A bionic knee joint and its robotic leg

Abstract

The present invention provides a bionic knee joint and its robotic leg. The bionic knee joint includes: a first component and a second component, which are hinged between the first component and the second component. An incomplete worm gear is fixedly arranged on the first component, and a worm matching the first component is arranged on the second component. The worm is rotatably connected to the second component. Under the cooperation of the worm gear and the worm, the included angle between the first component and the second component changes; a sensor is arranged on the second component to measure the rotation angle of the second component, and a controller is also arranged on the second component to achieve control. The sensor is connected to the controller, and the controller adjusts the included angle between the first component and the second component according to the data of the sensor. According to the present invention, by establishing an effective threshold in the controller, within this range, the patient can maintain a comfortable state, and an early warning can be made in advance for the range that the patient can bear. The controller is electrically connected to the motor, and with the transmission of the incomplete worm gear and worm mechanism, precise control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of lower limb rehabilitation assistance devices, and particularly relates to a bionic knee joint and its robotic leg. Background Art

[0002] With the rapid development of computer technology and automation equipment, bionic knee joints play an important role in the medical field. They can help patients adapt to the post-traumatic situation, so the control accuracy requirements for bionic knee joints are getting higher and higher.

[0003] Currently, impedance control can be performed on the joint by external force to achieve force control and position control of the robotic leg. As the most complex structure of the human body, the human knee joint is a key part that bears the human body weight during walking, and has the characteristics of high flexibility and self-resetting. Traditional bionic knee joints achieve flexibility and stability through rigid components and control systems, and achieve the functions of self-resetting and self-locking through the control system. However, due to the relatively bulky and complex structure, the processing difficulty is large, the production cost is high, which is not conducive to commercial promotion. In addition, due to the low accuracy of external force control, accurate control cannot be achieved, which will increase the risk of patient falls, thus affecting the control performance and reducing the accuracy of impedance control.

[0004] Therefore, the present invention researches and designs a bionic knee joint and its robotic leg. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that due to the low accuracy of external force control, accurate control cannot be achieved, which will increase the risk of patient falls, thus affecting the control performance and reducing the accuracy of impedance control, so as to provide a bionic knee joint and its robotic leg.

[0006] To solve the above problems, the present invention provides a bionic knee joint, which includes:

[0007] A first component and a second component, the first component is hinged to the second component. An incomplete worm gear is fixedly arranged on the first component, and a worm that matches the first component is arranged on the second component. The worm is rotatably connected to the second component. A motor is arranged at one end of the worm close to the second component, the motor is fixedly connected to the second component, and the output shaft of the motor is fixedly connected to the worm;

[0008] A sensor is arranged on the second component to measure the rotation angle of the second component, and a controller is also arranged on the second component to achieve control. The controller is respectively connected to the sensor and the motor, and the controller controls the motor to adjust the included angle between the first component and the second component according to the data of the sensor.

[0009] Preferably, a first rotating seat is fixedly arranged on the first component, the incomplete worm gear is fixedly arranged on the first rotating seat, rotating parts are fixedly arranged on both sides of the first rotating seat, and the rotating parts are both connected to the second component.

[0010] Preferably, a second rotating seat is fixedly arranged on the second component, there are two second rotating seats, the two second rotating seats are respectively rotatably connected to the rotating parts, an installation cylinder is arranged on the second component, a worm is arranged in the installation cylinder, the installation cylinder is rotatably connected to one end of the worm, a through groove is formed on one side of the installation cylinder close to the rotating seat, and the incomplete worm gear extends into the through groove and meshes with the worm.

[0011] Preferably, the sensor is fixedly connected to the second rotating seat, and the sensor is a torque sensor.

[0012] Preferably, a first coordination groove is formed on the first component. During the rotation of the first component and the second component, when the first component abuts against the second component, the installation cylinder extends into the first coordination groove, and there is a gap between the worm and the first component.

[0013] Preferably, a second coordination groove is formed on the second component, there are two second coordination grooves which are respectively arranged on both sides of the installation cylinder, and a cushion block is fixedly arranged in the second coordination groove. When the installation cylinder extends into the first coordination groove, the cushion block abuts against the first component to form a restriction.

[0014] Preferably, the controller controls the motor to adjust the included angle between the first component and the second component according to the data of the sensor, including:

[0015] The sensor obtains the maximum value of the included angle between the first component and the second component that the patient can bear, to determine the first posture of the bionic knee joint, so as to determine the first effective value;

[0016] The sensor obtains the minimum value of the included angle between the first component and the second component that the patient can bear, to determine the second posture of the bionic knee joint, so as to determine the second effective value;

[0017] Input the first effective value and the second effective value into the controller to establish an effective threshold.

[0018] The present invention also provides a mechanical leg, which includes the bionic knee joint described in any one of the previous items.

[0019] Preferably, a first housing and a second housing are respectively provided on the first component and the second component. Both ends of the first housing and the second housing are open. One end of the first housing and the second housing is respectively detachably connected to the first component and the second component. First movable openings and second movable openings are respectively formed on one side where the first housing and the second housing are hinged to each other.

[0020] The bionic knee joint and its mechanical leg provided by the present invention have the following beneficial effects:

[0021] 1. According to the data of the sensor, the controller of the present invention adjusts the included angle between the first component and the second component. Specifically, after the patient wears it, the sensor obtains the maximum value of the included angle between the first component and the second component that the patient can bear to determine the first posture of the bionic knee joint and determine the first effective value; after the patient wears it, the sensor obtains the minimum value of the included angle between the first component and the second component that the patient can bear to determine the second posture of the bionic knee joint and determine the second effective value; the first effective value and the second effective value are input into the controller to establish an effective threshold. Within this range, the patient can maintain a comfortable state, and an early warning is made for the range that the patient can bear. The controller is electrically connected to the motor, and with the transmission of the incomplete worm and worm gear mechanism, precise control is achieved;

[0022] 2. The present invention also realizes the opening and closing of the first component and the second component by changing the rotation direction of the motor. The motor is fixedly connected to the second component, the output shaft of the motor is fixedly connected to the worm, and the motor is electrically connected to the controller. The controller controls the opening and closing of the motor to change the included angle between the first component and the second component;

[0023] 3. The present invention also detects the torsion moment perception on the second rotating seat through a torque sensor. The torque sensor converts the physical change of the torsion force into an accurate electrical signal and feeds it back to the controller. Description of the Drawings

[0024] Figure 1 It is a three-dimensional assembly structure diagram of the bionic knee joint of the present invention;

[0025] Figure 2 It is a schematic installation diagram of the through groove of the bionic knee joint of the present invention;

[0026] Figure 3 It is a schematic diagram of the incomplete worm gear structure of the present invention;

[0027] Figure 4 It is a schematic installation diagram of the motor of the bionic knee joint of the present invention;

[0028] Figure 5 It is a schematic installation diagram of the first housing of the mechanical leg of the present invention;

[0029] Figure 6 Schematic diagram of the installation of the first movable port of the mechanical leg of the present invention.

[0030] The reference numerals are shown as:

[0031] 1. First component; 2. Second component; 3. Incomplete worm gear; 4. Worm; 5. First rotating seat; 6. Rotating part; 7. Second rotating seat; 8. Mounting cylinder; 9. Through groove; 10. Motor; 11. First coordination groove; 12. Second coordination groove; 13. Pad; 14. First housing; 15. Second housing; 16. First movable port; 17. Second movable port. Detailed implementation manners

[0032] As Figure 1-6 shown, the present invention provides a bionic knee joint, which includes:

[0033] A first component 1 and a second component 2, the first component 1 and the second component 2 are hinged to each other, an incomplete worm gear 3 is fixedly arranged on the first component 1, a worm 4 matching the first component 1 is arranged on the second component 2, the worm 4 is rotatably connected to the second component 2, a motor 10 is arranged at one end of the worm 4 close to the second component 2, the motor 10 is fixedly connected to the second component 2, and an output shaft of the motor 10 is fixedly connected to the worm 4;

[0034] A sensor is arranged on the second component 2 to measure the rotation angle of the second component 2, a controller is further arranged on the second component 2 to achieve control, the controller is respectively connected to the sensor and the motor 10, and the controller controls the motor 10 to adjust the included angle between the first component 1 and the second component 2 according to the data of the sensor. As Figure 1-4As shown, the first component 1 is hinged to the second component 2. An incomplete worm gear 3 is fixedly arranged on the first component 1, and a worm 4 matching the first component 1 is arranged on the second component 2. The worm 4 is rotatably connected to the second component 2. Under the cooperation of the incomplete worm gear 3 and the worm 4, the included angle between the first component 1 and the second component 2 changes. At one end of the worm 4 close to the second component 2, there is a motor 10. The motor 10 is a forward and reverse motor 10. By changing the rotation direction of the motor 10, the opening and closing of the first component 1 and the second component 2 are realized. The motor 10 is commercially available. The motor 10 is fixedly connected to the second component 2, the output shaft of the motor 10 is fixedly connected to the worm 4, and the motor 10 is electrically connected to the controller. By controlling the operation of the motor 10 through the controller, the change of the included angle between the first component 1 and the second component 2 is realized. By controlling the working time of the motor 10, the size of the included angle between the first component 1 and the second component 2 is controlled to realize the precise control of the mechanical leg and reduce the risk of the patient falling. A sensor is arranged on the second component 2 to measure the rotation angle of the second component 2, and a controller is also arranged on the second component 2 to realize the control. The sensor is electrically connected to the controller, and both the sensor and the controller are commercially available. The controller adjusts the included angle between the first component 1 and the second component 2 according to the data of the sensor. Specifically, after the patient wears it, the sensor obtains the maximum value of the included angle between the first component 1 and the second component 2 that the patient can bear to determine the first posture of the bionic knee joint and determine the first effective value. After the patient wears it, the sensor obtains the minimum value of the included angle between the first component 1 and the second component 2 that the patient can bear to determine the second posture of the bionic knee joint and determine the second effective value. The first effective value and the second effective value are input into the controller to establish an effective threshold. Within this range, the patient can maintain a comfortable state and an early warning is made for the range that the patient can bear. The controller is electrically connected to the motor 10 and cooperates with the transmission of the incomplete worm gear 3 and worm 4 mechanism to realize precise control.

[0035] In some embodiments, a first rotating seat 5 is fixedly arranged on the first component 1, the incomplete worm gear 3 is fixedly arranged on the first rotating seat 5, and rotating parts 6 are respectively and fixedly arranged on both sides of the first rotating seat 5. The rotating parts 6 are both connected to the second component 2. As Figure 1 、 2 shown, a first rotating seat 5 is fixedly arranged on the first component 1, the incomplete worm gear 3 is fixedly arranged on the first rotating seat 5, and rotating parts 6 are respectively and fixedly arranged on both sides of the first rotating seat 5 to cooperate with the hinge of the second component 2. The rotating parts 6 are both connected to the second component 2, such as in forms of welding, bonding or screwing.

[0036] In some embodiments, a second rotating seat 7 is fixedly arranged on the second component 2. There are two second rotating seats 7, and the two second rotating seats 7 are respectively rotatably connected to the rotating part 6. An installation cylinder 8 is arranged on the second component 2, and a worm 4 is arranged in the installation cylinder 8. One end of the installation cylinder 8 is rotatably connected to the worm 4. A through groove 9 is formed on one side of the installation cylinder 8 close to the rotating seat, and the incomplete worm gear 3 extends into the through groove 9 and meshes with the worm 4. As Figure 1 , 2 , as shown in Figure 3, a second rotating seat 7 is fixedly arranged on the second component 2. There are two second rotating seats 7, and the two second rotating seats 7 are respectively rotatably connected to the rotating part 6. An installation cylinder 8 is arranged on the second component 2, a worm 4 is arranged in the installation cylinder 8, one end of the installation cylinder 8 is rotatably connected to the worm 4. A through groove 9 is formed on one side of the installation cylinder 8 close to the rotating seat, and the incomplete worm gear 3 extends into the through groove 9 and meshes with the worm 4. The number of teeth on the incomplete worm gear is 1 / 4 turn, which limits the angle between the first component 1 and the second component 2 to no more than 180° under the cooperation of the incomplete worm gear 3 and the worm 4, avoiding excessive bending of the first component 1 and the second component 2.

[0037] In some embodiments, the sensor is fixedly connected to the second rotating seat 7, and the sensor is a torque sensor. The sensor is fixedly connected to the second rotating seat 7, and the sensor is a torque sensor. The torque sensor detects the torsional moment on the second rotating seat 7, and the torque sensor converts the physical change of the torsion force into an accurate electrical signal and feeds it back to the controller.

[0038] In some embodiments, a first coordination groove 11 is formed on the first component 1. During the rotation of the first component 1 and the second component 2, when the first component 1 abuts against the second component 2, the installation cylinder 8 extends into the first coordination groove 11, and there is a gap between the worm 4 and the first component 1. As Figure 1-4 shown, a first coordination groove 11 is formed on the first component 1. During the rotation of the first component 1 and the second component 2, when the first component 1 abuts against the second component 2, the installation cylinder 8 extends into the first coordination groove 11, and there is a gap between the worm 4 and the first component 1 to maintain the rotation of the worm 4.

[0039] In some embodiments, second coordination grooves 12 are formed on the second component 2. There are two second coordination grooves 12, which are respectively arranged on both sides of the installation cylinder 8. A cushion block 13 is fixedly arranged in the second coordination groove 12. When the installation cylinder 8 extends into the first coordination groove 11, the cushion block 13 abuts against the first component 1 to form a limit. As Figure 2 and 4As shown in the figure, a second coordination groove 12 is formed on the second component 2. There are two second coordination grooves 12, which are respectively arranged on both sides of the mounting cylinder 8. A cushion block 13 is fixedly arranged in the second coordination groove 12. The cushion block 13 can be made of rubber. When the mounting cylinder 8 extends into the first coordination groove 11, the cushion block 13 abuts against the first component 1 to form a restriction.

[0040] In some embodiments, the controller adjusts the included angle between the first component 1 and the second component 2 according to the data of the sensor, including:

[0041] The sensor obtains the maximum value of the included angle between the first component 1 and the second component 2 that the patient can bear, to determine the first posture of the bionic knee joint, so as to determine the first effective value;

[0042] The sensor obtains the minimum value of the included angle between the first component 1 and the second component 2 that the patient can bear, to determine the second posture of the bionic knee joint, so as to determine the second effective value;

[0043] Input the first effective value and the second effective value into the controller to establish an effective threshold.

[0044] After applying this joint, on the corresponding user, the sensor obtains the maximum value and the minimum value of the included angle between the first component 1 and the second component 2 suitable for use on the patient, to determine the first effective value and the second effective value suitable for the user, and establish an effective threshold suitable for the user. This effective threshold can help the user determine the suitable posture range for himself, and by controlling the rotation of the motor 10 to meet the rotation angle range of the user, so as to achieve pre - protection for the user.

[0045] The present invention also provides a mechanical leg, which includes the bionic knee joint described in any one of the preceding items.

[0046] In some embodiments, first shells 14 and second shells 15 are respectively arranged on the first component 1 and the second component 2. Both ends of the first shell 14 and the second shell 15 are open. One end of the first shell 14 and the second shell 15 is detachably connected to the first component 1 and the second component 2 respectively. First movable openings 16 and second movable openings 17 are respectively formed on the sides where the first shell 14 and the second shell 15 are hinged. As Figure 5-6As shown, a first housing 14 and a second housing 15 are respectively provided on the first component 1 and the second component 2. Both ends of the first housing 14 and the second housing 15 are open. One end of the first housing 14 and the second housing 15 is respectively detachably connected to the first component 1 and the second component 2, which is in a snap - connection or screw - connection manner. First movable openings 16 and second movable openings 17 are respectively formed on the sides where the first housing 14 and the second housing 15 are hinged to each other. The first movable openings 16 and the second movable openings 17 enable the calf and thigh of the patient to move, so as not to be too tight and affect the use. When applied clinically, the robotic leg can help amputee patients adapt to the state during walking, enabling amputee patients to resume upright walking as soon as possible. In addition to being applied to humanoid robots or other driving joints, this bionic knee joint can also be used to make prosthetics.

[0047] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention. The above is only the preferred implementation manner of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can still be made, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A bionic knee joint, characterized in that: It includes: A first component (1) and a second component (2), the first component (1) is hinged to the second component (2), an incomplete worm gear (3) is fixedly arranged on the first component (1), and a worm (4) matching the first component (1) is arranged on the second component (2). The worm (4) is rotatably connected to the second component (2). One end of the worm (4) close to the second component (2) is provided with a motor (10). The motor (10) is fixedly connected to the second component (2), and the output shaft of the motor (10) is fixedly connected to the worm (4); A sensor is arranged on the second component (2) to measure the rotation angle of the second component (2). A controller is also arranged on the second component (2) to achieve control. The controller is respectively connected to the sensor and the motor (10). The controller controls the motor (10) to adjust the included angle between the first component (1) and the second component (2) according to the data of the sensor; A first rotating seat (5) is fixedly arranged on the first component (1). The incomplete worm gear (3) is fixedly arranged on the first rotating seat (5). Rotating parts (6) are respectively and fixedly arranged on both sides of the first rotating seat (5), and the rotating parts (6) are all connected to the second component (2); A second rotating seat (7) is fixedly arranged on the second component (2). There are two second rotating seats (7), and the two second rotating seats (7) are respectively rotatably connected to the rotating parts (6). An installation cylinder (8) is arranged on the second component (2). The worm (4) is arranged in the installation cylinder (8). The installation cylinder (8) is rotatably connected to one end of the worm (4). A through groove (9) is opened on one side of the installation cylinder (8) close to the rotating seat. The incomplete worm gear (3) extends into the through groove (9) to mesh with the worm (4); A first coordination groove (11) is opened on the first component (1). During the rotation of the first component (1) and the second component (2), when the first component (1) abuts against the second component (2), the installation cylinder (8) extends into the first coordination groove (11), and there is a gap between the worm (4) and the first component (1); A second coordination groove (12) is opened on the second component (2). There are two second coordination grooves (12) respectively arranged on both sides of the installation cylinder (8). A cushion block (13) is fixedly arranged in the second coordination groove (12). When the installation cylinder (8) extends into the first coordination groove (11), the cushion block (13) abuts against the first component (1) to form a limit.

2. The bionic knee joint according to claim 1, characterized in that: The sensor is fixedly connected to the second rotating seat (7), and the sensor is a torque sensor.

3. The bionic knee joint according to claim 1, characterized in that: The controller adjusts the included angle between the first component (1) and the second component (2) according to the data of the sensor, including: The sensor obtains the maximum value of the included angle between the first component (1) and the second component (2) that the patient can bear to determine the first posture of the bionic knee joint and determine the first effective value; The sensor obtains the minimum value of the included angle between the first component (1) and the second component (2) that the patient can bear to determine the second posture of the bionic knee joint and determine the second effective value; Input the first effective value and the second effective value into the controller to establish an effective threshold.

4. A mechanical leg Characterized in that: It includes the bionic knee joint according to any one of claims 1-3.

5. The mechanical leg according to claim 4 Characterized in that: The first component (1) and the second component (2) are respectively provided with a first housing (14) and a second housing (15). Both ends of the first housing (14) and the second housing (15) are open. One end of the first housing (14) and the second housing (15) is respectively detachably connected to the first component (1) and the second component (2). First movable openings (16) and second movable openings (17) are respectively formed on the sides where the first housing (14) and the second housing (15) are hinged to each other.

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