CN201710500U - Electrically controlled hydraulic pressure damping cylinder - Google Patents
Electrically controlled hydraulic pressure damping cylinder Download PDFInfo
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- CN201710500U CN201710500U CN2010202708303U CN201020270830U CN201710500U CN 201710500 U CN201710500 U CN 201710500U CN 2010202708303 U CN2010202708303 U CN 2010202708303U CN 201020270830 U CN201020270830 U CN 201020270830U CN 201710500 U CN201710500 U CN 201710500U
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Abstract
The utility model relates to an electrically controlled hydraulic pressure damping cylinder applicable to intelligent knee joints. The damping cylinder comprises a cylinder body (2) with an opening, a cylinder cap (1) covering the cylinder body with an opening, a piston valve (4) arranged in the middle of the cylinder body (2) and also between an upper piston (3) and a lower piston (6) both arranged inside the cylinder body (2) and connected to the inner side wall of the cylinder body (2), a guiding piston rod (5) passing the piston valve (4) and connecting the upper piston (3) and the lower piston (6), a piston rod (10) arranged on the upper piston (3) and passing the cylinder cap (1) to be connected with the knee joint, a valve core rod (9) matching the piston valve (4), a stepping motor (7) connected with the valve core rod (9) and a spring (8) arranged at the bottom of the cylinder body (2). The damping cylinder of the utility model can be bi-directionally damping controlled by an electric motor.
Description
Technical field
This utility model relates to a kind of electro-hydraulic damping cylinder device that is applied on the intelligent knee joint, relates in particular to the above-knee electro-hydraulic damping cylinder at intelligent lower limb.
Background technology
Knee joint is the core component of lap artificial limb system, is the key point that guarantees that the amputee can stand and walk.Along with to the improving constantly of artificial limb performance requirement, artificial leg not only will satisfy can stand and two basic functions of walker, also requires the gait nature, good with strong side symmetry; Can adapt to the variation of walking state, for example walking speed changes, the variation of road conditions (ramp, stair) etc.; Assurance safety in emergency circumstances that will may be tripped by barrier at user etc. in addition.These functions are that common artificial limb can't be realized.The approach that addresses these problems is just to make knee joint " intellectuality ".
The intelligence artificial leg can be divided into outer power and unpowered two big classes according to the joint type of drive, the flexion and extension of outer power intelligence artificial leg knee joint is driven by external force such as motors, a kind of product of only dynamic in the market knee joint (POWERKNEE) belongs to this type, but also does not apply on a large scale; The flexion and extension of unpowered intelligent artificial leg knee joint is driven by the thigh stump, intelligence control system is just adjusted the size of knee joint damping torque, the product that can see on the market all belongs to this type, and usually said intelligent artificial leg generally is meant such artificial limb.
Intelligent lap artificial limb, its intelligence are mainly reflected in can be along with walking speed, joint angles change the damping of adjusting artificial limb knee-joint automatically, make the artificial limb gait at aspects such as symmetry and followability more approaching healthy people's gait, have higher bionical performance.
The nonpowered prosthesis intelligent knee joint mainly is divided into types such as air pressure, hydraulic pressure, electric current become, magnetorheological and friction-type, and wherein air pressure and hydraulic type are most widely used.Since the swing that hydraulic cylinder has a gait with support control function when identical, and it is good to control gait stability, thereby use in a large number in intelligent artificial limb.But the microcomputer that can not use that existing hydraulic cylinder has is controlled, certain structures complexity, the damping of two Electric Machine Control both direction motions of the needs that have, the high and use inconvenience of cost.Therefore need a kind of compact dimensions of research and can realize the hydraulic cylinder of an Electric Machine Control bidirectional damper, thereby improve the control performance of intelligent artificial leg.
Summary of the invention
Technical problem: this utility model purpose provides a kind of electro-hydraulic damping cylinder device that is applied on the intelligent knee joint, it can be implemented on the hydraulic cylinder carries out bidirectional damper control by a motor, and its controlled valve adopts the piston valve of unique design and the cooperation of valve core rod to realize.
Technical scheme: for solving the problems of the technologies described above, the technical scheme that this utility model provides is a kind of electro-hydraulic damping cylinder device that is applied on the intelligent knee joint, this device comprises the cylinder body of opening, lid is connected to the cylinder cap of cylinder body opening, be fixed on cylinder body centre position and the piston valve between upper piston and lower piston, the upper piston and the lower piston that are positioned at cylinder body and are connected with the contact of cylinder body medial wall pass piston valve is connected upper piston with lower piston guide piston bar, be installed on the upper piston and pass the upper piston rod that cylinder cap is connected with knee joint, the valve core rod that matches with piston valve, the motor that is connected with valve core rod, be installed in the spring of cylinder base;
Wherein, be respectively equipped with piston valve hydraulic oil channel and valve core rod hydraulic oil channel on piston valve and the valve core rod.
Preferably, the piston valve hydraulic oil channel of piston valve is divided into the first half passage and the latter half passage, and the first half passage is " L " type, and the latter half is inverted "L" shaped, and the channel vertical of valve core rod is in the direction of principal axis of himself.
Beneficial effect:
1, valve adopts the piston valve and the valve core rod structure of unique design.
2, just can control the damping size of both direction with a motor.
3, two guide piston bars have guaranteed the support stationarity of transmission.
Description of drawings
Fig. 1 is that this utility model is applied in the electro-hydraulic damping cylinder device sketch map on the intelligent knee joint; Among the figure 1, cylinder cap, 2, cylinder body, 3, upper piston, 4, piston valve, 5, the guide piston bar, 6, lower piston, 7, motor, 8, spring, 9, valve core rod, 10, upper piston rod.
Fig. 2 is the sketch map of an angle of this utility model piston valve.
Fig. 3 is the cutaway view of piston valve of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing this utility model is described further.
Referring to Fig. 1-3, a kind of electro-hydraulic damping cylinder device that is applied on the intelligent knee joint that this utility model provides, this device comprises the cylinder body 2 of opening, lid is connected to the cylinder cap 1 of cylinder body opening, be fixed on cylinder body 2 centre positions and the piston valve 4 between upper piston 3 and lower piston 4, the upper piston 3 and the lower piston 6 that are positioned at cylinder body 2 and are connected with the contact of cylinder body 2 medial walls pass piston valve 4 is connected upper piston 3 with lower piston 6 guide piston bar 5, be installed on the upper piston 3 and pass the upper piston rod 10 that cylinder cap 1 is connected with knee joint, the valve core rod 9 that matches with piston valve 4, the motor 7 that is connected with valve core rod 9, be installed in the spring 8 of cylinder body 2 bottoms.
Wherein, be respectively equipped with piston valve hydraulic oil channel and valve core rod hydraulic oil channel on piston valve 4 and the valve core rod 9.
The piston valve hydraulic oil channel of piston valve 4 is divided into the first half passage and the latter half passage, and the first half passage is " L " type, and the latter half is inverted "L" shaped, and the channel vertical of valve core rod 9 is in the direction of principal axis of himself.
As shown in Figure 1, piston valve 4 is fixed on the centre position of cylinder body 2, cylinder body 2 is divided into two chambeies up and down, upper piston 3 and lower piston 6 are contained in two intracavity up and down respectively, two guide piston bars 5 pass piston valve 4 upper piston 3 and lower piston 6 are coupled together, make piston 3 consistent with the motion of lower piston 6, the change in volume in two chambeies is identical, and two guide piston bars 5 have guaranteed the stationarity of transmission.Be installed in upper piston rod 10 on the upper piston 3 and pass cylinder cap 1 and can be connected with knee joint, give hydraulic cylinder kneed Motion Transmission in the knee joint bending stage, the knee joint stretching process can help the Motion Transmission of stretching spring 8 to give knee joint.Help and stretch the bottom that spring 8 is installed in cylinder body 2, help in shaking peroid in the crooked stage and stretch spring 8 compression storage power, stretching, extension stage shaking peroid releases energy and helps the artificial limb toe raise.
As shown in Figure 2, be provided with a hole in the middle of the piston valve 4, be used for installing valve core rod 9.Two holes up and down on the top view of Fig. 2 are used for installing two guide piston bars 5 that pass piston valve 4.The following view of Fig. 2 is a piston rod internal hydraulic pressure oil access diagram, and center-aisle is a through hole, and all there is female thread at the center-aisle two ends, can piston valve 4 be fixed on the cylinder body 2 with bolt, and bolt just in time blocks up the both sides of center-aisle.One side channel types after actual piston valve 4 assembles is similar to " L " type, and the another side channel types is similar to inverted "L" shaped.One through hole is also arranged on the valve core rod 9, and size is identical with the center-aisle of piston valve 4, perpendicular to axis direction (as shown in Figure 1), be installed on the piston valve 4 after, after the aperture alignment, with " L " and " L " couple together, form a complete channels.After valve core rod 4 rotations a bit, two passwaies not exclusively overlap, and passage will diminish.After rotating to certain angle, when two passwaies did not overlap fully, hydraulic oil just can not pass through.So just can pass through rotary valve core bar 4, change the coincidence degree of two passwaies, the flow of control hydraulic oil, and also the flow of both direction motion hydraulic oil can be realized by this method up and down.As shown in Figure 1, valve core rod 9 links to each other with motor 7 again, and rotatablely moving of valve core rod 9 just can be controlled by motor 7.
All parts are combined and have just been constituted a kind of damping fluid cylinder pressure by step motor control.When artificial limb needed certain damping value in the course of the work, motor 7 reached this damping value by the rotation of control valve core bar 9.
Claims (2)
1. electro-hydraulic damping cylinder, it is characterized in that: this damped cylinder comprises the cylinder body (2) of opening, lid is connected to the cylinder cap (1) of cylinder body opening, be fixed on cylinder body (2) centre position and be positioned at upper piston (3) and lower piston (6) between piston valve (4), the upper piston (3) and the lower piston (6) that are positioned at cylinder body (2) and are connected with the contact of cylinder body (2) medial wall pass piston valve (4) is connected upper piston (3) with lower piston (6) guide piston bar (5), be installed on the upper piston (3) and pass the upper piston rod (10) that cylinder cap (1) is connected with knee joint, the valve core rod (9) that matches with piston valve (4), the motor (7) that is connected with valve core rod (9), be installed in the spring (8) of cylinder body (2) bottom; Wherein, be respectively equipped with piston valve hydraulic oil channel and valve core rod hydraulic oil channel on piston valve (4) and the valve core rod (9).
2. electro-hydraulic damping cylinder according to claim 1, it is characterized in that: the piston valve hydraulic oil channel of piston valve (4) is divided into the first half passage and the latter half passage, the first half passage is " L " type, the latter half is inverted "L" shaped, the channel vertical of valve core rod (9) in himself the axle direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202708303U CN201710500U (en) | 2010-07-26 | 2010-07-26 | Electrically controlled hydraulic pressure damping cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202708303U CN201710500U (en) | 2010-07-26 | 2010-07-26 | Electrically controlled hydraulic pressure damping cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201710500U true CN201710500U (en) | 2011-01-19 |
Family
ID=43456493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202708303U Expired - Lifetime CN201710500U (en) | 2010-07-26 | 2010-07-26 | Electrically controlled hydraulic pressure damping cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201710500U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889916A (en) * | 2010-07-26 | 2010-11-24 | 东南大学 | Electro-hydraulic damping cylinder device applied to intelligent knee joint |
| CN103336536A (en) * | 2013-06-25 | 2013-10-02 | 苏州唐氏机械制造有限公司 | Workbench capable of automatically adjusting levelness and height |
| CN109806036A (en) * | 2019-03-29 | 2019-05-28 | 上海理工大学 | A kind of key-shaped flume flow adjusting damping cylinder for intelligent knee joint |
| CN110226993A (en) * | 2018-03-06 | 2019-09-13 | 任智宇 | A kind of hydraulic cylinder has the uniaxial artificial limb knee-joint of damping automatic regulation function |
-
2010
- 2010-07-26 CN CN2010202708303U patent/CN201710500U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101889916A (en) * | 2010-07-26 | 2010-11-24 | 东南大学 | Electro-hydraulic damping cylinder device applied to intelligent knee joint |
| CN103336536A (en) * | 2013-06-25 | 2013-10-02 | 苏州唐氏机械制造有限公司 | Workbench capable of automatically adjusting levelness and height |
| CN110226993A (en) * | 2018-03-06 | 2019-09-13 | 任智宇 | A kind of hydraulic cylinder has the uniaxial artificial limb knee-joint of damping automatic regulation function |
| CN109806036A (en) * | 2019-03-29 | 2019-05-28 | 上海理工大学 | A kind of key-shaped flume flow adjusting damping cylinder for intelligent knee joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110119 Effective date of abandoning: 20120502 |