CN115590661A - Knee and ankle linkage artificial limb based on closed hydraulic drive circuit - Google Patents

Knee and ankle linkage artificial limb based on closed hydraulic drive circuit Download PDF

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Publication number
CN115590661A
CN115590661A CN202211179320.9A CN202211179320A CN115590661A CN 115590661 A CN115590661 A CN 115590661A CN 202211179320 A CN202211179320 A CN 202211179320A CN 115590661 A CN115590661 A CN 115590661A
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China
Prior art keywords
ankle
joint
knee joint
valve
knee
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CN202211179320.9A
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Chinese (zh)
Inventor
刘春宝
李振男
单绍鹏
韩阳
王显
任雷
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Jilin University
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Jilin University
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Priority to CN202211179320.9A priority Critical patent/CN115590661A/en
Publication of CN115590661A publication Critical patent/CN115590661A/en
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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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2/6607—Ankle joints
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/741—Operating or control means fluid, i.e. hydraulic or pneumatic using powered actuators, e.g. stepper motors or solenoids
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/742—Low pressure systems, e.g. vacuum pump
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/748—Valve systems
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6854—Operating or control means for locking or unlocking a joint

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

The invention relates to the field of artificial limbs and rehabilitation aids, in particular to a knee-ankle linkage artificial limb based on a closed hydraulic drive loop, which comprises an active drive motor, a first motor frame, a hydraulic pump, a knee-joint three-position four-way valve assembly, a knee-joint valve motor, a second motor frame, a knee-joint hydraulic cylinder assembly, a low-pressure energy accumulator, an ankle-joint valve motor, a third motor frame, an ankle-joint three-position four-way valve assembly, an ankle-joint hydraulic cylinder assembly, a reset spring, a knee-joint integrated block, a knee-joint support structure assembly, an ankle-joint integrated block, an ankle-joint support structure assembly, a pressure sensor, a knee-ankle connecting block and a hydraulic hose.

Description

Knee and ankle linkage artificial limb based on closed hydraulic drive circuit
Technical Field
The invention relates to the field of artificial limbs and rehabilitation aids, in particular to a knee and ankle linkage artificial limb based on a closed hydraulic driving circuit.
Background
The popularization and installation of the lower limb artificial limb are important means for helping the amputee to return to normal work and life again, the lower limb artificial limb can improve the life quality of the amputee, enable the amputee to recover the athletic ability and the living ability, improve the independence of life and psychology, improve the ability of participating in social life and the ability of re-employment, simultaneously enhance the confidence and avoid the occurrence of psychological diseases.
Research shows that in the later stage of standing, obvious joint angle cooperative motion and obvious energy transmission exist between the ankle joint and the knee joint in the stage of stepping off the ground, the energy of the knee joint in the later stage of standing is transferred to the ankle joint through the energy transmission, the knee-ankle joint linkage is realized, the energy consumption of the artificial limb is reduced, and meanwhile, the size of the artificial limb of the ankle joint is reduced.
Among the known products, the driving methods described in patent nos. CN110368153A and CN109764011A are too complex, severely limiting their practical application. Patent publication No. CN111358602A designs integrated hydraulic knee joint development, but the valve structure is too simple, the bidirectional locking function of the hydraulic cylinder cannot be realized, and ankle joint development is not involved.
Disclosure of Invention
The invention aims to provide a knee and ankle linkage artificial limb based on a closed hydraulic drive circuit, aiming at the problems that the existing lower limb artificial limb has high energy consumption, no energy transmission exists between knee and ankle joints, the integration level is low, the weight is large, the adaptability is poor, the wearing is uncomfortable and the like in the background technology. The knee joint integrated block and the ankle joint integrated block are used for respectively realizing integration of a knee joint driving system and an ankle joint driving system, and an external hydraulic hose is connected with the knee and ankle joint driving system for energy transmission. The invention realizes the control of the hydraulic driving system by designing the rotary knee joint three-position four-way valve and the ankle joint three-position four-way valve. In the walking process, the adjustable energy transmission and cooperative motion between the knee ankle joints are realized by utilizing the two three-position four-way hydraulic valves at the final stage of standing, the energy consumption of the artificial limb is reduced, the knee ankle joints independently work at other motion stages, and the motion comfort and the stability of the amputee are improved by combining active and passive hybrid drive.
A knee and ankle linkage artificial limb based on a closed hydraulic driving loop comprises a driving motor, a first motor frame, a hydraulic pump, a knee joint three-position four-way valve component, a knee joint valve motor, a second motor frame, a knee joint hydraulic cylinder component, a low-pressure accumulator, an ankle joint valve motor, a third motor frame, an ankle joint three-position four-way valve component, an ankle joint hydraulic cylinder component, a reset spring, a knee joint integrated block, a knee joint supporting structure component, an ankle joint integrated block, an ankle joint supporting structure component, a pressure sensor, a knee and ankle connecting block and a hydraulic hose, wherein the driving motor is fixed on the first motor frame, an output shaft of the driving motor is directly connected with a rotating shaft of the hydraulic pump, the hydraulic pump is arranged in a corresponding mounting hole on the knee joint integrated block, and the first motor frame and the hydraulic pump are fixed with the knee joint integrated block through bolts, a knee joint valve motor is fixed on a second motor frame, a first valve core of the knee joint three-position four-way valve component is fixed with an output shaft of the knee joint valve motor through a set screw, the knee joint three-position four-way valve component is arranged on a knee joint integrated block, a corresponding oil hole processed on the outer side surface of the knee joint three-position four-way valve component is communicated with an internal oil path of the knee joint integrated block, a knee joint hydraulic cylinder component is hinged on a knee joint supporting structure component, a pressure sensor and a knee ankle connecting block are sequentially fixed below the knee joint supporting structure component, the lower end of the knee ankle connecting block is fixedly connected with the upper part of the ankle joint supporting structure component, an ankle joint valve motor is fixed on a third motor frame, the third motor frame is fixed on the ankle joint integrated block through a screw, the ankle joint three-position four-way valve component is arranged on the ankle joint integrated block, a corresponding oil hole processed on the outer side surface of the ankle joint three-position four-way valve component is communicated with the internal oil path of the ankle joint integrated block, the second valve core of the ankle joint three-position four-way valve component is fixedly connected with an output shaft of an ankle joint valve motor, the ankle joint hydraulic cylinder component is installed on the ankle joint integrated block, a second piston and a piston rod of the ankle joint hydraulic cylinder component are hinged to the ankle joint supporting structure component, a hydraulic hose is in threaded connection with the knee joint integrated block and the ankle joint integrated block respectively, oil ways for connecting all elements are processed inside the knee joint integrated block and the ankle joint integrated block, process holes in the surfaces of the knee joint integrated block and the ankle joint integrated block are sealed through sealing bolts or sealing plugs, grooves or holes in different shapes are processed on the surfaces of the first valve core and the second valve core, and control over movement of an artificial limb joint is achieved.
The knee joint three-position four-way valve assembly comprises a first valve core, a first valve sleeve, a first valve upper end cover and a first valve lower end cover, the first valve core is fixed with an output shaft of a knee joint valve motor through a set screw, the first valve core and the first valve sleeve are arranged in corresponding mounting holes of a knee joint manifold block, an O-shaped ring is adopted between the first valve sleeve and the knee joint manifold block for sealing, the first valve sleeve is fixed with the knee joint manifold block through the friction force of the O-shaped ring, the first valve sleeve and the first valve core can freely rotate, the first valve upper end cover and the first valve lower end cover are respectively arranged on two sides of the first valve core, and the first valve lower end cover, the first valve upper end cover and the second motor frame are respectively fixed on the knee joint manifold block through screws.
The knee joint hydraulic cylinder component comprises a first piston and a piston rod, a first upper cylinder cover, a first lower cylinder cover and a first earring, the knee joint supporting structure component comprises a first knee joint supporting plate, a second knee joint supporting plate, a first knee joint supporting shaft, a second knee joint supporting shaft, a third knee joint supporting shaft, a knee joint thigh connecting block and a knee joint angle sensor, the first earring is in threaded connection with the first piston and the piston rod, the first piston and the piston rod are arranged in a piston cavity corresponding to the knee joint integrated block, the first piston and the piston rod are single-rod pistons, the first upper cylinder cover and the first lower cylinder cover are respectively arranged on two sides of the piston cavity corresponding to the knee joint integrated block through screws, the first earring is hinged on the knee joint thigh connecting block through the first knee joint supporting shaft, the knee joint thigh connecting block is hinged on the first knee joint supporting plate and the second knee joint supporting plate through the second knee joint supporting shaft, the first lower cylinder cover is hinged on the first knee joint supporting plate and the second knee joint supporting plate through the third knee joint supporting shaft, the first knee joint supporting plate and the second knee joint supporting plate are fixed through bolts, the knee joint angle sensor is fixed on the outer side of the first knee joint supporting plate, and the second knee joint angle sensor is connected with the second supporting shaft.
The ankle joint three-position four-way valve assembly comprises a second valve core, a second valve sleeve, a second valve upper end cover and a second valve lower end cover, the second valve core is fixedly connected with an output shaft of an ankle joint valve motor, the second valve core and the second valve sleeve are arranged in a mounting hole corresponding to an ankle joint integrated block, the second valve sleeve and the ankle joint integrated block are sealed through an O-shaped ring, the second valve sleeve is fixed with the ankle joint integrated block through the friction force of the O-shaped ring, the second valve sleeve and the second valve core can rotate freely, the second valve upper end cover and the second valve lower end cover are respectively arranged on two sides of the second valve core, and the second valve lower end cover, the second valve upper end cover and a third motor frame are respectively fixed on the ankle joint integrated block through screws.
The ankle joint hydraulic cylinder subassembly includes cylinder cap, second lower cylinder cap and second earrings on second piston and piston rod, the second, ankle joint bearing structure subassembly includes the ankle joint supporting shoe, the first supporting shaft of ankle joint, ankle joint second back shaft, ankle joint third back shaft ankle joint fourth back shaft, ankle joint angle sensor and sole, the second earrings passes through threaded connection with second piston and piston rod, the piston intracavity portion that the ankle joint integrated package corresponds is arranged in to second piston and piston rod, second piston and piston rod are two play pole pistons, the corresponding piston chamber both sides of ankle joint integrated package that cylinder cap and second lower cylinder cap installed respectively through the screw in the second, place ankle joint hydraulic cylinder subassembly lower chamber in the reset spring and respectively with second piston and piston rod, the cylinder cap links firmly under the second, first supporting shaft of ankle joint and ankle joint fourth back shaft link to each other respectively with ankle joint block both sides and install in the ankle joint supporting shoe corresponds downtheholely, first supporting shaft and ankle joint fourth back shaft pass through the ankle joint integrated package, ankle joint supporting shaft and ankle joint angle sensor hinge on the second ankle joint integrated package outside, the ankle joint integrated package passes through the ankle joint supporting shoe and ankle joint angle sensor and hinge in the ankle joint bottom of second.
The invention has the beneficial effects that:
1. according to the invention, the hydraulic oil of the knee joint hydraulic cylinder is transmitted to the ankle joint hydraulic cylinder by switching the positions of the knee joint three-position four-way valve and the ankle joint three-position four-way valve in the final standing stage, so that the energy transmission is realized, and the plantarflexion torque in the off-ground stage is increased on the basis of the traditional passive ankle, so that the ankle joint hydraulic cylinder has the power performance close to that of the active ankle.
2. Compared with the existing active ankle joint prosthesis product, the ankle joint prosthesis provided by the invention has the advantages of small volume, light weight and high comfort.
3. The invention realizes the connection and energy transmission between the knee and the ankle by only one external pipeline, and the artificial limb has high integration level.
4. The knee-ankle linkage artificial limb provided by the invention can be used as a whole, and two hydraulic knee joint artificial limbs and hydraulic ankle joint artificial limbs which can work independently can be obtained through simple disassembly and assembly, so that the knee-ankle linkage artificial limb is suitable for amputation patients with different product requirements.
5. The invention can adjust the overall height of the knee-ankle linkage artificial limb by replacing the knee-ankle connecting blocks with different heights, and has wide adaptability.
Drawings
FIG. 1 is an isometric view of a knee-ankle joint prosthesis provided by the present invention;
FIG. 2 is a front view of the present invention with the second support plate of the knee joint and the ankle support block removed;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a hydraulic schematic of the present invention;
FIG. 5 is an assembled schematic view of the components of the three-position, four-way valve assembly of the knee joint of the present invention;
FIG. 6 is a schematic view of a first operative position of the three-position knee joint four-way valve assembly of the present invention at section C;
FIG. 7 is a schematic view of the three-position, four-way valve assembly of the present invention in a second operative position at section C;
FIG. 8 is a schematic view of the three-position four-way valve assembly of the knee joint of the present invention in a third operating position at section C;
FIG. 9 is an assembly schematic of the components of the ankle joint three-position four-way valve assembly of the present invention;
FIG. 10 is a schematic view of the ankle three-position four-way valve assembly of the present invention in a first operative position taken at plane D;
FIG. 11 is a schematic view of the ankle joint three-position four-way valve assembly of the present invention in a second operative position taken at section D;
FIG. 12 is a schematic view of the ankle three-position four-way valve assembly of the present invention in a third operative position taken at section D;
FIG. 13 is a schematic illustration of a hydraulic ankle joint prosthesis of the invention disassembled for independent operation;
fig. 14 is a schematic view of a hydraulic knee prosthesis of the present invention disassembled for independent operation.
In the figure: 1. an active driving motor 101, a first motor frame, 2, a hydraulic pump 3, a knee joint three-position four-way valve component 301, a first valve core 302, a first valve sleeve 303, a first valve upper end cover 304, a first valve lower end cover 4, a knee joint valve motor 401, a second motor frame 5, a knee joint hydraulic cylinder component 501, a first piston and a piston rod 502, a first upper cylinder cover 503, a first lower cylinder cover 504, a first ear ring 6, a low-pressure accumulator 7, an ankle joint valve motor 701, a third motor frame 8, an ankle joint three-position four-way valve component 801, a second valve core 802, a second valve sleeve 803, a second valve upper end cover 804, a second valve lower end cover 9, an ankle joint hydraulic cylinder component 901, a second piston and a piston rod 902, a second upper cylinder cover 903, a second lower cylinder cover 904, a second ear ring, 10, a return spring, 11, a knee joint integrated block, 12, a knee joint supporting structure component, 1201, a knee joint first supporting plate, 1202, a knee joint second supporting plate, 1203, a knee joint first supporting shaft, 1204, a knee joint second supporting shaft, 1205, a knee joint third supporting shaft, 1206, a knee joint thigh connecting block, 1207, a knee joint angle sensor, 13, an ankle joint integrated block, 14, an ankle joint supporting structure component, 1401, an ankle joint supporting block, 1402, an ankle joint first supporting shaft, 1403, an ankle joint second supporting shaft, 1404, an ankle joint third supporting shaft, 1405, an ankle joint fourth supporting shaft, 1406, an ankle joint angle sensor, 1407, a foot plate, 15, a pressure sensor, 16, a knee joint connecting block, 17, a hydraulic hose, 1801, a first sealing bolt, 1802, a second sealing bolt.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
Referring to fig. 1 to 14, a knee and ankle linkage artificial limb based on a closed hydraulic drive loop comprises a driving motor 1, a first motor frame 101, a hydraulic pump 2, a knee joint three-position four-way valve component 3, a knee joint valve motor 4, a second motor frame 401, a knee joint hydraulic cylinder component 5, a low-pressure accumulator 6, an ankle joint valve motor 7, a third motor frame 701, an ankle joint three-position four-way valve component 8, an ankle joint hydraulic cylinder component 9, a reset spring 10, a knee joint integrated block 11, a knee joint support structure component 12, an ankle joint integrated block 13, an ankle joint support structure component 14, a pressure sensor 15, a knee and ankle connecting block 16 and a hydraulic hose 17, wherein the driving motor 1 is fixed on the first motor frame 101, an output shaft of the driving motor 1 is directly connected with a rotating shaft of the hydraulic pump 2, the hydraulic pump 2 is installed inside a corresponding mounting hole on the knee joint integrated block 11, the first motor frame 101 and the hydraulic pump 2 are fixed with the knee joint integrated block 11 through bolts, the knee joint valve motor 4 is fixed on the second motor frame 401, the first valve core 301 of the knee joint three-position four-way valve component 3 is fixed with the output shaft of the knee joint valve motor 4 through set screws, the knee joint three-position four-way valve component 3 is installed on the knee joint integrated block 11, the corresponding oil hole processed on the outer side surface of the knee joint three-position four-way valve component 3 is communicated with the internal oil circuit of the knee joint integrated block 11, the knee joint hydraulic cylinder component 5 is hinged on the knee joint supporting structure component 12, the pressure sensor 15 and the knee ankle connecting block 16 are sequentially fixed below the knee joint supporting structure component 12, the lower end of the knee ankle connecting block 16 is fixedly connected with the upper part of the ankle joint supporting structure component 14, the ankle joint valve motor 7 is fixed on the third motor frame 701, the third motor frame 701 is fixed on the ankle joint integrated block 13 through screws, the ankle joint three-position four-way valve assembly 8 is installed on an ankle joint integrated block 13, corresponding oil holes are formed in the outer side surface of the ankle joint three-position four-way valve assembly 8 and communicated with an oil circuit inside the ankle joint integrated block 13, a second valve spool 801 of the ankle joint three-position four-way valve assembly 8 is fixedly connected with an output shaft of an ankle joint valve motor 7, an ankle joint hydraulic cylinder assembly 9 is installed on the ankle joint integrated block 13, a second piston and a piston rod 901 of the ankle joint hydraulic cylinder assembly 9 are hinged to an ankle joint supporting structure assembly 14, a hydraulic hose 17 is connected with a knee joint integrated block 11 and the ankle joint integrated block 13 through threads respectively, oil circuits used for connecting all elements are formed in the knee joint integrated block 11 and the ankle joint integrated block 13, process holes in the surfaces of the knee joint integrated block 11 and the ankle joint integrated block 13 are sealed through sealing bolts or sealing plugs, grooves or holes in different shapes are formed in the surfaces of a first valve spool 301 and a second valve spool 801, and control over movement of an artificial limb is achieved.
The knee joint three-position four-way valve component 3 comprises a first valve core 301, a first valve sleeve 302, a first valve upper end cover 303 and a first valve lower end cover 304, the first valve core 301 and an output shaft of a knee joint valve motor 4 are fixed through a set screw, the first valve core 301 and the first valve sleeve 302 are arranged in corresponding mounting holes of a knee joint manifold block 11, the first valve sleeve 302 and the knee joint manifold block 11 are sealed through an O-shaped ring, the first valve sleeve 302 is fixed with the knee joint manifold block 11 through the friction force of the O-shaped ring, the first valve sleeve 302 and the first valve core 301 can freely rotate, the first valve upper end cover 303 and the first valve lower end cover 304 are respectively installed on two sides of the first valve core 301, and the first valve lower end cover 304, the first valve upper end cover 303 and the second valve motor frame 401 are respectively fixed on the knee joint manifold block 11 through screws.
The knee joint hydraulic cylinder component 5 comprises a first piston and a piston rod 501, a first upper cylinder cover 502, a first lower cylinder cover 503 and a first earring 504, the knee joint supporting structure component 12 comprises a first knee joint supporting plate 1201, a second knee joint supporting plate 1202, a first knee joint supporting shaft 1203, a second knee joint supporting shaft 1204, a third knee joint supporting shaft 1205, a knee joint thigh connecting block 1206 and a knee joint angle sensor 1207, the first earring 504 is in threaded connection with the first piston and the piston rod 501, the first piston and the piston rod 501 are arranged in a piston cavity corresponding to the knee joint integrated block 11, the first piston and the piston rod 501 are single-rod pistons, the first upper cylinder cover 502 and the first lower cylinder cover 1201 are respectively arranged on two sides of the piston cavity corresponding to the knee joint integrated block 11 through screws, the first earring 504 is hinged on the knee joint thigh connecting block 1206 through the first knee joint supporting shaft 1203, the knee joint thigh connecting block 1206 is hinged on the first knee joint supporting plate and the second knee joint supporting plate 1202 through the second knee joint supporting shaft 1204, the first lower cylinder cover 503 is hinged on the first knee joint supporting plate 1201 and the second knee joint supporting plate 1202 through the third knee joint supporting shaft 1205, the second supporting plate 1202, the second knee joint angle sensor 1207 is fixed, and the knee joint angle sensor 1207 is measured through the knee joint angle sensor 1207.
The ankle joint three-position four-way valve assembly 8 comprises a second valve core 801, a second valve sleeve 802, a second valve upper end cover 803 and a second valve lower end cover 804, the second valve core 801 is fixedly connected with an output shaft of an ankle joint valve motor 7, the second valve core 801 and the second valve sleeve 802 are arranged in a mounting hole corresponding to an ankle joint manifold block 13, the second valve sleeve 802 and the ankle joint manifold block 13 are sealed through O-shaped rings, the second valve sleeve 802 is fixed with the ankle joint manifold block 13 through friction force of the O-shaped rings, the second valve sleeve 802 and the second valve core 801 can rotate freely, the second valve upper end cover 803 and the second valve lower end cover 804 are respectively arranged on two sides of the second valve core 801, and the second valve lower end cover 804, the second valve upper end cover 803 and a third motor frame 701 are respectively fixed on the ankle joint manifold block 13 through screws.
The ankle joint hydraulic cylinder component 9 comprises a second piston and piston rod 901, a second upper cylinder cover 902, a second lower cylinder cover 903 and a second ear ring 904, the ankle joint supporting structure component 14 comprises an ankle joint supporting block 1401, a first ankle joint supporting shaft 1402, a second ankle joint supporting shaft 1403, a third ankle joint supporting shaft 1404, a fourth ankle joint supporting shaft 1405, an ankle joint angle sensor 1406 and a foot plate 1407, the second ear ring 904 is in threaded connection with the second piston and the piston rod 901, the second piston and the piston rod 901 are arranged in a piston cavity corresponding to the ankle joint integrated block 13, the second piston and the piston rod 901 are double-rod pistons, the second upper cylinder cover 902 and the second lower cylinder cover 903 are respectively arranged on two sides of the piston cavity corresponding to the ankle joint integrated block 13 through screws, a reset spring 10 is arranged in a lower cavity of the ankle joint hydraulic cylinder component 9 and is respectively fixedly connected with the second piston and the piston rod 903, the second lower cylinder cover 10, the first ankle joint supporting shaft 1402 and the fourth ankle joint supporting shaft 1405 are respectively connected with two sides of the ankle joint integrated block 13 and are arranged in the ankle joint supporting shaft 1403, the ankle joint supporting shaft 1403 and are hinged with the ankle joint supporting shaft 1407 through the ankle joint supporting shaft 1406, the ankle joint supporting shaft 1406 and the ankle joint supporting shaft 1407, and the ankle joint integrated block are respectively, and the ankle joint integrated block 1407, and the ankle joint integrated block are connected with the ankle joint integrated block 13, and the ankle joint supporting shaft 1407, and the ankle joint integrated block on the ankle joint supporting shaft 1406, and the ankle joint supporting shaft 1407, and the ankle joint integrated block 13, and the ankle joint supporting shaft 1407, and the ankle joint integrated block 14 are coaxially connected with the ankle joint supporting shaft 1406, and the ankle joint integrated block on the ankle joint supporting shaft 1407.
Examples
The working principle of the knee-ankle linkage artificial limb based on the closed hydraulic driving circuit is as follows:
referring to fig. 1 to 4, as shown in fig. 4, when the knee joint three-position four-way valve assembly 3 and the ankle joint three-position four-way valve assembly 8 are both in the neutral positions, the knee joint hydraulic cylinder assembly 5 and the ankle joint hydraulic cylinder assembly 9 are both in the locked state, so as to ensure the stability of the prosthetic knee ankle joint when the wearer stands on both feet.
The working process is explained by combining a closed hydraulic driving circuit according to the human body walking behavior example. According to the gait cycle characteristics of the knee ankle joint when a human body walks, the working state of the hydraulic circuit is divided into five processes, which are respectively as follows: standing earlier stage, standing middle stage, standing final stage, swing earlier stage, and swing final stage.
Correspond the earlier stage of standing, knee joint three-position cross valve subassembly 3 should be in the next position, ankle joint three-position cross valve subassembly 8 should be in the next position, at this stage, the knee joint is by driven buckling under the action of the wearer's gravity, because knee joint hydraulic cylinder subassembly 5 is single play pole pneumatic cylinder, during the piston downstream, the hydraulic oil volume that knee joint hydraulic cylinder subassembly 5 lower chamber flowed out is greater than the volume that flows into the epicoele, the hydraulic oil that knee joint hydraulic cylinder subassembly 5 lower chamber flowed out passes through B of knee joint three-position cross valve subassembly 3 1 Mouth and A 1 The port flows into the upper cavity of the knee joint hydraulic cylinder component 5, and simultaneously the residual hydraulic oil passes through the B of the knee joint three-position four-way valve component 3 1 Mouth and P 1 T of three-position four-way valve assembly 8 for mouth and ankle joint 2 Mouth and P 2 The hydraulic oil flows into the low-pressure energy accumulator 6 from the port for storage, the ankle joint is passively plantarflexed under the action of ground reaction force, and the hydraulic oil flowing out of the lower cavity of the ankle joint hydraulic cylinder assembly 9 passes through the B of the ankle joint three-position four-way valve assembly 8 2 Mouth and A 2 The port returns to the upper cavity of the ankle joint hydraulic cylinder assembly 9, and the return spring 10 is in a stretching state.
Corresponding to the middle standing period, the knee joint three-position four-way valve component 3 is required to be positioned at the lower position, the ankle joint three-position four-way valve component 8 is required to be positioned at the lower position, the knee joint is passively stretched under the action of the thigh at the stage, the knee joint hydraulic cylinder component 5 is a single-rod hydraulic cylinder, when the piston moves upwards, the volume of hydraulic oil flowing into the lower cavity of the knee joint hydraulic cylinder component 5 is larger than that of hydraulic oil flowing out of the upper cavity, and the hydraulic oil flowing out of the upper cavity of the knee joint hydraulic cylinder component 5 passes through the A of the knee joint three-position four-way valve component 3 1 Mouth and B 1 The inlet flows into the lower part of the knee joint hydraulic cylinder component 5The hydraulic oil in the cavity and the low-pressure accumulator 6 simultaneously passes through the P of the ankle joint three-position four-way valve assembly 8 2 Mouth and T 2 Three-position four-way valve assembly 3P for knee joints 1 Mouth and B 1 The port flows into the lower cavity of the knee joint hydraulic cylinder component 5 for compensation, the ankle joint is passively dorsiflexed under the action of the gravity of a wearer, and the hydraulic oil flowing out of the upper cavity of the ankle joint hydraulic cylinder component 9 passes through the A of the ankle joint three-position four-way valve component 8 2 Mouth and B 2 The port returns to the lower cavity of the ankle joint hydraulic cylinder assembly 9, and the return spring 10 firstly returns to the initial position and then is finally in a compressed state.
At the later stage of corresponding standing, the knee joint three-position four-way valve component 3 is in the lower position, the ankle joint three-position four-way valve component 8 is in the upper position, the knee joint is passively bent under the action of a thigh at the stage, the knee joint hydraulic cylinder component 5 is a single-rod hydraulic cylinder, when a piston moves downwards, the volume of hydraulic oil flowing out of the lower cavity of the knee joint hydraulic cylinder component 5 is larger than that flowing into the upper cavity, and the hydraulic oil flowing out of the lower cavity of the knee joint hydraulic cylinder component 5 passes through the B position of the knee joint three-position four-way valve component 3 1 Mouth and A 1 The opening flows into the upper cavity of the knee joint hydraulic cylinder component 5, and simultaneously the residual hydraulic oil passes through the B of the knee joint three-position four-way valve component 3 1 Mouth and P 1 T of three-position four-way valve assembly 8 for mouth and ankle joint 2 Mouth and A 2 The port flows into the upper cavity of the ankle joint hydraulic cylinder assembly 9 to push the ankle joint hydraulic cylinder to enable the ankle joint to perform plantarflexion movement, so that the direct linkage of the knee and the ankle is realized, meanwhile, the knee and ankle linkage rigidity can be adjusted by controlling the position and the size of the opening of the ankle joint three-position four-way valve, the ankle joint plantarflexion under the linkage action of the knee and the ankle, and the hydraulic oil flowing out of the lower cavity of the ankle joint hydraulic cylinder assembly 9 passes through the B of the ankle joint three-position four-way valve assembly 8 2 Mouth and P 2 The port flows into the low pressure accumulator 6 for storage and the return spring 10 returns to the initial position and is finally in a compressed state.
Corresponding to the swing buckling period, the knee joint three-position four-way valve component 3 is required to be positioned at the lower position, the ankle joint three-position four-way valve component 8 is required to be positioned at the lower position, in the stage, the knee joint is passively buckled under the inertia of the artificial limb, because the knee joint hydraulic cylinder component 5 is a single-rod hydraulic cylinder, when the piston moves downwards, hydraulic oil flowing out of the lower cavity of the knee joint hydraulic cylinder component 5 flows outThe volume is larger than the volume flowing into the upper cavity, and the hydraulic oil flowing out of the lower cavity of the knee joint hydraulic cylinder component 5 passes through the B part of the knee joint three-position four-way valve component 3 1 Mouth and A 1 The opening flows into the upper cavity of the knee joint hydraulic cylinder component 5, and simultaneously the residual hydraulic oil passes through the B of the knee joint three-position four-way valve component 3 1 Mouth and P 1 T of three-position four-way valve assembly 8 for mouth and ankle joints 2 Mouth and P 2 The port flows into the low-pressure energy accumulator 6 for storage, the ankle joint is passively dorsiflexed under the action of the return spring 10, and the hydraulic oil flowing out of the upper cavity of the ankle joint hydraulic cylinder assembly 9 passes through the A of the ankle joint three-position four-way valve assembly 8 2 Mouth and B 2 The port returns to the lower cavity of the ankle joint hydraulic cylinder assembly 9. The return spring 10 is reduced in compression but still in a compressed state.
Corresponding to the swing extension period, the knee joint three-position four-way valve component 3 is positioned at the upper position, the ankle joint three-position four-way valve component 8 is positioned at the lower position, in the stage, the active driving motor 1 and the hydraulic pump 2 work, the knee joint actively extends, because the knee joint hydraulic cylinder component 5 is a single-rod hydraulic cylinder, when the piston moves upwards, the volume of the hydraulic oil flowing into the lower cavity of the knee joint hydraulic cylinder component 5 is larger than the volume of the flowing upper cavity, and the hydraulic oil flowing out of the upper cavity of the knee joint hydraulic cylinder component 5 passes through the A of the knee joint three-position four-way valve component 3 1 Mouth and T 1 The port enters the port A of the hydraulic pump, and the hydraulic oil in the low-pressure accumulator 6 passes through the P of the ankle joint three-position four-way valve assembly 8 2 Mouth and T 2 Three-position four-way valve assembly 3P for knee joints 1 Mouth and T 1 The port enters a port A of a hydraulic pump for compensation, hydraulic oil at the port A enters a lower cavity of a hydraulic cylinder of the knee joint through a port B after being pressurized by a driving motor 1 and a hydraulic pump 2 to push the knee joint to actively extend until the knee joint is completely extended, a three-position four-way valve component 3 of the knee joint is switched to a middle position, the driving motor 1 and the hydraulic pump 2 stop working at the same time to prepare for the next gait cycle, the ankle joint continues to passively dorsiflex under the action of a reset spring 10, and hydraulic oil flowing out of an upper cavity of an ankle joint hydraulic cylinder component 9 passes through a port A of an ankle joint three-position four-way valve component 8 2 Mouth and B 2 The mouth returns the lower cavity of the ankle joint hydraulic cylinder assembly 9, when the angle of the ankle joint is zero, the ankle joint three-position four-way valve assembly 8 is switched to the middle position, the ankle joint is locked, and the reset spring 10 returns to the beginningIn the initial state, the next gait cycle is prepared.
As shown in fig. 5 to 8, the knee joint valve motor 4 is fixed on the second motor frame 401, the output shaft of the knee joint valve motor 4 is fixed with the first valve core 301 through a set screw, the corresponding oil holes machined on the outer side surface of the first valve sleeve 302 are respectively communicated with the oil passage inside the knee joint manifold block 11, and correspond to the oil passage B of the knee joint three-position four-way valve assembly 3 in sequence 1 Mouth, P 1 Mouth, A 1 Mouth, T 1 The ports are sealed and separated through the sealing rings, the first valve sleeve 302 and the sealing rings are installed in corresponding holes in the knee joint manifold block 11, and the sealing rings are pressed to generate large friction force, so that the first valve sleeve 302 and the knee joint manifold block 11 do not move relatively when the knee joint three-position four-way valve assembly 3 works. Grooves with different shapes are machined in the surface of the first valve core 301, clearance sealing is adopted between the first valve core 301 and the first valve sleeve 302, the first valve core 301 can rotate freely, when the first valve core 301 rotates in the first valve sleeve 302, communication of different oil ways can be controlled by switching the rotation angle, control over movement of the knee joint of the prosthesis is achieved, the first valve upper end cover 303 and the first valve lower end cover 304 are respectively installed on two sides of the first valve core 301, and the first valve lower end cover 304, the first valve upper end cover 303 and the second motor frame 401 are respectively fixed to two ends of corresponding holes of the knee joint integrated block 11 through screws.
As shown in FIG. 6, the first valve core 301 is positioned to provide T of the knee joint three-position four-way valve assembly 3 1 Mouth, A 1 Mouth and P 1 The ports are communicated with each other, and correspond to the upper position of the knee joint three-position four-way valve component 3 in the figure 4.
As shown in FIG. 7, the first valve core 301 is positioned to provide T of the knee joint three-position four-way valve assembly 3 1 Mouth, A 1 Mouth, P 1 Mouth, B 1 The ports are not communicated with each other, which corresponds to the middle position of the knee joint three-position four-way valve component 3 in the figure 4.
As shown in FIG. 8, the first valve core 301 is positioned to make A of the knee joint three-position four-way valve assembly 3 1 Mouth, P 1 Mouth and B 1 The ports communicate with each other and correspond to the lower position of the knee joint three-position four-way valve assembly 3 in figure 4.
As shown in fig. 8 to 12, ankle jointThe joint valve motor 7 is fixed on the third motor frame 701, the output shaft of the ankle joint valve motor 7 is fixed with the second valve spool 801, the corresponding oil holes processed on the outer side surface of the second valve sleeve 802 are respectively communicated with the internal oil circuit of the knee joint integrated block 13, and the corresponding oil holes are sequentially B of the ankle joint three-position four-way valve component 8 2 Mouth, A 2 Mouth, T 2 Mouth, P 2 The ports are sealed and separated through the sealing rings between the oil ports, the second valve sleeve 802 and the sealing rings are installed in corresponding holes in the ankle joint integrated block 13, the sealing rings are pressed to generate large friction force, so that the ankle joint three-position four-way valve assembly 8 does not generate relative motion between the second valve sleeve 802 and the ankle joint integrated block 13 when in work, grooves and holes in different shapes are machined in the surface and inside of the second valve spool 801, a process hole in the tail portion is sealed through a sealing plug, the second valve spool 801 and the second valve sleeve 802 are sealed through gaps, the second valve spool 801 can rotate freely, when the second valve spool 801 rotates in the second valve spool 802, the communication of different oil ways can be controlled through switching of the rotating angle, and the control of motion of the artificial limb ankle joint is achieved. The second valve upper end cover 803 and the second valve lower end cover 804 are respectively installed at two sides of the second valve core 801, and the second valve lower end cover 804, the second valve upper end cover 803 and the third motor frame 701 are respectively fixed at two ends of the ankle joint integrated block 13 through screws. The second earring 904 is connected with the second piston and the second hydraulic rod 901 through threads, the second piston and the second hydraulic rod 901 are arranged in a corresponding piston cavity of the ankle integrated block 13, the second upper cylinder cover 902 and the second lower cylinder cover 903 are respectively arranged on two sides of the piston cavity corresponding to the ankle integrated block 13 through screws, and the reset spring 10 is arranged in the lower cavity of the ankle hydraulic cylinder assembly 9 and is fixedly connected with the second piston, the second piston and the second hydraulic rod 901 and the second lower cylinder cover 903 respectively.
As shown in FIG. 10, the second spool 801 is positioned such that the P of the ankle three-position, four-way valve assembly 8 is 2 Mouth and B 2 Port communication while allowing T 2 Mouth and A 2 The ports are communicated, corresponding to the upper position of the ankle joint three-position four-way valve assembly 8 in figure 4.
As shown in FIG. 11, the second spool 801 is positioned such that P of the ankle three-position, four-way valve assembly 8 is 2 Mouth and T 2 The ports are communicated, and the other ports are not communicated, which corresponds to the ankle joint three-position four-way valve in figure 4The neutral position of the assembly 8.
As shown in FIG. 12, the second spool 801 is positioned such that the P of the ankle three-position, four-way valve assembly 8 is 2 Mouth and T 2 The ports are communicated while making A 2 Mouth and B 2 The ports are in communication, corresponding to the lower position of the ankle joint three-position four-way valve assembly 8 in figure 4.
As shown in figures 13 and 14, when the hydraulic hose 17 is removed from the knee-ankle joint prosthesis of the present invention, the low pressure accumulator 6 is removed from the ankle joint block 13 and connected to the knee joint block 11, which is equivalent to P of the knee joint three-position four-way valve assembly 3 in figure 4 1 The port is directly connected with the low-pressure accumulator 6, and two holes on the ankle joint integrated block 13 caused by the disassembly element are sealed by a first sealing bolt 1801 and a second sealing bolt 1802, which is equivalent to P of an ankle joint three-position four-way valve assembly 8 2 Mouth and T 2 The port is directly closed and not connected to other elements. As shown in fig. 13, the pressure sensor 15 may be used alone as an adjustable damping hydraulic ankle prosthesis down to the foot plate 1407 and the ankle three-position four-way valve assembly 8 need only be switched between the neutral and down positions. As shown in fig. 14, the knee-ankle connecting block 16 up to the knee-thigh connecting block 1206 can be used as a power hydraulic knee joint prosthesis alone, and the knee-joint three-position four-way valve assembly 3 is switched among an upper position, a middle position and a lower position, wherein the middle position can ensure the two-way locking of the knee-joint hydraulic cylinder assembly 5.
In the drawings, to better illustrate the structure and the components related to the present invention, the description and illustration of a part of the hydraulic seal ring are omitted, and for those skilled in the art, the specific meaning of the contents can be understood in specific situations.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Claims (5)

1. The utility model provides a knee ankle linkage artificial limb based on closed hydraulic drive return circuit which characterized in that: comprises an active driving motor (1), a first motor frame (101), a hydraulic pump (2), a knee joint three-position four-way valve component (3), a knee joint valve motor (4), a second motor frame (401), a knee joint hydraulic cylinder component (5), a low-pressure energy accumulator (6), an ankle joint valve motor (7), a third motor frame (701), an ankle joint three-position four-way valve component (8), an ankle joint hydraulic cylinder component (9), a reset spring (10), a knee joint integrated block (11), a knee joint supporting structure component (12), an ankle joint integrated block (13), an ankle joint supporting structure component (14), a pressure sensor (15), a knee and ankle connecting block (16) and a hydraulic hose (17), wherein the active driving motor (1) is fixed on the first motor frame (101), an output shaft of the active driving motor (1) is directly connected with a rotating shaft of the hydraulic pump (2), the hydraulic pump (2) is arranged on the knee joint integrated block (11) and corresponds to the inside a mounting hole, the first motor frame (101) and the hydraulic pump (2) are fixed with the knee joint integrated block (11) through bolts, the knee joint valve motor (4) is fixed on the second motor frame (401), and a valve spool of the first motor (301), the knee joint three-position four-way valve component (3) is arranged on a knee joint integrated block (11), the outer side surface of the knee joint three-position four-way valve component (3) is provided with a corresponding oil hole which is communicated with an internal oil circuit of the knee joint integrated block (11), a knee joint hydraulic cylinder component (5) is hinged on the knee joint supporting structure component (12), a pressure sensor (15) and a knee ankle connecting block (16) are sequentially fixed below the knee joint supporting structure component (12), the lower end of the knee ankle connecting block (16) is fixedly connected with the upper part of an ankle joint supporting structure component (14), an ankle joint valve motor (7) is fixed on a third motor frame (701), the third motor frame (701) is fixed on the ankle joint integrated block (13) through screws, an ankle joint three-position four-way valve component (8) is arranged on the ankle joint integrated block (13), the outer side surface of the ankle joint three-position four-way valve component (8) is provided with a corresponding oil hole which is arranged on the outer side surface of the ankle joint integrated block (13), a second valve spool (801) is fixedly connected with an internal oil circuit of the ankle joint integrated block (13), a second valve spool (9) is hinged on the ankle joint integrated block (13), and a piston rod assembly (901) and a piston rod assembly (17) which are respectively connected with the ankle joint integrated block (13), oil passages used for connecting all elements are processed inside the knee joint integrated block (11) and the ankle joint integrated block (13), process holes in the surfaces of the knee joint integrated block (11) and the ankle joint integrated block (13) are sealed through sealing bolts or sealing plugs, grooves or holes in different shapes are processed in the surfaces of the first valve core (301) and the second valve core (801), and control over movement of the artificial limb joint is achieved.
2. The knee-ankle linkage artificial limb based on the closed hydraulic drive circuit as claimed in claim 1, characterized in that: the knee joint three-position four-way valve assembly (3) comprises a first valve core (301), a first valve sleeve (302), a first valve upper end cover (303) and a first valve lower end cover (304), wherein the first valve core (301) is fixed with an output shaft of a knee joint valve motor (4) through a set screw, the first valve core (301) and the first valve sleeve (302) are arranged in a corresponding mounting hole of a knee joint manifold block (11), the first valve sleeve (302) and the knee joint manifold block (11) are sealed through an O-shaped ring, the first valve sleeve (302) is fixed with the knee joint manifold block (11) through the friction force of the O-shaped ring, the first valve sleeve (302) and the first valve core (301) can freely rotate, the first valve upper end cover (303) and the first valve lower end cover (304) are respectively arranged on two sides of the first valve core (301), and the first valve lower end cover (304), the first valve upper end cover (303) and the second motor frame (401) are respectively fixed on the knee joint manifold block (11) through screws.
3. The knee-ankle linkage artificial limb based on the closed hydraulic drive circuit as claimed in claim 2, characterized in that: the knee joint hydraulic cylinder component (5) comprises a first piston and piston rod (501), a first upper cylinder cover (502), a first lower cylinder cover (503) and a first earring (504), the knee joint supporting structure component (12) comprises a knee joint first supporting plate (1201), a knee joint second supporting plate (1202), a knee joint first supporting shaft (1203), a knee joint second supporting shaft (1204), a knee joint third supporting shaft (1205), a knee joint thigh connecting block (1206) and a knee joint angle sensor (1207), the first earring (504) is in threaded connection with the first piston and the piston rod (501), the first piston and the piston rod (501) are arranged in a piston cavity corresponding to the knee joint manifold block (11), the first piston and the piston rod (501) are single-rod pistons, the first upper cylinder cover (502) and the first lower cylinder cover (503) are respectively arranged on two sides of the piston cavity corresponding to the knee joint manifold block (11) through screws, the first earring (504) is hinged on the knee joint thigh connecting block (1206) through the knee joint first supporting shaft (1203), the knee joint connecting block (1206) is hinged on the knee joint first supporting shaft (1202) and the second supporting plate (1202), the first knee joint support plate (1201) and the second knee joint support plate (1202) are fixed through bolts, the knee joint angle sensor (1207) is fixed on the outer side of the first knee joint support plate (1201), and a measuring shaft of the knee joint angle sensor (1207) is connected with the second knee joint support shaft (1204).
4. The knee-ankle linkage artificial limb based on the closed hydraulic drive circuit as claimed in claim 3, is characterized in that: the ankle joint three-position four-way valve assembly (8) comprises a second valve core (801), a second valve sleeve (802), a second valve upper end cover (803) and a second valve lower end cover (804), wherein the second valve core (801) is fixedly connected with an output shaft of an ankle joint valve motor (7), the second valve core (801) and the second valve sleeve (802) are arranged in a mounting hole corresponding to an ankle joint manifold block (13), the second valve sleeve (802) and the ankle joint manifold block (13) are sealed by adopting O-shaped rings, the second valve sleeve (802) is fixed with the ankle joint manifold block (13) through the friction force of the O-shaped rings, the second valve sleeve (802) and the second valve core (801) can freely rotate, the second valve upper end cover (803) and the second valve lower end cover (804) are respectively arranged on two sides of the second valve core (801), and the second valve lower end cover (804), the second valve upper end cover (803) and a third motor frame (701) are respectively fixed on the ankle joint manifold block (13) through screws.
5. A knee-ankle linkage prosthesis based on a closed hydraulic drive circuit according to claim 4, characterized in that: the ankle joint hydraulic cylinder component (9) comprises a second piston and a piston rod (901), a second upper cylinder cover (902), a second lower cylinder cover (903) and a second ear ring (904), the ankle joint supporting structure component (14) comprises an ankle joint supporting block (1401), an ankle joint first supporting shaft (1402), an ankle joint second supporting shaft (1403), an ankle joint third supporting shaft (1404), an ankle joint fourth supporting shaft (1405), an ankle joint angle sensor (1406) and a foot plate (1407), the second ear ring (904) is in threaded connection with the second piston and the piston rod (901), the second piston and the piston rod (901) are arranged in a piston cavity corresponding to the ankle joint integrated block (13), the second piston and the piston rod (901) are double-rod-out pistons, the second upper cylinder cover (902) and the second lower cylinder cover (903) are respectively arranged on two sides of the ankle joint block (13) corresponding to the piston cavity, a reset spring (10) is arranged in the lower cavity of the ankle joint hydraulic cylinder component (9) and respectively corresponds to the second piston rod (902), the second upper cylinder cover (902) and the second lower cylinder cover (903) is fixedly connected with the ankle joint supporting shaft (1405) and the fourth supporting shaft (1405) and the ankle joint supporting shaft (1405) and the second piston rod (1402) is respectively arranged in the corresponding to the second piston rod hole, the ankle integrated block (13) is hinged to the ankle supporting block (1401) through an ankle first supporting shaft (1402) and an ankle fourth supporting shaft (1405), a foot plate (1407) is hinged to the bottom of the ankle supporting block (1401) through an ankle second supporting shaft (1403), a second ear ring (904) is hinged to the foot plate (1407) through an ankle third supporting shaft (1404), an ankle angle sensor (1406) is fixed to the outer side of the ankle supporting block (1401), and a measuring shaft of the ankle angle sensor (1406) is connected with the ankle second supporting shaft (1403).
CN202211179320.9A 2022-09-27 2022-09-27 Knee and ankle linkage artificial limb based on closed hydraulic drive circuit Pending CN115590661A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211179320.9A CN115590661A (en) 2022-09-27 2022-09-27 Knee and ankle linkage artificial limb based on closed hydraulic drive circuit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211179320.9A CN115590661A (en) 2022-09-27 2022-09-27 Knee and ankle linkage artificial limb based on closed hydraulic drive circuit

Publications (1)

Publication Number Publication Date
CN115590661A true CN115590661A (en) 2023-01-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211179320.9A Pending CN115590661A (en) 2022-09-27 2022-09-27 Knee and ankle linkage artificial limb based on closed hydraulic drive circuit

Country Status (1)

Country Link
CN (1) CN115590661A (en)

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