A dual power output mechanism for intelligent prosthetic hip joint

Abstract

This invention discloses a dual-power output mechanism for an intelligent prosthetic hip joint, relating to the field of medical rehabilitation equipment. The mechanism includes a prosthetic motion system and a power transmission system. The prosthetic motion system includes a standard L-shaped plate for the socket, a prosthetic connector, double-row connecting rods, a Y-shaped connecting rod, an auxiliary connecting rod, a power-shaped rod, and a prosthetic leg bone. The power transmission system includes a flexible transmission wheel, an end cap, a two-stage reduction gear set, a one-stage reduction gear set, a second power motor, a drive gear, a second support column, a first power motor, a third support column, a battery, a spring, a hinge ball, a reinforcing rib, an adjusting screw, a guide rod, and a power shaft. This invention increases joint torque by superimposing motor power, and balances the overall mass distribution of the prosthesis through a spatially symmetrical structure. The addition of a flexible transmission structure prevents motor stalling and improves system stability.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment, and more particularly to a dual-power output mechanism for an intelligent prosthetic hip joint. Background Technology

[0002] Due to illness, traffic accidents, and the low probability of war, amputation is an extreme means of protecting human life under current technological conditions. To help amputees rebuild their mental health and return to normal social activities, wearing prostheses is currently the only way to assist patients in regaining their ability to walk. Hip disarticulation prostheses, as the most difficult type of lower limb prosthesis to control, rely on inertia to propel themselves out of the body due to the lack of power supply. This walking method not only consumes a lot of energy, but the long-term deformed gait can also easily lead to other physical illnesses. Intelligent prostheses can not only compensate for the energy consumption during walking, but also make the prosthesis easier to control through intelligent power assistance, shortening the time it takes for patients to adapt and helping them return to life faster and better. However, the upper limit of hip joint power remains a key constraint on the development of intelligent prostheses; increasing the dynamic torque level of the hip joint is crucial for improving the mobility of intelligent prostheses.

[0003] Therefore, those skilled in the art are dedicated to developing a dual power output mechanism for the hip joint of a smart prosthesis, which superimposes motor power to provide a stronger power output to the hip joint. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problems to be solved by the present invention include: 1) the problems of insufficient power output, large motor size, and excessively high reduction ratio, as well as the safety issues of high-power motors regardless of high voltage or high current. 2) the problem of prosthetic center of gravity distribution. 3) the problem of safety assurance after motor malfunction. 4) the problem of stability of the extension structure.

[0005] To achieve the above objectives, the present invention provides a dual power output mechanism for a smart prosthetic hip joint, comprising a prosthetic motion system and a power transmission system;

[0006] The prosthetic motion system includes a standard L-shaped plate for the socket, a prosthetic connector, double-row connecting rods, a Y-shaped connecting rod, an auxiliary connecting rod, a power-shaped rod, and a prosthetic leg bone.

[0007] The power transmission system includes a flexible transmission wheel, an end cover, a two-stage reduction gear set, a first-stage reduction gear set, a second power motor, a drive gear, a second support column, a first power motor, a third support column, a battery, a spring, a hinge ball, a reinforcing rib, an adjusting screw, a guide rod, and a non-standard power shaft.

[0008] Furthermore, the prosthetic leg bone is provided with a knee joint connection groove.

[0009] Furthermore, the flexible transmission wheel includes an elastic element, a force-adjustable four-jaw disc, and a base gear.

[0010] Furthermore, the power-shaped rod is provided with a set screw hole, a hinge ball groove, and a keyway.

[0011] Furthermore, the irregularly shaped power shaft is provided with a keyway, a locking external thread, and a rectangular opening groove.

[0012] Furthermore, the first power motor and the second power motor are symmetrically distributed on both sides of the prosthesis leg bone; the first power motor and the second power motor transmit power to the flexible transmission wheel through the active gear set on the output shaft and along the first-stage reduction gear set and the second-stage reduction gear set; the flexible transmission wheel transmits torque to the hip joint through the power coil spring set inside; and the power shaft drives the hip joint structure to complete the hip flexion movement.

[0013] Furthermore, the first and second power motors are of the same model and specifications and are symmetrically distributed about the center line of the prosthetic leg bone; the first-stage reduction gear sets distributed on both sides of the prosthetic leg bone adopt the same material and structural design and are symmetrical about the center line of the prosthetic leg bone; the second-stage reduction gear sets distributed on both sides of the prosthetic leg bone adopt the same material and structural design and are symmetrical about the center line of the prosthetic leg bone.

[0014] Furthermore, the elastic element is a power coil spring.

[0015] Furthermore, after the hinge ball and the hinge ball groove are engaged, the exposed portion is not less than 1 / 2 of the surface area of ​​the hinge ball, and under top view, the edge of the hinge ball groove on the side away from the irregular power shaft cannot exceed the diameter of the hinge ball.

[0016] Furthermore, the guide rod is embedded in the spring, and the part in contact with the hinge ball is arc-shaped.

[0017] Compared with existing technical solutions, the beneficial technical effects of the present invention include at least the following:

[0018] 1) This invention improves joint torque by superimposing motor power, and the use of low-power motors makes the prosthetic power system safer and cheaper.

[0019] 2) The present invention sets up a spatially symmetrical structure to balance the overall mass distribution of the prosthesis, thereby avoiding motion imbalance caused by uneven mass distribution of the prosthesis leg bones.

[0020] 3) The invention adds a flexible transmission structure, which can avoid the motor from having opposite movements during the adjustment of joint stiffness, which could cause stalling or damage to the mechanism.

[0021] 4) This invention improves system stability by increasing the contact stroke and contact area of ​​the stretching structure to ensure continuous and stable stretching force.

[0022] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a dual power output mechanism for a smart prosthetic hip joint;

[0024] Figure 2 This is a schematic diagram of the components of a dual-power output mechanism for a smart prosthetic hip joint;

[0025] Figure 3 This is a front view schematic diagram of a dual power output mechanism for a smart prosthetic hip joint;

[0026] Figure 4 This is a cross-sectional schematic diagram of a dual power output mechanism for a smart prosthetic hip joint;

[0027] Figure 5 This is a schematic diagram of key features of a flexible transmission wheel in a dual power output mechanism for a smart prosthetic hip joint;

[0028] Figure 6 This is a schematic diagram of the assembly of an irregularly shaped power shaft in a dual power output mechanism for a smart prosthetic hip joint;

[0029] Figure 7 This is a schematic diagram of a spring-assisted extension structure in a dual-power output mechanism for the hip joint of an intelligent prosthesis;

[0030] Among them, 1-prosthetic motion system, 2-power transmission system;

[0031] 101-Standard L-shaped plate for receiving cavity; 102-Prosthetic connector; 103-Double row connecting rod; 104-Y-shaped connecting rod; 105-Auxiliary connecting rod; 106-Power irregular rod; 1061-Top screw hole; 2062-Hinge ball groove; 1063-Keyway; Prosthetic leg bone 107; 1071-Knee joint connecting groove;

[0032] 201-Flexible transmission wheel, 2011-Power coil spring, 2012-Adjustable four-jaw disc, 2013-Base gear, 202-End cover, 203-Secondary reduction gear set, 204-First-stage reduction gear set, 205-Secondary power motor, 206-Drive gear, 207-Secondary support column, 208-First power motor, 209-Third support column, 210-Battery, 211-Spring, 212-Hinge ball, 213-Reinforcing rib, 214-Tightening screw, 215-Guide rod, 216-Irregularly shaped power shaft, 2161-Keyway, 2162-Locking external thread, 2163-Rectangular opening slot. Detailed Implementation

[0033] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0034] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components is appropriately exaggerated in the drawings.

[0035] like Figure 1 The diagram shown is an overall structural schematic of a dual-power output mechanism for an intelligent prosthetic hip joint. The dual-power output mechanism for an intelligent prosthetic hip joint proposed in this invention includes a prosthetic motion system 1 and a power transmission system 2.

[0036] like Figure 2-4 The figures shown are schematic diagrams of the components of a dual-power output mechanism for an intelligent prosthetic hip joint, including a front view and a cross-sectional view. The prosthetic motion system 1 includes: a standard L-shaped plate 101 for the receiving cavity, a prosthetic connector 102, double-row connecting rods 103, a Y-shaped connecting rod 104, an auxiliary connecting rod 105, a power-shaped rod 106, and a prosthetic leg bone 107 with a knee joint connecting groove 1071. The power transmission system 2 includes: a flexible transmission wheel 201, an end cap 202, a two-stage reduction gear set 203, a first-stage reduction gear set 204, a second power motor 205, a drive gear 206, a second support column 207, a first power motor 208, a third support column 209, a battery 210, a spring 211, a hinge ball 212, a reinforcing rib 213, an adjusting screw 214, a guide rod 215, and a shaped power shaft 216.

[0037] like Figure 5The diagram shows key features of a flexible transmission wheel on a dual-power output mechanism for an intelligent prosthetic hip joint. The flexible transmission wheel 201 includes a power coil spring 2011, a force-adjusting four-jaw disc 2012, and a base gear 2013.

[0038] like Figure 6 The diagram shows an assembly schematic of an irregularly shaped power shaft in a dual-power output mechanism for an intelligent prosthetic hip joint. The irregularly shaped power rod 106 is provided with a set screw hole 1061, a hinge ball groove 1062, and a keyway 1063. The irregularly shaped power shaft 216 is provided with a keyway 2161, a locking external thread 2162, and a rectangular opening slot 2163.

[0039] like Figure 7 The diagram shows a spring extension structure in a dual-power output mechanism for an intelligent prosthetic hip joint. The spring extension structure includes a spring 211, a hinge ball 212, a guide rod 215, and a power-shaped rod 106.

[0040] When prosthetists face complex terrain (such as obstacle crossing and stair climbing), they can select a prosthesis power mode. A first power motor 208 and a second power motor 205, symmetrically distributed on both sides of the prosthesis leg bone 107, transmit power to the prosthesis hip joint via a power transmission system. The first power motor 208 and the second power motor 205 transmit power to a flexible transmission wheel 201 via a drive gear 206 on the output shaft, and along a first-stage reduction gear set 204 and a second-stage reduction gear set 203. The flexible transmission wheel 201 transmits torque to the hip joint via a power coil spring 2011, which in turn drives the hip joint structure to complete hip flexion. During hip extension, the first power motor 208 and the second power motor 205 quickly reverse and return to their original positions. The prosthesis hip joint extends using its own weight and the spring-assisted extension structure. Furthermore, the power coil spring 2011 within the flexible transmission wheel 201 provides flexible damping during hip extension to prevent rigid collisions at extreme positions that could negatively impact the prosthesis wearing experience. After completing the hip extension movement, wait for the intelligent prosthetic system to detect the movement intention again before entering the next gait cycle.

[0041] The dual-power-output mechanism for the intelligent prosthetic hip joint retains the single-bar, double-parallelogram structure, restoring the rotation center of the prosthetic hip joint to the amputee's stump acetabulum, thus restoring the physiological leg length. Based on this, an additional power source is added to meet the power requirements of the prosthetic hip joint. The power transmission systems distributed on both sides of the prosthetic leg bone use the same power source and transmission path, and are symmetrically distributed about the centerline of the prosthetic leg bone. This aims to balance the overall movement imbalance of the prosthesis caused by uneven gravity distribution during movement. Furthermore, the dual-side power transmission system transmits power from motors 1 and 2 to the same joint. By adjusting the torque transmission direction, power superposition and joint stiffness adjustment functions can be achieved to meet the performance requirements of amputees under different movement modes.

[0042] In the example of amputees walking on surfaces with infrequent road changes, selecting the intelligent mode can reduce energy consumption and improve the prosthesis's endurance while ensuring that movement needs are met. In this mode, the primary goal of the two motors is to change the stiffness of the prosthetic hip joint, without providing hip flexion power to the joint; the hip flexion power mainly comes from inertia during walking. Under the same road conditions (such as flat ground), the motors will complete the stiffness adjustment of the hip joint during the initial gait cycle until the prosthetic system detects a significant change in road conditions (such as turning from flat ground to stairs). At this point, the motors will complete the stiffness adjustment of the hip joint during the transition gait based on the changed road condition information. The key to the intelligent mode is the reproduction of the antagonistic characteristics of the lower limb joint muscle groups during movement.

[0043] In cases of motor failure or power depletion, the prosthesis loses external power, and the user can use it as a traditional passive prosthesis. The difference from a traditional prosthesis lies in the fact that the elastic element located in the hip joint continues to function normally. The power coil spring inside the flexible drive wheel compresses and stores some energy during hip extension and releases it during hip flexion, providing some assistance. Once hip flexion is complete, the prosthesis extends under gravity.

[0044] The present invention has the following outstanding features and effects.

[0045] First, to overcome the problems of insufficient power output, bulky motors, and excessively high reduction ratios commonly found in intelligent prostheses, as well as the safety concerns associated with high-power motors due to high voltage and high current, this invention designs a motor energy superposition structure to achieve high torque output with a low-power motor. By connecting two motors in series to deliver torque to the same end-effector joint, a power superposition effect is achieved. This invention increases joint torque by superimposing motor power, and the use of a low-power motor in the prosthetic power system results in higher safety and lower cost.

[0046] Secondly, to address the issue of prosthetic center of gravity distribution, this invention employs a spatially symmetrical structure to balance the overall mass distribution of the prosthesis. Specific technical means include: 1) ensuring the first and second power motors are of the same model and specifications, and that both motors are symmetrically distributed about the center line of the prosthetic leg bone; 2) using the same material and structural design for the primary reduction gear sets distributed on both sides of the prosthetic leg bone, and being symmetrical about the center line of the prosthetic leg bone; 3) using the same material and structural design for the secondary reduction gear sets distributed on both sides of the prosthetic leg bone, and being symmetrical about the center line of the prosthetic leg bone. Through these structural arrangements, motion imbalance caused by uneven mass distribution in the prosthetic leg bone is avoided.

[0047] Third, to address the safety concerns following motor malfunction, this invention incorporates a flexible transmission structure to prevent damage caused by rigid contact. Because the power coil spring within the flexible transmission wheel is made of elastic material, it avoids the motor from experiencing opposing motions during joint stiffness adjustments, which could lead to stalling or structural damage.

[0048] Fourth, to address the stability issue of the extension assist structure, this invention increases the contact stroke of the extension assist structure to ensure its safety and stability. The specific technical means are as follows: the exposed portion of the hinge ball after mating with the hinge ball groove is no less than half the surface area of ​​the hinge ball, and the edge of the hinge ball groove on the side furthest from the irregularly shaped power shaft under top-view conditions does not exceed the diameter of the hinge ball. This ensures that the guide rod used in conjunction with it will not lose contact during operation, thus guaranteeing a continuous and stable extension force. Furthermore, this invention also ensures the safety and stability of the extension assist structure by increasing its contact area. The specific technical means are as follows: the guide rod is embedded in the spring, and the part in contact with the hinge ball has an arc-shaped design. This increases the contact area with the hinge ball surface, improving system stability.

[0049] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A dual power output mechanism for a smart prosthetic hip joint, characterized in that, Including prosthetic motion systems and power transmission systems; The prosthetic motion system includes a standard L-shaped plate for the socket, a prosthetic connector, double-row connecting rods, a Y-shaped connecting rod, an auxiliary connecting rod, a power-shaped rod, and a prosthetic leg bone. The power transmission system includes a flexible transmission wheel, an end cover, a two-stage reduction gear set, a first-stage reduction gear set, a second power motor, a drive gear, a second support column, a first power motor, a third support column, a battery, a spring, a hinge ball, a reinforcing rib, an adjusting screw, a guide rod, and a non-standard power shaft. The flexible transmission wheel includes an elastic element, a force-adjustable four-jaw disc, and a base gear. The first power motor and the second power motor are symmetrically distributed on both sides of the prosthesis leg bone. The first power motor and the second power motor transmit power to the flexible transmission wheel through the drive gear set on the output shaft and along the first-stage reduction gear set and the second-stage reduction gear set. The flexible transmission wheel transmits torque to the hip joint through the elastic element set inside. The power shaft drives the hip joint structure to complete the hip flexion movement. The elastic element is a power coil spring. The power-shaped rod is provided with a set screw hole, a hinge ball groove and a keyway. After the hinge ball is engaged with the hinge ball groove, the exposed part is not less than 1 / 2 of the surface area of ​​the hinge ball, and under top view, the edge of the hinge ball groove on the side away from the power shaft cannot exceed the diameter of the hinge ball.

2. The dual power output mechanism for an intelligent prosthetic hip joint as described in claim 1, characterized in that, The prosthetic leg bone is provided with a knee joint connection groove.

3. The dual power output mechanism for the hip joint of an intelligent prosthesis as described in claim 1, characterized in that, The irregularly shaped power shaft is provided with a keyway, a locking external thread, and a rectangular opening groove.

4. The dual power output mechanism for the hip joint of an intelligent prosthesis as described in claim 1, characterized in that, The first and second power motors have the same model and specifications and are symmetrically distributed about the center line of the prosthetic leg bone; the first-stage reduction gear sets distributed on both sides of the prosthetic leg bone use the same material and structural design and are symmetrical about the center line of the prosthetic leg bone; the second-stage reduction gear sets distributed on both sides of the prosthetic leg bone use the same material and structural design and are symmetrical about the center line of the prosthetic leg bone.

5. The dual power output mechanism for an intelligent prosthetic hip joint as described in claim 1, characterized in that, The guide rod is embedded in the spring, and the part that contacts the hinge ball is arc-shaped.

Images