Hydraulic energy storage ankle joint

Abstract

The hydraulic energy storage ankle joint comprises an outer cover, a foot plate, a hydraulic mechanism, a two-position three-way reversing valve, a diaphragm type energy accumulator and a normal pressure oil tank, the hydraulic mechanism comprises two sets of cam-piston hydraulic cylinder mechanisms, and each set of cam-piston hydraulic cylinder mechanism comprises a cam fixedly connected with the foot plate, a hydraulic cylinder with the top fixedly connected with the outer cover and a piston push rod; the energy accumulator and the oil tank are installed in the outer cover, the two hydraulic cylinders are each provided with a reversing valve, and the reversing valves are communicated with the energy accumulator and the oil tank respectively at different working stages for oil exchange. According to the hydraulic energy storage ankle joint, energy is stored and released through the hydraulic system, and assistance can be provided for a wearer in the walking process.

Description

Technical Field

[0001] The invention belongs to the technical field of fluid machinery, and in particular relates to a hydraulic energy storage ankle joint. Background Art

[0002] Since the current medical level is not able to repair and connect residual limbs, wearing prostheses is still the most common and optimal treatment method. For disabled people, prostheses can not only enable them to return to normal life after an accident, but also enhance their confidence and courage in facing life. Therefore, prostheses not only play an important role in medical treatment, but also have important significance for social development.

[0003] When the human body walks, the movement of the ankle joint can be regarded as a compound movement in three-dimensional space. During the human body walking, the ankle joint performs dorsiflexion and plantar flexion, inversion and eversion, adduction and abduction. Therefore, the ankle joint plays an important role in the patient's lower limb motor rehabilitation.

[0004] Currently on the market, ankle joints are divided into active and passive types according to different driving methods. Among them, passive prostheses mainly rely on elastic or damping elements to store and release energy. These elements store energy in the dorsiflexion stage and then release it in the plantar flexion stage to assist walking; active prostheses use active components, which can provide assistance to the wearer during walking, reduce the burden on the legs, and thus reduce energy consumption. Although active prostheses have strong flexibility during work, the R&D, manufacturing and maintenance costs are too high, and the stability is poor, which needs to be further improved. Passive prostheses have simple structures, low costs, and broader market prospects, but they cannot provide torque assistance to patients and have poor flexibility. Therefore, most prostheses on the market have limitations.

[0005] In the current design of powered ankle joints, common driving methods include motor drive, pneumatic drive and hydraulic drive. Among them, hydraulic drive uses hydraulic oil as the medium, has low control difficulty of movement speed and displacement, high precision, and simple structure, so this project chooses hydraulic transmission to design the ankle joint. Summary of the invention

[0006] The purpose of the present invention is to solve the above-mentioned problem and provide a hydraulic energy storage ankle joint, which is characterized by: comprising an outer cover, an upper foot plate, a lower foot plate, a cam hydraulic system, an oil pipeline, a diaphragm accumulator, a normal pressure oil tank, a reversing valve I and a reversing valve II, and the cam hydraulic system, the diaphragm accumulator and the normal pressure oil tank are all located inside the outer cover.

[0007] Preferably, the cam hydraulic system includes a cylinder body, a piston push rod, and a cam, the cylinder body includes a first cylinder body and a second cylinder body, the first cylinder body and the second cylinder body are fixedly connected to the top of the outer cover side by side; the piston push rod includes a first piston push rod and a second piston push rod, the cam includes a first cam and a second cam, the piston at the top end of the first piston push rod is located in the first cylinder body, and the bottom end is the pointed push rod of the first cam, the piston at the top end of the second piston push rod is located in the second cylinder body, and the bottom end is the pointed push rod of the second cam.

[0008] Preferably, the reversing valve I and the reversing valve II are respectively installed on the outer walls of the first cylinder body and the second cylinder body, wherein the reversing valve I is directly connected to the upper hole of the first cylinder body and the lower hole of the first cylinder body, and the reversing valve II is directly connected to the upper hole of the second cylinder body and the lower hole of the second cylinder body; the reversing valve I and the reversing valve II are respectively connected to the diaphragm accumulator and the atmospheric pressure oil tank through oil pipelines; the oil pipeline is divided into a first pipeline, a second pipeline, a third pipeline and a fourth pipeline; the first pipeline is respectively connected to the reversing valve I and the oil chamber of the diaphragm accumulator, the second pipeline is respectively connected to the reversing valve I and the atmospheric pressure oil tank, the third pipeline is respectively connected to the reversing valve II and the oil chamber of the diaphragm accumulator, and the fourth pipeline is respectively connected to the reversing valve II and the atmospheric pressure oil.

[0009] Preferably, the first cam is parallel to the second cam, and the bottom is fixedly mounted on the upper foot plate; the axial hole of the first cam, the axial hole of the second cam 4 and the axial hole at the bottom end of the outer cover are aligned.

[0010] The beneficial effect of the present invention is that the hydraulic energy storage ankle joint provided by the present invention can store the energy generated during the dorsiflexion phase of the wearer's ankle and release this energy during the plantar flexion phase of the ankle, thereby providing walking assistance to the wearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the external structure of a hydraulic energy storage ankle joint of the present invention;

[0012] Figure 2 It is a schematic diagram of the internal structure of a hydraulic energy storage ankle joint of the present invention;

[0013] Figure 3 It is a schematic diagram of the hydraulic system of the present invention.

[0014] Explanation of the reference numerals: 1. outer cover; 2. upper foot plate; 3. lower foot plate; 4. second cam; 5. first cam; 6. second piston push rod; 7. second cylinder body; 8. first cylinder body; 9. first piston push rod; 10. reversing valve I; 11. reversing valve II; 12. diaphragm accumulator; 13. normal pressure oil tank; 14. first pipeline; 15. second pipeline; 16. third pipeline; 17. fourth pipeline; 11. outer cover shaft hole; 41. second camshaft hole; 51. first camshaft hole; 61. bottom tip of second piston push rod; 62. top piston of second piston push rod; 71. upper hole of second cylinder body; 72. lower hole of second cylinder body; 81. upper hole of first cylinder body; 82. lower hole of first cylinder body; 91. bottom tip of first piston push rod; 92. top piston of first piston push rod; 121. air chamber of diaphragm accumulator; 122. oil chamber of diaphragm accumulator. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0016] like Figures 1 to 3 As shown, a hydraulic energy storage ankle joint provided by the present invention includes an outer cover, a foot plate, a cam hydraulic system, an oil pipeline, a diaphragm accumulator, a normal pressure oil tank, a reversing valve I and a reversing valve II, wherein the cam hydraulic system, the diaphragm accumulator and the normal pressure oil tank are all located inside the outer cover.

[0017] The cam hydraulic system includes a cylinder body, a piston push rod, and a cam. The cylinder body includes a first cylinder body and a second cylinder body. The first cylinder body and the second cylinder body are fixedly connected to the top of the outer cover side by side; the piston push rod includes a first piston push rod and a second piston push rod. The cam includes a first cam and a second cam. The piston at the top end of the first piston push rod is located in the first cylinder body, and the bottom end is the pointed push rod of the first cam. The piston at the top end of the second piston push rod is located in the second cylinder body, and the bottom end is the pointed push rod of the second cam.

[0018] The reversing valve I and reversing valve II are respectively installed on the outer wall of the first cylinder body and the second cylinder body, wherein the reversing valve I is directly connected to the upper hole of the first cylinder body and the lower hole of the first cylinder body, and the reversing valve II is directly connected to the upper hole of the second cylinder body and the lower hole of the second cylinder body; the reversing valve I and reversing valve II are respectively connected to the diaphragm accumulator and the normal pressure oil tank through oil pipelines; the oil pipeline is divided into a first pipeline, a second pipeline, a third pipeline and a fourth pipeline; the first pipeline is respectively connected to the reversing valve I and the oil cavity of the diaphragm accumulator, the second pipeline is respectively connected to the reversing valve I and the normal pressure oil tank, the third pipeline is respectively connected to the reversing valve II and the oil cavity of the diaphragm accumulator, and the fourth pipeline is respectively connected to the reversing valve II and the normal pressure oil.

[0019] In this embodiment, the operation of the system is divided into two stages according to the functions to be implemented. In the first stage, the wearer's walking enters passive dorsiflexion, and the system stores energy. At this time, the first cylinder is connected to the oil chamber of the pre-charged diaphragm accumulator through the first pipeline, and the second cylinder is connected to the normal pressure oil tank through the fourth pipeline. During the rotation of the foot plate close to the outer cover, the first piston is pushed by the first cam and moves upward along the inner wall of the first cylinder, pushing the oil in the first cylinder along the first pipeline into the oil chamber in the diaphragm accumulator, compressing the pre-charged gas in the air chamber; at the same time, the oil in the second cylinder enters the normal pressure oil tank along the fourth pipeline, so the pressure in the second cylinder can be ignored.

[0020] In the second stage, the wearer's walking enters passive dorsiflexion, and the system stores energy. At this time, the second cylinder is connected to the oil chamber of the pre-charged diaphragm accumulator through the third pipe, and the first cylinder is connected to the atmospheric pressure tank through the second pipe. In this process, the compressed gas in the diaphragm accumulator pushes the oil in the oil chamber along the third pipe into the second cylinder, pushing the second piston to move downward along the second cylinder, and then pushing the second cam to rotate, completing the process of the foot plate moving away from the outer cover; at the same time, the oil in the atmospheric pressure tank enters the first cylinder along the second pipe, so the pressure in the first cylinder can be ignored.

[0021] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A hydraulic energy storage ankle joint, characterized in that: The invention comprises an outer cover (1), an upper foot plate (2), a lower foot plate (3), a cam hydraulic system, an oil pipeline, a diaphragm accumulator (12), a normal pressure oil tank (13), a reversing valve I (10) and a reversing valve II (11); the cam hydraulic system, the diaphragm accumulator (12) and the normal pressure oil tank (13) are all located inside the outer cover (1).

2. A hydraulic energy storage ankle joint according to claim 1, characterized in that: The cam hydraulic system comprises a cylinder body, a piston push rod and a cam. The cylinder body comprises a first cylinder body (8) and a second cylinder body (7). The first cylinder body (8) and the second cylinder body (7) are fixedly connected to the top of the outer cover (1) side by side. The piston push rod comprises a first piston push rod (9) and a second piston push rod (6). The cam comprises a first cam (5) and a second cam (4). The piston (92) at the top end of the first piston push rod (9) is located in the first cylinder body (8), and the bottom end is the pointed push rod (91) of the first cam (5). The piston (62) at the top end of the second piston push rod (6) is located in the second cylinder body (7), and the bottom end is the pointed push rod (61) of the second cam.

3. A hydraulic energy storage ankle joint according to claim 2, characterized in that: The reversing valve I (10) and the reversing valve II (11) are respectively installed on the outer wall of the first cylinder body (8) and the outer wall of the second cylinder body (7), wherein the reversing valve I (10) is directly connected to the upper hole (81) of the first cylinder body (8) and the lower hole (82) of the first cylinder body (8), and the reversing valve II (11) is directly connected to the upper hole (71) of the second cylinder body (7) and the lower hole (72) of the second cylinder body (7); the reversing valve I (10) and the reversing valve II (11) are respectively connected to the diaphragm accumulator (12) and the atmospheric pressure tank (13) through oil pipelines; the oil pipeline The pipeline is divided into a first pipeline (14), a second pipeline (15), a third pipeline (16) and a fourth pipeline (17); the first pipeline (14) is respectively connected to the reversing valve I (10) and the oil chamber (122) of the diaphragm accumulator (12); the second pipeline (15) is respectively connected to the reversing valve I (10) and the normal pressure oil tank (13); the third pipeline (16) is respectively connected to the reversing valve II (11) and the oil chamber (122) of the diaphragm accumulator (12); and the fourth pipeline (17) is respectively connected to the reversing valve II (11) and the normal pressure oil tank (13).

4. A hydraulic energy storage ankle joint according to claim 2, characterized in that: The first cam (5) is parallel to the second cam (4), and the bottom is fixedly mounted on the upper footboard (2); the axial hole (51) of the first cam (5), the axial hole (41) of the second cam (4) and the axial hole (11) at the bottom end of the outer cover (1) are aligned.

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