CN114151493A - Myoelectric artificial limb hydraulic damper, control method thereof and myoelectric artificial limb - Google Patents

Myoelectric artificial limb hydraulic damper, control method thereof and myoelectric artificial limb Download PDF

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Publication number
CN114151493A
CN114151493A CN202111294120.3A CN202111294120A CN114151493A CN 114151493 A CN114151493 A CN 114151493A CN 202111294120 A CN202111294120 A CN 202111294120A CN 114151493 A CN114151493 A CN 114151493A
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CN
China
Prior art keywords
hole
cavity
cylinder
half cavity
damping
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Pending
Application number
CN202111294120.3A
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Chinese (zh)
Inventor
韩璧丞
李晓
周建吾
王俊霖
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Zhejiang Qiangnao Technology Co ltd
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Zhejiang Qiangnao Technology Co ltd
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Priority to CN202111294120.3A priority Critical patent/CN114151493A/en
Publication of CN114151493A publication Critical patent/CN114151493A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
    • F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
    • F16F9/19—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein with a single cylinder and of single-tube type
    • 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
    • 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
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3207—Constructional features
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/34—Special valve constructions; Shape or construction of throttling passages
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
    • 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
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A61F2002/5006—Dampers, e.g. hydraulic damper

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

Abstract

The invention discloses a myoelectric artificial limb hydraulic damper and a control method thereof, and a myoelectric artificial limb, wherein the myoelectric artificial limb hydraulic damper comprises: a barrel; the oil cylinder is arranged in the cylinder body, and a cavity for loading hydraulic oil is formed in the oil cylinder; a first piston dividing the chamber into a first half-chamber and a second half-chamber; one end of the piston rod is connected with the first piston, and the other end of the piston rod penetrates through the first half cavity and extends out of the cavity; the energy accumulator is communicated with the first half cavity; one end of the first damping adjusting component is communicated with the first half cavity, and the other end of the first damping adjusting component is communicated with the second half cavity; and one end of the second damping adjusting component is communicated with the first half cavity, and the other end of the second damping adjusting component is communicated with the second half cavity. Because the energy storage is only communicated with the first half cavity, the energy storage cannot cause hydraulic oil leakage, the first damping adjusting assembly and the second damping adjusting assembly form two separated paths, and leakage is likely to be caused when all parts in the first damping adjusting assembly or the second damping adjusting assembly fail, so that the possibility of hydraulic oil leakage is reduced.

Description

Myoelectric artificial limb hydraulic damper, control method thereof and myoelectric artificial limb
Technical Field
The invention relates to the technical field of hydraulic dampers, in particular to a myoelectric artificial limb hydraulic damper, a control method thereof and a myoelectric artificial limb.
Background
The hydraulic damper of the artificial limb is arranged on the artificial limb, a piston of the hydraulic damper divides an oil cylinder into an upper cavity and a lower cavity, and in the prior art, the hydraulic damper of the artificial limb has the problem that hydraulic oil leaks between the upper cavity and the lower cavity.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
The invention aims to solve the technical problem that hydraulic oil leaks between an upper cavity and a lower cavity in the prior art, and provides a myoelectric artificial limb hydraulic damper, a control method thereof and a myoelectric artificial limb.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a myoelectric prosthetic hydraulic damper, comprising:
a barrel;
the oil cylinder is arranged in the cylinder body, and a cavity for loading hydraulic oil is formed in the oil cylinder;
a first piston located within the cavity and dividing the cavity into a first half-cavity and a second half-cavity;
one end of the piston rod is connected with the first piston, and the other end of the piston rod penetrates through the first half cavity and extends out of the cavity;
the energy accumulator is arranged in the cylinder body and is communicated with the first half cavity;
the first damping adjusting assembly is arranged on the cylinder, one end of the first damping adjusting assembly is communicated with the first half cavity, and the other end of the first damping adjusting assembly is communicated with the second half cavity;
the second damping adjusting assembly is arranged on the cylinder, one end of the second damping adjusting assembly is communicated with the first half cavity, and the other end of the second damping adjusting assembly is communicated with the second half cavity;
wherein a flow direction of the first damping adjustment assembly is opposite to a flow direction of the second damping adjustment assembly.
The myoelectric prosthetic hydraulic damper, wherein, the first damping adjustment subassembly includes:
a first throttle valve;
a first check valve in communication with the first throttle valve;
the second damping adjustment assembly includes:
a second throttle valve;
a second check valve in communication with the second throttle valve;
wherein the flow direction of the first one-way valve is opposite to the flow direction of the second one-way valve.
The myoelectric prosthetic hydraulic damper is characterized in that the first throttling valve and the second throttling valve are arranged outside the cylinder body;
the first half cavity is provided with a first through hole and a fourth through hole, and the first check valve is arranged at the first through hole; the second half cavity is provided with a second through hole and a third through hole, and the second one-way valve is arranged at the third through hole;
a first channel, a second channel, a third channel and a fourth channel are arranged in the wall of the cylinder body;
one end of the first channel is connected with the first through hole, and the other end of the first channel is connected with the first throttling valve;
one end of the second channel is connected with the first throttling valve, and the other end of the second channel is connected with the second through hole;
one end of the third channel is connected with the third through hole, and the other end of the third channel is connected with the second throttling valve;
one end of the fourth channel is connected with the second throttle valve, and the other end of the fourth channel is connected with the fourth through hole.
The myoelectric artificial limb hydraulic damper comprises an oil cylinder and a damping device, wherein the oil cylinder comprises:
a cylinder cover;
the cylinder wall is connected with the cylinder cover;
the cylinder bottom is connected with the cylinder wall;
wherein the cylinder cover, the cylinder wall and the cylinder bottom surround to form the cavity;
the cylinder cover is provided with the first through hole; the cylinder wall is provided with the fourth through hole and the second through hole; the cylinder bottom is provided with the third through hole.
The myoelectric artificial limb hydraulic damper is characterized in that one side of the cylinder cover, which faces the first half cavity, is provided with a first limiting piece; a second limiting piece is arranged on one side, facing the second half cavity, of the cylinder bottom;
the first check valve includes:
a first closing member closing the first through hole;
a first elastic member, one side of which abuts against the first closing member and the other side of which abuts against the first stopper;
the second check valve includes:
a second closing member closing the third through hole;
and a second elastic member, one side of which abuts against the second closing member and the other side of which abuts against the second stopper.
The myoelectric artificial limb hydraulic damper is characterized in that,
the first elastic piece is a spring piece; and/or
The second elastic piece is a spring piece.
The myoelectric artificial limb hydraulic damper is characterized in that,
the cylinder cover is provided with a sealing column which is connected with the piston rod in a sliding manner; an accommodating space is formed between the sealing column and the cylinder body;
a fifth through hole is formed in the cylinder cover and is communicated with the accommodating space and the first half cavity;
the energy storage device includes:
the second piston is arranged in the accommodating space;
the cover body is connected with the cylinder body;
and one end of the third elastic piece is connected with the second piston, and the other end of the third elastic piece is connected with the cover body.
The myoelectric prosthetic hydraulic damper is characterized in that the third elastic component is a spring.
An electromyographic prosthesis comprising the electromyographic prosthesis hydraulic damper according to any preceding claim.
A method for controlling a hydraulic damper of an electromyographic prosthetic according to any of the above claims, comprising the steps of:
controlling the first damping adjustment assembly to be closed and the second damping adjustment assembly to be opened so as to enable the energy accumulator to store energy; controlling the first damping adjusting assembly to be opened and the second damping adjusting assembly to be closed so as to enable the energy accumulator to do work; or
Controlling the first damping adjustment assembly to be opened and the second damping adjustment assembly to be closed so as to enable the energy accumulator to store energy; and controlling the first damping adjusting assembly to be closed and the second damping adjusting assembly to be opened so as to enable the energy accumulator to do work.
Has the advantages that: because the energy storage is only communicated with the first half cavity, the energy storage cannot cause hydraulic oil leakage, the first damping adjusting assembly and the second damping adjusting assembly form two separated paths, and leakage is likely to be caused when all parts in the first damping adjusting assembly or the second damping adjusting assembly fail, so that the possibility of hydraulic oil leakage is reduced.
Drawings
Fig. 1 is a first perspective view of the electromyographic prosthetic hydraulic damper of the present invention.
Fig. 2 is a second perspective view of the electromyographic prosthetic hydraulic damper of the present invention.
FIG. 3 is a first sectional view of the hydraulic damper for an electromyographic prosthesis according to the present invention.
FIG. 4 is a second sectional view of the hydraulic damper for an electromyographic prosthesis according to the present invention.
FIG. 5 is a third sectional view of the hydraulic damper for an electromyographic prosthetic of the present invention.
FIG. 6 is a fourth sectional view of the hydraulic damper for an electromyographic prosthetic of the present invention.
Fig. 7 is an exploded view of the cylinder and piston rod of the present invention.
Fig. 8 is a first cross-sectional view of the cylinder and piston rod of the present invention.
Fig. 9 is a second cross-sectional view of the cylinder and piston rod of the present invention.
Fig. 10 is a first cross-sectional view of the cartridge of the present invention.
Fig. 11 is a second cross-sectional view of the cartridge of the present invention.
Fig. 12 is a cross-sectional view of the cylinder head of the present invention.
FIG. 13 is a cross-sectional view of the cylinder bottom of the present invention.
FIG. 14 is a perspective view of the cylinder bottom of the present invention.
Fig. 15 is a perspective view of the cylinder head of the present invention.
Figure 16 is a first schematic view of the hydraulic damper for an electromyographic prosthetic of the present invention.
Figure 17 is a second schematic view of the hydraulic damper for an electromyographic prosthetic of the present invention.
Description of reference numerals:
10. a barrel; 11. a first channel; 12. a second channel; 13. a third channel; 14. a fourth channel; 20. an oil cylinder; 21. a cavity; 211. a first half-cavity; 212. a second cavity half; 213. a first through hole; 214. a second through hole; 215. a third through hole; 216. a fourth via hole; 22. a cylinder cover; 221. a first limit piece; 222. sealing the column; 223. an accommodating space; 224. a fifth through hole; 23. a cylinder wall; 24. a cylinder bottom; 241. a second limiting member; 30. a first piston; 40. a piston rod; 50. an energy storage device; 51. a second piston; 511. a slider; 512. a V-shaped piece; 513. a spreader; 52. a cover body; 53. a third elastic member; 60. a first damping adjustment assembly; 61. a first throttle valve; 62. a first check valve; 621. a first closure member; 622. a first elastic member; 70. a second damping adjustment assembly; 71. a second throttle valve; 72. a second one-way valve; 721. a second closure member; 722. a second elastic member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 17 together, the present invention provides some embodiments of a hydraulic damper for an electromyographic prosthetic limb.
As shown in fig. 1, 2, 16 and 17, the hydraulic damper for a myoelectric prosthesis according to the present invention includes:
a cylinder 10;
the oil cylinder 20 is arranged in the cylinder body 10, and a cavity 21 for loading hydraulic oil is formed in the oil cylinder 20;
a first piston 30 located in the cavity 21 and dividing the cavity 21 into a first half-cavity 211 and a second half-cavity 212;
a piston rod 40, one end of which is connected to the first piston 30, and the other end of which passes through the first half cavity 211 and extends out of the cavity 21;
the energy accumulator 50 is arranged in the cylinder body 10 and is communicated with the first half cavity 211;
the first damping adjusting assembly 60 is arranged on the cylinder 10, and one end of the first damping adjusting assembly is communicated with the first half cavity 211, and the other end of the first damping adjusting assembly is communicated with the second half cavity 212;
the second damping adjusting assembly 70 is arranged on the cylinder 10, and one end of the second damping adjusting assembly is communicated with the first half cavity 211, and the other end of the second damping adjusting assembly is communicated with the second half cavity 212;
wherein the flow direction of the first damping adjustment assembly 60 is opposite to the flow direction of the second damping adjustment assembly 70.
It should be noted that, because the accumulator 50 is only communicated with the first half cavity 211, the accumulator 50 does not cause hydraulic oil leakage, and the first damping adjustment assembly 60 and the second damping adjustment assembly 70 form two separate paths, and when each component in the first damping adjustment assembly 60 or the second damping adjustment assembly 70 fails, the leakage may be caused, thereby reducing the possibility of hydraulic oil leakage.
The cylinder 10 is a member having two openings formed at the upper and lower sides thereof and a passage formed therebetween, the cylinder 20 is a member loaded with hydraulic oil, and the piston is slidable in the cavity 21 so as to change the volumes of the first half cavity 211 and the second half cavity 212, so that the hydraulic oil in the first half cavity 211 and the hydraulic oil in the second half cavity 212 are transferred through the first damping adjustment assembly 60 (or the second damping adjustment assembly 70).
For example, the flow direction of the first damping adjustment assembly 60 is from the second half cavity 212 to the first half cavity 211, and the flow direction of the second damping adjustment assembly 70 is from the first half cavity 211 to the second half cavity 212, so that when the piston moves upwards, the hydraulic oil in the first half cavity 211 flows from the second damping adjustment assembly 70 to the second half cavity 212; when the piston moves downward, hydraulic oil in the second half chamber 212 flows from the first damping adjustment assembly 60 to the first half chamber 211. The flow of hydraulic oil is regulated by the first and second damping adjustment assemblies 60 and 70, thereby achieving the damping of the damper.
For example, the flow direction of the first damping adjustment assembly 60 is from the first half cavity 211 to the second half cavity 212, and the flow direction of the second damping adjustment assembly 70 is from the second half cavity 212 to the first half cavity 211, so that when the piston moves upwards, the hydraulic oil in the first half cavity 211 flows from the first damping adjustment assembly 60 to the second half cavity 212; when the piston moves downward, hydraulic oil in the second half chamber 212 flows from the second damping adjustment assembly 70 to the first half chamber 211. The flow of hydraulic oil is regulated by the first and second damping adjustment assemblies 60 and 70, thereby achieving the damping of the damper.
During the damping process of the damper, the hydraulic oil will flow between the accumulator and the first half-chamber 211, since the accumulator is in communication with the first half-chamber 211. If the pressure of the hydraulic oil in the first half cavity 211 is increased, the hydraulic oil in the first half cavity 211 flows to the energy accumulator 50, and the energy accumulator 50 stores energy; if the pressure of the hydraulic oil in the first half-cavity 211 is reduced, the hydraulic oil in the accumulator 50 flows to the first half-cavity 211, and the accumulator 50 will work.
Specifically, when the human load is pressed downward, the piston rod 40 moves downward. The hydraulic oil in the accumulator 50 can smoothly enter the first half chamber 211. While the hydraulic oil in the second half-chamber 212 can only reach the first half-chamber 211 through the adjustable first damping adjustment assembly 60 or the second damping adjustment assembly 70. When the first damping adjustment assembly 60 or the second damping adjustment assembly 70 is adjusted such that the flow becomes small, the oil flows through the first damping adjustment assembly 60 or the second damping adjustment assembly 70 to generate a back pressure, and the second half chamber 212 builds a corresponding pressure to prevent the piston rod 40 from moving downward, thereby generating a damping force. By varying the flow rate of the first damping adjustment assembly 60 or the second damping adjustment assembly 70, the damping force can be varied to achieve a desired damping force.
When the body load is removed, the first half-cavity 211 and the second half-cavity 212 are substantially identical. Since the sectional area of the second half-chamber 212 is larger than that of the first half-chamber 211, the hydraulic oil will generate an upward pushing force on the piston rod 40, and the piston rod 40 will automatically move upward. At this time, by adjusting the flow amount of the first damping adjustment assembly 60 or the second damping adjustment assembly 70, the pressure of the first half chamber 211 can be adjusted to obtain a desired rise buffering.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 3-6, 10-11, 16 and 17, the first damping adjustment assembly 60 includes:
a first throttle valve 61;
a first check valve 62 communicating with the first throttle valve 61;
the second damping adjustment assembly 70 includes:
the second throttle valve 71;
a second check valve 72 communicating with the second throttle valve 71;
wherein the first check valve 62 is in a flow direction opposite to the flow direction of the second check valve 72.
Specifically, the damping adjustment assembly comprises a throttle valve and a check valve which are connected with each other, wherein the check valve refers to a single-flow-direction valve, and the throttle valve refers to a flow-adjustable valve. The flow direction of the check valve is the flow direction of the damping adjustment assembly. It should be noted that the connection sequence of the throttle valve and the check valve in the damping adjustment assembly can be set according to the requirement.
As shown in fig. 16, in the first damping adjustment assembly 60, the first throttle valve 61 is connected to the first half chamber 211, and the first check valve 62 is connected to the second half chamber 212; in the second damping adjustment assembly 70, the second throttle valve 71 is connected to the first half chamber 211, and the second check valve 72 is connected to the second half chamber 212.
As shown in fig. 17, in the first damping adjustment assembly 60, the first throttle valve 61 is connected to the second half chamber 212, and the first check valve 62 is connected to the first half chamber 211; in the second damping adjustment assembly 70, the second throttle valve 71 is connected to the first half chamber 211, and the second check valve 72 is connected to the second half chamber 212.
It should be noted that, when the throttle valve is closed, the hydraulic oil cannot flow, and when the throttle valve is opened, the flow area can be adjusted to adjust the damping of the damping adjusting component.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 1 to 6, the first throttle valve 61 and the second throttle valve 71 are disposed outside the cartridge body 10;
the first half cavity 211 is provided with a first through hole 213 and a fourth through hole 216, and the first check valve 62 is arranged at the first through hole 213; the second half cavity 212 is provided with a second through hole 214 and a third through hole 215, and the second one-way valve 72 is arranged at the third through hole 215;
a first channel 11, a second channel 12, a third channel 13 and a fourth channel 14 are arranged in the wall of the cylinder 10:
one end of the first channel 11 is connected to the first through hole 213, and the other end is connected to the first throttle valve 61;
one end of the second passage 12 is connected to the first throttle valve 61, and the other end is connected to the second through hole 214;
one end of the third channel 13 is connected with the third through hole 215, and the other end is connected with the second throttle valve 71;
one end of the fourth channel 14 is connected to the second throttle valve 71, and the other end is connected to the fourth through hole 216.
Specifically, since two ends of the first damping adjustment assembly 60 are respectively connected to the first half cavity 211 and the second half cavity 212, and two ends of the second damping adjustment assembly 70 are respectively connected to the first half cavity 211 and the second half cavity 212, two through holes, namely, a first through hole 213 and a fourth through hole 216, which are communicated with each other are formed in the first half cavity 211; the second chamber half 212 has two communicating through holes, a second through hole 214 and a third through hole 215.
Four channels are arranged in the cylinder wall of the cylinder body 10, namely a first channel 11, a second channel 12, a third channel 13 and a fourth channel 14, and a second half cavity 212, the second channel 12, the first throttle valve 61, the first channel 11, the first check valve 62 and the first half cavity 211 are communicated in sequence, so that hydraulic oil flows from the second half cavity 212 to the first half cavity 211. The first half cavity 211, the fourth passage 14, the second throttle valve 71, the second passage 12, the second check valve 72, and the second half cavity 212 are sequentially communicated, so that the hydraulic oil flows from the first half cavity 211 to the second half cavity 212.
The first through hole 213 is provided with a first check valve 62, so that the hydraulic oil in the first through hole 213 flows to the first half cavity 211, and the hydraulic oil in the first half cavity 211 cannot flow to the first through hole 213. The second check valve 72 is disposed at the third through hole 215, so that the hydraulic oil in the third through hole 215 flows to the second half chamber 212, and the hydraulic oil in the second half chamber 212 cannot flow to the third through hole 215.
In order to ensure smooth flow of the hydraulic oil, the number of the first through holes 213, the second through holes 214, the third through holes 215, and the fourth through holes 216 may be several. For example, the number of the fourth through holes 216 is several, and the height of each fourth through hole 216 is different, so that the piston can still allow the hydraulic oil to flow in the fourth through hole 216 during the sliding process, even if the fourth through hole 216 with the lower height is covered by the piston, and the fourth through hole 216 with the higher height is not covered by the piston. In addition, if air is present in the first half cavity 211, the fourth through hole 216 with a higher height is communicated with the air, but the fourth through hole 216 with a lower height is communicated with hydraulic oil, so that the fourth through hole 216 with a lower height can still be provided with hydraulic oil.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 3, 7-9, the oil cylinder 20 includes:
a cylinder head 22;
a cylinder wall 23 connected to the cylinder head 22;
the cylinder bottom 24 is connected with the cylinder wall 23;
wherein the cylinder cover 22, the cylinder wall 23 and the cylinder bottom 24 surround and form the cavity 21;
the cylinder cover 22 is provided with the first through hole 213; the cylinder wall 23 is provided with the fourth through hole 216 and the second through hole 214; the third through hole 215 is provided in the cylinder bottom 24.
Specifically, the cylinder head 22 is located above the cylinder wall 23, the cylinder bottom 24 is located below the cylinder wall 23, the first half-chamber 211 is located in the upper half of the chamber 21, and the second half-chamber 212 is located in the lower half of the chamber 21. A first through hole 213 communicating the first passage 11 and the first half chamber 211 is provided in the cylinder head 22, a second through hole 214 communicating the second passage 12 and the second half chamber 212 is provided in the lower half portion of the cylinder wall 23, a third through hole 215 communicating the third passage 13 and the second half chamber 212 is provided in the cylinder bottom 24, and a fourth through hole 216 communicating the fourth passage 14 and the first half chamber 211 is provided in the upper half portion of the cylinder wall 23.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 12 to 15, a first limiting member 221 is disposed on a side of the cylinder head 22 facing the first half cavity 211; a second limiting member 241 is arranged on one side of the cylinder bottom 24 facing the second half cavity 212;
the first check valve 62 includes:
a first closing member 621 closing the first through hole 213;
a first elastic member 622 having one side abutting against the first sealing member 621 and the other side abutting against the first stopper 221;
the second check valve 72 includes:
a second closing member 721 closing the third through hole 215;
the second elastic member 722 has one side abutting against the second sealing member 721 and the other side abutting against the second limiting member 241.
Specifically, when the hydraulic oil in the first through hole 213 flows to the first half cavity 211, the hydraulic oil can flow to the first sealing member 621, so that the first sealing member 621 moves to the first half cavity 211 and presses down the first elastic member 622, the first elastic member 622 deforms, the first sealing member 621 opens the first through hole 213, and the hydraulic oil in the first through hole 213 can flow to the first half cavity 211. When the first elastic member 622 is deformed again, the first sealing member 621 closes the first through hole 213, and the first through hole 213 and the first half cavity 211 cannot communicate with each other.
When the hydraulic oil in the third through hole 215 flows to the second half cavity 212, the hydraulic oil can flow to the second sealing member 721, so that the second sealing member 721 moves to the second half cavity 212 and presses the second elastic member 722, the second elastic member 722 deforms, the second sealing member 721 opens the third through hole 215, and the hydraulic oil in the third through hole 215 can flow to the second half cavity 212. When the second elastic element 722 is deformed again, the second sealing element 721 closes the third through hole 215, and the third through hole 215 and the second half cavity 212 cannot communicate.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 12-15, the first elastic element 622 is a spring sheet; and/or
The second elastic member 722 is a spring.
Specifically, the shell fragment adopts ring shape saddle shell fragment, that is to say, the shell fragment becomes ring shape, and the shell fragment is not the level setting, but is the saddle form, and the height of each position of shell fragment is inequality, and for example, the shell fragment has the position of two places higher, and the position of two places is lower, and when the shell fragment warp, the difference between the highest position and the lowest position of shell fragment reduces, then the closing member can break away from the through-hole to open the through-hole.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 3 to 4, a sealing post 222 is disposed on the cylinder head 22, and the sealing post 222 is slidably connected to the piston rod 40; the sealing column 222 and the cylinder 10 form a containing space 223 therebetween;
a fifth through hole 224 is formed in the cylinder head 22, and the accommodating space 223 and the first half cavity 211 are communicated through the fifth through hole 224;
the accumulator 50 includes:
a second piston 51 disposed in the accommodation space 223;
a lid 52 connected to the cylinder 10;
and a third elastic member 53 having one end connected to the second piston 51 and the other end connected to the cover 52.
Specifically, the sealing post 222 is in sealing connection with the piston rod 40 to prevent leakage of hydraulic oil. The sealing column 222 and the cylinder 10 form a receiving space 223 therebetween, and the receiving space 223 has a circular column shape. The fifth through hole 224 communicates the accommodating space 223 with the first half cavity 211. When the pressure of the hydraulic oil in the first half cavity 211 is higher, the hydraulic oil in the first half cavity 211 flows to the accommodating space 223 from the fifth through hole 224, and pushes the second piston 51 to move upwards, so that the third elastic element 53 deforms to store energy. When the pressure of the hydraulic oil in the first half cavity 211 is reduced, the third elastic element 53 recovers to deform, and pushes the second piston 51 to move downward, and the hydraulic oil in the accommodating space 223 flows to the first half cavity 211 from the fifth through hole 224 to perform work. The second piston 51 is annular.
The second piston 51 includes:
a sliding member 511 connected to the third elastic member 53;
a V-shaped member 512 connected to the slider 511;
a spreader 513 positioned within the opening of the chevron 512;
after the hydraulic oil in the first half cavity 211 enters the accommodating space 223 from the fifth through hole 224, the spreading member 513 is pushed, the spreading member 513 moves towards the V-shaped member 512, and the inner wall and the outer wall of the V-shaped member 512 are spread to abut against the sealing column 222 and the cylinder 10 respectively, so that the second piston 51 is prevented from leaking.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 3 to 4, the third elastic member 53 is a spring. In particular, the third elastic element 53 may also adopt other forms of elasticity, and is particularly arranged according to the requirement. The spring is sleeved on the piston rod 40.
The invention also provides a preferred embodiment of the myoelectric prosthesis:
the myoelectric prosthesis comprises the myoelectric prosthesis hydraulic damper according to any one of the embodiments.
The invention also provides a preferred embodiment of the control method of the myoelectric artificial limb hydraulic damper, which comprises the following steps:
specifically, since the flow direction of the first damping adjustment assembly 60 and the flow direction of the second damping adjustment assembly 70 are not the same, there are two cases, the first case: the first damping adjustment assembly 60 flows from the first half cavity 211 to the second half cavity 212, and the second damping adjustment assembly 70 flows from the second half cavity 212 to the first half cavity 211; in the second case: the second damping adjustment assembly 70 flows from the first half cavity 211 to the second half cavity 212, and the first damping adjustment assembly 60 flows from the second half cavity 212 to the first half cavity 211.
The control method of the myoelectric artificial limb hydraulic damper comprises the following steps:
and step S100a, controlling the first damping adjustment assembly to be closed and the second damping adjustment assembly to be opened so as to enable the energy storage device to store energy.
And step S200a, controlling the first damping adjustment assembly to be opened and the second damping adjustment assembly to be closed so as to enable the energy storage device to do work.
Specifically, in the first situation, the first damping adjustment assembly 60 is controlled to be closed and the second damping adjustment assembly 70 is controlled to be opened, so that the hydraulic oil in the second half cavity 212 can flow to the first half cavity 211, the hydraulic oil in the first half cavity 211 cannot flow to the second half cavity 212, the pressure of the hydraulic oil in the first half cavity 211 is increased, the hydraulic oil in the first half cavity 211 flows to the energy accumulator 50, and the energy accumulator 50 stores energy. When the first damping adjustment assembly 60 is controlled to be opened and the second damping adjustment assembly 70 is controlled to be closed, the hydraulic oil in the first half cavity 211 can flow to the second half cavity 212, the hydraulic oil in the second half cavity 212 cannot flow to the first half cavity 211, the pressure of the hydraulic oil in the first half cavity 211 is reduced, the hydraulic oil in the accumulator 50 flows to the first half cavity 211, and the accumulator 50 can do work.
And step S100b, controlling the first damping adjustment assembly to be opened and the second damping adjustment assembly to be closed so as to enable the energy storage device to store energy.
And step S200b, controlling the first damping adjustment assembly to be closed and the second damping adjustment assembly to be opened so as to enable the energy storage device to do work.
Specifically, in the second situation, the first damping adjustment assembly 60 is controlled to be opened and the second damping adjustment assembly 70 is controlled to be closed, so that the hydraulic oil in the second half cavity 212 can flow to the first half cavity 211, the hydraulic oil in the first half cavity 211 cannot flow to the second half cavity 212, the pressure of the hydraulic oil in the first half cavity 211 is increased, the hydraulic oil in the first half cavity 211 flows to the energy accumulator 50, and the energy accumulator 50 stores energy. When the first damping adjustment assembly 60 is controlled to be closed and the second damping adjustment assembly 70 is controlled to be opened, the hydraulic oil in the first half cavity 211 can flow to the second half cavity 212, the hydraulic oil in the second half cavity 212 cannot flow to the first half cavity 211, the pressure of the hydraulic oil in the first half cavity 211 is reduced, the hydraulic oil in the accumulator 50 flows to the first half cavity 211, and the accumulator 50 can do work.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims (10)

1. A myoelectric prosthetic hydraulic damper, characterized by comprising:
a barrel;
the oil cylinder is arranged in the cylinder body, and a cavity for loading hydraulic oil is formed in the oil cylinder;
a first piston located within the cavity and dividing the cavity into a first half-cavity and a second half-cavity;
one end of the piston rod is connected with the first piston, and the other end of the piston rod penetrates through the first half cavity and extends out of the cavity;
the energy accumulator is arranged in the cylinder body and is communicated with the first half cavity;
the first damping adjusting assembly is arranged on the cylinder, one end of the first damping adjusting assembly is communicated with the first half cavity, and the other end of the first damping adjusting assembly is communicated with the second half cavity;
the second damping adjusting assembly is arranged on the cylinder, one end of the second damping adjusting assembly is communicated with the first half cavity, and the other end of the second damping adjusting assembly is communicated with the second half cavity;
wherein a flow direction of the first damping adjustment assembly is opposite to a flow direction of the second damping adjustment assembly.
2. A electromyographic prosthetic hydraulic damper according to claim 1, wherein the first damping adjustment assembly comprises:
a first throttle valve;
a first check valve in communication with the first throttle valve;
the second damping adjustment assembly includes:
a second throttle valve;
a second check valve in communication with the second throttle valve;
wherein the flow direction of the first one-way valve is opposite to the flow direction of the second one-way valve.
3. An electromyographic prosthetic hydraulic damper according to claim 2, wherein the first and second pinch valves are disposed outside the barrel;
the first half cavity is provided with a first through hole and a fourth through hole, and the first check valve is arranged at the first through hole; the second half cavity is provided with a second through hole and a third through hole, and the second one-way valve is arranged at the third through hole;
a first channel, a second channel, a third channel and a fourth channel are arranged in the wall of the cylinder body;
one end of the first channel is connected with the first through hole, and the other end of the first channel is connected with the first throttling valve;
one end of the second channel is connected with the first throttling valve, and the other end of the second channel is connected with the second through hole;
one end of the third channel is connected with the third through hole, and the other end of the third channel is connected with the second throttling valve;
one end of the fourth channel is connected with the second throttle valve, and the other end of the fourth channel is connected with the fourth through hole.
4. A myoelectric prosthetic hydraulic damper according to claim 3, wherein said cylinder comprises:
a cylinder cover;
the cylinder wall is connected with the cylinder cover;
the cylinder bottom is connected with the cylinder wall;
wherein the cylinder cover, the cylinder wall and the cylinder bottom surround to form the cavity;
the cylinder cover is provided with the first through hole; the cylinder wall is provided with the fourth through hole and the second through hole; the cylinder bottom is provided with the third through hole.
5. The electromyographic prosthetic hydraulic damper according to claim 4, wherein a first stop is disposed on a side of the cylinder cover facing the first half cavity; a second limiting piece is arranged on one side, facing the second half cavity, of the cylinder bottom;
the first check valve includes:
a first closing member closing the first through hole;
a first elastic member, one side of which abuts against the first closing member and the other side of which abuts against the first stopper;
the second check valve includes:
a second closing member closing the third through hole;
and a second elastic member, one side of which abuts against the second closing member and the other side of which abuts against the second stopper.
6. The electromyographic prosthetic hydraulic damper of claim 5,
the first elastic piece is a spring piece; and/or
The second elastic piece is a spring piece.
7. The electromyographic prosthetic hydraulic damper of claim 4,
the cylinder cover is provided with a sealing column which is connected with the piston rod in a sliding manner; an accommodating space is formed between the sealing column and the cylinder body;
a fifth through hole is formed in the cylinder cover and is communicated with the accommodating space and the first half cavity;
the energy storage device includes:
the second piston is arranged in the accommodating space;
the cover body is connected with the cylinder body;
and one end of the third elastic piece is connected with the second piston, and the other end of the third elastic piece is connected with the cover body.
8. A myoelectric prosthetic hydraulic damper according to claim 7, wherein said third elastic member is a spring.
9. An electromyographic prosthesis comprising the electromyographic prosthesis hydraulic damper of any of claims 1 to 8.
10. A control method of an electromyographic prosthetic hydraulic damper according to any one of claims 1-8, comprising the steps of:
controlling the first damping adjustment assembly to be closed and the second damping adjustment assembly to be opened so as to enable the energy accumulator to store energy; controlling the first damping adjusting assembly to be opened and the second damping adjusting assembly to be closed so as to enable the energy accumulator to do work; or
Controlling the first damping adjustment assembly to be opened and the second damping adjustment assembly to be closed so as to enable the energy accumulator to store energy; and controlling the first damping adjusting assembly to be closed and the second damping adjusting assembly to be opened so as to enable the energy accumulator to do work.
CN202111294120.3A 2021-11-03 2021-11-03 Myoelectric artificial limb hydraulic damper, control method thereof and myoelectric artificial limb Pending CN114151493A (en)

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Application Number Priority Date Filing Date Title
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Publication number Priority date Publication date Assignee Title
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CN1126808A (en) * 1995-01-09 1996-07-17 蒋东生 Damper as two-way rigidity regulator for carriage hanging system
CN101592075A (en) * 2008-04-01 2009-12-02 伊威斯发动机***有限责任两合公司 The hydraulic auto-tensioner that has double seal ring
CN104595408A (en) * 2015-01-30 2015-05-06 柳州市同进汽车零部件制造有限公司 Shock absorption device of automobile
CN104653690A (en) * 2013-11-20 2015-05-27 哈恩气动弹簧有限责任公司 Spring element
CN205639430U (en) * 2015-02-17 2016-10-12 吴宗信 Damper
CN109996517A (en) * 2016-10-06 2019-07-09 奥托·博克保健产品有限公司 Actuator-damper elements
US20200054465A1 (en) * 2018-08-17 2020-02-20 Blatchford Products Limited Lower limb prosthesis
CN111946767A (en) * 2020-07-03 2020-11-17 山东科技大学 Composite variable damping hydraulic buffer and application thereof
CN212490278U (en) * 2020-04-14 2021-02-09 吉林大学 Active-passive hybrid hydraulic knee joint prosthesis
JP6873361B1 (en) * 2020-10-16 2021-05-19 日立Astemo株式会社 Buffer and manufacturing method of this buffer

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Publication number Priority date Publication date Assignee Title
CN1126808A (en) * 1995-01-09 1996-07-17 蒋东生 Damper as two-way rigidity regulator for carriage hanging system
CN101592075A (en) * 2008-04-01 2009-12-02 伊威斯发动机***有限责任两合公司 The hydraulic auto-tensioner that has double seal ring
CN104653690A (en) * 2013-11-20 2015-05-27 哈恩气动弹簧有限责任公司 Spring element
CN104595408A (en) * 2015-01-30 2015-05-06 柳州市同进汽车零部件制造有限公司 Shock absorption device of automobile
CN205639430U (en) * 2015-02-17 2016-10-12 吴宗信 Damper
CN109996517A (en) * 2016-10-06 2019-07-09 奥托·博克保健产品有限公司 Actuator-damper elements
US20200054465A1 (en) * 2018-08-17 2020-02-20 Blatchford Products Limited Lower limb prosthesis
CN212490278U (en) * 2020-04-14 2021-02-09 吉林大学 Active-passive hybrid hydraulic knee joint prosthesis
CN111946767A (en) * 2020-07-03 2020-11-17 山东科技大学 Composite variable damping hydraulic buffer and application thereof
JP6873361B1 (en) * 2020-10-16 2021-05-19 日立Astemo株式会社 Buffer and manufacturing method of this buffer

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115059718A (en) * 2022-08-19 2022-09-16 深圳市心流科技有限公司 Hydraulic damper and intelligent artificial limb
CN115059718B (en) * 2022-08-19 2023-01-10 深圳市心流科技有限公司 Hydraulic damper and intelligent artificial limb

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