A hydraulic four-link prosthetic knee joint with active and passive hybrid control

Abstract

The invention provides an active-passive hybrid control type hydraulic four-linkage rod prosthetic knee joint. The active-passive hybrid control type hydraulic four-linkage rod prosthetic knee joint comprises a hydraulic damper, an outer casing of the damper, a shank support part, a thigh support part, a four-linkage rod mechanism and an active drive motor assembly, wherein the hydraulic damper isprovided with a cylinder body, a steel coat, a cylinder cover, a piston rod, a piston, a spring push block, an extending-assisting spring, a spring casing, an adjusting seat, an axial adjusting valvebody, a stopper and a stepping motor; the outer casing of the damper is arranged at the exterior of the hydraulic damper; the shank support part is fixedly connected with the bottom part of the outercasing of the damper; a connecting rod fixing part is fixedly arranged at the thigh support part, and is pivoted with a connecting rod, and the other end of the connecting rod is pivoted with the piston rod; the four-linkage rod mechanism is provided with an upper linkage rod, a lower linkage rod, a front linkage rod and a back linkage rod, the upper linkage rod is integrated at the lower end ofthe thigh support part, the lower linkage rod is integrated at the upper end of the outer casing of the damper, and the front linkage rod and the back linkage rod are used for connecting the thigh support par and the outer casing of the damper; the active drive motor assembly is provided with a direct current motor, a magnetic powder clutch and a gear reduction gearbox, the direct current motor isfixedly arranged at the upper end of the thigh support part, the magnetic powder clutch is connected with the direct current motor, and the gear reduction box is connected with the magnetic powder clutch.

Description

technical field [0001] The invention belongs to the technical field of human rehabilitation aids, and in particular relates to an active and passive mixed control type hydraulic four-link prosthetic knee joint. Background technique [0002] With the increasing number of lower limb amputee patients and the continuous development of microelectronics, control and other technologies, intelligent lower limb prosthetics have gradually become a research hotspot in the field of rehabilitation robots. As the core component of the lower limb prosthetic system, the design of high-performance knee prosthesis is still the main technical difficulty in the current prosthetic design. At present, the existing intelligent prosthetic knee joints can be divided into passive type and active type according to the joint driving mode. The passive prosthetic knee joint adjusts the damping torque of the knee joint according to changes in external conditions to achieve gait adjustment when walking, b...

AI Technical Summary

Problems solved by technology

The magnetorheological smart knee joint adjusts the damping effect by changing the current to change the magnetic field strength, but the viscosity change of the magnetorheological fluid is closely related to the magnetic field, and it has high requirements on the material of the magnetorheological fluid, which is not easy to control and is not easy Increase production capacity

Both hydraulic pressure and air pressure use a microprocessor to drive the motor to adjust the opening of the valve inside the damping cylinder, so as to achieve the purpose of adjusting the damping. However, the stability of the pneumatic knee joint support performance is unreliable, which is likely to cause safety accidents

[0003] Publication No. US20110087339A1, Publication No. CN105769395A, Publication No. CN106726028A, Publication No. CN106539633A and Publication No. CN107035808A all propose electronically controlled hydraulic damping cylinder structures for intelligent knee joint prostheses, but they are all pure damping types in nature and cannot , Provide active torque when going uphill

Publication number CN102065799A discloses a semi-driven prosthetic knee joint device, which realizes driving and non-driving modes through hydraulic pumps and damping adjustment valves, but the hydraulic valve circuit is complex and complex, and the hydraulic pump and electric motor make the structure complex and heavy

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