CN212490278U - Active-passive hybrid hydraulic knee joint prosthesis - Google Patents
Active-passive hybrid hydraulic knee joint prosthesis Download PDFInfo
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- CN212490278U CN212490278U CN202020540057.1U CN202020540057U CN212490278U CN 212490278 U CN212490278 U CN 212490278U CN 202020540057 U CN202020540057 U CN 202020540057U CN 212490278 U CN212490278 U CN 212490278U
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Abstract
The utility model discloses an active passive hybrid hydraulic pressure knee joint artificial limb belongs to recovered utensil technical field of assisting, and the artificial limb includes supporting component, drive assembly, damping adjustment assembly, hydraulic cylinder subassembly, energy storage subassembly, hydraulic pressure integrated package. The utility model adopts the servo motor to control the valve core of the rotary valve to continuously and accurately adjust the damping in the passive driving mode; and in the active driving mode, the hydraulic pump is driven by the servo motor to drive the hydraulic cylinder, so that the knee joint is actively stretched. The utility model discloses realize drive assembly, damping adjustment subassembly and pneumatic cylinder subassembly integration, small, light in weight, the initiative and passive drive mode switches smoothness, easily control, reduces artificial limb energy consumption through energy storage component, and extension duration can be used in big moment of torsion motion mode and in horizontal walking motion mode.
Description
Technical Field
The utility model relates to a recovered utensil technical field of assisting, concretely relates to active passive hybrid hydraulic pressure knee joint artificial limb.
Background
The artificial limb of the lower limb is an artificial prosthesis which is specially designed and manufactured and assembled for compensating for the amputee of the lower limb, and mainly has the main function of replacing partial functions of the lost limb, so that the amputee recovers certain self-care and working capacity. The knee joint is the most important joint for walking of human body, and the development of the knee joint artificial limb is always the key point and difficulty of the research of the lower limb artificial limb.
The knee joint artificial limb is divided into a passive artificial limb, an active artificial limb and an active and passive mixed artificial limb according to a driving mode. The passive artificial limb realizes the horizontal walking of the amputee through a fixed damping or adjustable damping structure, but aiming at the large-torque motion modes such as going upstairs and the like, the amputee has huge energy consumption or cannot go upstairs; the active artificial limb can better realize the motions of going upstairs, going uphill and the like by controlling the flexion and extension of the knee joint through power input, but the endurance time is shorter due to continuous large energy consumption in the horizontal walking motion mode; the active and passive hybrid artificial limb is used as a driving mode between a passive artificial limb and an active artificial limb, passive driving is adopted in a horizontal walking motion mode, and active driving is adopted in motion modes such as upstairs and uphill, so that the balance of a power assisting effect and endurance time is realized.
The existing active and passive hybrid knee joint prosthesis usually adopts a passive damping cylinder and an active driving part to be separately arranged, active and passive hybrid switching is realized through a clutch device, and the following defects are generally existed:
a clutch device is added, active and passive switching can be realized only at a specific position, the structure is complicated, the active and passive driving modes are not smoothly connected, and the control is complex;
the passive damping cylinder and the active driving part are separately arranged, so that the overall size of the artificial limb is larger, the weight is increased, and the use is inconvenient;
the energy storage and utilization at the knee joint flexion position can not be realized, and the endurance time is still to be improved.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the prior art, the utility model provides an active passive hybrid hydraulic pressure knee joint artificial limb, artificial limb with drive assembly, damping adjustment assembly and pneumatic cylinder subassembly integration, small, light in weight, active passive drive mode switch smoothness, easily control.
The utility model provides a technical scheme that technical problem adopted as follows:
the utility model discloses at first, an active passive hybrid hydraulic knee joint artificial limb is provided, include:
the upper end of the supporting component is rotatably connected with a laptop receiving cavity fixing piece, the lower end of the supporting component is fixedly connected with a shank connecting frame, and the interior of the supporting component is used for mounting a driving component, a damping adjusting component, a hydraulic cylinder component, an energy storage component and a hydraulic manifold block;
the driving assembly is used for driving the hydraulic cylinder assembly to drive the hydraulic pump through the first servo motor in an active driving mode so as to realize active extension of the knee joint;
the damping adjusting assembly is used for driving the opening size of the valve core adjusting valve of the damping valve to adjust damping of the hydraulic cylinder assembly through the second servo motor under the passive driving mode, so that passive extension and passive buckling of the knee joint are realized;
the hydraulic cylinder assembly comprises a piston rod and a piston, the upper end of the piston rod is hinged to the laptop receiving cavity fixing piece, the lower end of the hydraulic cylinder assembly is hinged above the shank connecting frame, the hydraulic cylinder assembly is driven by the driving assembly to realize the movement of the knee joint prosthesis, and the damping adjusting assembly is used for realizing the passive extension and passive buckling movement;
the energy storage component is arranged in the hydraulic cylinder component and is used for storing and releasing energy in the movement process of the knee joint prosthesis;
and the hydraulic manifold block is used for placing the driving assembly, the damping adjusting assembly, the hydraulic cylinder assembly and the energy storage assembly, and oil passages which are communicated with each other are arranged in the hydraulic manifold block.
Further, the support assembly comprises a fixing part of the upper knee socket, a first connecting shaft and a second connecting shaft which are positioned at the upper end, a first support plate and a second support plate which are positioned at two sides, a third connecting shaft and a shank connecting frame which are positioned at the lower end; the rear end of the laptop receiving cavity fixing piece is connected with the upper end of the hydraulic cylinder assembly through a first connecting shaft, the two sides of the laptop receiving cavity fixing piece are respectively hinged with a first supporting seat and a second supporting seat through a second connecting shaft, and the first supporting seat and the second supporting seat are respectively fixed on the upper parts of a first supporting plate and a second supporting plate; the lower end of the hydraulic cylinder assembly is hinged with a third connecting shaft, two ends of the third connecting shaft are fixedly connected with a third supporting seat and a fourth supporting seat respectively, and the third supporting seat and the fourth supporting seat are fixed at the lower parts of the first supporting plate and the second supporting plate respectively; two ends of the shank connecting frame are respectively fixed with the lower ends of the first supporting plate and the second supporting plate.
Further, the driving assembly comprises a first servo motor, a coupler, a first motor bracket and a hydraulic pump; a first servo motor is fixed on a first motor support and is connected with a hydraulic pump through a coupler, the hydraulic pump and the first motor support are fixed on a hydraulic manifold block, and the hydraulic pump is placed in a corresponding hole of the hydraulic manifold block.
Furthermore, the damping adjusting assembly comprises a second servo motor, a second motor support, a damping valve front end cover, a damping valve spool and a damping valve rear end cover, the second servo motor is fixed on the second motor support, the output end of the second servo motor is connected with the damping valve spool, the second motor support, the damping valve front end cover and the damping valve rear end cover are fixed on the hydraulic manifold block, and the damping valve front end cover, the damping valve spool and the damping valve rear end cover are placed in corresponding holes of the hydraulic manifold block.
Furthermore, the hydraulic cylinder assembly comprises a piston rod, a piston, a hydraulic cylinder front end cover and a hydraulic cylinder rear end cover; the upper end of the piston rod is connected with the laptop receiving cavity fixing piece through a first connecting shaft, the lower end of the piston rod is fixed with the piston, the rear end cover of the hydraulic cylinder is rotatably connected to a third connecting shaft, and the hydraulic cylinder assembly is placed in a corresponding hole of the hydraulic manifold block.
Furthermore, the energy storage assembly comprises an energy storage spring and an energy storage piston, the energy storage spring and the energy storage piston penetrate through the piston rod and are coaxial with the piston rod, two ends of the energy storage spring are respectively connected with the energy storage piston and the front end cover of the hydraulic cylinder and are placed in corresponding holes of the hydraulic manifold block, and the energy storage piston is located between the front end cover of the hydraulic cylinder and the piston.
Furthermore, the hydraulic manifold block is internally provided with oil passages which are communicated with each other and corresponding holes for placing the driving assembly, the damping adjusting assembly, the hydraulic cylinder assembly and the energy storage assembly.
The utility model also provides a control method of foretell passive hybrid hydraulic pressure knee joint artificial limb, including passive drive mode and active drive mode, wherein:
the first servo motor brakes and locks in a passive driving mode, the second servo motor drives the valve core regulating valve of the damping valve to open, and two oil ports of the valve core of the damping valve are directly connected with an upper cavity and a lower cavity of the piston to regulate damping;
in the active driving mode, the second servo motor drives the valve core of the damping valve to close the valve opening, the first servo motor drives the hydraulic pump, and the oil inlet and the oil outlet of the hydraulic pump are directly connected with the upper cavity and the lower cavity of the piston to be actively driven;
the passive driving mode and the active driving mode can be switched at any position of the knee joint.
The utility model also provides an application of foretell passive hybrid hydraulic knee joint artificial limb in big moment of torsion motion mode and the application in horizontal walking motion mode.
The utility model has the advantages that:
1. the utility model discloses an active passive hybrid hydraulic pressure knee joint artificial limb, drive assembly, damping adjustment assembly and the whole integration of pneumatic cylinder subassembly are inside the integrated package of hydraulic pressure, simple structure, small, light in weight.
2. The utility model discloses an active passive hybrid hydraulic pressure knee joint artificial limb allows to carry out the switching of active and passive drive mode at knee joint optional position, links up smooth, easily control, and the security is high.
3. The utility model discloses an active passive hybrid hydraulic pressure knee joint artificial limb through storing the energy in knee joint bucking stage to at knee joint extension stage release energy, can effectively reduce the energy consumption of artificial limb, improve the helping hand effect, extension duration.
Drawings
Fig. 1 is a front view of an active-passive hybrid hydraulic knee prosthesis according to an embodiment of the present invention.
Fig. 2 is a left side view of an active-passive hybrid hydraulic knee prosthesis according to an embodiment of the present invention.
Fig. 3 is an axial view of an active-passive hybrid hydraulic knee prosthesis according to an embodiment of the present invention.
Fig. 4 is an assembly diagram of the present invention except for the supporting component.
Fig. 5 is an axonometric view of the hydraulic pressure integration block provided by the embodiment of the present invention.
Fig. 6 is a schematic view of a hydraulic principle provided by an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The active-passive hybrid hydraulic knee joint prosthesis shown in figures 1-6 comprises a supporting component 1, a driving component 2, a damping adjusting component 3, a hydraulic cylinder component 4, an energy storage component 5 and a hydraulic manifold block 6.
Specifically, the upper end of the supporting component 1 is rotatably connected with a laptop receiving cavity fixing part 101, the lower end of the supporting component is fixedly connected with a shank connecting frame 111, and the interior of the supporting component 1 is used for mounting a driving component 2, a damping adjusting component 3, a hydraulic cylinder component 4, an energy storage component 5 and a hydraulic manifold block 6;
the driving assembly 2 is used for driving the hydraulic cylinder assembly 4 to drive the hydraulic pump 204 through the first servo motor 201 in an active driving mode, so that the knee joint is actively stretched;
the damping adjusting component 3 is used for driving the valve core 304 of the damping valve to adjust the opening size of the valve to adjust the damping of the hydraulic cylinder component 4 through the second servo motor 301 in a passive driving mode, so as to realize passive extension and passive flexion of the knee joint;
the hydraulic cylinder assembly 4 comprises a piston rod 401 and a piston 402, the upper end of the piston rod 401 is hinged to the above-knee receiving cavity fixing part 101, the lower end of the hydraulic cylinder assembly 4 is hinged above the lower leg connecting frame 111, the hydraulic cylinder assembly 4 is driven by the driving assembly 2 to realize knee joint prosthesis movement, and the damping adjusting assembly 3 is used for realizing passive extension and passive flexion movement;
the energy storage component 5 is arranged in the hydraulic cylinder component 4 and is used for storing and releasing energy in the movement process of the knee joint prosthesis;
and the hydraulic manifold block 6 is used for placing the driving component 2, the damping adjusting component 3, the hydraulic cylinder component 4 and the energy storage component 5, and oil passages which are communicated with each other are arranged in the hydraulic manifold block 6.
Specifically, the support assembly 1 includes a laptop socket fixing member 101, a first connecting shaft 102 and a second connecting shaft 103 at the upper end, and a first support plate 106 and a second support plate 107 at both sides, and a third connecting shaft 108 and a lower leg connecting frame 111 at the lower end; the rear end of the above-knee socket fixing member 101 is connected with the upper end of the hydraulic cylinder assembly 4 through a first connecting shaft 102, the two sides of the above-knee socket fixing member are respectively hinged with a first supporting seat 104 and a second supporting seat 105 through a second connecting shaft 103, and the first supporting seat 104 and the second supporting seat 105 are respectively fixed on the upper parts of a first supporting plate 106 and a second supporting plate 107; the lower end of the hydraulic cylinder component 4 is hinged with a third connecting shaft 108, two ends of the third connecting shaft 108 are respectively fixedly connected with a third supporting seat 109 and a fourth supporting seat 110, and the third supporting seat 109 and the fourth supporting seat 110 are respectively fixed at the lower parts of the first supporting plate 106 and the second supporting plate 107; both ends of the shank link 111 are fixed to the lower ends of the first support plate 106 and the second support plate 107, respectively.
The driving assembly 2 comprises a first servo motor 201, a coupler 202, a first motor bracket 203 and a hydraulic pump 204; the first servo motor 201 is fixed on the first motor support 203 and is connected with the hydraulic pump 204 through the coupler 202, the hydraulic pump 204 and the first motor support 203 are fixed on the hydraulic manifold block 6, and the hydraulic pump 204 is placed in a corresponding hole of the hydraulic manifold block 6.
The damping adjusting assembly 3 comprises a second servo motor 301, a second motor support 302, a damping valve front end cover 303, a damping valve spool 304 and a damping valve rear end cover 305, the second servo motor 301 is fixed on the second motor support 302, the output end of the second servo motor 301 is connected with the damping valve spool, the second motor support 302, the damping valve front end cover 303 and the damping valve rear end cover 305 are fixed on the hydraulic manifold block 6, and the damping valve front end cover 303, the damping valve spool 304 and the damping valve rear end cover 305 are placed in corresponding holes of the hydraulic manifold block 6.
The hydraulic cylinder assembly 4 comprises a piston rod 401, a piston 402, a hydraulic cylinder front end cover 403 and a hydraulic cylinder rear end cover 404; the upper end of the piston rod 401 is connected with the laptop receiving cavity fixing part 101 through the first connecting shaft 102, the lower end of the piston rod 401 is fixed with the piston 402, the rear end cover 404 of the hydraulic cylinder is rotatably connected with the third connecting shaft 108, and the hydraulic cylinder assembly is placed in a corresponding hole of the hydraulic manifold block 6.
The energy storage assembly 5 comprises an energy storage spring 501 and an energy storage piston 502, the energy storage spring 501 and the energy storage piston 502 penetrate through the piston rod 401 and are coaxial with the piston rod 401, two ends of the energy storage spring 501 are respectively connected with the energy storage piston 502 and the front end cover 403 of the hydraulic cylinder and are placed in corresponding holes of the hydraulic manifold block 6, and the energy storage piston 502 is located between the front end cover 403 of the hydraulic cylinder and the piston 402. The energy storage spring 501 is pressed when the knee joint is bent, and the energy storage piston moves upwards along the piston rod; the charging spring 501 is released when the knee joint is extended, and the charging piston 502 moves downwards along the piston rod 401.
And oil passages which are communicated with each other and corresponding holes for placing the driving assembly 2, the damping adjusting assembly 3, the hydraulic cylinder assembly 4 and the energy storage assembly 5 are formed in the hydraulic manifold block 6.
The utility model discloses an active passive hybrid hydraulic knee joint artificial limb's theory of operation as follows:
referring to fig. 1 to 6, the area of the upper cavity of the piston 402 is smaller than the area of the lower cavity, when the knee joint is flexed, the piston rod 401 and the piston 402 move downward, the above-knee receiving cavity fixing member 101 turns downward, the volume of the hydraulic oil flowing out of the lower cavity of the piston 402 is equal to the volume of the hydraulic oil flowing into the upper cavity, but due to the unequal areas of the upper cavity and the lower cavity, the energy storage piston 502 moves upward along the piston rod 401, and the energy storage piston 502 and the energy storage spring 501 are pressed to store energy.
On the contrary, when the knee joint is extended, the piston rod 401 and the piston 402 move upwards, the above knee receiving cavity fixing piece 101 turns upwards, the volume of the hydraulic oil flowing out of the upper cavity by the piston 402 is equal to the volume of the hydraulic oil flowing into the lower cavity, but because the areas of the upper cavity and the lower cavity are different, the energy storage piston 502 moves downwards along the piston rod 401, and the energy storage spring 501 releases energy.
The mathematical relationship between the displacement of the piston 402 and the displacement of the accumulator piston 502 is as follows:
The utility model also provides a control method of foretell passive hybrid hydraulic pressure knee joint artificial limb, including passive drive mode and active drive mode, as shown in figure 6, wherein:
in a passive driving mode, the first servo motor 201 brakes and locks, the second servo motor 301 drives the valve core 304 of the damping valve to adjust the opening size of the valve, and two oil ports of the valve core 304 of the damping valve are directly connected with an upper cavity and a lower cavity of the piston 402 to adjust damping;
in the active driving mode, the second servo motor 301 drives the valve core 304 of the damping valve to close the valve opening, the first servo motor 201 drives the hydraulic pump 204, and an oil inlet and an oil outlet of the hydraulic pump 204 are directly connected with an upper cavity and a lower cavity of the piston 402 to be actively driven;
the passive driving mode and the active driving mode can be switched at any position of the knee joint.
The utility model discloses an active passive hybrid hydraulic knee joint artificial limb can use in big moment of torsion motion mode, and is concrete, the utility model provides two kinds of control schemes. The first scheme is an active and passive hybrid driving mode, an active driving mode is adopted in the active extension stage of the knee joint in high-torque motion modes such as ascending stairs and slopes, and a passive driving mode is adopted in the passive buckling and passive extension stage in the high-torque motion modes such as ascending stairs and slopes; the second scheme is a complete active driving mode, and the active driving mode is adopted at each gait phase of the knee joint in high-torque motion modes such as ascending stairs and ascending slopes, so that a better assistance effect is obtained, but the energy consumption is increased.
The utility model discloses an active passive hybrid hydraulic knee joint artificial limb can use in horizontal walking motion mode, and is concrete, the utility model provides two kinds of control scheme. The first scheme is a complete passive driving mode control scheme, and a passive mode is adopted at each gait stage in a horizontal walking motion mode to adjust damping; the second scheme is an active and passive hybrid driving mode control scheme, an active driving mode and a passive driving mode combined driving scheme is adopted for gait in a swing period (knee joint prosthesis ground-off swing stage) in a horizontal walking motion mode, specifically, a damping valve adjusts the size of a valve port, and meanwhile, a hydraulic pump works to actively adjust the ground-off posture of the knee joint prosthesis and enhance the motion stability; the passive driving mode is adopted in other gait phases in the horizontal walking motion mode.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention. In the description of the present invention, it is to 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 meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the applications listed in the specification and the examples. It can be applicable to various and be fit for the utility model discloses a field completely. Additional modifications will readily occur to those skilled in the art. The invention is therefore not to be limited to the specific details and illustrations shown and described herein, without departing from the general concept defined by the claims and their equivalents.
Claims (7)
1. An active-passive hybrid hydraulic knee prosthesis, comprising:
the upper end of the supporting component (1) is rotatably connected with a laptop receiving cavity fixing part (101), the lower end of the supporting component is fixedly connected with a shank connecting frame (111), and the interior of the supporting component is used for mounting a driving component (2), a damping adjusting component (3), a hydraulic cylinder component (4), an energy storage component (5) and a hydraulic manifold block (6);
the driving assembly (2) is used for driving the hydraulic pump (204) to drive the hydraulic cylinder assembly (4) through the first servo motor (201) in an active driving mode to realize active extension of the knee joint;
the damping adjusting assembly (3) is used for driving a valve core (304) of the damping valve to adjust the opening size of the valve to the hydraulic cylinder assembly (4) through a second servo motor (301) in a passive driving mode so as to adjust damping, and passive extension and passive flexion of the knee joint are achieved;
the hydraulic cylinder assembly (4) comprises a piston rod (401) and a piston (402), the upper end of the piston rod (401) is hinged to the above-knee accepting cavity fixing piece (101), the lower end of the hydraulic cylinder assembly (4) is hinged above the lower leg connecting frame (111), the hydraulic cylinder assembly (4) is driven by the driving assembly (2) to realize knee joint prosthesis movement, and passive extension and passive buckling movement are realized by the damping adjusting assembly (3);
the energy storage component (5) is arranged in the hydraulic cylinder component (4) and is used for storing and releasing energy in the movement process of the knee joint prosthesis;
and the hydraulic manifold block (6) is used for placing the driving assembly (2), the damping adjusting assembly (3), the hydraulic cylinder assembly (4) and the energy storage assembly (5), and oil passages which are communicated with each other are arranged in the hydraulic manifold block (6).
2. The active-passive hybrid hydraulic knee prosthesis according to claim 1, wherein the support assembly (1) comprises an upper knee socket fixture (101), a first connecting shaft (102) and a second connecting shaft (103), and a first support plate (106) and a second support plate (107) at both sides, and a third connecting shaft (108) and a lower leg link (111) at a lower end; the rear end of the laptop receiving cavity fixing piece (101) is connected with the upper end of the hydraulic cylinder assembly (4) through a first connecting shaft (102), two sides of the laptop receiving cavity fixing piece are respectively hinged with a first supporting seat (104) and a second supporting seat (105) through a second connecting shaft (103), and the first supporting seat (104) and the second supporting seat (105) are respectively fixed on the upper parts of a first supporting plate (106) and a second supporting plate (107); the lower end of the hydraulic cylinder assembly (4) is hinged with a third connecting shaft (108), two ends of the third connecting shaft (108) are fixedly connected with a third supporting seat (109) and a fourth supporting seat (110) respectively, and the third supporting seat (109) and the fourth supporting seat (110) are fixed to the lower portions of a first supporting plate (106) and a second supporting plate (107) respectively; two ends of the shank connecting frame (111) are respectively fixed with the lower ends of the first supporting plate (106) and the second supporting plate (107).
3. The active-passive hybrid hydraulic knee prosthesis according to claim 1, wherein the drive assembly (2) comprises a first servo motor (201), a coupling (202), a first motor support (203) and a hydraulic pump (204); a first servo motor (201) is fixed on a first motor support (203) and is connected with a hydraulic pump (204) through a coupler (202), the hydraulic pump (204) and the first motor support (203) are fixed on a hydraulic manifold block (6), and the hydraulic pump (204) is placed in a corresponding hole of the hydraulic manifold block (6).
4. The active-passive hybrid hydraulic knee joint prosthesis according to claim 1, wherein the damping adjustment assembly (3) comprises a second servo motor (301), a second motor bracket (302), a damping valve front end cover (303), a damping valve spool (304) and a damping valve rear end cover (305), the second servo motor (301) is fixed on the second motor bracket (302), the output end of the second servo motor (301) is connected with the damping valve spool, the second motor bracket (302), the damping valve front end cover (303) and the damping valve rear end cover (305) are fixed on the hydraulic manifold block (6), and the damping valve front end cover (303), the damping valve spool (304) and the damping valve rear end cover (305) are placed in corresponding holes of the hydraulic manifold block (6).
5. The active-passive hybrid hydraulic knee prosthesis according to claim 1, wherein the hydraulic cylinder assembly (4) comprises a piston rod (401), a piston (402), a hydraulic cylinder front cover (403) and a hydraulic cylinder rear cover (404); the upper end of a piston rod (401) is connected with the laptop receiving cavity fixing piece (101) through a first connecting shaft (102), the lower end of the piston rod (401) is fixed with a piston (402), a rear end cover (404) of a hydraulic cylinder is rotatably connected to a third connecting shaft (108), and a hydraulic cylinder assembly is placed in a corresponding hole of a hydraulic manifold block (6).
6. The active-passive hybrid hydraulic knee joint prosthesis according to claim 1, wherein the energy storage assembly (5) comprises an energy storage spring (501) and an energy storage piston (502), the energy storage spring (501) and the energy storage piston (502) pass through and are coaxial with the piston rod (401), two ends of the energy storage spring (501) are respectively connected with the energy storage piston (502) and the hydraulic cylinder front end cover (403) and are placed in corresponding holes of the hydraulic manifold block (6), and the energy storage piston (502) is located between the hydraulic cylinder front end cover (403) and the piston (402).
7. The active-passive hybrid hydraulic knee prosthesis according to claim 1, characterized in that the hydraulic manifold block (6) has internal oil passages communicating with each other and corresponding holes for placing the driving assembly (2), the damping adjustment assembly (3), the hydraulic cylinder assembly (4) and the energy storage assembly (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020540057.1U CN212490278U (en) | 2020-04-14 | 2020-04-14 | Active-passive hybrid hydraulic knee joint prosthesis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020540057.1U CN212490278U (en) | 2020-04-14 | 2020-04-14 | Active-passive hybrid hydraulic knee joint prosthesis |
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| Publication Number | Publication Date |
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| CN212490278U true CN212490278U (en) | 2021-02-09 |
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| CN202020540057.1U Withdrawn - After Issue CN212490278U (en) | 2020-04-14 | 2020-04-14 | Active-passive hybrid hydraulic knee joint prosthesis |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111358602A (en) * | 2020-04-14 | 2020-07-03 | 吉林大学 | Active-passive hybrid hydraulic knee joint prosthesis and control method and application thereof |
| CN114081692A (en) * | 2021-11-25 | 2022-02-25 | 吉林大学 | Hydraulic damping cylinder for small passive mechanical joint |
| CN114151493A (en) * | 2021-11-03 | 2022-03-08 | 浙江强脑科技有限公司 | Myoelectric artificial limb hydraulic damper, control method thereof and myoelectric artificial limb |
-
2020
- 2020-04-14 CN CN202020540057.1U patent/CN212490278U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111358602A (en) * | 2020-04-14 | 2020-07-03 | 吉林大学 | Active-passive hybrid hydraulic knee joint prosthesis and control method and application thereof |
| CN111358602B (en) * | 2020-04-14 | 2023-09-05 | 吉林大学 | Active and passive hybrid hydraulic knee joint prosthesis and control method thereof |
| CN114151493A (en) * | 2021-11-03 | 2022-03-08 | 浙江强脑科技有限公司 | Myoelectric artificial limb hydraulic damper, control method thereof and myoelectric artificial limb |
| CN114081692A (en) * | 2021-11-25 | 2022-02-25 | 吉林大学 | Hydraulic damping cylinder for small passive mechanical joint |
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