CN106361469A - Buffer control intelligent air pressure knee joint and control method - Google Patents
Buffer control intelligent air pressure knee joint and control method Download PDFInfo
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- CN106361469A CN106361469A CN201610813643.7A CN201610813643A CN106361469A CN 106361469 A CN106361469 A CN 106361469A CN 201610813643 A CN201610813643 A CN 201610813643A CN 106361469 A CN106361469 A CN 106361469A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/38—Joints for elbows or knees
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Abstract
The invention relates to a buffer control intelligent air pressure knee joint and control method. The buffer control intelligent air pressure knee joint is provided with a buffer position recognition sensor. When a piston upwards moves and is detected by the buffer position recognition sensor, the valve position of a knee bending regulating valve is greater than or equal to the basic air pressure balance valve position, and the air pressure of an air cylinder upper cavity and an air cylinder lower cavity fast reaches balance; the effect of a buffer cavity is fully achieved. The buffer control intelligent air pressure knee joint and the control method have the beneficial effects that the buffer effect of the air pressure knee joint during extending movement is obviously improved; through clinical tests, a good buffer effect can be achieved during slow walking and fast walking; the buffer damping can be realized at the final stage of the joint extension in time particularly during fast walking; the extending speed is fast reduced; finally, the slight falling on a position limiting rubber pad is realized. The problem of poor buffer effect of the intelligent air pressure knee joint is effectively solved; the comfort is improved.
Description
Technical field
The invention belongs to prosthetic device, more particularly, to a kind of dash-control Intelligent air pressure knee joint and control method.
Background technology
Pneumatic knee-joint is a kind of conventional prosthetic device installed and used for knee individuals with disabilities, helps individuals with disabilities to recover
Knee function and locomotor activity.A kind of Chinese utility model patent (application number: 2013204462852) disclose Intelligent air pressure knee joint
Joint.There is a buffer regulating valve, when knee extension is to certain angle, internal piston moves in Intelligent air pressure knee joint
Away from cylinder top certain limit when, the cylinder upper cover on piston and cylinder top forms cushion chamber.Buffer regulating valve controls and buffers
Gas in chamber flows to the flow in cavity of resorption, and flow is less, and buffering stretching, extension damping is bigger, and buffering effect is better；Flow is bigger, delays
Punching stretching, extension damping is less, and buffering effect is more inconspicuous.When not forming cushion chamber, the gas of epicoele is through a check valve
It flow to cavity of resorption, stretching, extension damping is less, and knee joint can be with Quick extension in this segment limit.Intelligent air pressure knee joint is additionally provided with one
Individual regulating valve of going down on one's knees, it, with the change of gait, by changing the valve position of regulating valve of going down on one's knees, changes damping of going down on one's knees, obtains simultaneously
Stretch air pressure and help and stretch.After buffering terminates, knee joint is stretched substantially.The Intelligent air pressure knee joint with said structure function is in reality
Defect present in use is: after buffer regulating valve is adjusted, when slowly walking, going down on one's knees, damping is less, and buffering effect is preferable；
When power-walking, damping of going down on one's knees is larger, and can produce larger air pressure and help the effect of stretching when stretching, and so that buffering effect is reduced even
It is wholly absent, more serious impact shock, the comfortableness of impact user can be produced.
Content of the invention
The purpose of the present invention is to propose to the technical scheme of a kind of dash-control Intelligent air pressure knee joint and control method, improve
The buffering effect of pneumatic knee-joint.
To achieve these goals, the technical scheme is that a kind of dash-control Intelligent air pressure knee joint, including gas
Cylinder, piston, buffer regulating valve, regulating valve of going down on one's knees, support phase sensor and controller, are located at the chamber above piston in described cylinder
Body is upper chamber of air cylinder, and the cavity being located in described cylinder below piston is lower chamber of air cylinder, when described dash-control Intelligent air pressure knee joint
When kneebend is done in joint, described piston moves to downwards position of going down on one's knees, when described dash-control Intelligent air pressure knee joint is done
During stretching, described piston moves to Support Position upward, before described piston moves to described Support Position upward
Form cushion chamber in described upper chamber of air cylinder, the gas in described cushion chamber passes through described buffer regulating valve and flows into described cylinder
Cavity of resorption；Described dash-control Intelligent air pressure knee joint is provided with buffer position identification sensor.
Further, described buffer position identification sensor is to detect the sensing of piston before described formation cushion chamber
Device.
Further, described buffer position identification sensor is before piston movement forms cushion chamber position to distance
The sensor of piston is detected at 4mm～5mm.
Further, described buffer position identification sensor is Hall element, described buffer position identification sensor peace
It is contained on cylinder wall, the magnetic sheet for being detected by described sensor is provided with described piston.
Further, the sphere of action between described Hall element and described magnetic sheet includes close to scope and leaves model
Enclose, between described Hall element and described magnetic sheet close to scope be 5mm～8mm, described Hall element and described magnetic sheet
Between leave scope be 6mm～9mm.
Further, described controller receives the signal of described buffer position identification sensor and tune of going down on one's knees described in controlling
The valve position of section valve.
A kind of dash-control Intelligent air pressure knee joint control method, methods described is above-mentioned dash-control Intelligent air pressure knee joint
The control method in joint, methods described includes:
A. set up the kneed corresponding relation bending and stretching frequency and adjusting valve position in the wrong of dash-control Intelligent air pressure, valve position bent in described tune is
The valve position of regulating valve of going down on one's knees when carrying out described kneebend every time, described tune is bent valve position and is bent and stretched frequency change with described；
B. dash-control Intelligent air pressure kneed each bend and stretch in circulation, controller according to support phase sensor information meter
Calculate that described dash-control Intelligent air pressure is kneed to bend and stretch frequency；
C., when described dash-control Intelligent air pressure knee joint starts to do kneebend, controller is adjusted according to described frequency of bending and stretching
Valve position is bent to described tune in the valve position of whole regulating valve of going down on one's knees；
It is characterized in that, described control method also includes:
The basic air pressure double-beat drop valve position of regulating valve of going down on one's knees described in d. setting, described basic air pressure double-beat drop valve position is to make on described cylinder
Air pressure in chamber and lower chamber of air cylinder can reach the valve position of balance in 50ms；
E. when described piston upwards and when being detected by described buffer position identification sensor, make the valve position of regulating valve of going down on one's knees
More than or equal to described basic air pressure double-beat drop valve position；
F. after reaching balance in the air pressure in described upper chamber of air cylinder and lower chamber of air cylinder, by the valve bit recovery of described regulating valve of going down on one's knees
Bend valve position to described tune.
Further, in method e, detect when described piston upwards and by described buffer position identification sensor
When, if the valve position of regulating valve of going down on one's knees is less than described basic air pressure double-beat drop valve position, the valve position of regulating valve of going down on one's knees is left arrive greatly described
Basic air pressure double-beat drop valve position.
Further, in methods described f, when piston movement is to described Support Position, the valve of described regulating valve of going down on one's knees
Bit recovery bends valve position to described tune.
Further, if basic air pressure double-beat drop valve position is more than current tune bends valve position, the valve bit recovery of regulating valve of going down on one's knees
Bend valve position to current tune.
The invention has the beneficial effects as follows: significantly improve the buffering effect in stretching for the pneumatic knee-joint；Through clinic
Test, slowly and in power-walking, all can produce good buffering effect, especially in power-walking, can be in time in joint
There is a buffer damping in the latter stage stretched, reduces the rate of stretch rapidly, finally mildly falls on spacing rubber cushion.Efficiently solve
Intelligent air pressure knee joint buffering effect unconspicuous problem, improves comfortableness.
With reference to the accompanying drawings and examples the present invention is described in detail.
Brief description
Fig. 1 is present configuration figure；
Fig. 2 is the schematic diagram in straight configuration for the present invention dash-control Intelligent air pressure knee joint；
Fig. 3 is the schematic diagram in the state of going down on one's knees for the present invention dash-control Intelligent air pressure knee joint；
Fig. 4 is the schematic diagram that the present invention dash-control Intelligent air pressure knee joint does kneebend；
Fig. 5 is the schematic diagram that the present invention dash-control Intelligent air pressure knee joint does stretching；
Fig. 6 is the schematic diagram that the present invention dash-control Intelligent air pressure knee joint forms cushion chamber position；
Fig. 7 is that the present invention dash-control Intelligent air pressure knee joint buffer position identification sensor is triggered the schematic diagram of position.
Specific embodiment
As shown in Figure 1, Figure 2, Fig. 3, a kind of dash-control Intelligent air pressure knee joint, including cylinder 10, piston 20, buffer regulating valve
30th, regulating valve of going down on one's knees 40, support phase sensor 50 and controller 60, the cavity being located in described cylinder above piston is on cylinder
Chamber 11, the cavity being located in described cylinder below piston is lower chamber of air cylinder 12, when described dash-control Intelligent air pressure knee joint is done
During kneebend, described piston moves to downwards position of going down on one's knees (position as shown in Figure 3), when described dash-control intelligent gas
When doing stretching, described piston moves to Support Position (position as shown in Figure 2) to pressure knee joint upward, described piston to
Upper direction forms cushion chamber (as shown in Figure 6) to before described Support Position in described upper chamber of air cylinder, in described cushion chamber
Gas pass through the cavity of resorption that described buffer regulating valve flows into described cylinder；Described dash-control Intelligent air pressure knee joint is provided with buffering
Location identification sensor 70.
Described buffer position identification sensor is to detect the sensor of piston before described formation cushion chamber.
Described buffer position identification sensor is to be formed at 4mm～5mm before cushion chamber position to distance in piston movement
Detect the sensor of piston.
Described buffer position identification sensor is Hall element, and described buffer position identification sensor is arranged on cylinder wall
On, the magnetic sheet 71 for being detected by described sensor is provided with described piston.
Sphere of action between described Hall element and described magnetic sheet includes close to scope and leaves scope, described Hall
Between sensor and described magnetic sheet is 5mm～8mm close to scope, leaves model between described Hall element and described magnetic sheet
Enclose for 6mm～9mm.
Described controller receives the signal of described buffer position identification sensor and the valve of regulating valve of going down on one's knees described in controlling
Position.
A kind of dash-control Intelligent air pressure knee joint control method, methods described is claim 1 to 5 any one institute
The kneed control method of dash-control Intelligent air pressure stated, methods described includes:
A. set up the kneed corresponding relation bending and stretching frequency and adjusting valve position in the wrong of dash-control Intelligent air pressure, valve position bent in described tune
It is to go down on one's knees the valve position of regulating valve when carrying out described kneebend every time, described tune is bent valve position and bent and stretched frequency change with described；
B. dash-control Intelligent air pressure kneed each bend and stretch in circulation, controller according to support phase sensor information meter
Calculate that described dash-control Intelligent air pressure is kneed to bend and stretch frequency；
C., when described dash-control Intelligent air pressure knee joint starts to do kneebend, controller is adjusted according to described frequency of bending and stretching
Valve position is bent to described tune in the valve position of whole regulating valve of going down on one's knees；
The basic air pressure double-beat drop valve position of regulating valve of going down on one's knees described in d. setting, described basic air pressure double-beat drop valve position is to make on described cylinder
Air pressure in chamber and lower chamber of air cylinder can reach the valve position of balance in 50ms；
E. when described piston upwards and when being detected by described buffer position identification sensor, make the valve position of regulating valve of going down on one's knees
More than or equal to described basic air pressure double-beat drop valve position；
F. after reaching balance in the air pressure in described upper chamber of air cylinder and lower chamber of air cylinder, will be extensive for the valve position of described regulating valve of going down on one's knees
Arrive described tune again and bend valve position.
In method e, when being detected when described piston upwards and by described buffer position identification sensor, if bent
The valve position of knee joint regulating valve is less than described basic air pressure double-beat drop valve position, the valve position of regulating valve of going down on one's knees is left and puts down to described basic air pressure greatly
Weighing apparatus valve position.
In methods described f, when piston movement is to described Support Position, the valve bit recovery of described regulating valve of going down on one's knees is to institute
State tune and bend valve position.Further control method is: if basic air pressure double-beat drop valve position is more than current tune bends valve position, tune of going down on one's knees
The valve bit recovery of section valve bends valve position to current tune.
Embodiment one:
As shown in Figure 1, Figure 2, Fig. 3, a kind of dash-control Intelligent air pressure knee joint, including cylinder 10, piston 20, buffer regulating valve 30,
Regulating valve of going down on one's knees 40, support phase sensor 50 and controller 60.
Piston moves up and down in the cylinder, and the cavity being located in cylinder above piston is upper chamber of air cylinder 11, is located in cylinder
Cavity below piston is lower chamber of air cylinder 12.
The upper end of piston is provided with an inducing QI chamber 21, and the lower end of piston is provided with an inducing QI check valve 22, inducing QI chamber with lead
Gas check valve connects, and enables the gas of inducing QI intracavity to enter lower chamber of air cylinder by check valve.
The upper end of cylinder is provided with cylinder upper cover 18, is provided with the corresponding inducing QI in an inducing QI chamber post with piston in cylinder head
13, be provided with inducing QI post buffering gas port 14, buffering gas port by buffer regulating valve connect piston upper end inducing QI chamber with
Upper chamber of air cylinder.
It is provided with regulation gas circuit 15 of going down on one's knees between upper chamber of air cylinder and lower chamber of air cylinder.Regulating valve of going down on one's knees is arranged on regulation gas of going down on one's knees
Lu Shang, regulating valve of going down on one's knees is electric adjusting needle valve.It is additionally provided with check valve 16 going down on one's knees to adjust in gas circuit, make the gas in lower chamber of air cylinder
Body is along regulation gas circuit of going down on one's knees to upper chamber of air cylinder one-way flow.
When dash-control Intelligent air pressure knee joint does kneebend, piston moves to downwards position of going down on one's knees (as Fig. 3 institute
The position showing), the gas of lower chamber of air cylinder passes through regulation gas circuit inflow upper chamber of air cylinder of going down on one's knees, and regulating valve of going down on one's knees produces damping to air-flow
Effect (as shown in Figure 4).
When dash-control Intelligent air pressure knee joint does stretching, piston moves to Support Position upward (as Fig. 2 institute
The position showing).Starting stage (as shown in Figure 5), the inducing QI chamber of piston is connected with upper chamber of air cylinder, and the gas of upper chamber of air cylinder passes through
The inducing QI chamber of piston and inducing QI check valve enter lower chamber of air cylinder；When piston movement inducing QI chamber 21 is contacted with the inducing QI post 13 of cylinder
During position (as shown in Figure 6), inducing QI column blocking gas enters inducing QI chamber, makes the piston movement to before Support Position on cylinder
Form a cushion chamber 11a, now air-flow enters leading of the upper end of piston via buffering gas port 14 and buffer regulating valve in chamber
Air cavity, is entering lower chamber of air cylinder by inducing QI check valve, buffer regulating valve produces damping action to air-flow, makes the end of stretching
The tail stage produces cushioning effect.
Dash-control Intelligent air pressure knee joint is provided with buffer position identification sensor 70.Buffer position identification sensor is one
The individual sensor detecting piston before forming cushion chamber.The buffer position identification sensor of the present embodiment be 3141-lt suddenly
That sensor, buffer position identification sensor is arranged on cylinder wall, is provided with for being buffered location recognition sensing on piston
The magnetic sheet 71 that device detects, magnetic sheet is permanent magnetism tablet.Sphere of action between Hall element and magnetic sheet include close to scope and from
Open scope, refer to the distance by Hall element response when escapeing to close for the magnetic sheet close to scope；Leave scope refer to magnetic sheet by
Proximity state is to the distance of Hall element response when leaving.As Fig. 7, in the present embodiment, after tested, Hall element and magnetic sheet
Between close to scope be d=6.4mm, between Hall element and magnetic sheet leave scope be 7.8mm.According to experiment and test,
Buffer position identification sensor should detect piston at s=4.5mm before piston movement forms cushion chamber position to distance, by
This can determine the position of buffer position identification sensor and magnetic sheet.
Support phase sensor is also Hall element, also is provided with the magnetic sheet for being supported phase sensor to detect on piston
51.Support phase sensor is triggered when piston movement is in Support Position to cylinder upper end, supports for determining that piston enters
Position and supporting time, and calculate that dash-control Intelligent air pressure is kneed to bend and stretch frequency.
Dash-control Intelligent air pressure knee joint is additionally provided with cushion pad 17, does final buffer in knee joint full extension.
When the kneed user of dash-control Intelligent air pressure quick step move when, go down on one's knees action when go down on one's knees regulating valve produce
Go down on one's knees damping larger, temporary transient negative pressure (or vacuum) state can be produced in upper chamber of air cylinder, can produce when being converted to stretching, extension by going down on one's knees
The larger air pressure of life helps the effect of stretching, piston fast upward motion, or even when piston enters into the position forming cushion chamber, buffers
Intracavity, still in negative pressure state, as shown in fig. 7, so that buffering effect is reduced even disappearing completely, can produce more serious impact and shaking
Dynamic.The effect of buffer position identification sensor is when piston nearly forms the position of cushion chamber, adjusts the valve of regulating valve of going down on one's knees
Position, reduces the damping action of regulating valve of going down on one's knees, makes upper chamber of air cylinder and the air pressure of lower chamber of air cylinder be rapidly reached poised state, in buffering
Chamber can be effectively realized cushioning effect after being formed.
Controller receives the signal of buffer position identification sensor and controls the valve position of regulating valve of going down on one's knees.
Embodiment two:
A kind of dash-control Intelligent air pressure knee joint control method, methods described is the dash-control Intelligent air pressure knee joint of embodiment one
The control method in joint, method includes:
A. set up the kneed corresponding relation bending and stretching frequency and adjusting valve position in the wrong of dash-control Intelligent air pressure, adjusting and bending valve position is to go down on one's knees
The valve position when piston moves downward every time for the regulating valve, described tune is bent valve position and is bent and stretched frequency change with described.Embodiment one bend
Knee joint regulating valve is electric adjusting needle valve, and the range of accommodation of the needle of electric adjusting needle valve is 2.5mm, is divided into 125 regulation units,
The needle step distance that each adjusts unit is 0.02mm.It is believed that regulating valve of going down on one's knees has 125 regulating valve positions.Here sets to be adjusted
When section valve position is 0, regulating valve of going down on one's knees completely closes, and is gradually increased with the go down on one's knees open amount of regulating valve of the increase of regulating valve position.Root
Factually test and test, when valve position reaches 60, the damping of regulating valve of going down on one's knees and the helping effect of stretching is basic to disappear.
Bend and stretch frequency to be determined by supporting time, supporting time is to be calculated by the information supporting phase sensor,
In the present embodiment, according to the actually used situation of user, supporting time is divided into from short to long 10 supporting time shelves, the shortest
Supporting time shelves be ss=150ms, long support when bay sl=800ms.Corresponding to 10 supporting time shelves, setting 10 is right
Valve position bent in the tune answered；Valve position vs=20 bent in minimum tune, corresponding to supporting time shelves ss the shortest；Valve position vl=bent in maximum tune
60, corresponding to the supporting time shelves sl of length.I.e. when bending and stretching frequency and being faster, adjust bend valve position less, bend and stretch frequency slower when, adjust
Valve position in the wrong is bigger.
B. dash-control Intelligent air pressure kneed each bend and stretch in circulation, controller according to support phase sensor letter
Breath calculates that described dash-control Intelligent air pressure is kneed bends and stretches frequency；Determine the frequency shelves currently bending and stretching frequency.
C. when described dash-control Intelligent air pressure knee joint starts to do kneebend, controller according to currently bend and stretch frequency
Valve position is bent to corresponding tune in the valve position that the frequency shelves of rate adjust regulating valve of going down on one's knees.
The basic air pressure double-beat drop valve position vb of regulating valve of going down on one's knees described in d. setting, according to experiment and test, basic air pressure balance
Valve position can be using the valve position enabling the air pressure in upper chamber of air cylinder and lower chamber of air cylinder to reach balance in 50ms.According to experiment and survey
Examination, when the valve position of regulating valve of going down on one's knees is 40, can reach above-mentioned requirements.Although cylinder epicoele can quickly be realized in bigger valve position
With the air pressure balance in lower chamber of air cylinder, but the excessive amount of motion of regulating valve of going down on one's knees should be avoided, reduce motor power consumption, and excessive valve
Position effect is not very notable, therefore adopts basic air pressure double-beat drop valve position vb=40.
E. when described piston upwards and when being detected by described buffer position identification sensor, if as shown in fig. 7,
The valve position of regulating valve of going down on one's knees is less than described basic air pressure double-beat drop valve position, the valve position of regulating valve of going down on one's knees is left and arrives greatly basic air pressure balance
Valve position；If the valve position of regulating valve of going down on one's knees is more than or equal to basic air pressure double-beat drop valve position, the valve position of regulating valve of going down on one's knees keeps constant.
The action frequency of regulating valve of going down on one's knees so can be reduced as far as possible, extend the service life of regulating valve of going down on one's knees.
F. the valve bit recovery of described regulating valve of going down on one's knees is bent valve position to described tune.Method is, when piston movement to described
During support position, if basic air pressure double-beat drop valve position is more than current tune and bends valve position, the valve bit recovery of regulating valve of going down on one's knees is to current
Adjust and bend valve position.
The method of the present embodiment, advantageously reduces regulating valve action frequency of going down on one's knees.
The present invention is one Hall element of increase on hardware, i.e. buffer position identification sensor 70, for identifying work
Plug forms the position of cushion chamber with cylinder.And another Hall element is still measurement knee joint in the support supporting time phase
Phase sensor 50, judges the walking speed of user with this, when entering into shaking peroid, adjusts regulating valve of going down on one's knees rapidly, changes
Become suitable damping of going down on one's knees.
The effect of original cushion chamber is exactly to play cushioning effect in order to reach knee joint when stretching latter stage, but slowly
During walking, regulating valve of going down on one's knees is opened larger, and damping of going down on one's knees is little, the air pressure of upper chamber of air cylinder and lower chamber of air cylinder relatively, by going down on one's knees
When switching to stretch, the air pressure of epicoele can reach with the air pressure of cavity of resorption rapidly equal or bigger, after formation cushion chamber, cushion chamber
Interior gas is compressed the air pressure producing more than cavity of resorption, has this pressure reduction, just creates buffer damping, therefore walks in slow step
When, there is preferable buffering effect.And in power-walking, regulating valve of going down on one's knees is opened less, when going down on one's knees, piston quickly moves down, pressure
The gas of contracting cavity of resorption, the air pressure of cavity of resorption is more than the air pressure of epicoele, has thus obtained damping of going down on one's knees, due to the valve of regulating valve of going down on one's knees
It is less that position is opened, and the gas of cavity of resorption needs longer time could reach pressure balance with epicoele, if switched to by going down on one's knees stretch,
Piston needs to move the air pressure balance that a larger distance could make upper chamber of air cylinder, lower chamber of air cylinder, due to the work of cushion chamber
Dynamic distance is shorter, so the displacement of buffering has finished on before reaching balance, without buffering, here it is in fast walking
The reason do not buffer when walking.
When it would be desirable to joint Quick extension before buffering, making joint have good followability, and quickly walking, by
Compressed gas in lower chamber of air cylinder and produce the effect stretched that helps, this enhance quick follow-up capability during power-walking.But enter
Enter during cushion chamber it is intended that upper chamber of air cylinder, lower chamber of air cylinder air pressure rapid equalisation and using compression cushion chamber gas when have slow
Punching damping.Buffer position identification sensor solves the position that identification piston on hardware enters cushion chamber, also needs to software simultaneously
The upper control realizing correlation.
Set balance cylinder epicoele, the valve position of the regulating valve of going down on one's knees of lower chamber of air cylinder air pressure, hereon referred to as basic air pressure balance
Valve position.When the air pressure of cavity of resorption is more than the air pressure of epicoele, gas can be entered on cylinder by regulating valve of going down on one's knees by lower chamber of air cylinder
Chamber, under basic air pressure double-beat drop valve position, gas can quickly enter upper chamber of air cylinder and so that upper chamber of air cylinder, lower chamber of air cylinder air pressure is put down
Weighing apparatus.When upper chamber of air cylinder air pressure is more than lower chamber of air cylinder, gas can not enter into cavity of resorption by regulating valve of going down on one's knees.
Dash-control strategy is: when regulating valve position of going down on one's knees is less than basic air pressure double-beat drop valve position, and piston by cushion chamber outside
Move on to the time delay of cushion chamber side, regulating valve of going down on one's knees carries out dash-control, and regulating valve of going down on one's knees moves to basic air pressure double-beat drop valve position, cylinder
Epicoele, the air pressure rapid equalisation of lower chamber of air cylinder, piston continues to move to compress cushion chamber, produces buffer damping, plays buffering erosion control
The effect hit, slows down the impact shock to spacing rubber cushion for the joint.In other situations, such as piston only activity is in buffering intracavity, or adjusts
When valve position in the wrong is bigger than basic air pressure double-beat drop valve position, do not adjust the valve position of regulating valve of going down on one's knees.
Can be found out from above-mentioned, regulating valve of going down on one's knees has two effects: one is the damping of going down on one's knees adjusting joint, two is buffering control
System.
, through clinical trial, slowly and in power-walking, air cavity buffering effect is all bright for the Intelligent air pressure knee joint of the present invention
Aobvious, especially in power-walking, buffer with slow step is walked and do not disappear, in time the latter stage in joint extension have a buffering resistance
Buddhist nun, reduces the rate of stretch rapidly, finally mildly falls on spacing rubber cushion.User reflection is stretched impact and is obviously reduced, and clashes into
The degree that can receive is down in vibration.
Using this dash-control method, efficiently solve that Intelligent air pressure knee joint buffering effect is unconspicuous to ask
Topic, improves comfortableness.Another distinguishing feature of our embodiment is to share to go down on one's knees regulating valve, only increase an identification piston with
The buffer position identification sensor of cylinder relative position is just permissible, has a good application prospect.
Claims (10)
1. a kind of dash-control Intelligent air pressure knee joint, passed including cylinder, piston, buffer regulating valve, regulating valve of going down on one's knees, support phase
Sensor and controller, the cavity being located in described cylinder above piston is upper chamber of air cylinder, is located at below piston in described cylinder
Cavity is lower chamber of air cylinder, and when described dash-control Intelligent air pressure knee joint does kneebend, described piston moves to downwards
Go down on one's knees position, when described dash-control Intelligent air pressure knee joint does stretching, described piston moves to support level upward
Put, described piston forms cushion chamber, described cushion chamber before moving to described Support Position upward in described upper chamber of air cylinder
In gas pass through the cavity of resorption that described buffer regulating valve flows into described cylinder；It is characterized in that, described dash-control Intelligent air pressure
Knee joint is provided with buffer position identification sensor.
2. a kind of dash-control Intelligent air pressure knee joint according to claim 1 is it is characterised in that described buffer position is known
Individual sensor is to detect the sensor of piston before described formation cushion chamber.
3. a kind of dash-control Intelligent air pressure knee joint according to claim 2 is it is characterised in that described buffer position is known
Individual sensor is to detect the sensor of piston at 4mm～5mm before piston movement forms cushion chamber position to distance.
4. a kind of dash-control Intelligent air pressure knee joint according to claim 1 is it is characterised in that described buffer position is known
Individual sensor is Hall element, and described buffer position identification sensor is arranged on cylinder wall, is provided with use on described piston
In the magnetic sheet being detected by described sensor.
5. a kind of dash-control Intelligent air pressure knee joint according to claim 4 is it is characterised in that described Hall element
Sphere of action and described magnetic sheet between includes close to scope and leaves scope, between described Hall element and described magnetic sheet
It is 5mm～8mm close to scope, the scope of leaving between described Hall element and described magnetic sheet is 6mm～9mm.
6. a kind of dash-control Intelligent air pressure knee joint according to claim 1 is it is characterised in that described controller receives
The signal of described buffer position identification sensor the valve position of regulating valve of going down on one's knees described in controlling.
7. a kind of dash-control Intelligent air pressure knee joint control method, methods described is described in claim 1 to 6 any one
The kneed control method of dash-control Intelligent air pressure, methods described includes:
A. set up the kneed corresponding relation bending and stretching frequency and adjusting valve position in the wrong of dash-control Intelligent air pressure, valve position bent in described tune is
The valve position of regulating valve of going down on one's knees when carrying out described kneebend every time, described tune is bent valve position and is bent and stretched frequency change with described；
B. dash-control Intelligent air pressure kneed each bend and stretch in circulation, controller according to support phase sensor information meter
Calculate that described dash-control Intelligent air pressure is kneed to bend and stretch frequency；
C., when described dash-control Intelligent air pressure knee joint starts to do kneebend, controller is adjusted according to described frequency of bending and stretching
Valve position is bent to described tune in the valve position of whole regulating valve of going down on one's knees；
It is characterized in that, described control method also includes:
The basic air pressure double-beat drop valve position of regulating valve of going down on one's knees described in d. setting, described basic air pressure double-beat drop valve position is to make on described cylinder
Air pressure in chamber and lower chamber of air cylinder can reach the valve position of balance in 50ms；
E. when described piston upwards and when being detected by described buffer position identification sensor, make the valve position of regulating valve of going down on one's knees
More than or equal to described basic air pressure double-beat drop valve position；
F. after reaching balance in the air pressure in described upper chamber of air cylinder and lower chamber of air cylinder, by the valve bit recovery of described regulating valve of going down on one's knees
Bend valve position to described tune.
8. a kind of dash-control Intelligent air pressure knee joint control method according to claim 7 is it is characterised in that in method
In e, when being detected when described piston upwards and by described buffer position identification sensor, if the valve position of regulating valve of going down on one's knees
Less than described basic air pressure double-beat drop valve position, the valve position of regulating valve of going down on one's knees is left and arrives greatly described basic air pressure double-beat drop valve position.
9. a kind of dash-control Intelligent air pressure knee joint control method according to claim 7 is it is characterised in that described
In method f, when piston movement is to described Support Position, the valve bit recovery of described regulating valve of going down on one's knees bends valve position to described tune.
If a kind of dash-control Intelligent air pressure knee joint control method according to claim 9 it is characterised in that
Basic air pressure double-beat drop valve position is more than current tune and bends valve position, and the valve bit recovery of regulating valve of going down on one's knees bends valve position to current tune.
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| CN107550606A (en) * | 2017-09-30 | 2018-01-09 | 北京精博现代假肢矫形器技术有限公司 | A kind of intelligent bionic knee joint |
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