Active-passive hybrid driving type intelligent artificial limb knee joint structure

Abstract

The invention relates to the wheelchair field and discloses an active-passive hybrid driving type intelligent artificial limb knee joint structure for providing required damp and assistance to a user.The active-passive hybrid driving type intelligent artificial limb knee joint structure comprises an artificial limb body, a controller, a bidirectional damping cylinder, a damping adjusting seat, afirst one-way valve, a second one-way valve, a damping adjusting valve, a direct-current servo motor, a four-bar mechanism and a driving mechanism, wherein the controller is mounted in the artificiallimb body; the bidirectional damping cylinder comprises a first chamber and a second chamber which are isolated from each other through a pushing rod; the damping adjusting seat comprises an extensionhydraulic channel and a buckling hydraulic channel which communicate with the first chamber and the second chamber, respectively; the first one-way valve is mounted in the extension hydraulic channel, and the second one-way valve is mounted in the buckling hydraulic channel; the damping adjusting valve is used for changing the flow direction of hydraulic oil; the direct-current servo motor is used for driving the damping adjusting valve to rotate; the four-bar mechanism is located at the top end of the artificial limb body and is used for realizing squatting and stand-up of the user; and thedriving mechanism is mounted on the artificial limb body and is electrically connected with the controller.

Description

technical field [0001] Embodiments of the present invention relate to the field of wheelchairs, and in particular to an active-passive hybrid driving intelligent prosthetic knee joint structure. 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, but it cannot ass...

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] Patent No. US201100873391A1, Patent No. 105769395A, Patent No. 106726028B, Patent No. 106539633A and Patent No. 107035808A all propose electronically controlled hydraulic damping cylinder structures for intelligent knee joint prostheses, but they are all pure damping types in nature and cannot be used when going up stairs. , Provide active torque when going uphill

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