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CN-115737222-B - Self-adaptive variable instant-core artificial knee joint

CN115737222BCN 115737222 BCN115737222 BCN 115737222BCN-115737222-B

Abstract

The invention provides a self-adaptive variable instant center artificial knee joint, which comprises a pneumatic muscle driving assembly (10) and a knee joint assembly (20), wherein the knee joint assembly (20) comprises thighs (21), calves (22), a first connecting rod mechanism (23), an adjusting rod (24), a second connecting rod mechanism (25) and rotating rods (26), the thighs (21) and the calves (22) are respectively connected through the rotating rods (26), the first connecting rod mechanism (23) is arranged between the thighs (21), the second connecting rod mechanism (25) is arranged between the calves (22), and the first connecting rod mechanism (23) and the second connecting rod mechanism (25) are connected through a central shaft (200). The artificial knee joint can solve the problem of poor coordination between the existing artificial knee joint and human legs, can meet the requirements of most users, is suitable for instantaneous center rotation tracks of knee joints of different human bodies, and is wide in application range.

Inventors

  • LUO TIANHONG
  • WANG KE
  • XI TAO

Assignees

  • 重庆文理学院

Dates

Publication Date
20260512
Application Date
20221202

Claims (5)

  1. 1. The self-adaptive variable instant-center artificial knee joint is characterized by comprising a pneumatic muscle driving assembly and a knee joint assembly, wherein the knee joint assembly comprises thighs, shanks, a first connecting rod mechanism, an adjusting rod, a second connecting rod mechanism and rotating rods, wherein the two sides of the thighs and the shanks are respectively connected through the rotating rods, the first connecting rod mechanism is arranged between the thighs, the second connecting rod mechanism is arranged between the shanks, the first connecting rod mechanism is connected with the second connecting rod mechanism through a central shaft, a first sliding groove is arranged on the adjusting rod, the shanks are provided with a second sliding groove, the central shaft is sequentially clamped in the first sliding groove and the second sliding groove and is in sliding connection, one end of the adjusting rod, far away from the sliding groove, is coaxially arranged with the first connecting mechanism, and one end of the rotating rod, which is positioned on the shanks, is coaxially arranged with the second connecting mechanism; The thigh middle part is provided with a first hollow groove, the shank is arranged in the first hollow groove, the shank middle part is provided with a second hollow groove, and the first connecting rod mechanism, the adjusting rod and the second connecting rod mechanism are arranged in the second hollow groove; The first connecting rod mechanism comprises a first driving shaft, two first connecting rods, two second connecting rods and a first driven shaft, wherein the first driving shaft penetrates through side walls of two sides of the thigh and is rotationally connected with the side walls of the thigh, the outer wall of the first driving shaft, which is positioned between the second hollow grooves, is fixedly sleeved with the two first connecting rods, the first connecting rods are symmetrically arranged, one ends, which are far away from the first driving shaft, of the two first connecting rods are connected through the same first driven shaft, the outer walls, which are positioned on the side surfaces, away from one side, of the two first connecting rods, are respectively sleeved with the second connecting rods, and one ends, which are far away from the first driven shafts, of the second connecting rods are sleeved on the outer wall of the central shaft; the second connecting rod mechanism comprises a second driving shaft, two third connecting rods, two fourth connecting rods and a second driven shaft, wherein the second driving shaft penetrates through side walls of two sides of the lower leg and is in rotary connection with the side walls of the lower leg, the outer walls of the second driving shaft, which are positioned between the second hollow grooves, are fixedly sleeved with the two third connecting rods, one ends of the two third connecting rods, which are far away from the second driving shaft, are connected with one another through the same second driven shaft, the outer walls of the second driven shaft, which are positioned on the side surfaces of the two third connecting rods, are close to one another, are respectively sleeved with the fourth connecting rods, one ends of the fourth connecting rods, which are far away from the second driven shaft, are sleeved with the outer walls of the central shaft, one ends of the two adjusting rods are rotatably sleeved with the outer walls of the first driving shaft, the other ends of the two adjusting rods are connected with the other ends of the adjusting rods, which are far away from the first driving shaft, are provided with first sliding grooves, and one ends of the rotating rods, which are far away from the thighs, are rotatably sleeved with the outer walls of the second driving shaft.
  2. 2. The adaptive variable instant artificial knee joint of claim 1 wherein the second link is located between two adjustment bars and the fourth link is located between two second links.
  3. 3. An adaptive variable instant center artificial knee joint according to claim 1 or 2, wherein a first motor is provided for the thigh side wall and corresponding to a first drive shaft, and a second motor is provided for the calf side wall and corresponding to a second drive shaft.
  4. 4. The adaptive variable instant artificial knee joint of claim 3 wherein the thigh side wall is provided with a first angle sensor corresponding to the first drive shaft, the thigh side wall is provided with a second angle sensor corresponding to the rotation shaft of the rotation rod at the thigh end, and the shank side wall is provided with a third angle sensor corresponding to the second drive shaft.
  5. 5. The adaptive variable instant center artificial knee joint according to claim 1 or 2, wherein the pneumatic muscle driving assemblies are two groups, each pneumatic muscle driving assembly comprises a pneumatic driver and a driving rope, one end of each pneumatic driver is connected with one end of each driving rope, and one end of each driving rope, which is far away from each pneumatic driver, is respectively connected with a second driving shaft and a central shaft.

Description

Self-adaptive variable instant-core artificial knee joint Technical Field The invention relates to the technical field of robots, in particular to a self-adaptive variable instant center artificial knee joint. Background Along with the aggravation of the aging population and the gradual accumulation of disabled people, people are urgent to need a lower limb rehabilitation robot capable of meeting the motion parameters of human bodies, so as to assist the old or disabled people to perform postoperative rehabilitation and exercise. The traditional leg prosthesis, lower limb exoskeleton and other devices simply consider the movement of the knee joint of the human body as a single hinge type movement, and drive the joint to move through a motor and other driving devices. However, the knee joint of the human body moves in a relatively complex space, the instantaneous rotation center (ICR) of the knee joint can change along with the change of the rotation angle of the joint, the track is similar to a J-shaped curve, and due to the characteristic that the instantaneous center track of the knee joint of the human body is variable, the artificial limb adopting the fixed rotation center is inevitably poor in coordination with the legs of the human body, which is unfavorable for the rehabilitation and normal walking of a patient, and the rehabilitation and exercise progress of the patient are dragged slowly, or the walking of the patient is inconvenient. Meanwhile, the prior art also has a type of artificial knee joint with a changeable instantaneous center, for example, a knee joint movement bionic mechanism with a changeable rotation instantaneous center is disclosed in a Chinese patent document CN110302036A, which utilizes a gear engaged rotation adopted between a thigh connecting piece and a shank connecting piece to simulate the surface contact rotation and translation of upper and lower joint surfaces in the knee joint, can ensure that the rotation axis of the gear is always attached to the rotation axis of the knee joint in human anatomy, utilizes a movement buffering limiting component to simulate the limit of a patella ligament to femur and tibia and the buffering of the rotation of the knee joint, can be well attached to the knee joint of a human body when in flexion and extension actions, and utilizes a joint connecting support piece as a rigid body component to play a role of avoiding load on the knee joint in the whole knee joint flexion and extension process, thereby achieving a stress shielding effect. However, as described above, the rotation track of the Instantaneous Center of Rotation (ICR) is similar to a J-curve, and is not a pure arc curve, so that the knee joint structure of the document cannot truly simulate the instantaneous center change track of the knee joint of a human body, and in addition, the instantaneous center rotation track curves of the knee joints of different human bodies have differences, so that the knee joint mechanism of the document has poor adaptability, and after the mechanism size is determined, the instantaneous center track cannot be changed, so that the requirements of the knee joints of different human bodies cannot be met. Disclosure of Invention Aiming at the problems existing in the prior art, the invention aims to provide the self-adaptive variable instantaneous center artificial knee joint which can solve the problem of poor coordination between the existing artificial knee joint and human legs, can meet the requirements of most users and adapt to instantaneous center rotation tracks of knee joints of different human bodies, and has wide application range. The aim of the invention is achieved by the following technical scheme: The self-adaptive variable instant-center artificial knee joint is characterized by comprising pneumatic muscle driving components and a knee joint assembly, wherein the knee joint assembly comprises thighs, shanks, a first connecting rod mechanism, an adjusting rod, a second connecting rod mechanism and rotating rods, two sides of the thighs and the shanks are respectively connected through the rotating rods (namely, the two rotating rods are arranged and two ends of the same rotating rod are respectively connected with the thighs and the shanks in a rotating mode), the first connecting rod mechanism is arranged between the thighs, the second connecting rod mechanism is arranged between the shanks, the first connecting rod mechanism is connected with the second connecting rod mechanism through a central shaft, a first sliding groove is arranged on the adjusting rod, the shanks are provided with a second sliding groove, the central shaft is sequentially clamped in the first sliding groove and the second sliding groove and is in sliding connection, one end of the adjusting rod, far away from the sliding groove, is coaxially arranged with the first connecting mechanism, and one end of the rotating rod, which is positioned on the shanks, is co