A self-adjusting damping cylinder for gas-liquid hybrid mechanical joint

Abstract

A self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint belongs to the technical field of medical rehabilitation equipment. The damping cylinder of the present invention is a gas-liquid hybrid type, a regulating valve is provided in the cylinder body, and is controlled by a motor and an STM32 chip. The damping force during compression and extension can be adjusted in real time according to different motion states, and the motion state can be automatically switched. The oil cylinder of the present invention moves up and down in the cylinder under the action of external force and the air pressure of the cylinder. A one-way valve is provided in the piston rod assembly to control the one-way flow of hydraulic oil. The damping force of the hydraulic cylinder is adjusted by controlling the regulating valve and the size of the throttling area of ​​the oil circuit. The energy storage effect is achieved by gas compression in the cylinder. The present invention can automatically judge the motion state, realize two-way real-time adjustment of the damping force to adapt to the needs of different joints, and make the prosthesis more flexible. The present invention has a compact structure and can achieve lightweight mechanical joints.

Description

Technical Field

[0001] The invention belongs to the technical field of medical rehabilitation equipment, and in particular relates to a self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint. Background Art

[0002] Ordinary passive knee prostheses rely solely on the functional structure of the joint and passive components to ensure the normal movement of the knee joint. When humans walk, one leg is bent at the knee and lifted above the ground. In the next posture, the leg must be fully extended in order for the leg to be supported by the ground again. Due to the existence of the end impact, if the prosthesis is not decelerated, very obvious noise and pauses will be generated, and the end impact will also affect the structural components of the prosthesis itself and cause damage. The damping cylinder is a key component of the passive knee prosthesis, which can reduce the vibration and impact problems of the mechanical knee joint during movement. The existing knee joint damping cylinder has the disadvantages of large size and limited damping adjustment range, and cannot be relatively adjusted according to different motion states of the human body. In order to solve the above problems, it is necessary to design a damping cylinder with a small size and flexible movement to improve the stability and smoothness of the joint movement, and to be able to perform real-time damping adjustment according to different motion states to simulate a motion state closer to the human body. Summary of the invention

[0003] The object of the present invention is to provide a self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint which can improve the motion performance of a prosthetic joint and perform real-time damping adjustment for different motion modes.

[0004] The present invention comprises a cylinder assembly A, a bidirectional seal B, a piston rod assembly C, a bottom cover D, The circuit board E, cylinder 1, gas filling valve 2 and gas nozzle cap 3 are composed, wherein the oil cylinder assembly A, cylinder 1, bottom cover D, gas filling valve 2, gas nozzle cap 3 and circuit board E are arranged in order from top to bottom; the upper outer ring of the oil cylinder 5 in the oil cylinder assembly A is slidably connected to the upper port of the cylinder 1 through a sealing ring; the lower end of the oil cylinder 5 is fixedly connected to the upper plate 6 of the two-way seal B; the wear-resistant ring 15 of the piston rod assembly C is located in the oil cylinder 5, and the outer ring of the wear-resistant ring 15 is slidably connected to the inner ring of the oil cylinder 5 through a sealing ring; the piston rod 16 in the piston rod assembly C passes through the center hole of the two-way seal B, and the lower end of the piston rod 16 is fixedly connected to the center hole II28 of the bottom cover D; the oil cylinder 5 and the two-way seal B of the oil cylinder assembly A are located in the cylinder 1, and the outer ring of the upper plate 6 of the two-way seal B is slidably connected to the inner ring of the cylinder 1 through a sealing ring II9; the center hole of the two-way seal B is slidably connected to the outer ring of the piston rod 16 through a sealing ring I8; The lower end of the cylinder 1 is fixedly connected to the upper surface of the bottom cover D; the circuit board E is fixedly connected to the lower surface of the bottom cover D; and the gas filling valve 2 is fixedly connected to the lower tube 29 of the bottom cover D via the gas nozzle cap 3.

[0005] The oil cylinder assembly A is composed of a lifting lug 4 and an oil cylinder 5 , and the lifting lug 4 is arranged at the upper end of the oil cylinder 5 .

[0006] The bidirectional seal B is composed of an upper plate 6, a lower plate 7, a sealing ring I8 and a sealing ring II9. The upper plate 6 and the lower plate 7 are arranged vertically and fixedly connected. The sealing ring I8 is arranged on the inner ring of the lower plate 7; the sealing ring II9 is ​​arranged on the outer ring of the upper plate 6.

[0007] The piston rod assembly C is composed of a one-way valve I10, a one-way valve II11, a one-way valve III12, a one-way valve IV13, a wear-resistant ring 15, a piston rod 16, a motor 17, a regulating valve 18 and a sealing ring III21, wherein the wear-resistant ring 15 is fixedly connected to the upper end of the piston rod 16, and a center hole I14, a lower right oil port 22, a front upper oil port 23, a lower left oil port 24 and a rear upper oil port 25 are arranged above the wear-resistant ring 15; a motor compartment 26 is arranged at the lower part of the piston rod 16, and an adjusting hole I19 and an adjusting hole II20 are respectively arranged on the front and rear sides of the upper end of the motor compartment 26 of the piston rod 16; the center hole I14 of the wear-resistant ring 15 and the adjusting hole I19 and the adjusting hole II20 of the piston rod 16 20 is connected; the motor 17 is fixedly connected to the motor compartment 26, and the upper output shaft of the motor 17 is fixedly connected to the lower end of the regulating valve 18; the one-way valve I10 is fixedly connected to the lower right oil port 22; the one-way valve II11 is fixedly connected to the front upper oil port 23; the one-way valve III12 is fixedly connected to the lower left oil port 24; the one-way valve IV13 is fixedly connected to the rear upper oil port 25; the sealing ring III21 is fixedly connected to the inner wall of the center hole I14, and is at the lower part of the regulating hole I19 and the regulating hole II20, and is connected to the circumference of the regulating valve 18 in a sliding manner.

[0008] The bottom cover D is a concave disc, on which a central hole II 28 is provided, a hole I 27 is provided on the left side, a hole II 30 is provided on the right side, and a lower tube 29 is provided on the front of the bottom.

[0009] The regulating valve 18 is composed of a valve seat 31 , a fan-shaped groove II 32 and a fan-shaped groove I 33 . A hexagonal blind hole 34 is provided at the lower end of the valve seat 31 . The fan-shaped groove II 32 and the fan-shaped groove I 33 are symmetrically arranged and fixed to the upper end of the valve seat 31 .

[0010] The circuit board E has a built-in STM32 chip processor 35 , a motor drive chip 36 , a power interface 37 , an inertial sensor IMU 38 , a pressure sensor module 39 , a speed sensor module 40 and a communication interface 41 , wherein an external power source is connected via the power interface 37 .

[0011] The beneficial effects of the present invention are:

[0012] (1) The damping cylinder has a compact structure and a small mass. Due to the compressibility of the gas, the end impact of the prosthesis during the ground contact period can be avoided, and the speed can be slowed down before the leg reaches full extension. The gas pressure can be adjusted by charging and discharging, with a larger adjustment range and easy operation. Due to the incompressibility of the liquid, the hydraulic cylinder part can withstand greater pressure, which can make the piston rod speed change smoothly, with a large speed adjustment range and easy operation.

[0013] (2) The piston assembly inside the cylinder is designed with an adjustable valve, which is a single-channel two-way adjustable valve structure. An oil circuit is used to achieve two-way independent damping adjustment. The oil circuit structure and the spatial structure of the valve are adjusted to adapt to the different damping forces required by the joints under different movement states of different patients, close to the movement of the human knee joint, and obtain relatively smooth movement.

[0014] (3) In different motion states, such as going up stairs, going down stairs, going uphill, going downhill, walking, standing, etc., the sensors on the circuit board will collect the physical signals of the human body during movement, and after being processed by the corresponding algorithm, the movement state will be determined, and the damping force generated by the damping cylinder will be adjusted in real time to make the joint movement more flexible, thereby improving the patient's usage experience and the safety of the prosthesis. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 An exploded view of a self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint;

[0016] Figure 2 A three-dimensional diagram of a self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint;

[0017] Figure 3 It is a cross-sectional view of a self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint;

[0018] Figure 4 is a three-dimensional diagram of the oil cylinder assembly A;

[0019] Figure 5 is a cross-sectional view of a bidirectional seal B;

[0020] Figure 6 is a three-dimensional diagram of a piston rod assembly C;

[0021] Figure 7 It is the sectional view of the piston rod assembly C;

[0022] Figure 8 It is the sectional view II of the piston rod assembly C;

[0023] Fig. 9 is a three-dimensional view of the piston rod 16;

[0024] Fig.10 is a cross-sectional view of the piston rod 16;

[0025] Fig.11 is a sectional view II of the piston rod 16;

[0026] Fig.12 is a three-dimensional image of the bottom cover D;

[0027] Fig.13 It is a front view of the regulating valve 18;

[0028] Fig.14is a top view of the regulating valve 18;

[0029] Fig.15 It is a bottom view of the regulating valve 18;

[0030] Fig.16 It is a module diagram of circuit board E;

[0031] Fig.17 It is a schematic diagram of the section I marking of the self-adjusting damping cylinder for the gas-liquid hybrid mechanical joint;

[0032] Fig.18 It is a schematic diagram of the II section marking of the self-adjusting damping cylinder for the gas-liquid hybrid mechanical joint;

[0033] Fig.19 for Fig.17 Schematic diagram of the working oil circuit when the cylinder moves downward in the middle AA section;

[0034] Fig. 20 for Fig.18 Schematic diagram of the working oil circuit when the cylinder moves downward in the middle BB section;

[0035] Fig.21 for Fig.18 Schematic diagram of the working oil circuit when the cylinder moves downward in the middle CC section;

[0036] Fig. 22 for Fig.17 Schematic diagram of the working oil circuit when the cylinder moves upward in the middle AA section;

[0037] Fig.23 for Fig.18 Schematic diagram of the working oil circuit when the cylinder moves upwards in the middle BB section;

[0038] Fig.24 for Fig.18 Schematic diagram of the working oil circuit when the cylinder moves upward in the middle CC section;

[0039] Fig.25 It is a control flow chart of the self-adjusting damping cylinder for gas-liquid hybrid mechanical joints in motion state;

[0040] Among them: A. Cylinder assembly B. Two-way seal C. Piston rod assembly D. Bottom cover E. Circuit board 1. Cylinder 2. Gas filling valve 3. Gas nozzle cap 4. Lifting ear 5. Cylinder 6. Upper plate 7. Lower plate 8. Seal ring I 9. Seal ring II 10. Check valve I 11. Check valve II 12. Check valve III 13. Check valve IV 14. Center hole I 15. Wear ring 16. Piston rod 17. Motor 18. Regulating valve 19. Regulating hole I 20. Regulating hole II 21. Seal ring III 22. Right lower oil port 23. Front upper oil port 24. Left lower oil port 25. Rear upper oil port 26. Motor compartment 27. Hole I 28. Center hole II 29. Lower tube 30. Hole II 31. Valve seat 32. Sector groove II 33. Sector groove I 34. Hexagonal blind hole 35. STM32 chip processor 36. Motor driver chip 37. Power interface 38. Inertial sensor IMU 39. Pressure sensor module 40. Speed ​​sensor module 41. Communication interface. DETAILED DESCRIPTION

[0041] The present invention is described below with reference to the accompanying drawings.

[0042] like Figures 1 to 3 As shown, the present invention is composed of a cylinder assembly A, a two-way seal B, a piston rod assembly C, a bottom cover D, a circuit board E, a cylinder 1, a gas filling valve 2 and a gas nozzle cap 3, wherein the cylinder assembly A, the cylinder 1, the bottom cover D, the gas filling valve 2, the gas nozzle cap 3 and the circuit board E are arranged in order from top to bottom; the upper outer ring of the cylinder 5 in the cylinder assembly A is slidably connected to the upper port of the cylinder 1 through a sealing ring; the lower end of the cylinder 5 is fixedly connected to the upper plate 6 of the two-way seal B; the wear-resistant ring 15 of the piston rod assembly C is located in the cylinder 5, and the outer ring of the wear-resistant ring 15 is slidably connected to the inner ring of the cylinder 5 through a sealing ring; The piston rod 16 in the piston rod assembly C passes through the center hole of the two-way seal B, and the lower end of the piston rod 16 is fixedly connected to the center hole Ⅱ28 of the bottom cover D; the oil cylinder 5 and the two-way seal B of the cylinder assembly A are located in the cylinder 1, and the outer ring of the upper plate 6 of the two-way seal B is slidingly connected to the inner ring of the cylinder 1 via the seal ring Ⅱ9; the center hole of the two-way seal B is slidingly connected to the outer ring of the piston rod 16 via the seal ring Ⅰ8; the lower end of the cylinder 1 is fixedly connected to the upper side of the bottom cover D; the circuit board E is fixedly connected to the lower side of the bottom cover D; the gas filling valve 2 is fixedly connected to the lower tube 29 of the bottom cover D via the gas nozzle cap 3.

[0043] like Figure 4 As shown, the cylinder assembly A is composed of a lifting lug 4 and a cylinder 5 , and the lifting lug 4 is arranged at the upper end of the cylinder 5 .

[0044] like Figure 5As shown, the bidirectional seal B is composed of an upper plate 6, a lower plate 7, a sealing ring I8 and a sealing ring II9. The upper plate 6 and the lower plate 7 are arranged vertically and fixedly connected. The sealing ring I8 is arranged on the inner ring of the lower plate 7; the sealing ring II9 is ​​arranged on the outer ring of the upper plate 6.

[0045] like Figures 6 to 11 As shown, the piston rod assembly C is composed of a one-way valve Ⅰ10, a one-way valve Ⅱ11, a one-way valve Ⅲ12, a one-way valve Ⅳ13, a wear-resistant ring 15, a piston rod 16, a motor 17, a regulating valve 18 and a sealing ring Ⅲ21, wherein the wear-resistant ring 15 is fixedly connected to the upper end of the piston rod 16, and a center hole Ⅰ14, a lower right oil port 22, a front upper oil port 23, a lower left oil port 24 and a rear upper oil port 25 are arranged above the wear-resistant ring 15; a motor compartment 26 is arranged at the lower part of the piston rod 16, and an adjusting hole Ⅰ19 and an adjusting hole Ⅱ20 are arranged on the front and rear sides of the upper end of the motor compartment 26 of the piston rod 16 respectively; the center hole Ⅰ14 of the wear-resistant ring 15 is connected to the adjusting hole Ⅰ19 and the adjusting hole Ⅱ20 of the piston rod 16; the motor 17 is fixedly connected to the motor compartment 26, and the upper end output shaft of the motor 17 is fixedly connected to the lower end of the regulating valve 18; the one-way valve Ⅰ10 is fixedly connected to the lower right oil port 22; The one-way valve II11 is fixedly connected to the front upper oil port 23; the one-way valve III12 is fixedly connected to the left lower oil port 24; the one-way valve IV13 is fixedly connected to the rear upper oil port 25; the sealing ring III21 is fixedly connected to the inner wall of the center hole I14, and at the lower part of the regulating hole I19 and the regulating hole II20, and is circumferentially slidably connected to the regulating valve 18.

[0046] like Fig.12 As shown, the bottom cover D is a concave disc, which is provided with a central hole II 28, a hole I 27 on the left side, a hole II 30 on the right side, and a lower tube 29 on the front of the bottom.

[0047] like Figures 13 to 15 As shown, the regulating valve 18 is composed of a valve seat 31, a fan-shaped groove II 32 and a fan-shaped groove I 33. A hexagonal blind hole 34 is provided at the lower end of the valve seat 31. The fan-shaped groove II 32 and the fan-shaped groove I 33 are symmetrically arranged and fixed to the upper end of the valve seat 31.

[0048] like Fig.16 As shown, the circuit board E has a built-in STM32 chip processor 35, a motor driver chip 36, a power interface 37, an inertial sensor IMU 38, a pressure sensor module 39, a speed sensor module 40 and a communication interface 41, wherein an external power supply is connected via the power interface 37.

[0049] Fig.17 The figure shows the section I marking of the self-adjusting damping cylinder for the gas-liquid hybrid mechanical joint;

[0050] Fig.18 The figure shows the section II marking of the self-adjusting damping cylinder for the gas-liquid hybrid mechanical joint;

[0051] like Figures 19 to 21 As shown, in the conventional use of the present invention, when the cylinder assembly A moves downward, the schematic diagram of the working oil circuit of each section. The cylinder assembly A moves downward, and the flow direction of the oil is shown in the figure (as shown by the small arrow). The cylinder assembly A moves downward, and the gas in the cylinder 1 is compressed to accumulate energy. Under the push of the hydraulic oil, the one-way valve Ⅰ10 and the one-way valve Ⅲ12 are opened, and the one-way valve Ⅱ11 and the one-way valve Ⅳ13 are closed. A part of the hydraulic oil above the cylinder 5 of the cylinder assembly A flows from the one-way valve Ⅰ10 and the one-way valve Ⅲ12 to the bottom of the cylinder 5 of the cylinder assembly A. Another part of the hydraulic oil above the cylinder 5 of the cylinder assembly A flows from the center hole Ⅰ14 into the interior of the piston rod assembly C, and after flowing through the regulating valve 18, it flows from the regulating hole Ⅰ19 and the regulating hole Ⅱ20 to the bottom of the cylinder 5 of the cylinder assembly A. At this stage, the regulating valve 18 rotates driven by the motor 17, and at the same time changes the cross-sectional area of ​​the fan-shaped groove I33 facing the regulating hole I19 and the fan-shaped groove II32 facing the regulating hole II20, changing the hydraulic oil output through the regulating hole I19 and the regulating hole II20, thereby performing damping adjustment.

[0052] like Figure 22 to Figure 24 As shown, in the conventional use of the present invention, when the cylinder assembly A moves upward, the schematic diagram of the working oil circuit of each section. The cylinder assembly A moves upward, and the flow direction of the oil is shown in the figure (as shown by the small arrow). The energy accumulated by the compressed gas in the cylinder 1 is released, and the cylinder assembly A moves upward. Under the push of the hydraulic oil, the one-way valve Ⅰ10 and the one-way valve Ⅲ12 are closed, and the one-way valve Ⅱ11 and the one-way valve Ⅳ13 are opened. A part of the hydraulic oil below the cylinder 5 of the cylinder assembly A flows from the one-way valve Ⅱ11 and the one-way valve Ⅳ13 to the top of the cylinder 5 of the cylinder assembly A. Another part of the hydraulic oil below the cylinder 5 of the cylinder assembly A flows into the interior of the piston rod assembly C from the regulating hole Ⅰ19 and the regulating hole Ⅱ20, flows through the regulating valve 18, and flows from the center hole Ⅰ14 to the top of the cylinder 5 of the cylinder assembly A. At this stage, the regulating valve 18 rotates driven by the motor 17, and at the same time changes the cross-sectional area of ​​the fan-shaped groove I33 facing the regulating hole I19 and the fan-shaped groove II32 facing the regulating hole II20, and changes the amount of hydraulic oil entering through the regulating hole I19 and the regulating hole II20, thereby performing damping adjustment.

[0053] like Fig.25As shown, when the human body starts to move and the prosthesis touches the ground, the inertial sensor IMU38, the speed sensor module 40, and the pressure sensor module 39 integrated on the circuit board E receive the physical signal and convert it into an electrical signal, and the electrical signal is transmitted to the STM32 chip processor 35. After being processed by the STM32 chip processor 35 and the algorithm, the signal is transmitted to the motor driver chip 36 to rotate the motor. The regulating valve 18 rotates under the drive of the motor 17 to perform a single-channel bidirectional damping adjustment to make the movement of the human body more stable. At this time, the sensor collects signals again, enters a cycle, and completes a movement cycle. For different road conditions and movement states, the corresponding algorithm can control the motor to change the position of the regulating valve 18, so that the intelligent damping cylinder can enter different movement modes, making the wearing and use of the prosthesis more flexible.

Claims

1. A self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint, It is characterized in that The invention comprises a cylinder assembly (A), a two-way seal (B), a piston rod assembly (C), a bottom cover (D), a circuit board (E), a cylinder (1), a gas filling valve (2) and a gas nozzle cap (3), wherein the cylinder assembly (A) comprises a lifting ear (4) and a cylinder (5), wherein the lifting ear (4) is arranged at the upper end of the cylinder (5); the two-way seal (B) comprises an upper plate (6), a lower plate (7), a sealing ring I (8) and a sealing ring II (9), wherein the upper plate (6) and the lower plate (7) are arranged vertically and fixedly connected, wherein the sealing ring I (8) is arranged at the inner ring of the lower plate (7); the sealing ring II (9) is arranged at the outer ring of the upper plate (6); the piston rod assembly (C) comprises a one-way valve I (10), a one-way valve II (11), a one-way valve III (12), a one-way valve IV (13) and a one-way valve V (14). ), a wear-resistant ring (15), a piston rod (16), a motor (17), a regulating valve (18) and a sealing ring III (21), wherein the regulating valve (18) is composed of a valve seat (31), a fan-shaped groove II (32) and a fan-shaped groove I (33); the wear-resistant ring (15) is fixedly connected to the upper end of the piston rod (16); a center hole I (14), a right lower oil port (22), a front upper oil port (23), a left lower oil port (24) and a rear upper oil port (25) are arranged above the wear-resistant ring (15); a motor compartment (26) is arranged at the lower part of the piston rod (16); and an adjusting hole I (19) and an adjusting hole II (20) are respectively arranged at the front and rear sides of the upper end of the motor compartment (26) of the piston rod (16); the center hole I (14) of the wear-resistant ring (15) is communicated with the adjusting hole I (19) and the adjusting hole II (20) of the piston rod (16); The motor (17) is fixedly connected to the motor compartment (26), and the upper output shaft of the motor (17) is fixedly connected to the lower end of the regulating valve (18); the one-way valve I (10) is fixedly connected to the lower right oil port (22); the one-way valve II (11) is fixedly connected to the front upper oil port (23); the one-way valve III (12) is fixedly connected to the lower left oil port (24); the one-way valve IV (13) is fixedly connected to the rear upper oil port (25); the sealing ring III (21) is fixedly connected to the inner wall of the center hole I (14), and is at the lower part of the regulating hole I (19) and the regulating hole II (20), and is slidably connected to the circumference of the regulating valve (18); the bottom cover (D) is a concave disc, on which a center hole II (28) is provided, a hole I (27) is provided on the left side, a hole II (30) is provided on the right side, and a sealing ring is provided on the front of the bottom. The invention discloses a bottom tube (29); the bottom cover (D) is a concave disc, on which a central hole II (28) is provided, a hole I (27) is provided on the left side, a hole II (30) is provided on the right side, and a bottom tube (29) is provided on the front side of the bottom; the oil cylinder assembly (A), the air cylinder (1), the bottom cover (D), the air filling valve (2), the air nozzle cap (3) and the circuit board (E) are arranged in order from top to bottom; the upper outer ring of the oil cylinder (5) in the oil cylinder assembly (A) is slidably connected to the upper port of the air cylinder (1) via a sealing ring; the lower end of the oil cylinder (5) is fixedly connected to the upper plate (6) of the two-way sealing member (B); the wear ring (15) of the piston rod assembly (C) is located in the oil cylinder (5), and the outer ring of the wear ring (15) is slidably connected to the inner ring of the oil cylinder (5) via a sealing ring;The piston rod (16) of the piston rod assembly (C) passes through the center hole of the two-way seal (B), and the lower end of the piston rod (16) is fixedly connected to the center hole II (28) of the bottom cover (D); the oil cylinder (5) and the two-way seal (B) of the oil cylinder assembly (A) are located in the cylinder (1), and the outer ring of the upper plate (6) of the two-way seal (B) is slidably connected to the inner ring of the cylinder (1) through the seal ring II (9); the center hole of the two-way seal (B) is slidably connected to the outer ring of the piston rod (16) through the seal ring I (8); the lower end of the cylinder (1) is fixedly connected to the upper surface of the bottom cover (D); the circuit board (E) is fixedly connected to the lower surface of the bottom cover (D); the gas filling valve (2) is fixedly connected to the lower tube (29) of the bottom cover (D) through the gas nozzle cap (3). ; 2. The self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint according to claim 1, It is characterized in that The lower end of the valve seat (31) of the regulating valve (18) is provided with a hexagonal blind hole (34), and the fan-shaped groove II (32) and the fan-shaped groove I (33) are symmetrically arranged and fixed to the upper end of the valve seat (31).

3. The self-adjusting damping cylinder for a gas-liquid hybrid mechanical joint according to claim 1, It is characterized in that The circuit board (E) has a built-in STM32 chip processor (35), a motor drive chip (36), a power interface (37), an inertial sensor IMU (38), a pressure sensor module (39), a speed sensor module (40) and a communication interface (41), wherein an external power supply is connected via the power interface (37).

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