Six-connecting-rod hydraulic knee joint

Abstract

According to the six-connecting-rod hydraulic knee joint, the overall structure is simpler and more compact, the occupied space is smaller, the knee joint and the ankle joint can be driven to move through the six-connecting-rod mechanism composed of the upper joint body, the lower joint body, the back connecting body, the hydraulic cylinders, the connecting rods and the buffer blocks, supporting is carried out through hydraulic pressure of the hydraulic cylinders, and operation is convenient. The hydraulic strength can assist walking for control, and the walking device is low in cost, light in weight, more convenient to use, better in effect, flexible in movement and suitable for wide popularization and comprises two connecting rods which are arranged in a mirror symmetry mode; the lower joint body is used for being connected with the ankle position, and the lower joint body is rotationally installed at the lower ends of the two connecting rods; the upper joint body is used for being connected with the knee joint position, and the upper joint body is rotationally installed at the upper ends of the two connecting rods; and the buffer block is rotationally installed on the inner side of the lower joint body, and a hydraulic cylinder used for assisting walking is arranged between the buffer block and the upper joint body.

Description

Technical Field

[0001] The utility model relates to the technical field of artificial limbs, in particular to a six-link hydraulic knee joint. Background Art

[0002] In today's society, in order to help patients with lower limb amputations restore basic walking functions, prostheses are usually installed at the patient's amputation site. At the same time, in order to improve the patient's walking experience, a prosthetic knee joint is set at the same position as the normal knee joint of the human body, so that the patient can bend his legs while walking.

[0003] The joints of existing robots are mostly controlled by multiple motors. This structure makes the joints inflexible and has high manufacturing costs. The prosthetic knee joints have unreasonable structural designs, are heavy, and are burdensome to use. Utility Model Content

[0004] In view of the defects existing in the prior art, the technical problem solved by the utility model is: to provide a six-link hydraulic knee joint.

[0005] In order to achieve the above objectives, the utility model provides:

[0006] Six-link hydraulic knee joint, including:

[0007] Two connecting rods, the two connecting rods are arranged in mirror symmetry;

[0008] A lower joint body, used for connecting the ankle, wherein the lower joint body is rotatably mounted on the lower ends of the two connecting rods;

[0009] An upper joint body, used for connecting the knee joint position, wherein the upper joint body is rotatably mounted on the upper ends of the two connecting rods;

[0010] The buffer block is rotatably mounted on the inner side of the lower joint body. A hydraulic cylinder for assisting walking is arranged between the buffer block and the upper joint body. Two hydraulic regulating valves for adjusting the hydraulic strength are arranged on the hydraulic cylinder.

[0011] The back joint body is used to protect the hydraulic cylinder and is arranged on the outside of the hydraulic cylinder. The bottom end of the back joint body is rotatably connected to the rear side of the buffer block, and the top end of the back joint body is rotatably connected to the rear side of the upper joint body.

[0012] The telescopic adjustment body is arranged between the buffer block and the back connecting body and is used for assisting the extension.

[0013] Preferably, an upper locking seat is provided on the upper joint body, and an upper quadrangular pyramid joint for connecting the upper limb is connected to the upper locking seat and extends directly above the joint body, and a locking block is provided on the outer side of the upper locking seat.

[0014] Preferably, a lower locking seat is provided on the lower joint body, and a lower quadrangular pyramid joint for connecting the lower limb is installed on the lower locking seat and extends to the bottom of the lower joint body.

[0015] Preferably, an upper joint pin hole is opened on the front side of the upper joint body, and an upper joint pin shaft for knee flipping is movably installed in the upper joint body pin hole. The upper ends of the two connecting rods are opened with connecting rod upper holes, and the two connecting rod upper holes are rotatably connected to the upper joint body pin shaft.

[0016] Preferably, a lower joint body pin hole is formed on the lower joint body, a lower joint body pin shaft is movably installed in the lower joint body pin hole, the lower joint body pin shaft is rotatably installed on the front side of the buffer block, the buffer block is located on the inner side of the lower joint body and is used to rotationally connect the buffer block to the lower joint body, and the lower ends of the two connecting rods are formed with connecting rod lower holes, and the two connecting rod lower holes are rotationally connected to the lower joint body pin shaft.

[0017] Preferably, a cylinder seat sleeve is provided at the bottom end of the hydraulic cylinder, the cylinder seat sleeve is rotatably connected to the buffer block through a lower joint body pin, and is located on the inner side of the buffer block.

[0018] Preferably, two hydraulic upper end connecting holes are provided on the rear side of the upper joint body, and a cylinder shaft sleeve is provided on the top end of the hydraulic cylinder, the cylinder shaft sleeve is located between the two hydraulic upper end connecting holes, and two back-connecting body upper holes are provided on the upper end of the back body, and the cylinder shaft sleeve, the two hydraulic upper end connecting holes, and the two back-connecting body upper holes are concentrically and mirror-symmetrically provided with two back-connecting body upper shafts, which are used to rotatably connect the upper joint body, the top end of the hydraulic cylinder, and the upper end of the back body.

[0019] Preferably, two back-body lower shafts are mirror-symmetrically installed on the rear side of the buffer block, two back-body lower holes are opened at the lower end of the back body, the two back-body lower shafts are rotatably connected with the two back-body lower holes, and the lower end of the back body is rotatably connected to the buffer block.

[0020] Preferably, the telescopic adjustment body includes a telescopic adjustment block, a pin sleeve is fixedly installed on the upper end of the telescopic adjustment block, a telescopic warehouse is slidably installed on the telescopic adjustment block, an arc head is installed on the lower end of the telescopic warehouse, the arc head is embedded in the rear top of the buffer block, and two adjustment body pins for connecting the pin sleeves are arranged on the inner side of the back body, and the two adjustment body pins are rotatably connected to the pin sleeves; the telescopic adjustment block and the telescopic warehouse are stretched by a spring to assist the leg bending and stretching.

[0021] Compared with the prior art, the advantages of the utility model are:

[0022] The overall structure of the device of the utility model is simpler and more compact, and occupies less space. The six-link mechanism composed of an upper joint body, a lower joint body, a back joint body, a hydraulic cylinder, a connecting rod, and a buffer block can drive the movement of the knee joint and the ankle joint, and is supported by the hydraulic pressure of the hydraulic cylinder. The hydraulic strength can assist in walking control.

[0023] The utility model has low cost, light weight, more convenient use, better effect, flexible movement and is suitable for wide promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the right view structural diagram of this design;

[0025] Figure 2 Designed for this Figure 1 Schematic diagram of the structure viewed from above;

[0026] Figure 3 This is the left view structural diagram of this design;

[0027] Figure 4 Design for this Figure 3 Schematic diagram of the structure viewed from above;

[0028] Figure 5 Schematic diagram of the explosion structure designed for this purpose;

[0029] Figure 6 This is a schematic diagram of the telescopic adjustment body structure in this design;

[0030] In the figure: 1, lower joint body; 11, lower tetrahedral pyramid joint; 111, lower joint body pin hole; 2, connecting rod; 21, connecting rod upper hole; 22, connecting rod lower hole; 3, back joint; 31, back joint upper shaft; 32, adjusting body pin; 311, back joint upper hole; 332, back joint lower hole; 4, upper joint body; 41, upper tetrahedral pyramid joint; 42, locking seat; 43, locking block; 44, upper joint body pin; 45, hydraulic upper end connecting hole; 441, upper joint body pin hole; 5, hydraulic cylinder; 51, cylinder shaft sleeve; 52, cylinder seat sleeve; 53, hydraulic regulating valve; 6, telescopic adjusting body; 61, telescopic adjusting block; 62, telescopic bin; 63, arc head; 64, pin sleeve; 7, buffer block; 71, lower joint body pin; 72, back joint lower shaft. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0032] See also Figure 1-6 As shown, the six-link hydraulic knee joint comprises:

[0033] Two connecting rods 2, the two connecting rods 2 are arranged in mirror symmetry;

[0034] The lower joint body 1 is used to connect the ankle position, and the lower joint body 1 is rotatably mounted on the lower ends of the two connecting rods 2;

[0035] The upper joint body 4 is used to connect the knee joint position, and the upper joint body 4 is rotatably mounted on the upper ends of the two connecting rods 2;

[0036] The buffer block 7 is rotatably mounted on the inner side of the lower joint body 1. A hydraulic cylinder 5 for assisting walking is arranged between the buffer block 7 and the upper joint body 4. Two hydraulic regulating valves 53 for adjusting the hydraulic strength are arranged on the hydraulic cylinder 5. The buffer block 7 cooperates with the hydraulic cylinder 5 to reduce the bending impact force during walking and play a buffering role.

[0037] Specifically, the two hydraulic regulating valves 53 respectively control the hydraulic pressure to be increased or decreased, thereby changing the hydraulic strength of the hydraulic cylinder 5, achieving a change in the auxiliary walking strength and adjusting the walking speed;

[0038] The back body 3 is used to protect the hydraulic cylinder 5 and is arranged outside the hydraulic cylinder 5. The bottom end of the back body 3 is rotatably connected to the rear side of the buffer block 7, and the top end of the back body 3 is rotatably connected to the rear side of the upper joint body 4.

[0039] The telescopic adjustment body 6 is arranged between the buffer block 7 and the back connecting body 3 to assist in stretching.

[0040] In this embodiment, an upper locking seat 42 is provided on the upper joint body 4, and an upper quadrangular pyramid joint 41 for connecting the upper limb is connected to the upper locking seat 42, which extends directly above the upper joint body 4. A locking block 43 is provided on the outer side of the upper locking seat 42, and an upper joint body pin hole 441 is provided on the front side of the upper joint body 4, and an upper joint body pin shaft 44 used for knee flipping is movably installed in the upper joint body pin hole 441, and a connecting rod upper hole 21 is provided on the upper ends of the two connecting rods 2, and the two connecting rod upper holes 21 are rotatably connected to the upper joint body pin shaft 44, and the locking block 43 cooperates with the upper locking seat 42 to form a locking structure, and the locking block 43 can be toggled left and right to achieve the purpose of locking or unlocking the upper joint body pin shaft 44. When in use, the upper joint body pin shaft 44 can be used as a fulcrum for flipping, and when not in use, the upper joint body pin shaft 44 is locked and cannot be flipped;

[0041] Specifically, the upper tetrahedral pyramid joint 41 is used to connect the position above the knee joint, and the upper joint body pin 44 is used as a fulcrum for the active flipping of the knee joint.

[0042] In this embodiment, a lower locking seat is provided on the lower joint body 1, and a lower quadrangular pyramid joint 11 for connecting the lower limb is installed on the lower locking seat, extending to the bottom of the lower joint body 1; a lower joint body pin hole 111 is opened on the lower joint body 1, and a lower joint body pin shaft 71 is movably installed in the lower joint body pin hole 111, and the lower joint body pin shaft 71 is rotatably installed on the front side of the buffer block 7, and the buffer block 7 is located on the inner side of the lower joint body 1 for rotatably connecting the buffer block 7 with the lower joint body 1, and the lower ends of the two connecting rods 2 are opened with connecting rod lower holes 22, and the two connecting rod lower holes 22 are rotatably connected with the lower joint body pin shaft 71;

[0043] Specifically, the lower quadrangular pyramid joint 11 is used to connect to the position below the ankle, and the lower joint body pin 71 is used as a fulcrum for the ankle to flip.

[0044] In this embodiment, a cylinder seat sleeve 52 is provided at the bottom end of the hydraulic cylinder 5. The cylinder seat sleeve 52 is rotatably connected to the buffer block 7 through the lower joint body pin 71 and is located on the inner side of the buffer block 7.

[0045] Specifically, the hydraulic cylinder 5 is connected to the lower joint body 1 through the buffer block 7, which plays a role of hydraulic support for the lower joint body 1.

[0046] In this embodiment, two hydraulic upper end connection holes 45 are provided on the rear side of the upper joint body 4, and a cylinder shaft sleeve 51 is provided on the top of the hydraulic cylinder 5, and the cylinder shaft sleeve 51 is located between the two hydraulic upper end connection holes 45. Two back-joined body upper holes 311 are provided on the upper end of the back joint body 3, and the cylinder shaft sleeve 51, the two hydraulic upper end connection holes 45, and the two back-joined body upper holes 311 are concentrically and mirror-symmetrically rotated to form two back-joined body upper shafts 31, which are used to rotatably connect the upper joint body 4, the top of the hydraulic cylinder 5, and the upper end of the back joint body 3;

[0047] Specifically, the output end of the hydraulic cylinder 5 is connected to the upper joint body 4 , and plays a role of hydraulic support for the upper joint body 4 .

[0048] In this embodiment, two back-joined body lower shafts 72 are installed on the rear side of the buffer block in a mirror-symmetrical manner, and two back-joined body lower holes 332 are provided at the lower end of the back-joined body 3. The two back-joined body lower shafts 72 are rotatably connected with the two back-joined body lower holes 332, so that the lower end of the back-joined body 3 is rotatably connected with the buffer block 7;

[0049] Specifically, the back connection body 3 protects the hydraulic cylinder 52. The top end of the back connection body 3 is rotatably connected to the rear side of the upper joint body 4, and the upper joint body pin 44 is used as a fulcrum for the knee joint. The bottom end of the back connection body 3 is rotatably connected to the rear side of the lower joint body 1, and the lower joint body pin 71 is used as a fulcrum for the ankle's active flipping, which can provide support for the whole.

[0050] In this embodiment, the telescopic adjustment body 6 includes a telescopic adjustment block 61, a pin sleeve 64 is fixedly installed on the upper end of the telescopic adjustment block 61, a telescopic bin 62 is slidably installed on the telescopic adjustment block 61, an arc head 63 is installed on the lower end of the telescopic bin 62, and the arc head 63 is embedded in the top of the rear side of the buffer block 7. Two adjustment body pin shafts 32 for connecting the pin sleeve 64 are provided on the inner side of the back body 3, and the two adjustment body pin shafts 32 are rotatably connected with the pin sleeve 64; the telescopic adjustment block 61 and the telescopic bin 62 are stretched by a spring to assist the leg bending and stretching.

[0051] In this embodiment, the back body upper axis 31, the upper joint body pin 44, the lower joint body pin 71, and the back body lower axis 72 in the overall structure are combined to form a quadrilateral axis point, which can achieve the purpose of changing the walking angle, and the four axes are all fixed by hexagonal screws.

[0052] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that is the same or similar to the present invention is within the scope of protection.

Claims

1. Six-link hydraulic knee joint, characterized by: include: Two connecting rods (2), the two connecting rods (2) are arranged in mirror symmetry; A lower joint body (1) is used to connect the ankle, and the lower joint body (1) is rotatably mounted on the lower ends of two connecting rods (2); An upper joint body (4) is used to connect the knee joint position, and the upper joint body (4) is rotatably mounted on the upper ends of the two connecting rods (2); A buffer block (7) is rotatably mounted on the inner side of the lower joint body (1); a hydraulic cylinder (5) for assisting walking is arranged between the buffer block (7) and the upper joint body (4); and two hydraulic regulating valves (53) for adjusting the hydraulic strength are arranged on the hydraulic cylinder (5); A back connecting body (3) is used to protect the hydraulic cylinder (5) and is arranged on the outside of the hydraulic cylinder (5). The bottom end of the back connecting body (3) is rotatably connected to the rear side of the buffer block (7), and the top end of the back connecting body (3) is rotatably connected to the rear side of the upper joint body (4); The telescopic adjustment body (6) is arranged between the buffer block (7) and the back connecting body (3) and is used to assist in stretching.

2. The six-link hydraulic knee joint according to claim 1, characterized in that: An upper locking seat (42) is provided on the upper joint body (4), and an upper quadrangular pyramid joint (41) for connecting an upper limb is connected to the upper locking seat (42) and extends directly above the joint body (4). A locking block (43) is provided on the outer side of the upper locking seat (42).

3. The six-link hydraulic knee joint according to claim 1, characterized in that: The lower joint body (1) is provided with a lower locking seat, on which a lower quadrangular pyramid joint (11) for connecting the lower limb is installed, extending to the bottom of the lower joint body (1).

4. The six-link hydraulic knee joint according to claim 1, characterized in that: An upper joint body pin hole (441) is provided on the front side of the upper joint body (4), and an upper joint body pin shaft (44) for knee flipping is movably installed in the upper joint body pin hole (441). The upper ends of the two connecting rods (2) are provided with connecting rod upper holes (21), and the two connecting rod upper holes (21) are rotatably connected to the upper joint body pin shaft (44).

5. The six-link hydraulic knee joint according to claim 1, characterized in that: The lower joint body (1) is provided with a lower joint body pin hole (111), a lower joint body pin shaft (71) is movably installed in the lower joint body pin hole (111), the lower joint body pin shaft (71) is rotatably installed on the front side of the buffer block (7), the buffer block (7) is located on the inner side of the lower joint body (1) and is used to rotatably connect the buffer block (7) and the lower joint body (1), and the lower ends of the two connecting rods (2) are provided with connecting rod lower holes (22), and the two connecting rod lower holes (22) are rotatably connected to the lower joint body pin shaft (71).

6. The six-link hydraulic knee joint according to claim 5, characterized in that: The bottom end of the hydraulic cylinder (5) is provided with a cylinder seat sleeve (52), which is rotatably connected to the buffer block (7) via a lower joint body pin (71) and is located on the inner side of the buffer block (7).

7. The six-link hydraulic knee joint according to claim 1, characterized in that: The upper joint body (4) is provided with two hydraulic upper end connection holes (45) at the rear side, the top end of the hydraulic cylinder (5) is provided with a cylinder shaft sleeve (51), the cylinder shaft sleeve (51) is located between the two hydraulic upper end connection holes (45), the upper end of the back body (3) is provided with two back body upper holes (311), the cylinder shaft sleeve (51), the two hydraulic upper end connection holes (45), and the two back body upper holes (311) are concentrically and symmetrically rotated with two back body upper shafts (31), which are used to rotatably connect the upper joint body (4), the top end of the hydraulic cylinder (5), and the upper end of the back body (3).

8. The six-link hydraulic knee joint according to claim 1, characterized in that: Two back-connecting body lower shafts (72) are mounted on the rear side of the buffer block in a mirror-symmetrical manner. Two back-connecting body lower holes (332) are provided at the lower end of the back-connecting body (3). The two back-connecting body lower shafts (72) are rotatably connected to the two back-connecting body lower holes (332), so that the lower end of the back-connecting body (3) is rotatably connected to the buffer block (7).

9. The six-link hydraulic knee joint according to claim 1, characterized in that: The telescopic adjustment body (6) comprises a telescopic adjustment block (61), a pin sleeve (64) is fixedly mounted on the upper end of the telescopic adjustment block (61), a telescopic bin (62) is slidably mounted on the telescopic adjustment block (61), an arc head (63) is mounted on the lower end of the telescopic bin (62), and the arc head (63) is embedded in the top of the rear side of the buffer block (7), and two adjustment body pin shafts (32) for connecting the pin sleeve (64) are arranged on the inner side of the back connecting body (3), and the two adjustment body pin shafts (32) are rotatably connected to the pin sleeve (64).

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