CN208447856U - A kind of intelligent bionic knee joint - Google Patents
A kind of intelligent bionic knee joint Download PDFInfo
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- CN208447856U CN208447856U CN201721294560.8U CN201721294560U CN208447856U CN 208447856 U CN208447856 U CN 208447856U CN 201721294560 U CN201721294560 U CN 201721294560U CN 208447856 U CN208447856 U CN 208447856U
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- knee joint
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Abstract
A kind of intelligent bionic knee joint, the intelligent bionic knee joint is for being connected between artificial thigh and below-knee prosthesis, it includes the connector being fixedly connected with artificial thigh, is fixed at below connector for simulating the knee joint simulator of human body artificial limb, with the air pressure damping device of knee joint simulator cooperating, the detection device for detecting current moving state and in response to detection device for adjusting the air pressure damping device of air-pressure damping, adjusts the effect of motion of knee joint state in real time to realize according to human body walking leg speed.
Description
Technical field
The utility model relates to bionic device, in particular to a kind of intelligent bionic knee joint.
Background technique
Today's society loses basic one of the function of the mankind due to various reasons --- cannot upright walking group when
Quarter occurs, and undoubtedly brings great inconvenience to their life.However, the appearance of artificial leg (artificial limb) is solved from soul
Their pain.With the development of science and technology, the structure and function of artificial leg also obtained it is further perfect.But this is always
A kind of concept of mechanical device, and largely belong to follow-up type product, lack function specific to human muscular, people's leg
Walking be as: as a result, this is not available for modern artificial leg mechanism caused by active force-inertia force-damping force Union Movement
's.
Knee joint is that human body is maximum and construction is most complicated, damages chance also more joint, traditional artificial limb, due to normal
Motion of knee joint function be ignored, many above knee amputation patients load onto walking after artificial limb and take a step to be entirely by only strength
Leg is thrown out, rather than normally walks line state.Currently, bending and stretching for joint of artificial limb in the market is driven by deformed limb,
It can only be by the damping torque of adjusting joint of artificial limb, so that the close strong limb side step state of artificial limb side step state.
Knee joint on existing major part artificial limb, is adjusted the damping of liquid or gas by people mostly to realize and adjusts step
Speed, but the leg speed adjusted is to need human body to adapt to the leg speed of artificial limb, when desired speed change in same leg speed when walking
When, artificial adjusting in real time is needed, it is extremely difficult.
Utility model content
The purpose of this utility model is to provide a kind of intelligent bionic knee joints, have and adjust artificial limb row according to the gait of people
Walk leg speed.
The above-mentioned purpose of the utility model has the technical scheme that
A kind of intelligent bionic knee joint, for being connected between artificial thigh and below-knee prosthesis, including,
Connector is fixed with artificial thigh；
Knee joint simulator is arranged below connector and is fixedly connected with connector, for simulating human body knee joint
It is mobile；
Air pressure damping device is arranged below knee joint simulator and fixes with knee joint simulator, the air pressure
Damping unit includes gas chamber, the link assembly connecting with knee joint simulator, fixes with link assembly and slide with gas chamber
Move the piston of connection, setting deviates from connecting rod side in piston and is located at the indoor spring of air cavity and gas return path, the piston
Gas chamber is divided into upper chamber and lower chambers, the upper chamber and lower chambers are respectively arranged with intercommunicating pore, and gas return path passes through company
Through-hole connection upper chamber and lower chambers, the intercommunicating pore are provided with throttle valve；
Regulating device, for adjusting throttle valve to the damping size of air；
Detection device, the detecting element including being fixed on piston, the sense for incuding detecting element current location
It answers element and is electrically connected sensing element and exports the controller of control signal controling adjustment device.
It by using above-mentioned technical proposal, is fixedly connected by connector with artificial thigh, when people's walking, by knee joint
Simulator simulates the action process of human body knee joint walking, and transmits the force to air pressure damping device, air pressure damping device
On be provided with piston, and be provided on piston the detecting element of the detection current leg speed of human body；Human body piston meeting when walking
As kneed stress moves reciprocatingly, because can be by the current location of sense element senses detecting element or reciprocal
Frequency incude current leg speed, export to controller signal will be controlled, realized and adjusted by controller controling adjustment device
Damping of the throttle valve to air.
Further, the knee joint simulator is four-bar mechanism.
By using above-mentioned technical proposal, the movement of human body knee joint is simulated using four-bar mechanism, in support phase, wink
The heart is biased to back upper place, guarantees kneed stability, in shaking peroid, instantaneous lower section to the front guarantees kneed flexibility.
Further, the link assembly include with four-bar mechanism rotation connection connection piston rod and with the work
The straight rod piston of link rotatable connection is filled in, the straight rod piston is fixedly connected with the piston, positioned at the gas chamber part
Straight rod piston border is provided with sealing element.
By using above-mentioned technical proposal, piston rod and four-bar mechanism rotation connection cooperation four-bar mechanism movement,
And send power to straight rod piston, so that straight rod piston is moved reciprocatingly in gas chamber.
Further, the detecting element is set as magnet, and the magnet is embedded in the piston, the sensing element
It is provided with tongue tube.
By using above-mentioned technical proposal, using magnet as detecting element, during human motion, magnet can be with work
Plug moves reciprocatingly, and cooperates tongue tube as sensing element and magnet, realizes inspection by detecting the opening and closing frequency of tongue tube
Survey the leg speed of human body.
Further, the regulating device includes the impeller for being controlled by the motor of controller action and cooperating with motor,
The impeller drives throttle valve and intercommunicating pore to slide, to adjust the damping to gas.
By using above-mentioned technical proposal, when motor receives the control signal of controller output, motor drives impeller
Movement realizes the effect for adjusting damping to control the area that throttle valve blocks intercommunicating pore.
Further, the impeller is set as eccentric cam, and the shaft of the eccentric cam is controlled by motor rotation.
By using above-mentioned technical proposal, using eccentric cam as impeller, throttle valve control is pushed using cam structure
The size of the ventilatory capacity of intercommunicating pore processed.
Further, gearbox is provided between the eccentric cam and motor.
By using above-mentioned technical proposal, since the revolving speed of motor is very fast, gearbox is set to weaken turning for motor
Speed realizes accurate control.
Further, the throttle valve include stepped needle-valve, be set on needle-valve and outer wall with venthole
The needle valve spring of conflict and be fixed at several ladders of needle-valve outer wall sealing ring.
By using above-mentioned technical proposal, sealing ring realizes sealing effect, and it is logical to set ladder-like realization adjusting for needle-valve
The size of throughput is more accurate.
In conclusion working as people the utility model has the following beneficial effects: be fixedly connected by connector with artificial thigh
When walking, by the action process of knee joint simulator simulation human body knee joint walking, and air-pressure damping dress is transmitted the force to
It sets, piston is provided on air pressure damping device, and be provided with the detecting element of the detection current leg speed of human body on piston；Human body
Piston can move reciprocatingly with kneed stress when walking, because can working as by sense element senses detecting element
Front position or reciprocal frequency incude current leg speed, export that will control signal to controller, are controlled and adjusted by controller
Regulating device realizes the damping for adjusting throttle valve to air.
Detailed description of the invention
Fig. 1 is knee joint structure schematic diagram；
Fig. 2 is knee joint rearview；
Fig. 3 is the A-A cross-sectional view of Fig. 2；
Fig. 4 is the portion the B enlarged drawing of Fig. 3；
Fig. 5 is the C-C cross-sectional view of Fig. 2.
In figure, 1, connector；21, gas chamber；211, upper chamber；212, lower chambers；22, link assembly；221, piston connects
Bar；222, straight rod piston；23, sealing element；24, gas return path；241, intercommunicating pore；25, throttle valve；251, needle-valve；252, needle-valve
Spring；253, sealing ring；26, piston；27, spring；3, knee joint simulator；41, motor；42, gearbox；43, eccentric convex
Wheel；51, magnet；52, tongue tube；53, circuit board.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
Embodiment,
A kind of intelligent bionic knee joint, referring to figs. 1 to shown in Fig. 5, the intelligent bionic knee joint is for being connected to thigh vacation
Between limb and below-knee prosthesis comprising the connector 1 that is fixedly connected with artificial thigh is fixed at below connector 1 and is used for
Simulate human body artificial limb knee joint simulator 3, with the air pressure damping device of 3 cooperating of knee joint simulator, for examining
It surveys the detection device of current moving state and is used to adjust the air pressure damping device of air-pressure damping in response to detection device, thus
It realizes according to human body walking leg speed and adjusts the effect of motion of knee joint state in real time.
Specifically referring to shown in Fig. 3, connector 1 is that side's cone connector 1 makes to connect more stable, knee pass with artificial thigh
Saving simulator 3 is four-bar linkage structure (as shown in Figure 1), and instantaneous center of rotation position is similar to human body knee joint, is supporting
Phase instantaneous deviation back upper place, ensure that kneed stability, in shaking peroid instantaneous lower section to the front, ensure that the flexible of device joint
Property.
The lower section of knee joint simulator 3 is arranged in air damping device comprising gas chamber 21 fills with knee joint simulation
Set link assembly 22, piston 26, spring 27 and the gas return path 24 of 3 connections, wherein link assembly 22 includes piston rod
221 and straight rod piston 222, piston rod 221 and four-bar linkage structure are rotatablely connected, when human body is when walking about, four-bar linkage structure meeting
It swings, to drive piston rod 221 to rotate and move up and down, one end of straight rod piston 222 and piston rod 221 are rotatablely connected
The other end is fixedly connected with piston 26 and protrudes into gas chamber 21, when piston rod 221 rotates, drives 222 He of straight rod piston
Piston 26 moves in a straight line in gas chamber 21, and the border of straight rod piston 222 is provided with the sealing element for blanket gas chamber 21
23, prevent the gas in gas chamber 21 from leaking；A spring 27, the bullet is fixedly installed away from one end of straight rod piston 222 in piston 26
Spring 27 is limited in gas chamber 21 by axle sleeve and is abutted with piston 26.Referring to Figure 5, it is upper that piston 26, which divides gas chamber 21,
Chamber 211 and lower chambers 212, and the outside of gas chamber 21 is provided with the gas return path of connection upper chamber 211 and lower chambers 212
24, upper chamber 211 and lower chambers 212 are connected to by intercommunicating pore 241 with gas return path 24 respectively；241 position of one intercommunicating pore is set
It is equipped with throttle valve 25.
It refers again to shown in Fig. 3, detection device includes the detecting element being fixed on piston 26 and is used for and detection member
The sensing element of part cooperation, in the present embodiment, detecting element is set as magnet 51, and sensing element is set as tongue tube 52, this is dry
Reed pipe 52 is electrically connected a controller, and is fixed on a circuit board 53 with controller, and circuit board 53 is provided with storage
Energy battery is simulated the action process of human body knee joint walking by knee joint simulator 3 when people's walking, and power is transmitted
To air pressure damping device, it is provided with piston 26 on air pressure damping device, and is provided with detection human body on piston 26 and currently walks
The detecting element of speed；Piston 26 can move reciprocatingly human body with kneed stress when walking, can pass through sensing element
Incude the damping size of the current location or reciprocal frequency of detecting element by controller control flow valve to air.
Regulating device includes the motor 41 for being controlled by controller action, the gearbox 42 being arranged in below motor 41, setting
Eccentric cam 43 below gearbox 42 and with gearbox rotation.Above-mentioned throttle valve 25 includes stepped needle-valve
If needle valve spring 252 and be fixed at needle-valve 251 that outer wall 251, be set on needle-valve 251 and with venthole contradicts
The sealing ring 253 of the outer wall of dry ladder.It is rotated by eccentric cam 43 and realizes the gap between control needle-valve 251 and venthole
Size, to realize the effect for adjusting air damping.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but
As long as all by the protection of Patent Law in the scope of the claims of the utility model.
Claims (8)
1. a kind of intelligent bionic knee joint, for being connected between artificial thigh and below-knee prosthesis, it is characterised in that: including,
Connector (1), is fixed with artificial thigh；
Knee joint simulator (3), setting is fixedly connected below connector (1) and with connector (1), for simulating human body knee
Joint is mobile；
Air pressure damping device, setting is below knee joint simulator (3) and fixed with knee joint simulator (3), the gas
The link assembly (22) for pressing damping unit to include gas chamber (21), connect with knee joint simulator (3) and link assembly (22)
It connects and deviates from link assembly (22) side in piston (26) with the piston (26) of gas chamber (21) sliding connection, setting and be located at
Gas chamber (21) is divided into upper chamber by spring (27) and gas return path (24) in gas chamber (21), the piston (26)
(211) and lower chambers (212), the upper chamber (211) and lower chambers (212) are respectively arranged with intercommunicating pore (241), gas return path
(24) throttle valve is provided with by intercommunicating pore (241) connection upper chamber (211) and lower chambers (212), the intercommunicating pore (241)
(25)；
Regulating device, for adjusting throttle valve (25) to the damping size of air；
Detection device, the detecting element including being fixed on piston (26), the sense for incuding detecting element current location
It answers element and is electrically connected sensing element and exports the controller of control signal controling adjustment device.
2. a kind of intelligent bionic knee joint according to claim 1, it is characterised in that: the knee joint simulator (3)
For four-bar mechanism.
3. a kind of intelligent bionic knee joint according to claim 2, it is characterised in that: the link assembly (22) include with
The connection piston rod (221) of four-bar mechanism rotation connection and the straight rod piston being rotatablely connected with the piston rod (221)
(222), the straight rod piston (222) is fixedly connected with the piston (26), and the piston for being located at the gas chamber (21) part is straight
Bar (222) border is provided with sealing element (23).
4. a kind of intelligent bionic knee joint according to claim 1, it is characterised in that: the detecting element is set as magnet
(51), the magnet (51) is embedded in the piston (26), and the sensing element is set as tongue tube (52).
5. a kind of intelligent bionic knee joint according to claim 1, it is characterised in that: the regulating device includes being controlled by
The motor (41) of controller action and the impeller cooperated with motor (41), the impeller drive throttle valve (25) and intercommunicating pore
(241) it slides, to adjust the damping to gas.
6. a kind of intelligent bionic knee joint according to claim 5, it is characterised in that: the impeller is set as eccentric convex
It takes turns (43), the shaft of the eccentric cam (43) is controlled by motor (41) rotation.
7. a kind of intelligent bionic knee joint according to claim 6, it is characterised in that: the eccentric cam (43) and motor
(41) gearbox (42) are provided between.
8. a kind of intelligent bionic knee joint described in -7 any one according to claim 1, it is characterised in that: the throttle valve
(25) include stepped needle-valve (251), be set on needle-valve (251) and needle valve spring that outer wall with venthole contradicts
(252) and be fixed at needle-valve (251) several ladders outer wall sealing ring (253).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721294560.8U CN208447856U (en) | 2017-09-30 | 2017-09-30 | A kind of intelligent bionic knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721294560.8U CN208447856U (en) | 2017-09-30 | 2017-09-30 | A kind of intelligent bionic knee joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208447856U true CN208447856U (en) | 2019-02-01 |
Family
ID=65140785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721294560.8U Expired - Fee Related CN208447856U (en) | 2017-09-30 | 2017-09-30 | A kind of intelligent bionic knee joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208447856U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550606A (en) * | 2017-09-30 | 2018-01-09 | 北京精博现代假肢矫形器技术有限公司 | A kind of intelligent bionic knee joint |
| CN112107398A (en) * | 2019-06-20 | 2020-12-22 | 纳博特斯克有限公司 | Leg prosthesis knee joint, brake device, and load position detection device |
-
2017
- 2017-09-30 CN CN201721294560.8U patent/CN208447856U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550606A (en) * | 2017-09-30 | 2018-01-09 | 北京精博现代假肢矫形器技术有限公司 | A kind of intelligent bionic knee joint |
| CN112107398A (en) * | 2019-06-20 | 2020-12-22 | 纳博特斯克有限公司 | Leg prosthesis knee joint, brake device, and load position detection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190201 Termination date: 20210930 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |