CN115737223A - Single-shaft active-passive hybrid drive intelligent artificial limb knee joint structure with energy recovery function - Google Patents

Abstract

The invention discloses a single-shaft active and passive hybrid drive intelligent artificial limb knee joint structure with an energy recovery function, which comprises a joint rotation module, a gear transmission module, a hydraulic damping module, a rack and a motor, wherein the joint rotation module is connected with the gear transmission module; the gear transmission module comprises a primary bevel gear transmission system, a secondary bevel gear transmission system, a synchronous belt wheel transmission assembly and a transmission rack; the motor is fixed on the transmission rack; in the active stage, the motor provides active driving torque for the knee joint through the gear transmission module and the joint rotation module; in the passive stage, the joint rotation module transmits the knee joint passive torque to the motor through the gear transmission module, and the driving motor rotates, so that the motor generates electricity and recovers energy, and meanwhile, the hydraulic damping module provides damping torque to ensure the stability of the knee joint. The invention can obtain the required damping or driving torque in various use occasions, can reduce the electric quantity consumption of the motor by recovering the passive torque of the knee joint in the passive stage, and improves the working endurance of the intelligent artificial limb.

Description

Single-shaft active-passive hybrid-driven intelligent artificial limb knee joint structure with energy recovery function

Technical Field

The invention relates to the technical field of human body rehabilitation aids, in particular to a single-shaft active and passive hybrid drive intelligent artificial limb knee joint structure with an energy recovery function.

Background

With the increase of lower limb amputation patients and the continuous development of technologies such as micro-electronics and control, the intelligent lower limb prosthesis gradually becomes a research hotspot in the field of rehabilitation robots. As a core component of lower limb prosthesis systems, high performance knee prosthesis designs remain a major technical difficulty in current prosthesis designs. Currently, the existing intelligent artificial limb knee joint can be divided into a passive type and an active type according to a joint driving mode. When the passive artificial limb knee joint walks, the knee joint damping moment is adjusted according to the change of external conditions to realize gait adjustment, but the passive artificial limb knee joint cannot assist a patient to go upstairs because the active moment is not provided. The active artificial limb knee joint can replace leg muscles to provide torque, so that a wearer can better finish walking modes needing active torque such as going upstairs and the like, but the active artificial limb knee joint has the defects of higher energy consumption, larger volume and weight of a battery, short endurance time and the like. At present, three ways of adjusting damping in the artificial knee joint mainly comprise magnetorheological, pneumatic and hydraulic. The magneto-rheological intelligent knee joint achieves the effect of adjusting damping by changing the magnetic field intensity through changing the current, but the viscosity change of the magneto-rheological fluid is closely related to the magnetic field, the requirements on magneto-rheological fluid materials are high, and the magneto-rheological intelligent knee joint is not easy to control and improve the productivity. The opening degree of the valve inside the damping cylinder is adjusted through the microprocessor driving motor in hydraulic pressure and air pressure, so that the aim of adjusting damping is achieved, but the stability of the supporting performance of the air pressure knee joint is unreliable, and safety accidents are easily caused.

Chinese patent inventions with publication numbers CN105769395A, CN106726028B, CN106539633A and CN107035808A all propose electrically controlled hydraulic damping cylinder structures for intelligent knee joint prosthesis, but the electrically controlled hydraulic damping cylinder structures are pure damping type essentially, and can not provide main moment when climbing stairs and slopes. Chinese patent publication No. CN102065799A discloses a semi-driven artificial knee joint device, which realizes driving and non-driving modes by a hydraulic pump and a damping adjusting valve, but the hydraulic valve loop is complex and especially complex, and the hydraulic pump and the electric motor make the structure complex and heavy. Chinese patent publications CN109806037A and CN111110409B disclose an active and passive hybrid control type hydraulic four-bar artificial limb knee joint, which also realizes the control of driving and damping by a hydraulic pump and a damping adjusting valve, but the four-bar mechanism is directly controlled by a motor, because the four-bar mechanism has a multi-axis rotation center, the loss is large in the driving process of the driving moment, and the self-locking moment of the stepping motor needs a magnetic powder clutch to ensure that the moment does not influence the passive control stage when the stepping motor is powered off, and the position where the motor is placed is close to the human body, which is not beneficial to the safety of the human body.

Therefore, those skilled in the art have been devoted to developing a single-axis active-passive hybrid intelligent prosthetic knee joint structure with energy recovery function to overcome the problems of the prior art.

Disclosure of Invention

In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to provide an active and passive hybrid driving intelligent artificial limb knee joint structure with an energy recovery function, wherein the artificial limb provides a more efficient and accurate active torque for the knee joint through a motor and a transmission mechanism in an active stage, a joint rotation module converts a passive torque into a driving torque of the motor through a transmission module in a passive stage, converts kinetic energy into electric energy and stores the electric energy, increases the working endurance capacity of the artificial limb, and simultaneously provides a certain damping torque and flexibility through a hydraulic damper of a voice coil motor control valve to ensure the bionic nature of the artificial limb movement.

In order to achieve the purpose, the invention provides a single-shaft active and passive hybrid drive intelligent artificial limb knee joint structure with an energy recovery function, which comprises a joint rotation module, a gear transmission module, a hydraulic damping module, a rack and a motor, wherein the rack is arranged on the upper part of the knee joint; the joint rotating module is pivotally connected with the rack, and the gear transmission module and the hydraulic damping module are fixedly connected with the rack; the gear transmission module comprises a primary bevel gear transmission system, a secondary bevel gear transmission system, a synchronous belt wheel transmission assembly and a transmission rack; the motor is fixed on the transmission rack; in the active knee joint stage, the motor provides active driving torque for the knee joint through the gear transmission module and the joint rotation module; in the passive stage of the knee joint, the joint rotation module transmits the passive moment of the knee joint to the motor through the gear transmission module, and the motor is driven to rotate, so that the motor generates electricity and recovers energy, and meanwhile, the hydraulic damping module provides damping moment to ensure the stability of the knee joint.

Furthermore, the joint rotation module comprises a small quadrangular frustum pyramid, an upper connecting rod, a rotation shaft, a torque sensor, an attitude sensor, a connecting rod shaft and a connecting rod; little four prismatic table with go up connecting rod fixed connection, the both ends of axis of rotation are provided with first bearing and second bearing, the inboard of first bearing and second bearing carries out the axial fixity through the axle sleeve, the outside of first bearing carries out the terminal surface through the axis of rotation jump ring and fixes, the axis of rotation both ends pass through with last connecting rod but first bearing and second bearing pivotal connection, one side of torque sensor with axis of rotation fixed connection, torque sensor's opposite side with gear drive module fixed connection, attitude sensor passes through the attitude sensor fixed block and is connected to the side of last connecting rod, connecting rod axle both ends with but last connecting rod pivotal connection, the upper end of connecting rod with but connecting rod axle pivotal connection.

Furthermore, the primary bevel gear transmission system comprises a small bevel gear and a large bevel gear, the secondary gear transmission system comprises a small gear and a large gear, the synchronous pulley transmission assembly comprises a small belt pulley and a large belt pulley, the transmission rack is fixed on two sides of the rack, an output shaft of the motor is fixedly connected with the small bevel gear, the small bevel gear is meshed with the large bevel gear, the large bevel gear is connected with the small gear through a flat key, the large gear is meshed with the small gear, a shaft end of the large gear is connected with the small belt pulley through a flat key, the small belt pulley is connected to the large belt pulley through a synchronous belt, and the large belt pulley is fixedly connected with the torque sensor.

Furthermore, a third bearing and a fourth bearing are arranged at two ends of the large gear to realize the stability of transmission.

Further, the hydraulic damping module includes the pneumatic cylinder, adjusts seat, accumulator, needle valve, voice coil motor, the pneumatic cylinder pass through the piston rod with but the lower extreme pivotal connection of connecting rod, adjust the seat with the pneumatic cylinder links to each other, be equipped with the bucking oil duct in the regulation seat and extend the oil duct, the needle valve sets up in the bucking oil duct, the accumulator sets up adjust the upper portion of seat, voice coil motor drive the needle valve, through control the needle valve with the coincidence degree of bucking oil duct is adjusted the flow of oil duct to the realization is adjusted the bucking damping of knee joint.

Further, the hydraulic cylinder comprises a piston rod, a cylinder cover, a cylinder body and a piston, the piston rod is connected with the lower end of the connecting rod in a pivoting mode, the cylinder cover is connected with the upper end of the cylinder body in a threaded mode, and the piston is connected with the lower end of the piston rod in a threaded mode and can be connected in the cylinder body in a sliding mode.

Furthermore, a first check valve and a second check valve are arranged in the adjusting seat and are used for respectively controlling the flow direction of hydraulic oil in the buckling oil passage and the extending oil passage.

Furthermore, the energy accumulator comprises an energy storage piston, an energy storage cavity sealing cover and a stop block, wherein an energy storage cavity is arranged on the upper portion of the adjusting seat, the energy storage piston is arranged in the energy storage cavity, the energy storage cavity sealing cover is used for sealing the energy storage cavity, and the stop block is fixedly connected with the adjusting seat.

Further, needle valve bottom and needle valve connecting axle threaded connection, voice coil motor's output with the bottom fixed connection of needle valve connecting axle, voice coil motor's bottom and motor fixing base fixed connection, the motor fixing base with adjust a fixed connection, voice coil motor control passes the thimble guide block the needle valve with in the regulation seat the coincidence degree of bucking the oil duct.

Further, when the piston moves downwards, hydraulic oil returns to an upper oil cavity of the hydraulic cylinder through the extension oil passage, the motor provides driving torque for the joint rotation module through the gear transmission module during active extension of the knee joint, and the hydraulic damping module does not provide damping; when the piston moves upwards, hydraulic oil returns to the lower oil cavity through the buckling oil passage, and the voice coil motor adjusts the flow of the buckling oil passage by controlling the coincidence degree of the needle valve and the buckling oil passage so as to control the buckling damping.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

1. the utility model provides a unipolar owner passive hybrid-driven intelligence artificial limb knee joint structure with energy recuperation function, can provide the initiative moment for the patient under the circumstances that the occasion needs the knee joint to provide the initiative moment such as patient upslope, climb stair, under the condition that needs the knee joint to provide the passive moment in scenes such as patient downhill path and lower stair, turn into the drive moment of motor with the passive moment through the transmission module, turn into the electric energy and save with kinetic energy, increase the work duration of artificial limb, the hydraulic damper through voice coil motor control valve provides certain damping moment and pliability in order to guarantee the imitative nature of artificial limb motion simultaneously.

2. The motor directly transmits the driving moment to the joint rotation module through the transmission mechanism, so that the driving moment can directly drive the knee joint to rotate, and the driving efficiency of the motor is improved.

3. The knee joint rotating module is provided with the attitude sensor and the moment sensor, so that the torque and the position condition of the knee joint can be detected in real time, and the real-time moment can be accurately provided for the knee joint by combining the high-precision position positioning of the voice coil motor.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1a is an overall schematic view of a preferred embodiment of the present invention;

FIG. 1b is a general schematic view from another angle of a preferred embodiment of the present invention;

FIG. 2 is a block diagram of a preferred embodiment of the present invention;

FIG. 3 is an exploded view of the articulation module of a preferred embodiment of the present invention;

FIG. 4 is an exploded view of a gear transmission module in accordance with a preferred embodiment of the present invention;

FIG. 5 is an exploded view of a hydraulic damping module according to a preferred embodiment of the present invention;

FIG. 6 is a cross-sectional view of the hydraulic damping module extension gallery of a preferred embodiment of the present invention;

FIG. 7 is a cross-sectional view of the hydraulic damping module buckling oil passage of a preferred embodiment of the present invention.

Wherein, 1-joint rotation module, 2-gear transmission module, 3-hydraulic damping module, 4-frame, 5-motor, 6-silica gel lock small rectangular pyramid, 101-small rectangular pyramid, 102-upper connecting rod, 103-first bearing, 104-rotation shaft, 105-torque sensor, 106-shaft sleeve 106, 107-second bearing, 108-rotation shaft snap spring, 109-attitude sensor fixing block, 110-attitude sensor, 111-connecting rod, 112-connecting rod shaft 112, 201-transmission frame, 202-large bevel gear, 203-small bevel gear, 204-large gear, 205-small gear, 206-small belt wheel, 207-synchronous belt, 208-large belt wheel, 209-primary transmission shaft, 210-third bearing, 211-fourth bearing, 212-fifth bearing, 213-gland, 214-sixth bearing, 301-piston rod, 302-cylinder cover, 303-piston, 304-cylinder body, 305-adjusting seat, 306-energy storage piston, 307-energy storage cavity sealing cover, 308-stop block, 309-needle valve, 310-thimble guide block, 311-needle valve connecting shaft, 312-voice coil motor, 313-motor fixing seat, 314-second one-way valve, 315-first one-way valve, 3051-energy storage cavity, 3141-extension oil channel and 3151-flexion oil channel.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings for clarity and understanding of technical contents. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

The invention provides an active and passive hybrid driving intelligent artificial limb knee joint structure with an energy recovery function. In the situations (passive stages) requiring the knee joint passive torque such as flat ground, downstairs, downhill and the like, the joint rotation module transmits the passive torque back to the motor through the gear transmission module, drives the motor to generate power and recovers and stores kinetic energy. Meanwhile, for the stability of the artificial limb in the passive stage, the voice coil motor controls the overlapping area of the needle valve and the buckling oil duct, controls the flow of the buckling oil duct, further controls the damping of the hydraulic cylinder and provides proper damping torque for the knee joint; through the design of active and passive hybrid drive intelligent control structure for in various use occasions, the patient can both obtain required damping or drive moment, not only can alleviate the electric quantity consumption of motor through retrieving the passive moment of passive stage knee joint simultaneously, and the electric quantity of storing has improved the work duration of intelligent artificial limb.

The invention provides a single-shaft active and passive hybrid driving intelligent artificial limb knee joint structure with energy recovery function, which comprises a joint rotation module, a gear transmission module, a hydraulic damping module and a rack, wherein the joint rotation module is connected with the gear transmission module; the gear transmission module comprises a primary bevel gear transmission system, a secondary bevel gear transmission system, a synchronous belt wheel transmission assembly and a transmission rack; the motor is fixed on the transmission frame, provides driving torque in the active stage, and provides active driving torque for the knee joint through the gear transmission module. The passive stage joint rotation module transmits the knee joint passive torque to the motor through the gear transmission module, the driving motor rotates, and therefore energy recovery through motor power generation is achieved, and meanwhile the voice coil motor provides damping torque to the pressure of the upper oil cavity and the lower oil cavity of the hydraulic cylinder through the control needle valve to guarantee the stability of the knee joint. The knee joint power supply device has the advantages that the motor in the active stage serves as a driving motor to provide active torque for the knee joint through the motion characteristics of active and passive mixed motion of the knee joint, the energy recovery of negative power in the passive stage of the knee joint is realized while the stability of the knee joint is guaranteed by the damping characteristics of the hydraulic cylinder in the passive stage, the recovered energy is stored and is supplied for components of the knee joint, the energy consumption of the knee joint is reduced, the problems of high energy consumption and high quality of the knee joint of a power artificial limb are solved, and the working endurance capacity of intelligent value is improved under the same quality.

Examples

The embodiment provides a single-shaft active and passive hybrid driving intelligent artificial limb knee joint structure with an energy recovery function.

As shown in fig. 1a, 1b and 2, the hydraulic damping device comprises a joint rotation module 1, a gear transmission module 2, a hydraulic damping module 3, a frame 4, a motor 5 and a small rectangular pyramid 6 of a silica gel lock.

The joint rotating module 1 is hinged with the rack through a rotating shaft 104, the gear transmission module 2 is fixedly connected with the rack 4 through screws, the hydraulic damping module 3 is fixedly connected with the two sides of the rack 4 through screws, and the silica gel lock small rectangular pyramid 6 is fixedly connected with the bottom of the rack 4 through threads. The silica gel lock small rectangular pyramid 6 is a standard component for connecting the artificial knee joint and the artificial foot.

Fig. 3 is an exploded view of the joint rotation module 1, and the joint rotation module 1 includes a truncated pyramid 101, an upper link 102, a rotation shaft 104, a torque sensor 105, a link shaft 112, and a link 111.

Little four-edged terrace 101 is fixed with upper connecting rod 102 through the screw, the both ends of axis of rotation 104 set up first bearing 103 and second bearing 107, the inboard of first bearing 103 and second bearing 107 carries out axial fixity through axle sleeve 106, the end fixing is carried out through axis of rotation jump ring 108 in the first bearing 103 outside, axis of rotation 104 both ends and upper connecting rod 102 are through first bearing 103 and second bearing 107 pin joint, one side of torque sensor 105 is through screw and axis of rotation 104 fixed connection, the opposite side of torque sensor 105 is fixed with big band pulley 208 through the screw, realize the moment transmission of joint rotation module 1 and gear drive module 2, attitude sensor fixed block 109 fixes attitude sensor 110 in upper connecting rod 102 side through the screw, connecting rod 112 both ends and upper connecting rod 102 pin joint, connecting rod 111 upper end and connecting rod 112 pin joint. The small quadrangular frustum pyramid 101 is a standard part for fixedly connecting the knee joint of the artificial limb and the receiving cavity of the residual thigh.

Fig. 4 is an exploded view of the gear transmission module 2, and the gear transmission module 2 includes a transmission frame 201, a small bevel gear 203, a large bevel gear 202, a small gear 205, a large gear 204, a small pulley 206, and a large pulley 208.

The transmission frame 201 is fixed on two sides of the frame 4 through screws, and the output shaft of the motor 5 is fixed with the bevel pinion 203 through screws; the small bevel gear 203 is in meshed transmission with the large bevel gear 202 to transmit output torque to the large bevel gear 202, the large bevel gear 202 transmits torque to the small gear 205 through the primary transmission shaft 209, and the large bevel gear 202 and the small gear 205 are in flat key connection with the primary transmission shaft 209 to realize synchronous rotation; a third bearing 210 and a sixth bearing 214 are arranged at two ends of the small gear 205 to realize transmission stability, the large gear 204 is in meshing transmission with the small gear 205, and the shaft end of the large gear 204 is in flat key connection with the small belt pulley 206 to realize synchronous rotation; the small belt wheel 206 is connected with the large belt wheel 208 through a synchronous belt 207, and a fourth bearing 211 and a fifth bearing 212 are arranged at two ends of the large gear 204, so that the stability of transmission is realized; the large belt wheel 208 is connected with the torque sensor 105 through a screw to transmit torque to the joint rotating module 1; the third bearing 210 and the fourth bearing 211 are mounted on the transmission frame 201, and the fifth bearing 212 and the sixth bearing 214 are mounted on the gland 213. The gland 213 is fixed on the transmission frame 201 through screws; in the active stage of the knee joint, the motor 5 provides driving torque for the joint rotating module 1 through the transmission module 2, and provides driving torque for knee joint movement in the situations of needing to provide driving torque, such as ascending slopes or stairs, and the like, so that active flexion and extension of the knee joint are realized; in the passive stage of the knee joint, the joint rotating module 1 drives the motor 5 to rotate through the transmission module 2 with the passive moment of the knee joint, and at the moment, the motor 5 is used as a generator to convert the kinetic energy in the passive stage into electric energy, recover the electric quantity and store the electric quantity so as to improve the cruising ability of the artificial limb.

Fig. 5 is an exploded view of the hydraulic damping module 3, and the hydraulic damping module 3 includes a piston rod 301, a cylinder cover 302, a cylinder body 304, a piston 303, a first check valve 315, a second check valve 314, an adjusting seat 305, an energy storage piston 306, a stopper 308, a needle valve 309, an ejector pin guide block 310, a needle valve connecting shaft 311, a voice coil motor 312, and a motor fixing seat 313.

The piston rod 301 is pivoted with the lower end of the connecting rod 111, the cylinder cover 302 is in threaded connection with the upper end of the cylinder body 304, the piston 303 is in threaded connection with the lower end of the piston rod 301 and is arranged in the cylinder body 304 to move up and down, the adjusting seat 305 is fixedly connected with the cylinder body 304 through screws, a buckling oil duct 3151 and an extending oil duct 3141 are arranged in the adjusting seat 305, a needle valve 309 is arranged in the buckling oil duct 3151, the flow rate of the oil duct is adjusted by controlling the overlapping degree of the needle valve 309 and the buckling oil duct 3151, and the buckling damping of the knee joint is adjusted. A first check valve 315 and a second check valve 314 are disposed in the adjusting seat 305 and control the flow direction of hydraulic oil in the buckling oil passage 3151 and the extending oil passage 3141, respectively. An energy storage cavity 3051 is arranged at the upper part of the adjusting seat 305, the energy storage piston 306 is arranged in the energy storage cavity 3051, and an energy storage cavity sealing cover 307 is used for sealing the energy storage cavity 3051, wherein the energy storage cavity 3051 is used for adjusting the problem that the oil discharge amount of an upper oil cavity is inconsistent with the oil inlet amount of a lower oil cavity due to the entering of a piston rod 301 in the upper and lower oil cavities in the process of the up-and-down movement of the piston 303, when the knee joint extends, the piston rod 301 enters the cylinder body 304, the volume of hydraulic oil flowing into the upper oil cavity is smaller than that of the hydraulic oil discharged from the lower oil cavity due to the volume of the piston rod 301, and the hydraulic oil difference part in the process pushes the energy storage piston 306 to enter the energy storage cavity 3051; when the knee joint is bent, the piston rod 301 leaves the cylinder body 304, the discharge volume of the hydraulic oil in the upper oil cavity is smaller than the inflow volume of the lower oil cavity, and at the moment, the energy storage piston 306 in the energy storage cavity 3051 pushes out the hydraulic oil to flow into the lower oil cavity. The degree of coincidence of the needle valve 309 penetrating through the thimble guide block 310 and the buckling oil passage 3151 in the adjusting seat 305 is controlled through the voice coil motor 312, so that the flow of the buckling oil passage 3151 is controlled, and the damping of the extension and bending motion of the artificial limb is adjusted. The stop block 308 is fixed with the adjusting seat 305 through a screw, the bottom of the needle valve 309 is in threaded connection with the needle valve connecting shaft 311, the output end of the voice coil motor 312 is fixedly connected with the bottom of the needle valve connecting shaft 311 through a screw, the bottom of the voice coil motor 312 is fixedly connected with the motor fixing seat 313 through a screw, and the motor fixing seat 313 is fixedly connected with the adjusting seat 305 through a screw.

Fig. 6 is a cross-sectional view of the extension oil passage in the hydraulic damping module 3, and when the piston 303 moves downward, hydraulic oil returns to the upper oil chamber through the extension oil passage 3141, and at this time, the active extension of the knee joint is provided with driving torque to the joint rotation module 1 by the motor 5 through the gear transmission module 2, and the hydraulic damping module 3 does not provide damping.

Fig. 7 is a cross-sectional view of the buckling oil passage in the hydraulic damping module 3, when the piston 303 moves upward, hydraulic oil returns to the lower oil chamber through the buckling oil passage 3151, and the voice coil motor 312 adjusts the flow rate of the buckling oil passage 3151 by controlling the overlapping degree of the needle valve 309 and the buckling oil passage 3151, so as to control the buckling damping.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. A single-shaft active and passive hybrid drive intelligent artificial limb knee joint structure with an energy recovery function is characterized by comprising a joint rotation module, a gear transmission module, a hydraulic damping module, a rack and a motor; the joint rotating module is pivotally connected with the rack, and the gear transmission module and the hydraulic damping module are fixedly connected with the rack; the gear transmission module comprises a primary bevel gear transmission system, a secondary bevel gear transmission system, a synchronous belt wheel transmission assembly and a transmission rack; the motor is fixed on the transmission rack; in the active stage of the knee joint, the motor provides active driving torque for the knee joint through the gear transmission module and the joint rotation module; in the passive stage of the knee joint, the joint rotation module transmits the passive moment of the knee joint to the motor through the gear transmission module, and the driving motor rotates, so that the motor generates electricity and recovers energy, and meanwhile, the hydraulic damping module provides damping moment to ensure the stability of the knee joint.

2. The single-shaft active-passive hybrid intelligent prosthetic knee joint structure with the energy recovery function of claim 1, wherein the joint rotation module comprises a small quadrangular frustum pyramid, an upper connecting rod, a rotation shaft, a torque sensor, an attitude sensor, a connecting rod shaft and a connecting rod; little four prismatic table with go up connecting rod fixed connection, the both ends of axis of rotation are provided with first bearing and second bearing, the inboard of first bearing and second bearing carries out the axial fixity through the axle sleeve, the outside of first bearing carries out the terminal surface through the axis of rotation jump ring and fixes, the axis of rotation both ends pass through with last connecting rod but first bearing and second bearing pivotal connection, one side of torque sensor with axis of rotation fixed connection, torque sensor's opposite side with gear drive module fixed connection, attitude sensor passes through the attitude sensor fixed block and is connected to the side of last connecting rod, connecting rod axle both ends with but last connecting rod pivotal connection, the upper end of connecting rod with but connecting rod axle pivotal connection.

3. The knee joint structure of a single-shaft active-passive hybrid intelligent artificial limb with an energy recovery function according to claim 2, wherein the primary bevel gear transmission system comprises a small bevel gear and a large bevel gear, the secondary gear transmission system comprises a small gear and a large gear, the synchronous pulley transmission assembly comprises a small pulley and a large pulley, the transmission frame is fixed on two sides of the frame, the output shaft of the motor is fixedly connected with the small bevel gear, the small bevel gear is meshed with the large bevel gear, the large bevel gear is connected with the small gear through a flat key, the large gear is meshed with the small gear, the shaft end of the large gear is connected with the small pulley through a flat key, the small pulley is connected with the large pulley through a synchronous belt, and the large pulley is fixedly connected with the torque sensor.

4. The knee joint structure of the single-shaft active-passive hybrid intelligent artificial limb with the energy recovery function as claimed in claim 3, wherein a third bearing and a fourth bearing are arranged at two ends of the gearwheel to realize the stability of transmission.

5. The knee joint structure of the single-shaft active-passive hybrid-driven intelligent artificial limb with the energy recovery function according to claim 3, wherein the hydraulic damping module comprises a hydraulic cylinder, an adjusting seat, an energy accumulator, a needle valve and a voice coil motor, the hydraulic cylinder is connected with the lower end of the connecting rod in a pivoting manner through a piston rod, the adjusting seat is connected with the hydraulic cylinder, a buckling oil passage and an extending oil passage are arranged in the adjusting seat, the needle valve is arranged in the buckling oil passage, the energy accumulator is arranged on the upper portion of the adjusting seat, the voice coil motor drives the needle valve, and the flow of the oil passage is adjusted by controlling the coincidence degree of the needle valve and the buckling oil passage so as to adjust the buckling damping of the knee joint.

6. The knee joint structure of a single-shaft active-passive hybrid intelligent artificial limb with the energy recovery function according to claim 5, wherein the hydraulic cylinder comprises a piston rod, a cylinder cover, a cylinder body and a piston, the piston rod is pivotally connected with the lower end of the connecting rod, the cylinder cover is in threaded connection with the upper end of the cylinder body, and the piston is in threaded connection with the lower end of the piston rod and is slidably connected in the cylinder body.

7. The intelligent knee joint structure with energy recovery function of single-shaft active-passive hybrid driving according to claim 6, wherein the adjusting seat is provided therein with a first one-way valve and a second one-way valve for controlling the flow direction of hydraulic oil in the flexion oil passage and the extension oil passage, respectively.

8. The knee joint structure of the intelligent artificial limb with the single-shaft active-passive hybrid driving function and the energy recovery function according to claim 7, wherein the energy accumulator comprises an energy storage piston, an energy storage cavity sealing cover and a stop block, the upper part of the adjusting seat is provided with an energy storage cavity, the energy storage piston is arranged in the energy storage cavity, the energy storage cavity sealing cover is used for sealing the energy storage cavity, and the stop block is fixedly connected with the adjusting seat.

9. The knee joint structure of the single-shaft active-passive hybrid-driven intelligent artificial limb with the energy recovery function according to claim 8, wherein the needle valve bottom is in threaded connection with the needle valve connecting shaft, the output end of the voice coil motor is fixedly connected with the bottom of the needle valve connecting shaft, the bottom of the voice coil motor is fixedly connected with a motor fixing seat, the motor fixing seat is fixedly connected with the adjusting seat, and the voice coil motor controls the coincidence degree of the needle valve passing through the thimble guide block and the buckling of the oil passage in the adjusting seat.

10. The energy recovery single-shaft active-passive hybrid intelligent prosthetic knee joint structure according to claim 9, wherein when the piston moves downward, hydraulic oil returns to the upper oil chamber of the hydraulic cylinder through the extension oil passage, and when active extension of the knee joint is performed by the motor, the joint rotation module is provided with a driving torque through the gear transmission module, and the hydraulic damping module is not provided with damping; when the piston moves upwards, hydraulic oil returns to the lower oil cavity through the buckling oil duct, and the voice coil motor adjusts the flow of the buckling oil duct by controlling the coincidence degree of the needle valve and the buckling oil duct, so that the buckling damping is controlled.

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