CN102922535B - Magnetorheological braking ankle joint - Google Patents
Magnetorheological braking ankle joint Download PDFInfo
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- CN102922535B CN102922535B CN201210408698.1A CN201210408698A CN102922535B CN 102922535 B CN102922535 B CN 102922535B CN 201210408698 A CN201210408698 A CN 201210408698A CN 102922535 B CN102922535 B CN 102922535B
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Abstract
The invention relates to a magnetorheological braking ankle joint. The magnetorheological braking ankle joint is characterized by comprising an artificial limb sole, wherein two supports are arranged on the top surface of the rear of the artificial limb sole; each support is connected with one side of a swinging frame through a rotating shaft; a speed reducer is arranged in the swinging frame; the top of a shell of the speed reducer is fixedly connected with the top of the swinging frame; one side of the swinging frame is fixedly connected with a motor; an output end of the motor drives different stages of gears of the speed reducer to rotate; an output gear of the speed reducer is an incomplete gear; an output shaft of the incomplete gear is concentric with the rotating shafts on the two supports; the bottom of the incomplete gear penetrates through the shell of the speed reducer and then is fixedly connected with the artificial limb sole; the other side, which is opposite to the motor, of the shell of the speed reducer is fixedly connected with a magnetorheological fluid box; magnetorheological fluid is filled in the magnetorheological fluid box; an impeller which is connected with the output shaft of the incomplete gear is arranged in the magnetorheological fluid; and a coil which is connected with power supply equipment is arranged outside the magnetorheological fluid box. The magnetorheological braking ankle joint can be widely applied to a process of producing ankle joints of human artificial limbs and intelligent robots.
Description
Technical field
The present invention relates to a kind of ankle-joint, particularly about a kind of magnetorheological braking ankle-joint that is applicable to intelligent robot and human body artificial limb.
Background technology
Along with the increase of various natural disasters, disease and traffic accident, individuals with disabilities's quantity increasing year by year, according to statistics, the people of China's lower limb disability has approached 9,000,000 at present.Along with increasing of disabled person, the demand of artificial limb also increases day by day.Existing ankle-joint artificial limb on market, its mode of braking is to utilize inertia braking mostly, although inertia braking device is simple in structure, but patients with amputation dress has the artificial limb of inertia braking device while wishing stop motion, it has the problem of two aspects: artificial limb retro-speed is slower on the one hand, reliability is low, can produce abrasion on the other hand, reduces the service life of artificial limb.In addition, also have a kind of method of utilizing load braking, still, the method has increased the overall weight of artificial limb, has affected the comfortableness of artificial limb.
Magnetic flow liquid is the thorn of micron-scale to be intensified to particle disperse to be dissolved in the specific suspension liquid forming in insulation carrier fluid, thereby its rheological behavior changes with externally-applied magnetic field.Magnetorheological phenomenon is while not adding magnetic field, and the rheological behavior of magnetic flow liquid is similar to common Newtonian fluid, if be subject to the effect in moderate strength magnetic field, the coefficient of viscosity of magnetic flow liquid can significantly increase; When magnetic flow liquid is subject to strong magnetic field action, will become the state of similar solid, mobility disappears.Once remove behind magnetic field, becoming again can flowing liquid, and this reversible transition can complete in several milliseconds.And the needed energy consumption of magnetic rheology effect is lower, even if the conversion realizing between liquid and solid can not absorb or emit too many energy yet.
Summary of the invention
For the problems referred to above, the object of this invention is to provide and a kind ofly can initiatively realize the action of similar model of human ankle dorsiflex and plantar flexion, and the fast magnetorheological braking ankle-joint of braking response.
For achieving the above object, the present invention takes following technical scheme: a kind of magnetorheological braking ankle-joint, it is characterized in that: it comprises an artificial limb foot plate, the rear portion end face of described artificial limb foot plate is provided with two stands, described in each, support connects a side of a swing frame by a rotating shaft, in described swing frame, be provided with one speed reducer, the case top of described decelerator is fixedly connected with the top of described swing frame; Described swing frame one side is fixedly connected with a motor, the output of described motor drives the gears at different levels of described decelerator to rotate, the output gear of described decelerator is a partial gear, the output shaft of described partial gear is concentric with the rotating shaft on support described in two, and the bottom of described partial gear passes described reducer shell and is fixedly connected with described artificial limb foot plate; The described reducer shell opposite side relative with described motor is fixedly connected with a magnetic flow liquid case, the inside of described magnetic flow liquid case is provided with magnetic flow liquid, in described magnetic flow liquid, be provided with the impeller of the described partial gear output shaft of a connection, described magnetic flow liquid case outer setting has the coil that connects power supply unit.
The power shaft of described impeller passes described reducer shell, as the rotating shaft of the described support of a corresponding side.
The power shaft of described impeller is arranged in described magnetic flow liquid case, and concentric with the rotating shaft on described two side stands.
The rotating shaft that connects described support and swing frame is pin.
In described support, be provided with bearing, described rotating shaft support is in described bearing.
The housing of described decelerator is fixedly connected with the described swing frame sidewall of a corresponding side respectively with magnetic flow liquid case.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention is because the rear portion at artificial limb foot plate has joined a motor and by this motor-driven gear reduction unit by pair of brackets, the output gear of gear reduction unit is one to be fixedly connected on the partial gear on artificial limb foot plate, therefore the gear of motor-driven gear decelerator input rotates forward or backwards, can drive artificial limb foot plate to swing within the scope of certain angle around the central shaft of partial gear, not only can imitate dorsiflex and the plantar flexion motion of people's ankle, and motor can be when walking for patient provides the power advancing, to reduce patient's energy consumption, make patient's action more laborsaving.2, on the outer wall of the present invention due to the reducer shell in partial gear one side, be fixedly connected with a magnetic flow liquid case, the outer setting of magnetic flow liquid case coil, inside is provided with magnetic flow liquid and and is immersed in the impeller in magnetic flow liquid, the central shaft of impeller is fixedly connected with the central shaft of partial gear, therefore the coil to magnetic flow liquid case outer setting passes to electric current generation magnetic field, magnetic flow liquid changes the state of similar solid under the effect in magnetic field like this, force the impeller being immersed in magnetic flow liquid to stop operating, thereby drive partial gear and artificial limb foot plate to stop operating, to realize the braking of ankle-joint.3, the present invention is owing to being to be become the state of similar solid while utilizing magnetic flow liquid to be subject to high-intensity magnetic field from liquid rotating, to lock each parts, realize braking, therefore braking response of the present invention is fast, do not need to adopt dynamical system braking, energy consumption is low, and magnetic flow liquid is less to the wearing and tearing of the parts such as impeller, can extend the service life of artificial limb.4, the present invention is owing to motor, decelerator and magnetic flow liquid case being all arranged on to the ankle place of artificial limb foot plate, make the structure of whole ankle-joint become compact, greatly reduce the height with ankle-joint artificial limb, that therefore application below-knee prosthesis zeugopodium of the present invention can be done is very short, and the long patients with amputation of deformed limb also can be used.5, the present invention is owing to being provided with independently motor, the low moment of torsion of high rotating speed of motor output is through the speed change of multi-stage gear decelerator, can be transformed into low rotation speed large torque, and Electric Machine Control can also improve the control accuracy at ankle position, therefore the present invention can bring into play motor-driven advantage to greatest extent, to reduce patient's energy consumption.The present invention can be widely used in the ankle-joint production process of human body artificial limb and intelligent robot.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention
Fig. 2 is plan structure schematic diagram of the present invention
Fig. 3 is side-looking structural representation of the present invention
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in FIG. 1 to 3, the present invention includes an artificial limb foot plate 1, the artificial limb foot plate that artificial limb foot plate 1 can adopt each structure and material to make as required.The rear portion end face of artificial limb foot plate 1 is provided with two stands 2, and each support 2 connects a side of a swing frame 4 by a rotating shaft 3, be provided with one speed reducer 5 in swing frame 4, and the case top of decelerator 5 is fixedly connected with the top of swing frame 4.One side of swing frame 4 is fixedly connected with a rotary corner plate 6, is fixedly connected with a motor 7 on rotary corner plate 6, and the output of motor 7 is connected with the power shaft 8 of decelerator 5 through swing frame 4.Power shaft 8 is by driving gear 9 engagement one driven gears 10, be coaxially arranged with a transition gear 11 with driven gear 10, transition gear 11 engagement one partial gears 12, the output shaft of partial gear 12 is concentric with the rotating shaft 3 on support described in two 2, and the bottom that the bottom of partial gear 12 passes decelerator 5 housings is fixedly connected with artificial limb foot plate 1.On decelerator 5 housings of partial gear 12 opposite sides relative with motor 7, be fixedly connected with a magnetic flow liquid case 13, the outer setting of magnetic flow liquid case 13 has the coil 14 being connected with power supply unit, and inside is provided with magnetic flow liquid.In magnetic flow liquid case 13, be provided with an impeller 15 being fixedly connected with the output shaft of partial gear 12, the bottom of impeller 15 is immersed in magnetic flow liquid.
In above-described embodiment, motor 7 has independently power supply unit, and the output of motor 7 can rotate forward or backwards.The step of reduction of decelerator, except the above-mentioned two-stage of taking, can also increase as required to some extent in addition, but the output gear of afterbody should be partial gear 12.
In above-described embodiment, the power shaft of the output shaft of partial gear 12 and impeller 15 can also be made into an axle, or the rotating shaft 3 on the power shaft of the output shaft of partial gear 12, impeller 15 and support 2 is made into an axis.
In above-described embodiment, between swing frame 4 and two stands 2, can adopt pin or other rod member as rotating shaft, can also on two stands 2, bearing be set, in bearing, be fastened on the rotating shaft 3 on swing frame 4.
In above-described embodiment, for being connected between the housing of the decelerator 5 that makes to link together and magnetic flow liquid case and swing frame 13 more firm, can also with the sidewall of a corresponding side oscillation frame 4, fixed connection point be set again respectively at decelerator 5 housings and magnetic flow liquid case 13.
In above-described embodiment, can be fixedly connected with at the top of swing frame 4 various below-knee prosthesis (not shown)s.
When the present invention uses, the output of motor 7 drives driving gear 9 to rotate, driving gear 9 drives partial gear 12 to rotate by driven gear 10 and transition gear 11, but because partial gear 12 is fixedly connected on artificial limb foot plate 1, and the output shaft rotation of partial gear 12 is connected on the housing of reduction box 5, and be connected with the power shaft of impeller 15, and concentric with the rotating shaft 3 on two stands 2, therefore the artificial limb foot plate 1 that partial gear 12 drives can swing around rotating shaft 3 with respect to swing frame 4 and decelerator 5, form an artificial limb foot plate being driven by motor 71 and below-knee prosthesis ankle-joint in relative rotation, realize the corner track that imitates people's ankle dorsiflex and plantar flexion motion.
When the present invention brakes at needs, the coil 14 that can arrange to magnetic flow liquid case 4 outsides passes to electric current and produces magnetic field, magnetic flow liquid in magnetic flow liquid case changes the state of similar solid under the effect in magnetic field like this, force the impeller 15 being immersed in magnetic flow liquid to stop operating, thereby drive partial gear 12 to stop operating, the artificial limb foot plate 1 being fixedly connected with partial gear 12 also can stop swinging, thereby realizes the braking of ankle-joint.
The various embodiments described above are only for illustrating the present invention, and wherein the structure of each parts, connected mode etc. all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (9)
1. a magnetorheological braking ankle-joint, it is characterized in that: it comprises an artificial limb foot plate, the rear portion end face of described artificial limb foot plate is provided with two stands, described in two, support connects respectively a side of a swing frame by a rotating shaft, described in two, rotating shaft has coaxial relation, in described swing frame, be provided with one speed reducer, the case top of described decelerator is fixedly connected with the top of described swing frame; Described swing frame one side is fixedly connected with a motor, the output of described motor drives the gears at different levels of described decelerator to rotate, the output gear of described decelerator is a partial gear, the output shaft of described partial gear is concentric with the rotating shaft on support described in two, and the bottom of described partial gear passes described reducer shell and is fixedly connected with described artificial limb foot plate; The described reducer shell opposite side relative with described motor is fixedly connected with a magnetic flow liquid case, the inside of described magnetic flow liquid case is provided with magnetic flow liquid, in described magnetic flow liquid, be provided with the impeller of the described partial gear output shaft of a connection, described magnetic flow liquid case outer setting has the coil that connects power supply unit.
2. a kind of magnetorheological braking ankle-joint as claimed in claim 1, is characterized in that: the power shaft of described impeller passes described reducer shell, as the rotating shaft of the described support of a corresponding side.
3. a kind of magnetorheological braking ankle-joint as claimed in claim 1, is characterized in that: the power shaft of described impeller is arranged in described magnetic flow liquid case, and concentric with the rotating shaft on described two side stands.
4. a kind of magnetorheological braking ankle-joint as described in claim 1 or 2 or 3, is characterized in that: the rotating shaft that connects described support and swing frame is pin.
5. a kind of magnetorheological braking ankle-joint as described in claim 1 or 2 or 3, is characterized in that: in described support, be provided with bearing, described rotating shaft support is in described bearing.
6. a kind of magnetorheological braking ankle-joint as claimed in claim 4, is characterized in that: in described support, be provided with bearing, described rotating shaft support is in described bearing.
7. a kind of magnetorheological braking ankle-joint as described in claim 1 or 2 or 3 or 6, is characterized in that: the housing of described decelerator is fixedly connected with the described swing frame sidewall of a corresponding side respectively with magnetic flow liquid case.
8. a kind of magnetorheological braking ankle-joint as claimed in claim 4, is characterized in that: the housing of described decelerator is fixedly connected with the described swing frame sidewall of a corresponding side respectively with magnetic flow liquid case.
9. a kind of magnetorheological braking ankle-joint as claimed in claim 5, is characterized in that: the housing of described decelerator is fixedly connected with the described swing frame sidewall of a corresponding side respectively with magnetic flow liquid case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210408698.1A CN102922535B (en) | 2012-10-24 | 2012-10-24 | Magnetorheological braking ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210408698.1A CN102922535B (en) | 2012-10-24 | 2012-10-24 | Magnetorheological braking ankle joint |
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| Publication Number | Publication Date |
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| CN102922535A CN102922535A (en) | 2013-02-13 |
| CN102922535B true CN102922535B (en) | 2014-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210408698.1A Active CN102922535B (en) | 2012-10-24 | 2012-10-24 | Magnetorheological braking ankle joint |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108721009B (en) * | 2017-04-14 | 2019-08-16 | 香港中文大学 | Magnetorheological series elastic driver |
| CN109172289B (en) * | 2018-10-16 | 2021-02-23 | 合肥工业大学 | Hip joint rehabilitation exoskeleton based on multifunctional driver and motion control method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997033658A1 (en) * | 1996-03-11 | 1997-09-18 | Lord Corporation | Portable magnetically controllable fluid rehabilitation devices |
| US20060249315A1 (en) * | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
| CN1883994A (en) * | 2006-07-10 | 2006-12-27 | 东北大学 | Human-imitating double-foot robot artificial leg |
| CN101618547A (en) * | 2009-07-16 | 2010-01-06 | 重庆大学 | Robot anklebone damping device |
-
2012
- 2012-10-24 CN CN201210408698.1A patent/CN102922535B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997033658A1 (en) * | 1996-03-11 | 1997-09-18 | Lord Corporation | Portable magnetically controllable fluid rehabilitation devices |
| US20060249315A1 (en) * | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
| CN1883994A (en) * | 2006-07-10 | 2006-12-27 | 东北大学 | Human-imitating double-foot robot artificial leg |
| CN101618547A (en) * | 2009-07-16 | 2010-01-06 | 重庆大学 | Robot anklebone damping device |
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| CN102922535A (en) | 2013-02-13 |
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