CN107485471A - Elastic-driven power type bionic knee joint - Google Patents
Elastic-driven power type bionic knee joint Download PDFInfo
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- CN107485471A CN107485471A CN201710726170.1A CN201710726170A CN107485471A CN 107485471 A CN107485471 A CN 107485471A CN 201710726170 A CN201710726170 A CN 201710726170A CN 107485471 A CN107485471 A CN 107485471A
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- knee joint
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- driven
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 53
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 210000000689 upper leg Anatomy 0.000 claims description 13
- 230000033228 biological regulation Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 abstract description 9
- 230000006835 compression Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 abstract description 3
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 206010023230 Joint stiffness Diseases 0.000 description 7
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 238000003801 milling Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003997 social interaction Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
Abstract
An elastically-driven power type bionic knee joint comprises a main power driving end, a buffer mechanism, a rigidity adjusting mechanism, a knee joint power output end and a shank connecting end. The main power driving end is used for providing joint main power, the buffer mechanism is connected between the main power driving end and the knee joint power output end and used for transmitting the main power of the driving end to the knee joint power output end, the buffer mechanism comprises an elastic element, the rigidity adjusting mechanism is connected to the buffer mechanism in a moving mode, the rigidity adjusting mechanism changes the pre-compression amount of the elastic element through moving towards the buffer mechanism, rigidity adjustment of the joint is achieved, and the shank connecting end is connected with the knee joint power output end. The elastically-driven knee joint can effectively slow down external impact, has continuously adjustable joint rigidity so as to adapt to different motion requirements, can provide main power for an artificial limb wearer, reduces muscle energy consumption of the artificial limb patient and improves wearing comfort.
Description
Technical field
The invention belongs to biomedical engineering and rehabilitation accessory technical field, what is used in specially a kind of artificial leg is dynamic
Power type bionic knee joint.
Background technology
Due to a variety of causes such as war, disease, industrial injury, traffic accident and natural calamities, millions of people is caused to lose
The lower limb of health are removed, some lose labour capacity, hinder them and carry out normal social interaction, subject huge body and mind
Pressure；On the other hand, physical disabilities often influence the daily life of people, are also to nurse them while reducing their life qualities
Household and society bring white elephant.It is these amputation therefore because current medical level can not still make limb regeneration
Person, which installs artificial limb, also just becomes the important means of compensatory defect limbs.
Existing artificial limb knee-joint is mainly passive-type and half active artificial limb knee-joint, generally using complicated air pressure/
Hydraulic damping system simulates human muscle-tendon tissue, and motion of knee joint is driven by stump, exists in terms of energy offer and lacks
Fall into, it is impossible to which actively upper and lower stair can make amputee produce sense of fatigue with slope, long-time wearing is climbed.As Chinese invention patent is public
Cloth the 102065799Ath discloses a kind of half drive-type artificial thigh knee joint, can drive and worked under non-driven pattern,
In drive pattern, treatment fluid flow is provided by motor driven hydraulic pump, hydraulic torque generator is produced needed for knee joint
Active torque, under non-driven pattern, then the resistance of liquid stream in torque generator is adjusted with hydraulic valve circuit.Although the patent
Active torque can be provided for wearer, but hydraulic control mode has oil leak, is affected by temperature the problems such as larger.
Currently, in the research of bionic joint, flexible drive technology turns into the study hotspot of joint of robot actuation techniques.
Flexible drive refers to add elastic module between actuator and load, joint is had the spies such as compliance, low energy consumption, Low ESR
Property, joint stiffness can be changed according to the size of suffered external impact force, self-adjusting contact in joint realizes that self is buffered.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of bionic knee joint of flexible drive, the flexible joint
External impact force can effectively be slowed down, stiffness tuning is carried out according to load, active force is provided for prosthesis wearer, can be effective
The muscle power consumption of artificial limb patient is reduced, improves the comfortableness of wearer.
In order to solve the above technical problems, present invention firstly provides a kind of bionic knee joint of flexible drive, including active force
Drive end, buffer gear, stiffness tuning mechanism, knee joint clutch end, shank connection end.The active force drive end is used for
Joint active force is provided, the buffer gear is connected between the active force drive end and the knee joint clutch end,
For the active force of drive end to be transmitted to the knee joint clutch end, the buffer gear includes flexible member, described
Stiffness tuning mechanism kinematic is connected to the buffer gear, the stiffness tuning mechanism by towards the buffer gear move come
Change the pre compressed magnitude of the flexible member, realize the stiffness tuning to the joint.
Further, the active force drive end includes main drive motor, main motor pedestal, active spur gear, driven straight
Gear, main drive-input shaft, the main drive motor include the planetary reduction gear being connected with motor, the main drive motor installation
In on main motor pedestal, in the active spur gear and main drive motor output shaft fixed connection, the driven spur gear and active are straight
Gear mesh, the main drive-input shaft are connected with driven spur gear, and the main drive-input shaft connects the buffer gear.
Further, the buffer gear includes inclined plane disc, spline slider, the spline axis of guide, roller cage, roller
Pin, roller, Rectangular Spring, support on spring.The main drive-input shaft is connected with inclined plane disc, and the inclined plane disc is uniformly machined with
3 arc-shaped inclined-plane chutes, the spline slider inner ring are slidably connected with the spline axis of guide, spline slider outer ring method
It is blue to be connected with the roller cage.The roller cage lower end outside is along the circumferential direction uniformly machined with 3 screwed holes, uses
In installing the roller pin, pin connected mode is taken between the roller pin and the roller, the roller can be in inclined plane disc
Arc-shaped inclined-plane chute on roll so that the torsion from inclined plane disc passes through in roller indirect drive to the spline axis of guide.
Further, the Rectangular Spring lower end is connected with the roller cage, and the Rectangular Spring upper end is by spring
Upper support is fixed, and so, the Rectangular Spring turns into the elastomer that torque is transmitted between roller and inclined-plane, enables the joint
Buffering.
Further, the main drive-input shaft end face center is machined with a circular trough, for realizing that the spline is oriented to
Axle lower end positions, and the upper end milling of the spline axis of guide is connected into D profile shafts and the knee joint clutch end, so that will
Active drive torque passes to the knee joint clutch end.
Further, the stiffness tuning mechanism include stiffness tuning motor, regulation motor driving gear, ball-screw from
Moving gear, ball-screw, ball-screw nut, linear bearing, guiding optical axis.Electricity is adjusted described in the stiffness tuning motor driven
Owner's moving gear rotate, the ball-screw driven gear and regulation motor driving gear are ratcheting, then drive ball-screw and
Ball-screw nut moves, and ball-screw nut is connected with support on the spring, and the ball screw turns drive the bullet
Support and move up and down on spring, so as to change the pre compressed magnitude of the Rectangular Spring, then change the rigidity in the joint.
Further, the guiding optical axis is mounted in parallel with the ball-screw, and the linear bearing endoporus is led with described
It is slidably connected to optical axis, the linear bearing outer ring is connected with support on the spring, combines and matches somebody with somebody with the ball-screw nut
Close guide effect.
Further, the knee joint clutch end includes knee joint pedestal, drive bevel gear, driven wheel of differential, pass
Save drive shaft, thigh connection terminal.The knee joint base bottom is machined with through hole, the spline axis of guide through through hole with
The drive bevel gear is connected, and the driven wheel of differential and drive bevel gear are ratcheting, and the knee joint pedestal both sides are also machined with
Stepped hole, for placing the joint drive rotating shaft, the middle part milling of the joint drive rotating shaft is connected into D profile shafts with the thigh
Terminal is connected, while is connected with the endoporus of the driven wheel of differential, and the driven wheel of differential, which rotates, will drive the joint drive
Rotating shaft and the thigh connection terminal rotate together.
Further, main driving force square by the spline axis of guide pass to the drive bevel gear with from mantle tooth
Wheel, the driven wheel of differential drive the joint drive rotating shaft and the thigh connection terminal to rotate together again, so as to be artificial limb
Wearer provides active force.
After adopting the above technical scheme, the present invention at least has the advantages that：The flexible knee joint can be effective
Slow down external impact, joint stiffness continuously adjustabe, to adapt to different motion demand, active force can be provided for prosthesis wearer,
The muscle power consumption of artificial limb patient is reduced, improves the comfortableness of wearer.
Brief description of the drawings
Fig. 1 is the power type bionic knee joint overall perspective view of flexible drive of the present invention.
Fig. 2 is Fig. 1 front full sectional view.
Fig. 3 is Fig. 1 in side partial sectional view.
Fig. 4 is the plan of the stiffness tuning mechanism in Fig. 1.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 3, a kind of power type bionic knee joint of flexible drive of the present invention includes active force drive end, delayed
Punch mechanism, stiffness tuning mechanism, knee joint clutch end, shank connection end.
As shown in figure 3, the active force drive end includes main drive motor 32, main motor output shaft 33, active spur gear
35th, driven spur gear 36.The main drive motor 32 has been internally integrated planetary reducer, for being closed for the bionical knee
Section provides active force.The main drive motor 32 is connected on main motor pedestal 13 by lock screw 11.The main motor is defeated
The endoporus interference fits of shaft 33 and active spur gear 35, the active spur gear 35 is by machine-processed rice screw 34 and the main motor
Output shaft 33, which is realized, to be connected.The driven endoporus of spur gear 36 and the interference fits of main drive-input shaft 14, are realized by machine-processed rice screw 34
It is connected.The active spur gear 35 is intermeshed with the driven spur gear 36, transmits the power of main drive motor 32.
The buffer gear is fixedly attached to active force drive end, and the power of the drive end is transmitted to knee joint power
Output end.The buffer gear includes single-row angular contact ball bearing 12, inclined plane disc 7, thrust flange deep groove ball bearing 10, spline and slided
Block 6, roller cage 5, roller pin 8 and roller 9, Rectangular Spring 4, needle roller thrust bearing 3, the spline axis of guide 1, support on spring
2.The outer ring of the single-row angular contact ball bearing 12 is interference fitted with the endoporus on main motor pedestal 13, and the single-row angular contact
The shaft end interference fits of the inner ring of ball bearing 12 and the main drive-input shaft 14, so, for positioning main drive-input shaft 14,
And for bearing axial force when whole buffer gear moves downward.The main drive-input shaft 14 is by lock screw 11 and institute
State inclined plane disc 7 to be fixedly connected, the inclined plane disc 7 on axial direction along being uniformly machined with 3 arc-shaped inclined-plane chutes.Institute
State the lower end of the spline axis of guide 1 and realize positioning, the top end of the spline axis of guide 1 by the thrust flange deep groove ball bearing 10
End mill is connected into D profile shafts and the knee joint clutch end.The inner ring of spline slider 6 is slidably connected with the spline axis of guide 1,
The outer ring flange of spline slider 6 is connected by lock screw and roller cage 5.The lower end outside edge of roller cage 5
Circumferencial direction is uniformly machined with 3 screwed holes, for installing the roller pin 8, is adopted between the roller pin 8 and the roller 9
Connected mode is followed closely in write off, and the roller 9 can roll on the arc-shaped inclined-plane chute of inclined plane disc 7 so that the torsion from inclined plane disc 7
Power passes through in roller indirect drive to the spline axis of guide 1.The lower end of Rectangular Spring 4 is supported by the roller cage 5, upper end
Fixed by the needle roller thrust bearing 3, so as to form the elastomer that torque is transmitted between roller and inclined-plane, enable the joint
Buffering.Support 2 is used to support the Rectangular Spring 4 on the spring, and is transported downwards in the presence of the stiffness tuning mechanism
Dynamic compression spring, so as to change spring rate.
During work, when the Rectangular Spring 4 is without compression, the roller 9 is in the arc-shaped inclined-plane chute of inclined plane disc 7
Lowermost end, slope 0 tangent with inclined-plane, now input/output terminal torsionless.When the setting in motion of main drive motor 32 and institute
When stating knee joint clutch end has load, one is relatively rotated between the main drive-input shaft 14 and the spline axis of guide 1
Determine angle, the roller 9 scrolls up along the arc-shaped inclined-plane of inclined plane disc 7 and then compresses Rectangular Spring 4, and at this moment, joint is made
Kicking motion.When the load decreases, the roller 9, again can be along the circular arc of inclined plane disc 7 under the elastic force effect of Rectangular Spring 4
Shape inclined-plane scrolls down through lower position, and the main drive-input shaft 14 recovers initial relative angle with the spline axis of guide 1
Degree, this is elastic energy storage.
As shown in Fig. 2 and Fig. 4, the stiffness tuning mechanism include stiffness tuning motor 19, regulation motor driving gear 20,
Ball-screw driven gear 21, ball-screw 16, ball-screw nut 15, linear bearing 18, guiding optical axis 17.The rigidity is adjusted
Section motor 19 is connected on the main motor pedestal 13, and the regulation motor driving gear 20 and the stiffness tuning motor 19 are defeated
Shaft is connected, and the regulation motor driving gear 20 is intermeshed with ball-screw driven gear 21, and the ball-screw is driven
Gear 21 is connected with ball-screw 16, and specifically, the rotation of stiffness tuning motor 19 drives the regulation motor driving gear
20 rotations, so as to drive the ball-screw driven gear 21 to rotate, and and then the ball-screw 16 is driven to rotate.The rolling
Screw nut 15 is connected by support 2 on screw and the spring, the endoporus of linear bearing 18 and the guiding optical axis 17
Coordinating, the outer ring of linear bearing 18 is connected with support 2 on the spring, combines and play the guiding role with feed screw nut, specifically,
Feed screw nut 15 described in the rotational movement of the ball-screw 16 moves up and down and then drives the linear bearing 18 and institute
State support 2 on spring to move up and down, so as to change the pre compressed magnitude of the Rectangular Spring 4, realize the regulation of joint stiffness.
As shown in Figures 1 to 3, the knee joint clutch end mainly includes drive bevel gear 26, driven wheel of differential 25, big
Leg connection terminal 22, knee joint pedestal 23, joint drive rotating shaft 24, oscillating bearing 38, pad 39, axle ring washer 40.The flower
The upper end of the key axis of guide 1 positions by band thrust flange ball bearing 31, and specifically, the lower section of joint pedestal 23 is machined with logical
Hole, the spline axis of guide 1 is through the through hole below the joint pedestal 23, with the inner ring with thrust flange ball bearing 31
Realize interference fits.The upper end milling of the spline axis of guide 1 into D profile shafts and the endoporus interference fits of drive bevel gear 26,
Realize and be connected by machine-processed rice screw 34.The both sides of joint pedestal 23 are provided with stepped hole, for installing the oscillating bearing 38, institute
It is band thrust flange deep groove ball bearing 38 to state oscillating bearing 38.Placed between the drive bevel gear 26 and the oscillating bearing 38
The pad 39, for avoiding the lower surface of the drive bevel gear 26 and the CONTACT WITH FRICTION of the outer ring of oscillating bearing 38.
The joint drive rotating shaft 24,24 liang of the joint drive rotating shaft are installed between the both sides oscillating bearing 38 of the joint pedestal 23
Axial constraint is realized by the axle ring washer 40 in end.The middle part milling of the joint drive rotating shaft 24 is into D profile shafts and the thigh
Connection terminal 22 is connected by machine-processed rice screw, while by the inner hole of rice screw and the driven wheel of differential 25, it is described from
Dynamic bevel gear 25, which rotates, will drive the joint drive rotating shaft 24 and the thigh connection terminal 22 to rotate together, so, described
Drive bevel gear 26 and the driven wheel of differential 25 are mutually ratcheting, and the power of the spline axis of guide 1 is passed into joint drive
Rotating shaft 24 is so as to driving thigh connection terminal 22.
As shown in Figures 1 to 3, the shank connection end includes shank connection pedestal 30, right baffle-plate 27, right shell body 28.It is described
Shank connects pedestal 30 and the knee joint pedestal 23, the both sides of main motor pedestal 13 are respectively equipped with 3 screwed holes, with right baffle-plate
27th, right shell body 28 realizes that through hole coordinates, and is fixed by lock screw 11.
The specific work process of the present invention includes the main motion and joint stiffness adjustment motion of bionic joint.The main fortune in joint
It is dynamic：Main drive motor 32 provides the main driving torque in joint, and by the active spur gear 35 being connected with main drive motor 32, driving turns
Square passes to driven spur gear 36, then passes to the main drive-input shaft 14 being connected with driven spur gear 36, then passes to and master
The connected inclined plane disc 7 of power input shaft 14, then by moving the roller 9 on the arc-shaped inclined-plane chute of inclined plane disc 7, by power
Roller cage 5 is transmitted to, then passes to the spline axis of guide 1, and the spline axis of guide 1 is eventually through drive bevel gear 26 and from mantle
Gear 25 delivers power to joint drive rotating shaft 24, and the deformed limb to be connected with thigh connection terminal 22 provides active force.Joint
Stiffness equivalent moves：Stiffness tuning motor 19 provides stiffness tuning torque, and stiffness tuning motor 19 is rotated by moving regulation motor
Driving gear 20 drives ball-screw driven gear 21 to follow rotation, the ball-screw being connected on ball-screw driven gear 21
16 equally rotate, and drive feed screw nut 15 to move up and down and then drive support 2 on spring to move up and down, so as to change
The pre compressed magnitude of Rectangular Spring 4 is stated, realizes the regulation of joint stiffness.
The bionic knee joint of the present invention provide not only active torque, and joint stiffness is adjustable, and the flexibility can be carried effectively
The wearing comfort of high LEA, to adapt to a variety of road conditions.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention are limited by appended claims and its equivalency range.
Claims (7)
1. a kind of power type bionic knee joint of flexible drive, including active force drive end, buffer gear, stiffness tuning mechanism,
Knee joint clutch end and shank connection end, the active force drive end are used to provide joint active force, the buffer
Structure is connected between the active force drive end and the knee joint clutch end, for by the active force of drive end transmit to
The knee joint clutch end, the buffer gear include flexible member, and the stiffness tuning mechanism kinematic is connected to described
Buffer gear, the stiffness tuning mechanism towards the buffer gear by moving to change the precommpression of the flexible member
Amount, realizes the stiffness tuning to the joint, the shank connection end is connected to the knee joint clutch end.
2. the power type bionic knee joint of flexible drive as claimed in claim 1, it is characterised in that the active force drive end
Including main drive motor, main motor pedestal, active spur gear, driven spur gear, main drive-input shaft, the main drive motor bag
The planetary reduction gear being connected with motor is included, the main drive motor is installed on main motor pedestal, the active spur gear and master
Driving motor output shaft is connected, and the driven spur gear engages with active spur gear, the main drive-input shaft and driven straight-tooth
Wheel is connected, and the main drive-input shaft connects the buffer gear.
3. the power type bionic knee joint of flexible drive as claimed in claim 1, it is characterised in that the buffer gear includes
Supported on inclined plane disc, spline slider, the spline axis of guide, roller cage, roller pin, roller, Rectangular Spring and spring, institute
State main drive-input shaft to be connected with inclined plane disc, the spline slider inner ring is slidably connected with the spline axis of guide, the spline
Sliding block outer ring flange is connected with the roller cage, and the roller can roll on the arc-shaped inclined-plane chute of inclined plane disc, make
The torsion from inclined plane disc is obtained by the way that in roller indirect drive to the spline axis of guide, the Rectangular Spring lower end is protected with the roller
Frame connection is held, the Rectangular Spring upper end is fixed by being supported on spring.
4. the power type bionic knee joint of flexible drive as claimed in claim 2, it is characterised in that the main drive-input shaft
End face center is machined with a circular trough, for realizing spline axis of guide lower end positioning, the top of the spline axis of guide with
The knee joint clutch end is connected, for active drive torque is passed into the knee joint clutch end.
5. the power type bionic knee joint of flexible drive as claimed in claim 1, it is characterised in that the stiffness tuning mechanism
Including stiffness tuning motor, regulation motor driving gear, ball-screw driven gear, ball-screw, ball-screw nut, straight line
Bearing, optical axis is oriented to, regulation motor driving gear described in the stiffness tuning motor driven rotates, the ball-screw driven tooth
Wheel engages with regulation motor driving gear, then drives ball-screw and ball-screw nut motion, ball-screw nut and institute
State to support on spring and be connected, the ball screw turns drive to support on the spring and moved up and down, for changing the rectangle
The pre compressed magnitude of spring, then it is used for changing the rigidity in the joint.
6. the power type bionic knee joint of flexible drive as claimed in claim 4, it is characterised in that the knee joint power is defeated
Going out end includes knee joint pedestal, drive bevel gear, driven wheel of differential, joint drive rotating shaft, thigh connection terminal, the knee joint
Base bottom is machined with through hole, and the spline axis of guide is connected through through hole with the drive bevel gear, the driven wheel of differential
Engaged with drive bevel gear, the knee joint pedestal both sides are also machined with stepped hole, for placing the joint drive rotating shaft, institute
The middle part and the thigh connection terminal for stating joint drive rotating shaft are connected, while are connected with the endoporus of the driven wheel of differential, institute
State driven wheel of differential and rotate and be used for driving the joint drive rotating shaft and the thigh connection terminal to rotate together.
7. the power type bionic knee joint of flexible drive as claimed in claim 6, it is characterised in that main driving force square passes through institute
State the spline axis of guide and pass to the drive bevel gear and driven wheel of differential, the driven wheel of differential drives the joint drive again
Rotating shaft and the thigh connection terminal rotate together, for providing active force for prosthesis wearer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710726170.1A CN107485471B (en) | 2017-08-22 | 2017-08-22 | Elastic-driven power type bionic knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710726170.1A CN107485471B (en) | 2017-08-22 | 2017-08-22 | Elastic-driven power type bionic knee joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107485471A true CN107485471A (en) | 2017-12-19 |
| CN107485471B CN107485471B (en) | 2019-04-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710726170.1A Expired - Fee Related CN107485471B (en) | 2017-08-22 | 2017-08-22 | Elastic-driven power type bionic knee joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107485471B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854203A (en) * | 2017-11-13 | 2018-03-30 | 电子科技大学中山学院 | Elastic-driven power type bionic knee joint |
| CN108542565A (en) * | 2018-04-08 | 2018-09-18 | 徐立彪 | Digital three-dimensional human synovial function corrects therapeutic instrument for rehabilitation |
| CN110116423A (en) * | 2019-06-19 | 2019-08-13 | 重庆大学 | A kind of transmission shaft protection device, walking robot joint structure and walking robot |
| CN110374525A (en) * | 2019-07-12 | 2019-10-25 | 宝鸡石油机械有限责任公司 | A kind of floating type binding clip suspension arrangement of iron driller and its adjustment method |
| WO2021054210A1 (en) * | 2019-09-17 | 2021-03-25 | ＢｉｏｎｉｃＭ株式会社 | Assist device and artificial limb |
| CN112621808A (en) * | 2020-11-06 | 2021-04-09 | 天津理工大学 | Joint robot series elastic driving structure |
| CN113456321A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic active knee joint |
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| CN114347088B (en) * | 2021-12-06 | 2022-09-23 | 之江实验室 | Variable-stiffness mechanism for realizing variable stiffness by changing pretightening force of spring and flexible joint |
| CN114347088A (en) * | 2021-12-06 | 2022-04-15 | 之江实验室 | Variable-stiffness mechanism for realizing variable stiffness by changing pretightening force of spring and flexible joint |
| CN117959047A (en) * | 2024-03-29 | 2024-05-03 | 吉林大学 | Active-passive hybrid variable stiffness bionic ankle joint prosthesis and control method thereof |
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