CN108714065A - A kind of bionical artificial limb machinery foot in parallel connection joint - Google Patents
A kind of bionical artificial limb machinery foot in parallel connection joint Download PDFInfo
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- CN108714065A CN108714065A CN201810294978.1A CN201810294978A CN108714065A CN 108714065 A CN108714065 A CN 108714065A CN 201810294978 A CN201810294978 A CN 201810294978A CN 108714065 A CN108714065 A CN 108714065A
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- hinged
- spring
- cylinder
- joint
- forefoot
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Classifications
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- 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
- A61F2/66—Feet; Ankle 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
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2002/6614—Feet
-
- 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
- A61F2/66—Feet; Ankle joints
- A61F2002/6614—Feet
- A61F2002/6657—Feet having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel
- A61F2002/6678—L-shaped
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The present invention provides a kind of bionical artificial limb machinery foot in joint in parallel, including leg fixed cylinder, elastic fastener band, joint in parallel, arch bearing, crank A, rear heel, extension spring, spring push-rod, forefoot, crank B, connecting rod, toe.Leg fixed cylinder is a conically shaped, the upper opening of cylinder is big, it is small below, the rear demifacet of cylinder is equipped with a semicircular arc and is open, elastic fastener band is installed in semicircular arc opening, elastic fastener band one end is hinged with semicircular arc open at one end, and the other end passes through the buckle of the other end setting of semicircular arc opening, for fixing user's deformed limb.Mechanical foot toe can be lifted with road conditions stress, and forefoot and rear heel change with road conditions and stressing conditions between 130 ° ~ 180 °.When encountering level road, upward slope, descending and rough road conditions, the arch bearing that is forced through of entire foot plate surface passes to joint in parallel, causes joint back and forth or left and right in parallel to swing, with good adaptation road conditions.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of bionical artificial limb machinery foot in joint in parallel.
Background technology
For some are from the physical disabilities of foot's amputation, pole can be brought to their daily life by being unable to normal walking
Big inconvenience, traditional artificial limb are mostly monolithic construction, and foot cannot be flexible as the foot of people, conveniently, and reason essentially consists in
Monolithic construction toe does not have movable supporting ability, and ankle arthrosis cannot be rotated all around.Therefore we need one kind
Bionical machinery meets demand of the user to the artificial limb of high flexibility enough.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of bionical artificial limb machinery foot in joint in parallel.The present invention is by being arranged two certainly
By degree ankle-joint in parallel, mechanical foot can be made to swing around within a certain angle, the adaptive various angles in ground, favorably
In the lower leg portion of protection user.It can increase the contact area between mechanical foot and ground by the way that four-bar mechanism is arranged, enhance
Its stability, when user lifts mechanical group, forefoot and hind paw come back to 150 ° of folder under the action of extension spring
Horn shape state, toe are also lifted up, and formation one is arciform, are conducive to user's walking.
Technical solution used in the present invention is：A kind of bionical artificial limb machinery foot in parallel connection joint, including leg fixed cylinder, bullet
Property magic tape, joint in parallel, arch bearing, crank A, rear heel, extension spring, spring push-rod, forefoot, crank B, connecting rod,
Toe, the leg fixed cylinder are a conically shapeds, and the upper opening of cylinder is big, below it is small, the rear demifacet of cylinder is equipped with one and half
Arc-shaped opening is equipped with elastic fastener band, elastic fastener band one end and semicircular arc open at one end in semicircular arc opening
Hinged, the other end passes through the buckle of the other end setting of semicircular arc opening；Leg fixed cylinder bottom and arthrodesis plate A in parallel
It is fixedly connected by three cylinders, arthrodesis plate B in parallel is fixedly connected with arch bearing upper end by three cylinders, arch branch
Seat lower end is hinged with forefoot and symmetrical two crank A respectively, and rear heel both ends are cut with scissors with crank A and forefoot respectively
It connects, rear heel and forefoot both sides are respectively provided with an axis pin, are set there are two extension spring in forefoot both sides, the stretching bullet
Spring one end is hinged on the axis pin of rear heel side, and the other end is hinged on the axis pin of front foot palmar surface, in the front end of forefoot
If there are five a toe for placing the rectangular channel and hinged-support of toe, is designed in each rectangular channel, after each rectangular channel
All there are one corresponding hinged-support, hinged on each hinged-support there are one crank B, and toe rear portion is hinged on the circular hole of rectangular channel
In, connecting rod is hinged with crank B and toe middle part respectively, and arch bearing on both sides of the middle is equipped with axis pin, each to be hinged a spring push-rod,
The spring push-rod other end and toe middle part and crank B are hinged, constitute a compound hinges.
Further, the joint in parallel includes fixed plate A, push rod, spring cylinder cap, spring, spring cylinder, fixed plate
B, lower Hooke hinged-support, cross axle, upper Hooke hinged-support.Fixed plate A is set on one side there are six spherical linkage bearing, with push rod
Spherical shape hinge is hinged, and push rod, spring cylinder cap, spring and spring cylinder form a spring push-rod, altogether there are six, fixed plate B is set on one side
There are six spherical linkage bearings, and hinged with the spherical hinge of spring cylinder, upper Hooke hinged-support passes through three straight pins with fixed plate A
Connection, with fixed plate B by three cylinder pin connections, upper Hooke hinged-support passes through lower Hooke hinged-support with lower Hooke hinged-support
Cross axle is hinged, constitutes a two degrees of freedom Hooke's hinge.
Further, the spring push-rod includes spring cylinder, spring, push rod, spring cylinder cap.Spring is placed in spring cylinder
And side is fixedly connected with spring cylinder cylinder bottom, and push rod is placed in spring cylinder and is fixedly connected with the spring other side, spring cylinder cap
It covers at spring cylinder mouth.
Further, the angle between the forefoot and rear heel is 130 ° ~ 180 °.
Advantageous effect of the present invention：（1）The present invention by be arranged joint in parallel can make mechanical foot it is front and back within a certain angle,
It swings, to adaptive road surface road conditions, is conducive to the lower leg portion for protecting user；（2）It can be with by the way that four-bar mechanism is arranged
Increase the contact area between mechanical foot and ground, enhances its stability, forefoot and the rear foot when patient lifts mechanical group
Follow and come back to 150 ° of angle state under the action of extension spring, toe is also lifted up, formed one it is arciform, be conducive to
Patient walks.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is another angled arrangement schematic diagram of the present invention.
Fig. 3 is the joint structure schematic diagram in parallel of the present invention.
Fig. 4 is the spring push-rod structural schematic diagram of the present invention.
Drawing reference numeral：The legs 1- fixed cylinder；2- elastic fastener bands；3- parallel connections joint；4- arch bearings；5- cranks A；6-
Rear heel；7- extension springs；8- spring push-rods；9- forefoots；10- cranks B；11- connecting rods；12- toes；301- fixed plates A；
302- push rods；303- spring cylinder caps；304- springs；305- spring cylinders；306- fixed plates B；Hooke hinged-support under 307-；308-
Cross axle；The upper Hooke hinged-supports of 309-；801- spring cylinders；802- springs；803- push rods；804- spring cylinder caps.
Specific implementation mode
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
Embodiment：As shown in Figure 1, Figure 2, Figure 3, Figure 4, the bionical artificial limb machinery foot in a kind of joint in parallel, including leg are fixed
Cylinder 1, elastic fastener band 2, joint 3 in parallel, arch bearing 4, crank A 5, rear heel 6, extension spring 7, spring push-rod 8, front foot
The palm 9, crank B 10, connecting rod 11, toe 12.Leg fixed cylinder 1 is a conically shaped, and the upper opening of cylinder is big, below it is small, cylinder
Demifacet is equipped with a semicircular arc and is open afterwards, and elastic fastener band 2,2 one end of elastic fastener band are equipped in semicircular arc opening
Hinged with semicircular arc open at one end, the other end passes through the buckle of the other end setting of semicircular arc opening.1 bottom of leg fixed cylinder
Portion is fixedly connected with the fixed plate A 301 in joint 3 in parallel by three cylinders, fixed plate B 306 and the arch branch in joint 3 in parallel
Seat 4 upper ends be fixedly connected by three cylinders, 4 lower end of arch bearing respectively with forefoot 9 and symmetrical two crank A
5 is hinged, and 6 both ends of rear heel are hinged with crank A 5 and forefoot 9 respectively, and rear heel 6 and 9 both sides of forefoot are respectively provided with a pin
Axis is set in 9 both sides of forefoot there are two extension spring 7, and 7 one end of extension spring is hinged on the axis pin of 6 side of rear heel, another
End is hinged on the axis pin of 9 side of forefoot, sets that there are five for placing the rectangular channel and hinge of toe 12 in the front end of forefoot 9
Bearing, is designed with a toe 12 in each rectangular channel, and there are one corresponding hinged-support, each hinged-supports after each rectangular channel
It is upper hinged that there are one crank B 10,12 rear portion of toe is hinged in the circular hole of rectangular channel, connecting rod 11 respectively with crank B 10 and foot
The middle part of toe 12 is hinged, and 4 on both sides of the middle of arch bearing is equipped with axis pin, each hinged spring push-rod 8,8 other end of spring push-rod with
12 middle part of toe and crank B 10 are hinged, constitute a compound hinges.
Joint 3 in parallel includes fixed plate A 301, push rod 302, spring cylinder cap 303, spring 304, spring cylinder 305, fixes
Plate B 306, lower Hooke hinged-support 307, cross axle 308, upper Hooke hinged-support 309.Fixed plate A 301 is set on one side there are six ball
Shape rocker bar bearing, hinged with the spherical hinge of push rod 302, push rod 302, spring cylinder cap 303, spring 304 and spring cylinder 305 form one
A spring push-rod, altogether there are six, fixed plate B 306 is set on one side there are six spherical linkage bearing, is cut with scissors with the spherical hinge of spring cylinder 305
It connects, upper Hooke hinged-support 309 and fixed plate A 301 passes through three cylinder pin connections, lower Hooke hinged-support 307 and fixed plate B
306 are hinged on one with lower Hooke hinged-support 307 by three cylinder pin connections, upper Hooke hinged-support 309 by cross axle 308
It rises, constitutes a two degrees of freedom Hooke's hinge.
Spring push-rod 8 includes spring cylinder 801, spring 802, push rod 803, spring cylinder cap 804.Spring 802 is placed on spring cylinder
In 801 and side is fixedly connected with 801 cylinder bottom of spring cylinder, push rod 803 be placed in spring cylinder 801 and with 802 other side of spring
It is fixedly connected, spring cylinder cap 804 covers at 801 mouthfuls of spring cylinder.Angle between rear heel 6 and forefoot 9 is 130 ° -180 °.
Operation principle of the present invention：In the use of the present invention, user need to put the lower leg portion after amputation residue into leg first
In portion's fixed cylinder 1, fixation is then tightened by elastic fastener band 2.In walking process, toe 12 first contacts ground, due to toe
12 constitute four-bar mechanism with connecting rod 11 and crank B 10, therefore stress can be lifted up when the contact ground of toe 12, and power passes through connecting rod
11 reach spring push-rod 8, the Spring balanced with spring push-rod 8, in addition, the public hinge of the thumb forefinger of toe 12,
Excess-three toe shares a hinge, can separate and independently lift.Then 9 front end of forefoot contact ground, arch bearing 4, crank A 5,
Rear heel 6 constitutes four-bar mechanism with forefoot 9, and when not in contact with ground, forefoot 9 passes through 7 elastic force of extension spring with rear heel 6
Constraint, angle are in 150 °, and when contacting ground, according to road conditions and stress size, angle changes between 150 ° ~ 180 ° between the two,
The adaptation surface conditions for keeping sole fully strong.Finally, entire foot's tiled configuration is symmetrical, front and back by configuring material and counterweight
Entire foot's center of gravity is kept to be on 3 central axes of joint in parallel, in order to which entire mechanism is in horizontality under normality；Parallel connection is closed
3 tool of section maintains the balance of power by the elastic force of six spring push-rods there are two rotational freedom, encounter level road, upward slope, under
When slope and rough road conditions, the stressing conditions of entire foot plate surface pass to joint 3 in parallel by arch bearing 4, cause simultaneously
Join joint back and forth or left and right to swing, with good adaptation road conditions.
Claims (4)
1. a kind of bionical artificial limb machinery foot in parallel connection joint, including leg fixed cylinder（1）, elastic fastener band（2）, joint in parallel
（3）, arch bearing（4）, crank A（5）, rear heel（6）, extension spring（7）, spring push-rod（8）, forefoot（9）, crank B
（10）, connecting rod（11）, toe（12）, it is characterised in that：The leg fixed cylinder（1）It is a conically shaped, the top of cylinder is opened
It is mouthful big, below it is small, the rear demifacet of cylinder is equipped with a semicircular arc and is open, and elastic fastener band is equipped in semicircular arc opening
（2）, elastic fastener band（2）One end is hinged with semicircular arc open at one end, and the other end passes through the other end of semicircular arc opening to set
The buckle set；Leg fixed cylinder（1）Bottom and joint in parallel（3）Fixed plate A（301）It is fixedly connected by three cylinders, and
Join joint（3）Fixed plate B（306）With arch bearing（4）Upper end is fixedly connected by three cylinders, arch bearing（4）Lower end
Respectively with forefoot（9）With symmetrical two crank A（5）It is hinged, rear heel（6）Both ends respectively with crank A（5）With
Forefoot（9）It is hinged, rear heel（6）And forefoot（9）Both sides are respectively provided with an axis pin, 9 both sides of forefoot set there are two draw
Stretch spring（7）, the extension spring（7）One end is hinged on rear heel（6）On the axis pin of side, the other end is hinged on forefoot
（9）On the axis pin of side, in forefoot（9）Front end set that there are five for placing toe（12）Rectangular channel and hinged-support, often
A toe is designed in a rectangular channel（12）, there are one corresponding hinged-support after each rectangular channel, cut with scissors on each hinged-support
Crank B there are one connecing（10）, toe（12）Rear portion is hinged in the circular hole of rectangular channel, connecting rod（11）Respectively with crank B（10）
With toe（12）Middle part is hinged, arch bearing（4）On both sides of the middle is equipped with axis pin, each hinged spring push-rod（8）, spring push-rod
（8）The other end and toe（12）Middle part and crank B（10）It is hinged, constitute a compound hinges.
2. a kind of bionical artificial limb machinery foot in joint in parallel according to claim 1, it is characterised in that：The pass in parallel
Section（3）Including fixed plate A（301）, push rod（302）, spring cylinder cap（303）, spring（304）, spring cylinder（305）, fixed plate
B （306）, lower Hooke hinged-support（307）, cross axle（308）, upper Hooke hinged-support（309）, the fixed plate A（301）
Spherical linkage bearing there are six setting on one side, with push rod（302）Spherical hinge it is hinged, push rod（302）, spring cylinder cap（303）, spring
（304）With spring cylinder（305）Form a spring push-rod, altogether there are six, fixed plate B（306）Spherical linkage there are six setting on one side
Bearing, with spring cylinder（305）Spherical hinge it is hinged, upper Hooke hinged-support（309）With fixed plate A（301）Pass through three cylinders
Pin connection, lower Hooke hinged-support（307）With fixed plate B（306）By three cylinder pin connections, upper Hooke hinged-support（309）
With lower Hooke hinged-support（307）Pass through cross axle（308）It is hinged, constitute a two degrees of freedom Hooke's hinge.
3. according to a kind of bionical artificial limb machinery foot in joint in parallel of claim 1, it is characterised in that：The spring push-rod（8）Packet
Include spring cylinder（801）, spring（802）, push rod（803）, spring cylinder cap（804）, spring（802）It is placed on spring cylinder（801）In simultaneously
And side and spring cylinder（801）Cylinder bottom is fixedly connected, push rod（803）It is placed on spring cylinder（801）In and and spring（802）The other side
It is fixedly connected, spring cylinder cap（804）It covers in spring cylinder（801）At mouthful.
4. a kind of bionical artificial limb machinery foot in joint in parallel according to claim 1, it is characterised in that：The rear heel
（6）And forefoot（9）Between angle be 130 ° ~ 180 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810294978.1A CN108714065A (en) | 2018-04-04 | 2018-04-04 | A kind of bionical artificial limb machinery foot in parallel connection joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810294978.1A CN108714065A (en) | 2018-04-04 | 2018-04-04 | A kind of bionical artificial limb machinery foot in parallel connection joint |
Publications (1)
| Publication Number | Publication Date |
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| CN108714065A true CN108714065A (en) | 2018-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810294978.1A Pending CN108714065A (en) | 2018-04-04 | 2018-04-04 | A kind of bionical artificial limb machinery foot in parallel connection joint |
Country Status (1)
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| CN (1) | CN108714065A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109692065A (en) * | 2018-12-29 | 2019-04-30 | 赵鹏 | A kind of O-shaped leg rectifier |
| CN110404203A (en) * | 2019-08-03 | 2019-11-05 | 任玉志 | A kind of deep well rescue machine people |
| CN110916859A (en) * | 2019-12-27 | 2020-03-27 | 彭学松 | Bionic foot for simulating rotation of foot joint |
| CN113693797A (en) * | 2021-08-27 | 2021-11-26 | 吉林大学 | Small-size multi-axis ankle joint artificial limb |
| CN117814969A (en) * | 2024-03-04 | 2024-04-05 | 吉林大学 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
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| CN109692065A (en) * | 2018-12-29 | 2019-04-30 | 赵鹏 | A kind of O-shaped leg rectifier |
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| CN110404203A (en) * | 2019-08-03 | 2019-11-05 | 任玉志 | A kind of deep well rescue machine people |
| CN110916859A (en) * | 2019-12-27 | 2020-03-27 | 彭学松 | Bionic foot for simulating rotation of foot joint |
| CN113693797A (en) * | 2021-08-27 | 2021-11-26 | 吉林大学 | Small-size multi-axis ankle joint artificial limb |
| CN117814969A (en) * | 2024-03-04 | 2024-04-05 | 吉林大学 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
| CN117814969B (en) * | 2024-03-04 | 2024-06-07 | 吉林大学 | Lower limb bionic artificial limb with pneumatic balance and gravity center actively adjusted |
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Application publication date: 20181030 |