230 can be minimized.

As described above, the rotational driving force generated by the drive motor 410 rotates the worm wheel 510 and the worm wheel drive shaft 511 through the worm gear 430 with the second direction (Y) as the rotation center axis. I order it.

Accordingly, the body portion 200 to which the worm wheel drive shaft 511 is fixed is also rotated by the rotation of the worm wheel 510, and accordingly, the body portion 200 moves relative to the block unit 300. It rotates.

In addition, the fixing unit 520 and the rotation block 530 are fixed to the block unit 300, and as a result, the body portion 200 and the rotation block 530 rotate relatively.

Meanwhile, the connection unit 600 is fixed to the upper part of the block unit 300, and the upper connection part 620, to which the pedestrian's body is connected, extends to the upper part, and the warm block is connected through the upper cover part 610. It is fixed to the upper surface of (310).

Accordingly, the connection unit 600 connected to the body of the pedestrian is consequently rotated relative to the body 200, and the body 200 and the base unit 100 are also fixed to each other. In this state, the connection unit 600 rotates with respect to the base unit 100.

This is a driving mechanism that imitates the rotation state of the ankle when an actual pedestrian walks, and is implemented by connecting the body portion 200 and the block unit 300, that is, the first and second vertical frames. The same rotation as the rotation of the ankle occurs around the connection between the first and second expansion frames 210 and 220 and the first and second expansion frames 320 and 330.

In particular, in the case of this embodiment, the rotational driving force of the driving motor 410 is transmitted to the rotational movement of the body portion 200 through a worm gear, and accurate driving transmission is possible by transmitting the driving force through gear combination, and relatively Even when a high external force is applied, sufficient rotational driving force can be provided. In particular, since the driving force is transmitted through a worm gear, the rotational movement of the body portion 200 can be controlled with high precision.

Therefore, it is possible to implement the pedestrian's ankle rotation while sufficiently supporting the large external force applied by the pedestrian's body weight during the pedestrian's walking process, and by more accurately and precisely implementing the various rotation states required during the walking process, the pedestrian's more stable and It can assist in comfortable walking.

According to the above-described embodiments of the present invention, as the gear connection mechanism of the worm gear is applied between the drive unit and the rotation unit, the driving force of the drive unit is not only changed in direction, but also the rotation drive of the rotation unit is performed very precisely. and can be controlled accurately.

In other words, the rotational drive of the rotation unit implements the rotational drive of the ankle when a pedestrian walks. As the rotational drive of the rotation unit is precisely and accurately controlled, the actual ankle movement of the pedestrian when walking is more precise and accurate. This can be implemented, improving the convenience of pedestrians when walking.

In addition, as the drive mechanism of the worm gear is applied, the drive unit can be positioned toward the front end of the body, thereby improving the ease of designing and manufacturing the ankle prosthesis device.

In addition, the fixed unit and rotating block that make up the rotating unit have a fan-shaped shape that expands toward the bottom, improving support against external forces generated when pedestrians walk and maintaining overall structural safety.

In particular, in the case of the rotating block, the outer surface has a rounded shape, so when the rotating block and the body portion rotate relative to each other, precise driving control can be possible by minimizing friction.

Although the present invention has been described above with reference to preferred embodiments, those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as set forth in the following patent claims. You will understand that it is possible.

10: ankle prosthesis device 100: base unit
110, 120: base frame 200: body part
210, 220: vertical frame 230: horizontal frame
300: Block unit 302: Internal storage space
310: Worm block 320, 330: Expansion frame
400: driving unit 410: driving motor
420: Drive shaft 430: Worm gear
500: rotation unit 510: worm wheel
520: Fixed unit 530: Rotating block
600: Connection unit

Claims (11)

a base unit in contact with the ground;
a body portion fixed to the base unit in an upward direction and forming a first storage space therein;
a block unit rotatably connected to the upper part of the body and forming a second storage space therein;
a driving unit fixed to the block unit and providing a rotational driving force with a rotation axis in a first direction; and
An ankle prosthesis including a rotation unit stored in the first and second storage spaces, receiving rotational driving force from the driving unit, and rotating about a rotation axis in a second direction perpendicular to the first direction with respect to the body portion. Device. According to claim 1, according to the rotation of the rotation unit,
An ankle prosthesis device, wherein the block unit and the drive unit rotate together with the rotation unit in the second direction with respect to the body portion. According to paragraph 1,
The first direction is toward the extension direction of the base unit,
An ankle prosthesis device, characterized in that the second direction is a rotation axis around which the ankle rotates when a pedestrian walks. The method of claim 1, wherein the block unit is:
an expansion frame connected to the body in an upward direction; and
An ankle prosthesis device comprising a worm block forming an internal storage space at the top of the expansion frame. The method of claim 4, wherein the driving unit,
A drive motor that generates the rotational driving force; and
An ankle prosthesis device comprising a worm gear that is connected to the drive motor, has gear teeth formed along an outer peripheral surface, and extends from the inside of the worm block. The method of claim 5, wherein the driving motor is:
An ankle prosthesis device, characterized in that it is fixed to the front of the warm block. The method of claim 5, wherein the rotation unit,
A worm wheel gear-coupled with the worm gear to receive rotational driving force;
a fixing unit that covers the outside of the worm wheel and is fixed to the expansion frame; and
An ankle prosthesis device comprising a rotating block formed at the lower part of the fixing unit. The method of claim 7, wherein the rotation unit,
An ankle prosthesis device further comprising a worm wheel drive shaft that is connected to the rotation center of the worm wheel and rotates in the second direction as a rotation axis, and an end of which is fixed to the vertical frame of the body portion. The method of claim 7, wherein the fixed unit and the rotating block are:
An ankle prosthesis device characterized by having a fan-shaped shape extending toward the bottom. The method of claim 9, wherein the rotating block is:
An ankle prosthesis device, characterized in that the outer surface faces the horizontal frame of the body portion and has a rounded shape. According to any one of claims 1 to 10,
An ankle prosthesis device further comprising a connection unit that is fixed to the upper surface of the block unit and has an upper connection portion formed on the upper side to be connected to the amputated portion of the pedestrian.