CN107485471B - Elastic-driven power type bionic knee joint - Google Patents
Elastic-driven power type bionic knee joint Download PDFInfo
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- CN107485471B CN107485471B CN201710726170.1A CN201710726170A CN107485471B CN 107485471 B CN107485471 B CN 107485471B CN 201710726170 A CN201710726170 A CN 201710726170A CN 107485471 B CN107485471 B CN 107485471B
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 52
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 210000003414 extremity Anatomy 0.000 claims abstract description 10
- 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 18
- 210000000689 upper leg Anatomy 0.000 claims description 14
- 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
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression 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
- 230000007704 transition Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 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
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- 230000007547 defect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process 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
- 238000011542 limb amputation Methods 0.000 description 1
- 239000007788 liquid Substances 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
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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
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- 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, moved used in specially a kind of artificial leg
Power type bionic knee joint.
Background technique
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 heavy burden.Since current medical level cannot still make limb regeneration, it is these amputation
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 use complicated air pressure/
Hydraulic damping system simulates human muscle-tendon tissue, drives motion of knee joint by stump, exists in terms of energy offer and lack
It falls into, actively upper and lower stair and slope cannot be climbed, wearing can make amputee generate feeling of fatigue for a long time.Such as Chinese invention patent public affairs
Cloth the 102065799Ath discloses a kind of half drive-type artificial thigh knee joint, can drive and work under non-driven mode,
In drive mode, drives hydraulic pump to provide treatment fluid flow by motor, generate hydraulic torque generator needed for knee joint
Active torque then adjusts the resistance of liquid stream in torque generator under non-driven mode with hydraulic valve circuit.Although the patent
Active torque can be provided for wearer, but hydraulic control mode there are oil leak, be affected by temperature the problems such as larger.
Currently, in the research of bionic joint, flexible drive technology becomes the research hotspot of joint of robot actuation techniques.
Flexible drive refers to is added elastic module between actuator and load, and joint is made to have the spies such as flexibility, low energy consumption, Low ESR
Property, joint stiffness can be changed according to the size of suffered external impact force, self buffering is realized in self-adjusting contact in joint.
Summary of the invention
Technical problem to be solved by the present invention lies in provide 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 payload size, provides active force for prosthesis wearer, it can be effective
The muscle energy consumption for reducing artificial limb patient, improves the comfort 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 power output end, shank connecting pin.Active power drive end is used for
Joint active force is provided, the buffer gear is connected between active power drive end and the knee joint power output end,
For the active force for driving end to be transmitted to the knee joint power output end, the buffer gear includes elastic element, 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 elastic element, realizes the stiffness tuning to the joint.
Further, active power drive end include main drive motor, it is main motor pedestal, active spur gear, driven straight
Gear, main drive-input shaft, the main drive motor include the planetary reduction gear being connected to the 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 and driven spur gear are connected, and the main drive-input shaft connects the buffer gear.
Further, the buffer gear includes inclined plane disc, spline slider, spline guiding axis, roller cage, roller
Pin, Rectangular Spring, supports on spring roller.The main drive-input shaft and inclined plane disc are connected, and the inclined plane disc is uniformly machined with
3 arc-shaped inclined-plane sliding slots, the spline slider inner ring are slidably connected with the spline guiding axis, spline slider outer ring method
It is blue to be connect with the roller cage.The roller cage lower end outside is along the circumferential direction uniformly machined with 3 threaded holes, uses
In installing the roller pin, pin connection type is taken between the roller pin and the roller, the roller can be in inclined plane disc
Arc-shaped inclined-plane sliding slot on roll so that the torsion from inclined plane disc is by roller indirect drive to spline guiding axis.
Further, the Rectangular Spring lower end is connect with the roller cage, and the Rectangular Spring upper end is by spring
Upper support is fixed, in this way, the Rectangular Spring becomes the elastomer for transmitting torque 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 spline guiding
The upper end milling of the positioning of axis lower end, the spline guiding axis is connected at D profile shaft and the knee joint power output end, thus will
Active drive torque passes to the knee joint power output end.
Further, the stiffness tuning mechanism include stiffness tuning motor, adjust motor driving gear, ball-screw from
Moving gear, ball-screw, ball-screw nut, linear bearing, guiding optical axis.The stiffness tuning motor drives the adjusting electricity
Owner's moving gear rotation, the ball-screw driven gear and adjust motor driving gear it is ratcheting, then drive ball-screw and
Ball-screw nut movement, ball-screw nut are connected with support on the spring, and the ball screw turns drive the bullet
It supports and moves up and down on spring, 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 inner hole is led with described
It is slidably connected to optical axis, support is connected on the linear bearing outer ring and the spring, combines and matches with the ball-screw nut
Close guiding role.
Further, the knee joint power output 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 guiding axis pass 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 two sides of base is also machined with
Stepped hole, for placing the joint drive shaft, the middle part milling of the joint drive shaft is connect at D profile shaft with the thigh
Terminal is connected, while connecting with the inner hole of the driven wheel of differential, and the driven wheel of differential rotation will drive the joint drive
Shaft and the thigh connection terminal rotate together.
Further, main driving force square by the spline guiding axis pass to the drive bevel gear with from mantle tooth
Wheel, the driven wheel of differential drive the joint drive shaft and the thigh connection terminal to rotate together again, to be artificial limb
Wearer provides active force.
After adopting the above technical scheme, the present invention at least has the following beneficial effects: that the flexible knee joint can be effective
Slowing down external impact, joint stiffness is continuously adjustable, to adapt to different motion demand, active force can be provided for prosthesis wearer,
The muscle energy consumption for reducing artificial limb patient, improves the comfort of wearer.
Detailed description of the invention
Fig. 1 is the power type bionic knee joint overall perspective view of flexible drive of the present invention.
Fig. 2 is the front full sectional view of Fig. 1.
Fig. 3 is Fig. 1 in side partial sectional view.
Fig. 4 is the plan view of the stiffness tuning mechanism in Fig. 1.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
It mutually combines, the application is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in Figures 1 to 3, a kind of power type bionic knee joint of flexible drive of the present invention includes active power drive end, delays
Punch mechanism, stiffness tuning mechanism, knee joint power output end, shank connecting pin.
As shown in figure 3, active power drive end includes main drive motor 32, main motor output shaft 33, active spur gear
35, driven spur gear 36.The main drive motor 32 has been internally integrated planetary reducer, is used to close 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 inner hole transition fit 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.Driven 36 inner hole of spur gear and 14 transition fit of main drive-input shaft 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 power drive end, by the power transmission at the driving end 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 cunning
Block 6, roller cage 5, roller pin 8 and roller 9, needle roller thrust bearing 3, spline guiding axis 1, support on spring Rectangular Spring 4
2.The outer ring of the single-row angular contact ball bearing 12 and the inner hole on main motor pedestal 13 are interference fitted, and the single-row angular contact
The shaft end transition fit of the inner ring of ball bearing 12 and the main drive-input shaft 14, in this way, for positioning main drive-input shaft 14,
And for bearing axial force when entire buffer gear moves downward.The main drive-input shaft 14 is by lock screw 11 and institute
It states inclined plane disc 7 to be fixedly connected, the inclined plane disc 7 is uniformly machined with 3 arc-shaped inclined-plane sliding slots on perpendicular to axial direction.Institute
It states 1 lower end of spline guiding axis and realizes positioning, the top end of the spline guiding axis 1 by the thrust flange deep groove ball bearing 10
End mill is connected at D profile shaft and the knee joint power output end.6 inner ring of spline slider is slidably connected with spline guiding axis 1,
The 6 outer ring flange of spline slider is connected by lock screw and roller cage 5.The 5 lower end outside edge of roller cage
Circumferencial direction is uniformly machined with 3 threaded holes, for installing the roller pin 8, adopts between the roller pin 8 and the roller 9
Connection type is followed closely in write off, and the roller 9 can roll on the arc-shaped inclined-plane sliding slot of inclined plane disc 7, so that the torsion from inclined plane disc 7
Power passes through in roller indirect drive to spline guiding axis 1.4 lower end of Rectangular Spring is supported by the roller cage 5, upper end
It is fixed by the needle roller thrust bearing 3, to constitute the elastomer for transmitting torque between roller and inclined-plane, enable the joint
Buffering.Support 2 is used to support the Rectangular Spring 4 on the spring, and transports downwards under the action of the stiffness tuning mechanism
Dynamic compressed spring, to change spring rate.
When work, when the Rectangular Spring 4 is without compression, the roller 9 is in the 7 arc-shaped inclined-plane sliding slot of inclined plane disc
Lowermost end, slope 0 tangent with inclined-plane, at this time input/output terminal torsionless.When 32 setting in motion of main drive motor and institute
When stating knee joint power output end has load, one is relatively rotated between the main drive-input shaft 14 and the spline guiding axis 1
Determine angle, the roller 9 scrolls up along the 7 arc-shaped inclined-plane of inclined plane disc and then compresses Rectangular Spring 4, and at this moment, joint is made
Kicking motion.When the load decreases, the roller 9, and can be along 7 circular arc of inclined plane disc under the elastic force effect of Rectangular Spring 4
Shape inclined-plane scrolls down through lower position, and the main drive-input shaft 14 restores initial relative angle with the spline guiding axis 1
Degree, this is elastic energy storage.
As shown in Fig. 2 and Fig. 4, the stiffness tuning mechanism include stiffness tuning motor 19, adjust 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 tune
Section motor 19 is connected on the main motor pedestal 13, and the adjusting motor driving gear 20 and the stiffness tuning motor 19 are defeated
Shaft is connected, and the adjusting motor driving gear 20 is intermeshed with ball-screw driven gear 21, and the ball-screw is driven
Gear 21 and ball-screw 16 are connected, and specifically, the rotation of stiffness tuning motor 19 drives the adjusting motor driving gear
20 rotations so that the ball-screw driven gear 21 be driven to rotate, and drive the ball-screw 16 to rotate in turn.The rolling
Screw nut 15 is connected by support 2 on screw and the spring, 18 inner hole of linear bearing and the guiding optical axis 17
Support 2 is connected on cooperation, 18 outer ring of linear bearing and 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
It states support 2 on spring to move up and down, to change the pre compressed magnitude of the Rectangular Spring 4, realizes the adjusting of joint stiffness.
As shown in Figures 1 to 3, the knee joint power output end mainly include drive bevel gear 26, it is driven wheel of differential 25, big
Leg connection terminal 22, knee joint pedestal 23, joint drive shaft 24, oscillating bearing 38, gasket 39, axis ring washer 40.The flower
The upper end of key guiding axis 1 is positioned by band thrust flange ball bearing 31, specifically, is machined with below the joint pedestal 23 logical
Hole, the spline guiding axis 1 passes through the through-hole of 23 lower section of joint pedestal, with the inner ring with thrust flange ball bearing 31
Realize transition fit.1 upper end of spline guiding axis is milled into D profile shaft and the 26 inner hole transition fit of drive bevel gear,
It realizes and is connected by machine-processed rice screw 34.23 two sides of joint pedestal are equipped with stepped hole, for installing the oscillating bearing 38, institute
Oscillating bearing 38 is stated as band thrust flange deep groove ball bearing 38.It is placed between the drive bevel gear 26 and the oscillating bearing 38
The gasket 39, for avoiding the lower end surface of the drive bevel gear 26 and the CONTACT WITH FRICTION of 38 outer ring of oscillating bearing.
The joint drive shaft 24,24 liang of the joint drive shaft are installed between the two sides oscillating bearing 38 of the joint pedestal 23
Axial constraint is realized by axis ring washer 40 in end.The middle part of the joint drive shaft 24 is milled into D profile shaft 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
The rotation of dynamic bevel gear 25 will drive the joint drive shaft 24 and the thigh connection terminal 22 to rotate together, in this way, described
Drive bevel gear 26 and the driven wheel of differential 25 are mutually ratcheting, and the power of the spline guiding axis 1 is passed to joint drive
Shaft 24 is to drive thigh connection terminal 22.
As shown in Figures 1 to 3, the shank connecting pin includes shank connection pedestal 30, right baffle-plate 27, right shell body 28.It is described
Shank connection pedestal 30 and the knee joint pedestal 23,13 two sides of main motor pedestal are respectively equipped with 3 threaded holes, with right baffle-plate
27, right shell body 28 realizes through-hole cooperation, fixed by lock screw 11.
Specific work process of the invention includes the main motion and joint stiffness adjustment movement of bionic joint.The main fortune in joint
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 7 arc-shaped inclined-plane sliding slot of inclined plane disc, by power
It is transmitted to roller cage 5, then passes to spline guiding axis 1, and spline guiding axis 1 is eventually by drive bevel gear 26 and from mantle
Gear 25 delivers power to joint drive shaft 24, and the deformed limb to be connected with thigh connection terminal 22 provides active force.Joint
Stiffness equivalent movement: stiffness tuning motor 19 provides stiffness tuning torque, and the rotation of stiffness tuning motor 19 adjusts motor by dynamic
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 support 2 on spring is driven to move up and down, to change institute
The pre compressed magnitude for stating Rectangular Spring 4 realizes the adjusting of joint stiffness.
Bionic knee joint of the invention provides not only active torque, and joint stiffness is adjustable, and the flexibility can be mentioned effectively
The wearing comfort of high lower limb amputation, to adapt to a variety of different road conditions.
It 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 variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention are defined by the appended claims and their equivalents.
Claims (5)
1. a kind of power type bionic knee joint of flexible drive, including active power drive end, buffer gear, stiffness tuning mechanism,
Knee joint power output end and shank connecting pin, active power drive end is for providing joint active force；
The buffer gear is connected between active power drive end and the knee joint power output end, for that will drive end
Active force be transmitted to the knee joint power output end, the buffer gear includes elastic element, and the buffer gear includes
It is supported on inclined plane disc, spline slider, spline guiding axis, roller cage, roller pin, roller, Rectangular Spring and spring, institute
It states main drive-input shaft and inclined plane disc is connected, the spline slider inner ring is slidably connected with the spline guiding axis, the spline
Sliding block outer ring flange is connect with the roller cage, and the roller can roll on the arc-shaped inclined-plane sliding slot of inclined plane disc, is made
The torsion from inclined plane disc is obtained by the way that in roller indirect drive to spline guiding axis, the Rectangular Spring lower end and the roller are protected
Frame connection is held, the Rectangular Spring upper end is fixed by supporting on spring；
The stiffness tuning mechanism kinematic is connected to the buffer gear, the stiffness tuning mechanism include stiffness tuning motor,
Adjust motor driving gear, ball-screw driven gear, ball-screw, ball-screw nut, linear bearing, guiding optical axis, institute
It states stiffness tuning motor and drives the adjusting motor driving gear rotation, the ball-screw driven gear and adjusting motor are actively
Gear engagement then drives ball-screw and ball-screw nut movement, and support is connected on ball-screw nut and the spring,
The ball screw turns drive to support on the spring and move up and down, for changing the pre compressed magnitude of the Rectangular Spring, after
And it is used to change the rigidity in the joint；Support is connected on the linear bearing outer ring and the spring, with ball-screw, ball
Feed screw nut combination play the guiding role, and the stiffness tuning mechanism changes the elasticity by moving towards the buffer gear
The pre compressed magnitude of element realizes that the knee joint power output end includes thigh connection terminal to the stiffness tuning in the joint,
The thigh connection terminal is connected with deformed limb；The shank connecting pin is connected to the knee joint power output end.
2. the power type bionic knee joint of flexible drive as described in claim 1, which is characterized in that active power drive end
Including main drive motor, main motor pedestal, active spur gear, driven spur gear, main drive-input shaft, the main drive motor packet
The planetary reduction gear being connected to the 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 is engaged 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 2, which is characterized in that the main drive-input shaft
End face center is machined with a circular trough, for realizing the spline guiding axis lower end positioning, the top of the spline guiding axis with
The knee joint power output end is connected, for active drive torque is passed to the knee joint power output end.
4. the power type bionic knee joint of flexible drive as claimed in claim 3, which is characterized in that the knee joint power is defeated
Outlet further includes knee joint pedestal, drive bevel gear, driven wheel of differential, joint drive shaft, and the knee joint base bottom adds
Work has through-hole, and the spline guiding axis passes through through-hole and the drive bevel gear is connected, the driven wheel of differential and active conical tooth
Wheel engagement, the knee joint two sides of base is also machined with stepped hole, for placing the joint drive shaft, the joint drive
The middle part of shaft and the thigh connection terminal are connected, while connecting with the inner hole of the driven wheel of differential, described from mantle tooth
Rotation is employed to drive the joint drive shaft and the thigh connection terminal to rotate together.
5. the power type bionic knee joint of flexible drive as claimed in claim 4, which is characterized in that main driving force square passes through institute
It states spline guiding axis and passes to the drive bevel gear and driven wheel of differential, the driven wheel of differential drives the joint drive again
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 CN107485471A (en) | 2017-12-19 |
| CN107485471B true CN107485471B (en) | 2019-04-26 |
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| 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 |
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| CN (1) | CN107485471B (en) |
Families Citing this family (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 |
| CN108542565B (en) * | 2018-04-08 | 2024-01-12 | 徐立彪 | Digital three-dimensional human joint function correcting rehabilitation therapeutic instrument |
| CN110116423B (en) * | 2019-06-19 | 2024-02-27 | 重庆大学 | Transmission shaft protection device, walking robot joint structure and walking robot |
| CN110374525B (en) * | 2019-07-12 | 2021-07-13 | 宝鸡石油机械有限责任公司 | Iron roughneck floating type tong head suspension device and debugging method thereof |
| JP6850054B1 (en) * | 2019-09-17 | 2021-03-31 | ＢｉｏｎｉｃＭ株式会社 | Auxiliary device and artificial limbs |
| CN112621808A (en) * | 2020-11-06 | 2021-04-09 | 天津理工大学 | Joint robot series elastic driving structure |
| CN113456321B (en) * | 2021-06-30 | 2022-06-21 | 吉林大学 | Bionic active knee joint |
| CN113456322B (en) * | 2021-06-30 | 2022-09-23 | 吉林大学 | Bionic knee joint based on motor drive |
| CN113479306B (en) * | 2021-08-03 | 2024-02-27 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
| 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 |
| CN117959047B (en) * | 2024-03-29 | 2024-06-25 | 吉林大学 | Active-passive hybrid variable stiffness bionic ankle joint prosthesis and control method thereof |
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| CN2579376Y (en) * | 2002-11-25 | 2003-10-15 | 德林股份有限公司 | Knee joint device |
| CN201356682Y (en) * | 2009-03-11 | 2009-12-09 | 河北工业大学 | Powered artificial human leg |
| CA2789584A1 (en) * | 2010-02-12 | 2011-08-18 | Freedom Innovations, L.L.C. | Novel enhanced methods for mimicking human gait with prosthetic knee devices |
| CN102152319B (en) * | 2011-05-11 | 2012-07-11 | 哈尔滨工程大学 | Elastically-driven rotational joint |
| US9687364B2 (en) * | 2014-09-25 | 2017-06-27 | Department Of Biotechnology, Ministry Of Science & Technology | Injection mouldable polymeric composite based passive polycentric knee joint |
| CN104526713B (en) * | 2014-10-14 | 2016-04-13 | 浙江工业大学 | Rigidity drives, the adaptive robot joint of submissive regulation and control |
| CN204566157U (en) * | 2015-01-14 | 2015-08-19 | 浙江工业大学 | Super flexible machine person joint |
| CN104647397B (en) * | 2015-03-17 | 2016-02-03 | 河北工业大学 | A kind of flexible joint of stiffness variable |
| CN106426267B (en) * | 2016-08-31 | 2018-09-14 | 华南理工大学 | A kind of continuously adjustable joint of the rigidity based on floating spring |
| CN106142132B (en) * | 2016-09-22 | 2018-10-16 | 电子科技大学中山学院 | Robot flexible joint with continuously adjustable rigidity |
| CN106974750A (en) * | 2017-05-03 | 2017-07-25 | 哈尔滨理工大学 | A kind of power type knee joint artificial limb |
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