A single-source bionic dynamic knee joint and its realization method
A knee joint, single-source technology, applied in the field of rehabilitation and intelligent bionic robots, can solve problems such as less consideration of knee joint dynamics, and achieve the effect of achieving continuity and promoting healthy recovery
Active Publication Date: 2019-07-19
国家康复辅具研究中心
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Problems solved by technology
[0004] Most of the current power knee joint designs use a motor, and the center of the output shaft of the power rotary joint passes through the center of the knee joint. Less consideration is given to whether the power of the knee joint is transmitted from the thigh to the calf, or from the calf to the thigh, that is, user mechanics. A bionics mechanism occurs; or two motors are used to switch the work separately to realize the transfer of power from the thigh to the calf and the transfer of power from the calf to the thigh, but at this time two power sources are required
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[0038] The present invention will be further elaborated below through specific embodiments in conjunction with the accompanying drawings.
[0039] Such as figure 1 and 2 As shown, the single-source bionic power knee joint in this embodiment includes: motor output shaft 1, calf transmission synchronous gear 2, synchronous belt 3, calf transmission one-way bearing 5, calf connection shaft 6, calf knee joint meshing gear 7, thigh Knee joint meshing gear 10, first thigh connecting shaft 11, first to third bevel gears 12-14, second thigh connecting shaft 15, thigh transmission one-way bearing 16, thigh transmission synchronous gear 18, motor 19, thigh connecting frame , shank connection frame, bearing assembly and knee joint support; wherein, the motor is connected to the motor output shaft 1; the motor output shaft 1 is in interference fit with the inner ring of the thigh transmission synchronous gear 18; the bottom of the thigh transmission synchronous gear 18 has a depression, ...
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The invention discloses a single-source bionic power knee joint and an implementation method thereof. Reversing of motion is realized by two transmission synchronous gears in opposite rotating directions and three bevel gears. In the knee bending process, the thigh transmission synchronous gear transmits force while the shank transmission synchronous gear only rotates instead of transmitting the force, and the knee joint knee-bending action mode of transmitting motion to a shank from a thigh is realized. In the knee extending process, the shank transmission synchronous gear transmits the forcewhile the thigh transmission synchronous gear only rotates instead of transmitting the force, and the knee joint knee-extending action mode of transmitting motion to the thigh from the shank is realized. In the walking process of a user, the mechanical transmission process of a muscle group around the knee joint can be taken into full consideration, bionic requirements are met, and rehabilitationof the knee joint is promoted. Based on meeting of bionic mode requirements, knee extending action and knee bending action are realized only by one motor for providing a power source, and knee extending action and knee bending action switching control continuity is further realized.
Description
technical field [0001] The invention relates to the fields of rehabilitation and intelligent bionic robots, in particular to a single-source bionic powered knee joint and a method for realizing the same. Background technique [0002] Due to aging, muscle damage, nerve damage, disability and other reasons, a large number of people have motor dysfunction in the knee joint. In order to restore their mobility and promote the healthy recovery of the knee joint, a powered knee device (also known as an exoskeleton knee robot, knee assist robot, etc.) can be used to provide dynamic support to the damaged knee joint. [0003] The multiple muscles around the knee joint of the human body can promote the knee joint to complete extension / flexion and other actions. Among them, the muscle movement group of the knee extensor is mainly the quadriceps (front thigh), and the knee flexor mainly includes the hamstring muscle (thigh back), gastrocnemius (back of calf). For the gastrocnemius mus...
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IPC IPC(8): A61F2/64
CPCA61F2/64
Inventor 梁文渊
Owner 国家康复辅具研究中心