Bionic hydraulic artificial foot

Abstract

The utility model provides a bionic hydraulic artificial foot. The bionic hydraulic artificial foot comprises a damping cylinder; a connecting hole extending to the outside is formed in the position, below the cavity, of the cylinder body. The piston is arranged in the cavity and divides the cavity into an upper hydraulic cavity and a lower hydraulic cavity, the bottom of the piston is connected to a piston rod extending to penetrate through the connecting hole, and the end, located outside the cylinder body, of the piston rod is pivotally connected to the top of the adapter block; the plantar flexion throttle valve and the dorsal flexion throttle valve are arranged on the cylinder body and are respectively provided with an oil flow channel communicated with the upper hydraulic cavity and the lower hydraulic cavity; the extension block is arranged at the lower part of the cylinder body, is positioned behind the piston rod and protrudes outwards; the front side of the middle connecting seat is pivotally connected to the bottom of the adapter block, and the rear side of the middle connecting seat is pivotally connected to the bottom of the extension block; the rear end surface of the foot plate is connected to the middle connecting seat. According to the artificial foot provided by the utility model, the damping during plantar flexion and dorsal flexion can be adjusted, and better stability and comfort can be provided.

Description

Technical Field

[0001] The utility model relates to the technical field of artificial limbs, in particular to a bionic hydraulic artificial foot. Background Art

[0002] Prostheses are artificial limbs specially designed, manufactured and assembled using engineering technology to compensate for amputees or incomplete limb loss. They are also called "prosthetic limbs". Prostheses are divided into upper limb prostheses and lower limb prostheses according to the amputation site. Lower limb prostheses are the only means for lower limb amputees to restore their walking function. Lower limb prostheses can basically compensate for the normal life functions of lower limb amputees who have lost their limbs.

[0003] At present, domestic research mainly focuses on the prosthetic function of the knee joint. The prosthetic ankle joint only acts as an elastic energy storage structure to assist walking, and many core technologies need to be overcome.

[0004] In the process of implementing the present utility model, the inventors found that there are at least the following problems in the prior art:

[0005] Currently, there are many types of ankle joint rotation dampers in prosthetic feet, but the damping force of most of them is not adjustable. The damping force of the rotation damper is basically a fixed value. In the actual application of lower limb prostheses, it is impossible to make appropriate adjustments according to the user's own movement state and changes in stride. In addition, the dorsiflexion and plantar flexion angles of existing prosthetic feet are small. The above defects make the patient experience poor.

[0006] Therefore, a bionic hydraulic prosthetic foot is needed to at least partially solve the above technical problems. Utility Model Content

[0007] The embodiment of the utility model provides a bionic hydraulic artificial foot, which can adjust the damping size during plantar flexion and dorsiflexion, and can provide better stability and comfort.

[0008] The utility model provides a bionic hydraulic prosthetic foot, the prosthetic foot comprising:

[0009] A damping cylinder, the damping cylinder comprising:

[0010] A cylinder body with a built-in cavity, wherein the cylinder body is provided with a connection hole extending to the outside at a position below the cavity;

[0011] A piston is arranged in the cavity and divides the cavity into an upper hydraulic cavity and a lower hydraulic cavity which are spatially independent, the bottom of the piston is connected to a piston rod extending through the connecting hole, a portion of the piston rod located in the cavity is sleeved with a return spring, and one end of the piston rod located outside the cylinder body is pivotally connected to the top of the adapter block;

[0012] A plantar flexion throttle valve and a dorsiflexion throttle valve are arranged on the cylinder body, and the plantar flexion throttle valve and the dorsiflexion throttle valve respectively have oil flow passages connected to the upper hydraulic chamber and the lower hydraulic chamber;

[0013] an outwardly protruding extension block disposed at the lower portion of the cylinder body and located behind the piston rod;

[0014] An intermediate connecting seat, wherein a front side of the intermediate connecting seat is pivotally connected to the bottom of the adapter block, and a rear side of the intermediate connecting seat is pivotally connected to the bottom of the extension block; and

[0015] A foot plate, the rear end surface of the foot plate is connected to the middle connecting seat.

[0016] According to the artificial foot of the utility model, its damping cylinder is provided with two throttle valves, a plantar flexion throttle valve and a dorsiflexion throttle valve. By setting the rotation angle of each throttle valve itself, the speed of the oil in its respective liquid flow channel flowing to the upper hydraulic chamber or the lower hydraulic chamber is controlled, thereby realizing the control of the damping size; and, the damping cylinder realizes a multi-pivot rotation connection with the foot plate through the extension block, the adapter block and the intermediate connecting seat arranged at the rear lower part of the cylinder body, thereby increasing the dorsiflexion and toe flexion angles of the artificial foot and providing better stability and comfort.

[0017] Optionally, the cylinder body includes a cylinder body and a top cover fixed on the top of the cylinder body, and the top of the top cover is also connected to a connecting prism for connecting to a leg tube of a prosthetic receiving cavity.

[0018] Optionally, the cylinder body and the extension block are an integral structure.

[0019] Optionally, a sealing ring for sealing is further provided at at least one of the following positions:

[0020] The connection between the top cover and the cylinder body;

[0021] The connection between the piston and the cylinder body;

[0022] The connection between the cylinder body and the piston rod.

[0023] Optionally, the pivots at which the piston rod is pivotally connected to the adapter block, the intermediate connecting seat is pivotally connected to the adapter block, and the intermediate connecting seat is pivotally connected to the extension block are arranged along the same extension direction.

[0024] Optionally, the intermediate connecting seat is provided with a horizontally penetrating through hole for arranging the pivot, and / or the intermediate connecting seat is fastened to the foot plate via screws.

[0025] Optionally, the oil flow channel connected to the upper hydraulic chamber and / or the lower hydraulic chamber by the plantar flexion throttle valve is a flow channel with varying caliber, and the oil flow channel connected to the upper hydraulic chamber and / or the lower hydraulic chamber by the dorsiflexion throttle valve is a flow channel with constant caliber width.

[0026] Optionally, the foot plate is a carbon fiber foot plate.

[0027] Additional advantages, purposes, and features of the present invention will be partially described in the following description, and will become partially apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0028] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to the above specific description, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present invention, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0030] Figure 1 is a schematic diagram of a prosthetic foot according to an embodiment of the present invention; and

[0031] Figure 2 FIG. 4 is a partial structural schematic diagram of a prosthetic foot according to an embodiment of the utility model.

[0032] Description of reference numerals:

[0033] 100: Prosthetic foot;

[0034] 110: Damping cylinder;

[0035] 111: cylinder body;

[0036] 112: Cylinder body;

[0037] 113: Top cover;

[0038] 114: upper hydraulic chamber;

[0039] 115: lower hydraulic chamber;

[0040] 116: connection hole;

[0041] 117: extension block;

[0042] 120: Piston;

[0043] 121: piston rod;

[0044] 122: return spring;

[0045] 131: plantar flexion throttle;

[0046] 132: Dorsiflexion throttle;

[0047] 140: transfer block;

[0048] 150: middle connecting seat;

[0049] 160: foot;

[0050] 170: Pivot;

[0051] 180: Connect the prisms. DETAILED DESCRIPTION

[0052] By referring to the exemplary embodiments, the purposes and functions of the present invention and the methods for achieving these purposes and functions will be explained. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The essence of the description is only to help technicians in the relevant field to comprehensively understand the specific details of the present invention.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0054] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of the "second component", and the term "second component" itself does not imply the existence of the "first component".

[0055] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this document are for illustrative purposes only and are not limiting.

[0056] The utility model provides a bionic hydraulic prosthetic foot 100. The prosthetic foot 100 can be applied to the technical field of lower limb prostheses, such as prosthetic feet, to solve the shortcomings of existing prosthetic feet in adjusting the damping size when plantar flexion and dorsiflexion, as well as stability and comfort.

[0057] The utility model provides a bionic hydraulic prosthetic foot 100. In a preferred embodiment, Figure 1 and Figure 2 As shown, the artificial foot 100 includes a damping cylinder 110, an adapter block 140, an extension block 117, an intermediate connecting seat 150 and a foot plate 160. The damping cylinder 110 is used as a main structure for arranging a piston 120 and a throttle valve. The adapter block 140 is arranged at the front side below the damping cylinder 110, and is used to be rotatably connected to the piston 120 rod. The extension block 117 is connected to the rear side of the lower part of the damping cylinder 110, and is used to be rotatably connected to the intermediate connecting seat 150 (rear side). The intermediate connecting seat 150 serves as a transition connection structure between the damping cylinder 110 and the foot plate 160, and is used to rotatably connect the adapter block 140 and the extension block 117 respectively. The foot plate 160 serves as a supporting and walking structure for walking on the ground.

[0058] Specifically, refer to Figure 1 and Figure 2 ,in Figure 1 FIG. 1 is a schematic diagram of a prosthetic foot 100 according to an embodiment of the present invention. Figure 2 FIG. 1 is a partial structural diagram of a prosthetic foot 100 according to an embodiment of the present invention. Figure 1 The directions shown in the figure are based on this. The left side in the figure is defined as the rear side, and the right side in the figure is defined as the front side.

[0059] In the illustrated embodiment, the damping cylinder 110 , as an important component of the prosthetic foot 100 , may include a cylinder body 111 , a piston 120 , a plantar flexion throttle valve 131 , and a dorsiflexion throttle valve 132 .

[0060] Specifically, the cylinder body 111, which is relatively closed in structure, has a cavity inside. The shape of the cavity is not limited. The cylinder body 111 is provided with a connection hole 116 extending to the outside at the lower position of the cavity.

[0061] The cylinder body 111 may include a cylinder body 112 and a top cover 113 fixed to the top of the cylinder body 112. The top cover 113 may be fastened to the top of the cylinder body 112 by threaded connection or the like. A connecting prism 180 for connecting to a prosthetic limb receiving cavity leg tube (not shown) may be installed on the top of the top cover 113. The entire prosthetic foot 100 is driven to move through the prosthetic limb receiving cavity leg tube.

[0062] The piston 120 is arranged in the cavity and divides the cavity into an upper hydraulic chamber 114 and a lower hydraulic chamber 115 which are spatially independent. The piston 120 can move up and down in the cavity in the cylinder body 111 along the vertical extension direction. The bottom of the piston 120 is connected to the piston 120 rod extending through the connecting hole 116. The part of the piston 120 rod located in the cavity is sleeved with a return spring 122. The two ends of the return spring 122 can be respectively abutted against the bottom surface of the piston 120 and the cylinder body 112, or other connection methods can be used. A sealing structure, such as a sealing ring, can be provided between the piston 120 rod and the connecting hole 116 to ensure sealing.

[0063] The plantar flexion throttle valve 131 and the dorsiflexion throttle valve 132 are arranged on the cylinder body 111. For example, the plantar flexion throttle valve 131 and the dorsiflexion throttle valve 132 can be arranged on both sides of the upper part of the cylinder body 112, respectively. The plantar flexion throttle valve 131 and the dorsiflexion throttle valve 132 respectively have oil flow passages connected to the upper hydraulic chamber 114 and the lower hydraulic chamber 115. The shape and size of the oil flow passages are not limited. The oil flow passages of the plantar flexion throttle valve 131 and the dorsiflexion throttle valve 132 can be connected to the upper hydraulic chamber 114 via the same oil passage opening. The oil flow passages of the plantar flexion throttle valve 131 and the dorsiflexion throttle valve 132 can be connected to the lower hydraulic chamber 115 via two oil passage openings.

[0064] Regarding the plantar flexion throttle valve 131 and the dorsiflexion throttle valve 132, both can adopt the existing throttle valve structure, and the throttling section or throttling length can be changed by adjusting the rotation angle to control the fluid flow of the valve. The specific configuration is not described in detail here.

[0065] The top of the adapter block 140, which is spatially distributed below the cylinder body 111, can be pivotally connected to the end of the piston 120 rod located outside the cylinder body 111 through a pivot 170. The adapter block 140 can be a long strip block or a rod structure, and its specific configuration is not limited.

[0066] The cylinder body 111 is connected to an outwardly protruding extension block 117 at the lower part of the cylinder body 111 and at the rear position of the piston 120 rod. The bottom of the extension block 117 is located below the cylinder body 111. There is no restriction on the shape of the extension block 117. Preferably, the extension block 117 and the cylinder body 112 can be an integrated structure to improve the structural strength.

[0067] The front side of the intermediate connection seat 150 can be pivotally connected to the bottom of the adapter block 140 through the pivot 170. The rear side of the intermediate connection seat 150 is also pivotally connected to the bottom of the extension block 117 through the pivot 170. The intermediate connection seat 150 can be a block structure with a shape close to a rectangular parallelepiped, having a certain thickness and strength.

[0068] The piston 120 rod is pivotally connected to the adapter block 140, the intermediate connection seat 150 is pivotally connected to the adapter block 140, and the intermediate connection seat 150 is pivotally connected to the extension block 117. Each pivot 170 can be designed to be arranged along the same extension direction. There is no strict restriction on the vertical distribution of the various pivots 170. For example, the pivot 170 where the piston 120 rod is pivotally connected to the adapter block 140 can be located at the top, and the pivot 170 where the adapter block 140 is pivotally connected to the intermediate connection seat 150 can be located at the bottom.

[0069] The rear end surface of the foot plate 160 is fixed with the intermediate connecting seat 150. For example, the intermediate connecting seat 150 can be fixed to the rear end of the foot plate 160 by a fastening structure such as screws. The foot plate 160 can be a carbon fiber foot plate 160 or a foot plate 160 made of other materials.

[0070] According to the above technical solution, when in use, when the ankle joint is in a dorsiflexed state at a vertical angle, the ankle joint needs to provide support when standing at this time, and the piston 120 is in a balanced position in the middle of the cavity. When performing plantar flexion, the piston 120 rod carries the piston 120 downward, the lower hydraulic chamber 115 of the cylinder 111 is squeezed, and part of the oil will flow from the lower hydraulic chamber 115 to the upper hydraulic chamber 114 through the oil flow channel, and the entire piston 120 descends relative to the cylinder 111 until the piston 120 descends to a certain position. When performing dorsiflexion, the return spring 122 pushes the piston 120 upward, and the upper hydraulic chamber 114 of the cylinder 111 is squeezed, and the subsequent process is roughly the opposite of the above.

[0071] According to the artificial foot 100 of the utility model, its damping cylinder 110 is provided with two throttle valves, namely a plantar flexion throttle valve 131 and a dorsiflexion throttle valve 132. The speed of the oil in its respective liquid flow channel flowing to the upper hydraulic chamber 114 or the lower hydraulic chamber 115 is controlled by setting the rotation angle of each throttle valve, so as to control the damping size; and the damping cylinder 110 is connected with the foot plate 160 by a multi-pivot 170 rotation through an extension block 117, a transfer block 140 and an intermediate connecting seat 150 arranged at the rear lower part of the cylinder body 111, thereby increasing the dorsiflexion and toe flexion angles of the artificial foot 100 and providing better stability and comfort.

[0072] In a preferred embodiment, in order to ensure the sealing between the structures, sealing rings for sealing may be provided at the following positions: For example, the connection between the top cover 113 and the cylinder body 112. The connection between the piston 120 and the cylinder body 112. The connection between the cylinder body 112 and the piston 120 rod.

[0073] In order to facilitate the installation of the pivot 170 in the intermediate connecting seat 150 , the intermediate connecting seat 150 may be provided with a horizontal through hole for arranging the pivot 170 .

[0074] In addition, the oil flow channel of the plantar flexion throttle valve 131 connected to the upper hydraulic chamber 114 and / or the lower hydraulic chamber 115 can be a flow channel with a variable diameter. The oil flow channel of the dorsiflexion throttle valve 132 connected to the upper hydraulic chamber 114 and / or the lower hydraulic chamber 115 can be a flow channel with a constant diameter. For example, the front end (the liquid flow channel close to the upper hydraulic chamber 114) of the oil flow channel of the plantar flexion throttle valve 131 is a wide fan-shaped surface, and the rear end (the liquid flow channel close to the lower hydraulic chamber 115) is a narrow groove. The front end and the rear end of the oil flow channel of the dorsiflexion throttle valve 132 are both equal-width narrow grooves. When the oil flows from the lower hydraulic chamber 115 of the cylinder body 111 through the two throttle valves respectively, because the oil of the plantar flexion throttle valve 131 flows from the narrow channel to the wide channel, the flow rate is faster than that of the dorsiflexion throttle valve 132.

[0075] In summary, according to the artificial foot 100 of the utility model, when the patient wears it and walks in a normal gait, the bionic ankle joint damping cylinder 110 can change the movement of plantar flexion or dorsiflexion according to the support point under the foot, and maintain contact with the ground through the change of the ankle joint angle to make the gait more symmetrical, and still have good stability and comfort even when walking on slopes and rugged terrain. At the same time, the designed ankle joint can buffer the pressure of the receiving cavity, and the damping size during plantar flexion and dorsiflexion can be adjusted respectively through the two throttle valves in the ankle joint damping cylinder 110, which can improve the health of the patient's residual limbs and greatly improve the comfort when squatting and sitting.

[0076] In combination with the description and practice of the utility model disclosed herein, other embodiments of the utility model are easy to think of and understand for those skilled in the art. The description and embodiments are considered to be exemplary only, and the true scope and spirit of the utility model are defined by the claims.

Claims

1. A bionic hydraulic prosthetic foot, characterized in that: The prosthetic foot comprises: A damping cylinder, the damping cylinder comprising: A cylinder body with a built-in cavity, wherein the cylinder body is provided with a connection hole extending to the outside at a position below the cavity; A piston is arranged in the cavity and divides the cavity into an upper hydraulic cavity and a lower hydraulic cavity which are spatially independent, the bottom of the piston is connected to a piston rod extending through the connecting hole, a portion of the piston rod located in the cavity is sleeved with a return spring, and one end of the piston rod located outside the cylinder body is pivotally connected to the top of the adapter block; A plantar flexion throttle valve and a dorsiflexion throttle valve are arranged on the cylinder body, and the plantar flexion throttle valve and the dorsiflexion throttle valve respectively have oil flow passages connected to the upper hydraulic chamber and the lower hydraulic chamber; an outwardly protruding extension block disposed at the lower portion of the cylinder body and located behind the piston rod; An intermediate connecting seat, wherein a front side of the intermediate connecting seat is pivotally connected to the bottom of the adapter block, and a rear side of the intermediate connecting seat is pivotally connected to the bottom of the extension block; and A foot plate, the rear end surface of the foot plate is connected to the middle connecting seat.

2. The artificial foot according to claim 1, characterized in that: The cylinder body comprises a cylinder body and a top cover fixed on the top of the cylinder body, and the top of the top cover is also connected to a connecting prism for connecting a leg tube of a prosthesis receiving cavity.

3. The artificial foot according to claim 2, characterized in that: The cylinder body and the extension block are an integral structure.

4. The artificial foot according to claim 2, characterized in that: A sealing ring is also provided at at least one of the following positions: The connection between the top cover and the cylinder body; The connection between the piston and the cylinder body; The connection between the cylinder body and the piston rod.

5. The artificial foot according to claim 1, characterized in that: The pivots at which the piston rod is pivotally connected to the adapter block, the intermediate connecting seat is pivotally connected to the adapter block, and the intermediate connecting seat is pivotally connected to the extension block are arranged along the same extension direction.

6. The artificial foot according to claim 5, characterized in that: The intermediate connecting seat is provided with a horizontally penetrating through hole for arranging the pivot; and / or The intermediate connecting seat is fastened to the foot plate via screws.

7. The artificial foot according to claim 1, characterized in that: The oil flow passage connecting the plantar flexion throttle valve to the upper hydraulic chamber and / or the lower hydraulic chamber is a flow passage with a variable caliber, and the oil flow passage connecting the dorsiflexion throttle valve to the upper hydraulic chamber and / or the lower hydraulic chamber is a flow passage with a constant caliber width.

8. The artificial foot according to claim 1, characterized in that: The foot plate is a carbon fiber foot plate.

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