An electronically controlled variable damping digital cylinder prosthetic knee joint

Abstract

The present invention relates to an electrically controlled variable damping digital cylinder type prosthetic knee joint device, comprising: an electrically controlled variable damping digital cylinder for a knee joint, a fixed mounting block, a prosthetic shank rod, a rotary hinge, a piston rod, an upper piston disc, a cylinder barrel, a one-way valve, a throttle valve, a fixed piston, a spring, a lower piston disc, a force motor, an electrically controlled signal-controller, a one-way valve sleeve, a one-way valve core, a throttle valve sleeve, and a throttle valve core; the electrically controlled signal-controller changes the magnitude of the electromagnetic force generated by the force motor by controlling the magnitude of the current, causing the throttle valve core to move toward the spring side, thereby overcoming and balancing the spring force, and at the same time being able to adjust the position of the flow valve core in the throttle valve sleeve, thereby adjusting the flow rate of air inlet and outlet of the one-way valve, thereby making sitting down and standing up more stable and safe; in addition, gas can enter the cylinder through the one-way valve to replenish the gas in the cylinder so as to facilitate the next sitting down and standing up.

Description

Technical Field

[0001] The present invention belongs to the technical field of lower limb power assistance and prosthesis, and in particular relates to an electrically controlled variable damping digital cylinder type prosthetic knee joint. Background Art

[0002] With the rapid development of society and the widespread adoption of industrial mechanization and automation, many workers have suffered lower limb amputations due to work-related injuries. Furthermore, frequent traffic accidents have necessitated amputation surgery for some lower limb injuries. Furthermore, many people also undergo amputation due to illness. Therefore, these lower limb amputees are in great need of social care. With the installation of appropriate lower limb prostheses, they can stand and walk, significantly improving their quality of life and even allowing them to contribute to society through work. Furthermore, because the lower limbs are crucial for daily activities like standing and walking, the loss of a lower limb not only impairs their ability to function and work but also has a significant psychological impact. Therefore, the use of appropriate lower limb prostheses can also significantly benefit patients in recovering from psychological trauma. While lower limb amputations can affect mobility, the degree of impact varies depending on the amputation site. In the most common amputation scenario, above-knee amputations completely eliminate the patient's ability to walk independently, forcing them to rely on assistive devices such as crutches or wheelchairs for slow mobility. Therefore, lower limb prostheses that include knee joint functions are important assistive devices for solving the mobility problems of patients with above-knee amputations. They can replace the support and activity functions of the knee joint and the lower leg below. The prosthetic knee joint is the core, an electrically controlled variable damping digital cylinder prosthetic knee joint that takes into account both the damping requirements of simulating the original human knee joint and the real-time online variable damping function, making the prosthetic knee joint more flexible, comfortable, safe, reliable and more wearable. Summary of the Invention

[0003] The purpose of the present invention is to address the deficiencies of the prior art and to provide an electronically controlled variable damping digital cylinder type prosthetic knee joint device.

[0004] To solve the above problems, the present invention provides the following technical solutions.

[0005] The present invention discloses an electronically controlled variable damping digital cylinder type prosthetic knee joint device, which is characterized by comprising: a knee joint electronically controlled variable damping digital cylinder (1), a fixed mounting block (2), a prosthetic shank rod (3), a rotary hinge 1 (4), a rotary hinge 2 (5), a rotary hinge 3 (6), a piston rod (101), an upper piston plate (102), a cylinder (103), a one-way valve 1 (104), a throttle valve 1 (105), a fixed piston (106), a spring 1 (107), a lower piston plate (108), a one-way Valve 2 (109), one-way valve 3 (110), throttle valve 2 (111), one-way valve 4 (112), spring 1 (113), force motor (114), electric control signal-controller (115), one-way valve sleeve (10401), one-way valve spool (10402), throttle valve sleeve (10501), throttle valve spool (10502), one-way valve sleeve (11001), one-way valve spool (11002), throttle valve sleeve (11101), throttle valve spool (11102).

[0006] Preferably: the knee joint electrically controlled variable damping digital cylinder (1) is fixedly connected to the calf rod (3) through a fixed mounting block (2), and is linked to the human thigh through rotary hinges 1 (4), 2 (5), and 3 (6); in the knee joint electrically controlled variable damping digital cylinder (1), the lower piston disc (110) is fixedly connected to the piston rod (101) and the upper piston disc (102); the one-way valve 1 (104) and the throttle valve 1 (105) are connected in sequence and then fixedly connected to the fixed piston (106). On one side, the force motor (114) and the electric control signal-controller (115) are fixedly connected, the force motor (114) and the throttle valve core (10502) are fixedly connected, the spring (113) and the throttle valve core (10502) are fixedly connected, the one-way valve 3 (110) and the throttle valve 2 (111) are then fixedly connected to the other side of the fixed piston (106), and the electric control signal-controller (115) causes the force motor (114) to generate an electromagnetic force that can drive the throttle valve core toward the spring (113) moves on one side, the magnitude of the electromagnetic force generated by the force motor (114) is controlled by the magnitude of the current of the electric control signal-controller (115), and the force motor (114) generates electromagnetic force to overcome and balance the force generated by the return spring (113), which can adjust the position of the throttle valve core in the throttle valve sleeve, and then adjust the flow rate of the air in and out of the one-way valve 1 (104) and the one-way valve 3 (110), protecting the whole process of standing up and sitting down, preventing people from being hurt, when the disabled want to When standing up and sitting down, the electric control signal-controller (115) drives the throttle valve core (11102) to move to the left through the control force motor (114), the throttle valve 2 (111) opens, and the throttle valve 1 (105) closes. Under the weight of the human body, the gas in the first chamber of the knee joint electric control variable damping digital cylinder (1) flows to the second chamber of the knee joint electric control variable damping digital cylinder (1) through the one-way valve 3 (110), and the piston rod (101) moves downward, thereby helping the disabled person to sit down from standing up.

[0007] Preferably: the one-way valve 2 (109) and the one-way valve 4 (112), the spring (107) and the fixed piston (106) are fixedly connected to the inner side of the cylinder (103). When the disabled person wants to stand up from sitting down, the electric control signal-controller (115) drives the throttle valve core (10502) to move to the right through the control force motor (114), the throttle valve 1 (105) opens, and the throttle valve 2 (111) closes. The elastic force of the spring (107) pushes the piston rod (101) to move upward, so that the gas in the 2 chambers flows to the 1 chamber through the one-way valve 1 (104), and the volume of the 2 chambers becomes smaller, thereby helping the disabled person to stand up from sitting down.

[0008] Preferably: the one-way valve 2 (109) and the one-way valve 4 (112) are fixedly connected to the inner side of the cylinder (103). When the disabled person stands up and sits down, the volume of chamber 1 becomes smaller and the pressure becomes larger. Since the air pressure in chamber 1 is greater than the external atmospheric pressure, the one-way valve 4 (112) is closed, the volume of chamber 2 becomes larger and the pressure becomes smaller. When the air pressure in chamber 2 is greater than or equal to the external atmospheric pressure, the one-way valve 2 (109) is closed. When the air pressure in chamber 2 is greater than or less than the external atmospheric pressure, the one-way valve 2 (109) is opened, and the external atmosphere enters chamber 2 through the one-way valve 2 (109), so as to ensure that the air in chamber 2 is The volume of the 1st chamber is sufficient so that the disabled person can sit down and stand up next time. During the process of the disabled person sitting down and standing up, the volume of the 2nd chamber becomes smaller and the pressure becomes larger. Since the air pressure in the 2nd chamber is greater than the external atmospheric pressure, the one-way valve 2 (109) is closed, the volume of the 1st chamber becomes larger and the pressure becomes smaller. When the air pressure in the 1st chamber is greater than or equal to the external atmospheric pressure, the one-way valve 4 (112) is closed. When the air pressure in the 1st chamber is greater than or less than the external atmospheric pressure, the one-way valve 4 (112) is opened, and the external atmosphere enters the 1st chamber through the one-way valve 4 (112). In this way, it is ensured that the gas in the 1st chamber is sufficient so that the disabled person can sit down from standing up next time. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is an overall schematic diagram of an electronically controlled variable damping digital cylinder prosthetic knee joint;

[0010] Figure 2 An enlarged schematic diagram of an electrically controlled variable damping digital cylinder for a prosthetic knee joint;

[0011] Markings in the figure: knee joint electronically controlled variable damping digital cylinder (1), fixed mounting block (2), prosthetic shank rod (3), rotary hinge 1 (4), rotary hinge 2 (5), rotary hinge 3 (6), piston rod (101), upper piston plate (102), cylinder (103), one-way valve 1 (104), throttle valve 1 (105), fixed piston (106), spring 1 (107), lower piston plate (108), one-way valve 2 (109), one-way valve 3 (11 0), throttle valve 2 (111), one-way valve 4 (112), spring 1 (113), force motor (114), electric control signal-controller (115), one-way valve sleeve (10401), one-way valve spool (10402), throttle valve sleeve (10501), throttle valve spool (10502), one-way valve sleeve (11001), one-way valve spool (11002), throttle valve sleeve (11101), throttle valve spool (11102). DETAILED DESCRIPTION

[0012] Figure 1 This is an overall schematic diagram of an electrically controlled variable damping digital cylinder prosthetic knee joint of the present invention, from which the general structure of the device can be seen.

[0013] Figure 1 The invention mainly comprises an electrically controlled variable damping digital cylinder (1) of a knee joint, a fixed mounting block (2), a prosthetic shank rod (3), a rotary hinge 1 (4), a rotary hinge 2 (5), and a rotary hinge 3 (6). The positional relationship of each component can be seen from the figure, wherein the electrically controlled variable damping digital cylinder (1) of the knee joint is fixedly connected to the shank rod (3) through the fixed mounting block (2), and is connected to the human thigh through the rotary hinges 1 (4), 2 (5), and 3 (6).

[0014] Figure 2An enlarged schematic diagram of a knee joint electrically controlled variable damping digital cylinder of a prosthetic knee joint of a main electrically controlled variable damping digital cylinder type is provided. The knee joint electrically controlled variable damping digital cylinder (1) is fixedly connected to the calf rod (3) through a fixed mounting block (2), and is connected to the human thigh through rotary hinges 1 (4), 2 (5), and 3 (6). In the knee joint electrically controlled variable damping digital cylinder (1), a lower piston plate (110) is fixedly connected to the piston rod (101) and the upper piston plate (102). A one-way valve 1 (104) and a throttle valve 1 (10 5) Connect in sequence and then fixedly connect to one side of the fixed piston (106), the force motor (114) and the electric control signal-controller (115) are fixedly connected, the force motor (114) and the throttle valve core (10502) are fixedly connected, the spring (113) and the throttle valve core (10502) are fixedly connected, the one-way valve 3 (110) and the throttle valve 2 (111) are then fixedly connected to the other side of the fixed piston (106), and the electric control signal-controller (115) causes the force motor (114) to produce The electromagnetic force can drive the throttle valve core to move toward the side of the spring (113). The magnitude of the electromagnetic force generated by the force motor (114) is controlled by the magnitude of the current of the electric control signal-controller (115). The force motor (114) generates electromagnetic force to overcome and balance the force generated by the return spring (113), which can adjust the position of the throttle valve core in the throttle valve sleeve, and then adjust the flow rate of the air in and out of the one-way valve 1 (104) and the one-way valve 3 (110), protecting the entire process of standing up and sitting down, and preventing people from being hurt. When the disabled person wants to sit down from standing, the electric control signal-controller (115) drives the throttle valve core (11102) to move to the left through the control force motor (114), the throttle valve 2 (111) opens, and the throttle valve 1 (105) closes. Under the weight of the human body, the gas in the 1st chamber of the knee joint electric control variable damping digital cylinder (1) flows to the 2nd chamber of the knee joint electric control variable damping digital cylinder (1) through the one-way valve 3 (110), and the piston rod (101) moves downward, thereby helping the disabled person to sit down from standing. One-way valve 2 (109) and one-way valve 4 (112), spring (107) and fixed piston (106) are fixedly connected to the inner side of cylinder (103). When a disabled person wants to stand up from sitting down, the electric control signal-controller (115) drives the throttle valve core (10502) to move to the right through the control force motor (114), the throttle valve 1 (105) opens, and the throttle valve 2 (111) closes. The elastic force of the spring (107) pushes the piston rod (101) to move upward, so that the gas in the 2nd chamber flows to the 1st chamber through the one-way valve 1 (104), and the volume of the 2nd chamber becomes smaller, thereby helping the disabled person to stand up from sitting down.The one-way valve 2 (109) and the one-way valve 4 (112) are fixedly connected to the inner side of the cylinder (103). When the disabled person stands up and sits down, the volume of chamber 1 decreases and the pressure increases. Since the air pressure in chamber 1 is greater than the external atmospheric pressure, the one-way valve 4 (112) closes, the volume of chamber 2 increases, and the pressure decreases. When the air pressure in chamber 2 is greater than or equal to the external atmospheric pressure, the one-way valve 2 (109) closes. When the air pressure in chamber 2 is greater than or less than the external atmospheric pressure, the one-way valve 2 (109) opens, and the external atmosphere enters chamber 2 through the one-way valve 2 (109), so as to ensure that the gas in chamber 2 is filled. Sufficient, so that the disabled person can sit down and stand up next time. During the process of the disabled person sitting down and standing up, the volume of chamber 2 becomes smaller and the pressure becomes larger. Since the air pressure in chamber 2 is greater than the external atmospheric pressure, the one-way valve 2 (109) is closed, the volume of chamber 1 becomes larger and the pressure becomes smaller. When the air pressure in chamber 1 is greater than or equal to the external atmospheric pressure, the one-way valve 4 (112) is closed. When the air pressure in chamber 1 is greater than or less than the external atmospheric pressure, the one-way valve 4 (112) is opened, and the external atmosphere enters chamber 1 through the one-way valve 4 (112). This ensures that there is sufficient gas in chamber 1, so that the disabled person can stand up and sit down next time.

Claims

1. The present invention provides an electrically controlled variable damping digital cylinder prosthetic knee joint device, the device comprising: Knee joint electronically controlled variable damping digital cylinder (1), fixed mounting block (2), prosthetic shank rod (3), rotary hinge 1 (4), rotary hinge 2 (5), rotary hinge 3 (6), piston rod (101), upper piston plate (102), cylinder (103), one-way valve 1 (104), throttle valve 1 (105), fixed piston (106), spring 1 (107), lower piston plate (108), one-way valve 2 (109), one-way valve 3 (110), throttle valve 2 (111), one-way valve 4 (112), spring 1 (113), force motor (114), electronic control signal-controller (115), one-way valve sleeve (10401), one-way valve core (10402), throttle Valve sleeve (10501), throttle valve core (10502), one-way valve sleeve (11001), one-way valve core (11002), throttle valve sleeve (11101), throttle valve core (11102); characterized in that: the knee joint electric control variable damping digital cylinder (1) is fixedly connected to the calf rod (3) through a fixed mounting block (2), and is connected to the human thigh through rotary hinges 1 (4), 2 (5), 3 (6); in the knee joint electric control variable damping digital cylinder (1), the lower piston plate (110) is fixedly connected to the piston rod (101) and the upper piston plate (102); the one-way valve 1 (104) and the throttle valve 1 (105) are connected in sequence and then fixedly connected to one side of the fixed piston (106) The force motor (114) and the electric control signal-controller (115) are fixedly connected, the force motor (114) and the throttle valve core (10502) are fixedly connected, the spring (113) and the throttle valve core (10502) are fixedly connected, the one-way valve 3 (110) and the throttle valve 2 (111) are then fixedly connected to the other side of the fixed piston (106), the electric control signal-controller (115) enables the force motor (114) to generate electromagnetic force to drive the throttle valve core to move toward the spring (113) side, the magnitude of the electromagnetic force generated by the force motor (114) is controlled by the magnitude of the current of the electric control signal-controller (115), and the force motor (114) generates electromagnetic force to overcome and balance the reset spring (113) The force generated can adjust the position of the flow valve core in the throttle valve sleeve, and further adjust the flow rate of the air in and out of the one-way valve 1 (104) and the one-way valve 3 (110), protecting the entire process of standing up and sitting down, and preventing people from being injured. When the disabled person wants to sit down from standing up, the electric control signal-controller (115) drives the throttle valve core (11102) to move to the left through the control force motor (114), the throttle valve 2 (111) opens, and the throttle valve 1 (105) closes. Under the weight of the human body, the gas in the 1st chamber of the knee joint electric control variable damping digital cylinder (1) flows to the 2nd chamber of the knee joint electric control variable damping digital cylinder (1) through the one-way valve 3 (110), and the piston rod (101) moves downward, thereby helping the disabled person to sit down from standing up.

2. The electrically controlled variable damping digital cylinder prosthetic knee joint device according to claim 1, characterized in that: One-way valve 2 (109) and one-way valve 4 (112), spring (107) and fixed piston (106) are fixedly connected to the inner side of cylinder (103). When a disabled person wants to stand up from sitting down, the electric control signal-controller (115) drives the throttle valve core (10502) to move to the right through the control force motor (114), the throttle valve 1 (105) opens, and the throttle valve 2 (111) closes. The elastic force of the spring (107) pushes the piston rod (101) to move upward, so that the gas in the 2nd chamber flows to the 1st chamber through the one-way valve 1 (104), and the volume of the 2nd chamber becomes smaller, thereby helping the disabled person to stand up from sitting down.

3. The electronically controlled variable damping digital cylinder prosthetic knee joint device according to claim 1, characterized in that: The one-way valve 2 (109) and the one-way valve 4 (112) are fixedly connected to the inner side of the cylinder (103). When the disabled person stands up and sits down, the volume of chamber 1 decreases and the pressure increases. Since the air pressure in chamber 1 is greater than the external atmospheric pressure, the one-way valve 4 (112) closes, the volume of chamber 2 increases, and the pressure decreases. When the air pressure in chamber 2 is greater than or equal to the external atmospheric pressure, the one-way valve 2 (109) closes. When the air pressure in chamber 2 is less than the external atmospheric pressure, the one-way valve 2 (109) opens, and the external atmosphere enters chamber 2 through the one-way valve 2 (109), so as to ensure that the gas in chamber 2 is filled. The volume of chamber 1 increases and the pressure decreases. When the disabled person sits down and stands up, the volume of chamber 2 decreases and the pressure increases. Since the air pressure in chamber 2 is greater than the outside atmospheric pressure, the one-way valve 2 (109) is closed, the volume of chamber 1 increases and the pressure decreases. When the air pressure in chamber 1 is greater than or equal to the outside atmospheric pressure, the one-way valve 4 (112) is closed. When the air pressure in chamber 1 is less than the outside atmospheric pressure, the one-way valve 4 (112) is opened, and the outside atmosphere enters chamber 1 through the one-way valve 4 (112). This ensures that there is enough gas in chamber 1, so that the disabled person can sit down again.

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