CN108420575A - Wearing artificial limb for assisting crouching seat and application method - Google Patents
Wearing artificial limb for assisting crouching seat and application method Download PDFInfo
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- CN108420575A CN108420575A CN201810245148.XA CN201810245148A CN108420575A CN 108420575 A CN108420575 A CN 108420575A CN 201810245148 A CN201810245148 A CN 201810245148A CN 108420575 A CN108420575 A CN 108420575A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
- A61B5/1114—Tracking parts of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1116—Determining posture transitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1118—Determining activity level
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6811—External prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Oral & Maxillofacial Surgery (AREA)
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- Physics & Mathematics (AREA)
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- Medical Informatics (AREA)
- Surgery (AREA)
- Transplantation (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The present invention relates to the wearing artificial limbs and application method for assisting crouching seat,Including artificial thigh,Below-knee prosthesis,Foot artificial limb,Artificial thigh lower end is provided with joint A,Below-knee prosthesis upper end is provided with joint B,Below-knee prosthesis lower end is provided with joint C,Joint D is arranged in foot artificial limb rear portion,Joint A and joint B is hinged,Joint B includes shell A,Shaft A is provided in shell A,Gear A is mounted in shaft,One limit assembly is set in shell A on rear side of gear A,Joint D includes shell B,Shaft B is provided in shell B,Gear B is mounted on shaft B,One limit assembly is respectively set in gear B both sides in shell B,Limit assembly includes servo motor,Cam,Swing arm,Servo motor driving cam rotates,Tensioning spring is provided between swing arm and shell,Tensioning spring one end connects swing arm,Other end connected with outer casing,Swing arm is remained with cam by the effect of tensioning spring and is contacted,The present invention has simple in structure,Reasonable design,Simple operation.
Description
Technical field
The present invention relates to a kind of wearing artificial limbs and application method for assisting crouching seat.
Background technology
In a few thing, people need to squat, uprightly, frequent changes work posture, such as welding, carwash, completed knocked down products
Waiting work or even some to be operated in needs to keep a vertical posture of squatting, these work can all the soreness of waist be caused to carry on the back in the long period
Pain and joint burden, make uncomfortable.Foreign countries develop one kind and being named as the wearing artificial limb of " chairless " for solving this kind of ask
Topic, the preferable working environment for improving worker, but its mechanism is more, and squat every time with it is upright when, be both needed to manual operation come into
Row transformation, the degree of automation is relatively low, currently, less for the research of this kind of wearing artificial limb, and majority concentrates on how improving support knot
On structure, for how to improve the research almost blank of wearing artificial limb automation.
Invention content
It is an object of the invention to provide a kind of wearing artificial limbs and application method for assisting crouching seat.
Scheme is used by the present invention solves technical problem, a kind of wearing artificial limb for assisting crouching seat, including thigh
Artificial limb, below-knee prosthesis, foot artificial limb, artificial thigh lower end are provided with joint A, and below-knee prosthesis upper end is provided with joint B, and shank is false
Limb lower end is provided with joint C, and joint D is arranged in foot artificial limb rear portion, and joint A and joint B is hinged, and receiving is provided in the middle part of the A of joint
The both sides the notch A of joint B, notch A are symmetrically arranged with axis hole A, and the outer ends axis hole A are through joint A and are provided with end cap, joint C with
Joint D is hinged, the notch B for accommodating joint D is provided in the middle part of the C of joint, the both sides notch B are symmetrically arranged with axis hole C, the outer ends axis hole C
Through joint C and it is provided with end cap；
Joint B includes shell A, be symmetrical arranged at left and right sides of shell A there are two with the matched axis hole B of axis hole A, set in shell A
It is equipped with shaft A, the both ends shaft A run through the axis hole B at both ends and go deep into axis hole A being rotatably assorted with joint B, are provided in shell A
Gear A, gear A are mounted in shaft, and a limit assembly is arranged in shell A on rear side of gear A；
Joint D includes shell B, be symmetrical arranged at left and right sides of shell B there are two with the matched axis hole D of axis hole C, set in shell B
It is equipped with shaft B, the both ends shaft B run through the axis hole C at both ends and go deep into axis hole D being rotatably assorted with joint D, are provided in shell B
Gear B, gear B are mounted on shaft B, and a limit assembly is respectively arranged in gear B both sides in shell B；
The limit assembly includes servo motor, cam, swing arm, and swing arm one end and housing hinge, cam are installed inside the shell simultaneously
It is rotatably assorted with it, the shaft of cam is provided with driven pulley, and driving pulley, driven belt is arranged in the output shaft of servo motor
Wheel, driving pulley V belt translation are provided with tensioning spring between swing arm and shell, tensioning spring one end connects swing arm, and the other end connects
Shell is connect, swing arm is remained with cam by the effect of tensioning spring and contacted.
Further, it is provided with rolling bearing between its matched axis hole of shaft A, shaft B.
Further, one is made with shaft A in gear A, and one is made with shaft B in gear B.
Further, limit assembly is set to side under gear A, gear B.
Further, artificial thigh upper end is provided with buttocks supporting pad, and artificial thigh leading flank is provided with thigh support cushion,
Artificial thigh leading flank middle and upper part is provided with thigh bundling belt, and below-knee prosthesis leading flank is provided with leg support pad, foot artificial limb
On be provided with foot bundling belt.
Further, battery compartment is arranged in below-knee prosthesis upper outside, setting battery, controller in battery compartment, outside battery compartment
It is covered with warehouse lid, angular transducer, angular-rate sensor, angular transducer, angular speed sensing are both provided in gear A, gear B
Device, servo motor, battery are electrically connected with controller.
A kind of application method of wearing artificial limb for assisting crouching seat：
When being converted from standing to squatting：Two gear As in two artificial limbs are rotated in a clockwise direction, and are fixed in gear A
Angle and angular-rate sensor by the angle value α of gear A1With magnitude of angular velocity V1Send controller to, at the same time, shank with
Two gear Bs in two artificial limbs of foot bends are rotated in the counterclockwise direction, and the angle and angular speed being fixed in gear B pass
Sensor is by the angle value α of gear B2With magnitude of angular velocity V2Controller is sent to, as the angle value α of two below-knee prosthesis10 °~
In 180 °, the angle value α of two foot artificial limbs1In -180 °~0 °, and magnitude of angular velocity V1And V2Absolute value be all higher than 5 °/
When s, controller judges that human body is in from uprightly to the transition status squatted at this time, and controller starts timing, starts in controller
After timing in the 1.2s times, if the magnitude of angular velocity V of joint1And V2Absolute value be consistently less than 5 °/s, then controller is according to this
Value, judges that joint is stopped rotating, and human body is in state of squatting, and then controls before being located in servo motor and joint D in the B of joint
Each autorotation of servo motor of side, two servo motor rotation band moving cams rotate, and cam pushes swing arm to swing and make swing arm
Upper end keeps gear A motionless, gear B stuck along clockwise direction stuck motionless in the counterclockwise direction, makes against gear A, gear B
Joint A, joint B are fixed along clockwise direction, joint C, joint D are fixed in the counterclockwise direction, front side in joint D
Servo motor action after the completion of, be located at rear side limit assembly servo motor rotation band moving cam rotate, cam push swing arm
It swings and makes swing arm upper end against gear B, keep gear B stuck motionless in the counterclockwise direction, so that joint C, joint D edge
Counterclockwise fixed, after completing the above action, it is arthrodesis state that controller, which marks current state, and the above action makes
Artificial thigh, below-knee prosthesis and foot artificial limb are linked to be a rigid structure, and the weight of body is transmitted to ground with this configuration when squatting
At face, people is supported；
When being converted from squatting to standing：It is arthrodesis state, two gear As in two artificial limbs that controller, which marks current state,
Simultaneously when being rotated in the counterclockwise direction, the angle that is fixed in gear A and angular-rate sensor are by the angle value α of gear A1The angle and
Velocity amplitude V1Send controller to, at the same time, shank is with two gear Bs in two artificial limbs of foot bends along side clockwise
To rotation, the angle that is fixed in gear B and angular-rate sensor are by the angle value α of gear B2With magnitude of angular velocity V2Send control to
Device processed, as magnitude of angular velocity V1And V2When absolute value is all higher than 5 °/s, controller judges that human body is in from squatting to upright at this time and turns
State is changed, each autorotation of servo motor for being located at rear side in servo motor and joint D in the B of joint, two servos are then controlled
Motor counter-rotating belts moving cam rotate, cam push swing arm swings and make swing arm tensioning spring act under with gear A, tooth
B separation is taken turns, makes gear A that can arbitrarily rotate, gear B can be rotated in the clockwise direction, and below-knee prosthesis can be along suitable with respect to foot artificial limb
Clockwise rotates, and to keep shank upright, in joint D after the completion of the servo motor action of rear side, is located at front side limit group
The servo motor counter-rotating belts moving cam of part rotates, and swing arm detaches under tensioning spring effect with gear B, makes gear B that can appoint
Meaning rotation makes one to make and waits action on foot to make foot that can be freely rotated with respect to shank.
Compared with prior art, the invention has the advantages that：It is simple in structure, reasonable design, simple operation.
Description of the drawings
Patent of the present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is overall construction schematic diagram of the present invention.
Fig. 2 is calf joint fixed mechanism schematic diagram of the present invention.
Fig. 3 is foot joint fixed mechanism schematic diagram of the present invention.
Fig. 4 is that schematic diagram is fixed along clockwise direction by full portion's arthrodesis of the invention mechanism.
Fig. 5 uprightly squats for artificial limb of the present invention and converts schematic diagram.
Fig. 6 be human body leg and foot joints of the present invention by uprightly arrive squat convert when joint steering schematic diagram.
In figure：
1- artificial thighs, 11- buttocks supporting pads, 12- thigh support cushions, 13- thigh bundling belts, the joints 14- A, 2- below-knee prosthesis,
The joints 21- B, 211- shell A, 212- gear A, 213- swing arms A, 214- cam A, 215- driven pulley A, 216- servo motor A,
217- driving pulleys A, 22- leg support pad, the joints 23- C, 3- foot artificial limb, 31- joint Ds, 311- shells B, 312- gear B,
313- swing arms B, 314- cam B, 315- driven pulley B, 316- servo motor B, 317- driving pulleys B, 318- swing arm C, 319-
Cam C, 320- driven pulley C, 321- servo motor C, 322- driving pulley C, 32- foot bundling belt.
Specific implementation mode
The present invention is further described with reference to the accompanying drawings and detailed description.
As shown in figures 1 to 6, a kind of wearing artificial limb for assisting crouching seat, including artificial thigh, below-knee prosthesis, foot are false
Limb, artificial thigh lower end are provided with joint A, and below-knee prosthesis upper end is provided with joint B, and below-knee prosthesis lower end is provided with joint C, foot
Joint D is arranged in portion artificial limb rear portion, and joint A and joint B is hinged, and the notch A, notch A two for accommodating joint B are provided in the middle part of the A of joint
Side is symmetrically arranged with axis hole A, and the outer ends axis hole A are through joint A and are provided with end cap, and joint C is hinged with joint D, set in the middle part of the C of joint
It is equipped with the notch B for accommodating joint D, the both sides notch B are symmetrically arranged with axis hole C, and the outer ends axis hole C are through joint C and are provided with end cap；
Joint B includes shell A, be symmetrical arranged at left and right sides of shell A there are two with the matched axis hole B of axis hole A, set in shell A
It is equipped with shaft A, the both ends shaft A run through the axis hole B at both ends and go deep into axis hole A being rotatably assorted with joint B, are provided in shell A
Gear A, gear A are mounted in shaft, and a limit assembly is arranged in shell A on rear side of gear A；
Joint D includes shell B, be symmetrical arranged at left and right sides of shell B there are two with the matched axis hole D of axis hole C, set in shell B
It is equipped with shaft B, the both ends shaft B run through the axis hole C at both ends and go deep into axis hole D being rotatably assorted with joint D, are provided in shell B
Gear B, gear B are mounted on shaft B, and a limit assembly is respectively arranged in gear B both sides in shell B；
The limit assembly includes servo motor, cam, swing arm, and swing arm one end and housing hinge, cam are installed inside the shell simultaneously
It is rotatably assorted with it, the shaft of cam is provided with driven pulley, and driving pulley, driven belt is arranged in the output shaft of servo motor
Wheel, driving pulley V belt translation are provided with tensioning spring between swing arm and shell, tensioning spring one end connects swing arm, and the other end connects
Shell is connect, swing arm is remained with cam by the effect of tensioning spring and contacted.
In the present embodiment, it is provided with rolling bearing between its matched axis hole of shaft A, shaft B.
In the present embodiment, one is made with shaft A in gear A, and one is made with shaft B in gear B.
In the present embodiment, limit assembly is set to side under gear A, gear B.
In the present embodiment, artificial thigh upper end is provided with buttocks supporting pad, and artificial thigh leading flank is provided with thigh branch
Stake pad, artificial thigh leading flank middle and upper part are provided with thigh bundling belt, and below-knee prosthesis leading flank is provided with leg support pad, foot
Foot bundling belt is provided on artificial limb.
In the present embodiment, battery compartment is arranged in below-knee prosthesis upper outside, and battery, controller, battery is arranged in battery compartment
It is covered with warehouse lid outside storehouse, angular transducer, angular-rate sensor, angular transducer, angular speed are both provided in gear A, gear B
Sensor, servo motor, battery are electrically connected with controller.
A kind of application method of wearing artificial limb for assisting crouching seat：
When being converted from standing to squatting：Two gear As in two artificial limbs are rotated in a clockwise direction, and are fixed in gear A
Angle and angular-rate sensor by the angle value α of gear A1With magnitude of angular velocity V1Send controller to, at the same time, shank with
Two gear Bs in two artificial limbs of foot bends are rotated in the counterclockwise direction, and the angle and angular speed being fixed in gear B pass
Sensor is by the angle value α of gear B2With magnitude of angular velocity V2Send controller to（Joint angle angle value is when defined herein person upright
0 °, when being rotated clockwise, angle value and magnitude of angular velocity are positive value, when counterclockwise rotating, angle value and magnitude of angular velocity
For negative value）, as the angle value α of two below-knee prosthesis1In 0 °~180 °, the angle value α of two foot artificial limbs1At -180 °
In~0 °, and magnitude of angular velocity V1And V2Absolute value when being all higher than 5 °/s, controller judges that human body is in from uprightly to squatting at this time
Transition status, controller starts timing, after controller starts timing in the 1.2s times, if the magnitude of angular velocity V of joint1
And V2Absolute value be consistently less than 5 °/s, then controller judges that joint is stopped rotating according to this value, and human body is in and squats state,
Then the servo motor controlled in servo motor (servo motor A) and the joint D (servo motor C) in the B of joint positioned at front side is each
Autorotation, two servo motors rotation band moving cams rotate, cam push swing arm to swing and make swing arm upper end against gear A,
Gear B keeps gear A motionless, gear B stuck along clockwise direction stuck motionless in the counterclockwise direction so that joint A, the joint edges B
Fixed clockwise, joint C, joint D are fixed in the counterclockwise direction, when being moved simultaneously in order to avoid two swing arms
There is a situation where tooth butts with gear, after the completion of the servo motor action of the interior front side of joint D, are located at the servo electricity of rear side limit assembly
Machine (servo motor B) rotation band moving cam rotates, and cam pushes swing arm to swing and make swing arm upper end against gear B, makes gear B
It is stuck motionless in the counterclockwise direction, so that joint C, joint D are fixed in the counterclockwise direction, after completing the above action,
It is arthrodesis state that controller, which marks current state, and the above action makes artificial thigh, below-knee prosthesis and foot artificial limb be linked to be one
Rigid structure, the weight of body is transmitted at ground with this configuration when squatting, and people is supported, artificial thigh and below-knee prosthesis
Arthrodesis mechanism only devise clockwise（It squats direction）It is locked, and counterclockwise（It stands up direction）Do not lock
The purpose of crash structure is, on the one hand, when squatting, backwards, torque along clockwise direction, therefore needs center of gravity clockwise
It supports, is counterclockwise direction of standing up, it is in order to quickly stand up to be not provided with fixed mechanism on the other hand；
When being converted from squatting to standing：It is arthrodesis state, two gear As in two artificial limbs that controller, which marks current state,
Simultaneously when being rotated in the counterclockwise direction, the angle that is fixed in gear A and angular-rate sensor are by the angle value α of gear A1The angle and
Velocity amplitude V1Send controller to, at the same time, shank is with two gear Bs in two artificial limbs of foot bends along side clockwise
To rotation, the angle that is fixed in gear B and angular-rate sensor are by the angle value α of gear B2With magnitude of angular velocity V2Send control to
Device processed, as magnitude of angular velocity V1And V2When absolute value is all higher than 5 °/s, controller judges that human body is in from squatting to upright at this time and turns
State is changed, each autorotation of servo motor for being located at rear side in servo motor and joint D in the B of joint, two servos are then controlled
Motor counter-rotating belts moving cam rotate, cam push swing arm swings and make swing arm tensioning spring act under with gear A, tooth
B separation is taken turns, makes gear A that can arbitrarily rotate, gear B can be rotated in the clockwise direction, and below-knee prosthesis can be along suitable with respect to foot artificial limb
Clockwise rotates, and to keep shank upright, in joint D after the completion of the servo motor action of rear side, is located at front side limit group
The servo motor counter-rotating belts moving cam of part rotates, and swing arm detaches under tensioning spring effect with gear B, makes gear B that can appoint
Meaning rotation makes one to make and waits action on foot to make foot that can be freely rotated with respect to shank.
Root is it was found that when human motion, and in order to keep two legs alternately to move ahead, the articulation direction of two legs is substantially phase
Anti-, both when being rotated clockwise relatively between left leg thigh and shank, relative counterclockwise turns between right leg thigh and shank
It is dynamic, and the rotational angular velocity of two leg joint of synchronization has large change difference, and foot joint is also as the joint of leg
Rule therefore angle and angular-rate sensor in joint are set and detect that two leg joint rotation directions of left and right are small one
It is inconsistent in the section time, and when rotational angular velocity changes greatly, can clearly judge that human leg be in walking at this time and transport
Dynamic state, at this time, controller controls the fixed mechanism of joint, so that joint is not locked, human body lower limbs can be with free movement.When
Human locomotion plants oneself at this time to working region, and when needing to squat, the joint of two leg legs is to revolve in one direction simultaneously
Turn and the magnitude of angular velocity difference of rotation be smaller, and foot joint is also the same rule, therefore, be arranged joint angle and
Angular-rate sensor detects that two leg joint rotation directions of left and right are consistent within a bit of time, if being at this time clockwise direction,
And rotational angular velocity variation it is smaller when, while foot joint is same, is rotated in the counterclockwise direction, and at this moment controller can be clear
Judge that human body enters at this time and squat state, when human body squats completion, the angular speed of joint is zero or is less than a certain value
When, controller judges completion of squatting, at this point, the fixed mechanism of controller control joint, keeps joint locked, mechanical prosthetic limb at
One rigid structure, human body lower limbs are supported by artificial limb.When human body needs are stood up by squatting, upper body stands up, and drives two legs
Leg joint rotates simultaneously in the counterclockwise direction, and thus controller judges that human body needs are stood up, then control the joint of foot not
It is locked, it stands up to allow shank to stretch.
Above-listed preferred embodiment, has been further described the object, technical solutions and advantages of the present invention, is answered
Understand, the foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (7)
1. a kind of wearing artificial limb for assisting crouching seat, it is characterised in that：Including artificial thigh, below-knee prosthesis, foot artificial limb, greatly
Leg prosthesis lower end is provided with joint A, and below-knee prosthesis upper end is provided with joint B, and below-knee prosthesis lower end is provided with joint C, and foot is false
Joint D is arranged in limb rear portion, and joint A and joint B is hinged, and the notch A for accommodating joint B, the both sides pair notch A are provided in the middle part of the A of joint
Title is provided with axis hole A, and the outer ends axis hole A are through joint A and are provided with end cap, and joint C is hinged with joint D, are provided in the middle part of the C of joint
The notch B of joint D is accommodated, the both sides notch B are symmetrically arranged with axis hole C, and the outer ends axis hole C are through joint C and are provided with end cap；
Joint B includes shell A, be symmetrical arranged at left and right sides of shell A there are two with the matched axis hole B of axis hole A, set in shell A
It is equipped with shaft A, the both ends shaft A run through the axis hole B at both ends and go deep into axis hole A being rotatably assorted with joint B, are provided in shell A
Gear A, gear A are mounted in shaft, and a limit assembly is arranged in shell A on rear side of gear A；
Joint D includes shell B, be symmetrical arranged at left and right sides of shell B there are two with the matched axis hole D of axis hole C, set in shell B
It is equipped with shaft B, the both ends shaft B run through the axis hole C at both ends and go deep into axis hole D being rotatably assorted with joint D, are provided in shell B
Gear B, gear B are mounted on shaft B, and a limit assembly is respectively arranged in gear B both sides in shell B；
The limit assembly includes servo motor, cam, swing arm, and swing arm one end and housing hinge, cam are installed inside the shell simultaneously
It is rotatably assorted with it, the shaft of cam is provided with driven pulley, and driving pulley, driven belt is arranged in the output shaft of servo motor
Wheel, driving pulley V belt translation are provided with tensioning spring between swing arm and shell, tensioning spring one end connects swing arm, and the other end connects
Shell is connect, swing arm is remained with cam by the effect of tensioning spring and contacted.
2. the wearing artificial limb according to claim 1 for assisting crouching seat, it is characterised in that：Its matching of shaft A, shaft B
It is provided with rolling bearing between the axis hole of conjunction.
3. the wearing artificial limb according to claim 1 for assisting crouching seat, it is characterised in that：Gear A is made one with shaft A
One is made with shaft B in body, gear B.
4. the wearing artificial limb according to claim 1 for assisting crouching seat, it is characterised in that：Limit assembly is set to gear
A, side under gear B.
5. the wearing artificial limb according to claim 1 for assisting crouching seat, it is characterised in that：Artificial thigh upper end is provided with
Buttocks supporting pad, artificial thigh leading flank are provided with thigh support cushion, and artificial thigh leading flank middle and upper part is provided with thigh binding
Band, below-knee prosthesis leading flank are provided with leg support pad, foot bundling belt are provided on foot artificial limb.
6. the wearing artificial limb according to claim 5 for assisting crouching seat, it is characterised in that：Below-knee prosthesis upper outside is set
Battery compartment is set, battery, controller are set in battery compartment, is covered with warehouse lid outside battery compartment, angle is both provided in gear A, gear B
Sensor, angular-rate sensor, angular transducer, angular-rate sensor, servo motor, battery are electrically connected with controller.
7. the application method of a kind of wearing artificial limb for assisting crouching seat, using as claimed in claim 6 for assisting crouching seat
Wearing artificial limb, it is characterised in that：
When being converted from standing to squatting：Two gear As in two artificial limbs are rotated in a clockwise direction, and are fixed in gear A
Angle and angular-rate sensor by the angle value α of gear A1With magnitude of angular velocity V1Send controller to, at the same time, shank with
Two gear Bs in two artificial limbs of foot bends are rotated in the counterclockwise direction, and the angle and angular speed being fixed in gear B pass
Sensor is by the angle value α of gear B2With magnitude of angular velocity V2Controller is sent to, as the angle value α of two below-knee prosthesis10 °~
In 180 °, the angle value α of two foot artificial limbs1In -180 °~0 °, and magnitude of angular velocity V1And V2Absolute value be all higher than 5 °/
When s, controller judges that human body is in from uprightly to the transition status squatted at this time, and controller starts timing, starts in controller
After timing in the 1.2s times, if the magnitude of angular velocity V of joint1And V2Absolute value be consistently less than 5 °/s, then controller is according to this
Value, judges that joint is stopped rotating, and human body is in state of squatting, and then controls before being located in servo motor and joint D in the B of joint
Each autorotation of servo motor of side, two servo motor rotation band moving cams rotate, and cam pushes swing arm to swing and make swing arm
Upper end keeps gear A motionless, gear B stuck along clockwise direction stuck motionless in the counterclockwise direction, makes against gear A, gear B
Joint A, joint B are fixed along clockwise direction, joint C, joint D are fixed in the counterclockwise direction, front side in joint D
Servo motor action after the completion of, be located at rear side limit assembly servo motor rotation band moving cam rotate, cam push swing arm
It swings and makes swing arm upper end against gear B, keep gear B stuck motionless in the counterclockwise direction, so that joint C, joint D edge
Counterclockwise fixed, after completing the above action, it is arthrodesis state that controller, which marks current state, and the above action makes
Artificial thigh, below-knee prosthesis and foot artificial limb are linked to be a rigid structure, and the weight of body is transmitted to ground with this configuration when squatting
At face, people is supported；
When being converted from squatting to standing：It is arthrodesis state, two gear As in two artificial limbs that controller, which marks current state,
Simultaneously when being rotated in the counterclockwise direction, the angle that is fixed in gear A and angular-rate sensor are by the angle value α of gear A1The angle and
Velocity amplitude V1Send controller to, at the same time, shank is with two gear Bs in two artificial limbs of foot bends along side clockwise
To rotation, the angle that is fixed in gear B and angular-rate sensor are by the angle value α of gear B2With magnitude of angular velocity V2Send control to
Device processed, as magnitude of angular velocity V1And V2When absolute value is all higher than 5 °/s, controller judges that human body is in from squatting to upright at this time and turns
State is changed, each autorotation of servo motor for being located at rear side in servo motor and joint D in the B of joint, two servos are then controlled
Motor counter-rotating belts moving cam rotate, cam push swing arm swings and make swing arm tensioning spring act under with gear A, tooth
B separation is taken turns, makes gear A that can arbitrarily rotate, gear B can be rotated in the clockwise direction, and below-knee prosthesis can be along suitable with respect to foot artificial limb
Clockwise rotates, and to keep shank upright, in joint D after the completion of the servo motor action of rear side, is located at front side limit group
The servo motor counter-rotating belts moving cam of part rotates, and swing arm detaches under tensioning spring effect with gear B, makes gear B that can appoint
Meaning rotation makes one to make and waits action on foot to make foot that can be freely rotated with respect to shank.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810245148.XA CN108420575A (en) | 2018-03-23 | 2018-03-23 | Wearing artificial limb for assisting crouching seat and application method |
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| CN201810245148.XA CN108420575A (en) | 2018-03-23 | 2018-03-23 | Wearing artificial limb for assisting crouching seat and application method |
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| CN109846491A (en) * | 2019-02-26 | 2019-06-07 | 武汉湃芯柏科技有限公司 | Newborn's foot monitors fixing sleeve |
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