CN103697008B - A kind of human body assisted walk robot Hydraulic integration control unit - Google Patents
A kind of human body assisted walk robot Hydraulic integration control unit Download PDFInfo
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- CN103697008B CN103697008B CN201310711420.6A CN201310711420A CN103697008B CN 103697008 B CN103697008 B CN 103697008B CN 201310711420 A CN201310711420 A CN 201310711420A CN 103697008 B CN103697008 B CN 103697008B
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Abstract
The invention belongs to human body assisted walk robot hydraulic pressure and control technique field, for solving in the past due to hydraulic driving system, it is excessive that posture perception and control system etc. need manufacture and design separately brought volume weight, manufacture and design complexity, the problem of difficulty is installed, the invention provides a kind of human body assisted walk robot Hydraulic integration control unit, by the hydraulic driving system by human body assisted walk robot, posture perception and control system carry out height Integrated design, realize its structure-integrated and miniaturization, reduce cost and weight thereof, decrease manufacture and the installation procedure of system, reduce the installation of system, debugging and maintenance difficulty, the present invention is simple and compact for structure, and extensibility is high, both can be used for human body assisted walk robot, can be used for again endowment and helps the disabled and use power-assisting robot.
Description
Technical field
The invention belongs to human body assisted walk robot hydraulic pressure and control technique field, be specifically related to a kind of human body assisted walk robot Hydraulic integration control unit.
Background technique
Human body assisted walk robot is a kind of motion and load capacity that effectively can improve human body, reduces the equipment that human body oxygen consumes.Along with the development of science and technology, human body assisted walk machine Man's Demands is also highlighted.Human body assisted walk robot provides power-assisted mainly through hydraulic pressure, but the hydraulic driving system ubiquity of current human's assisted walk robot volume, weight problem bigger than normal.The attitude transducer arranged everywhere in robot and controller also occupy a large amount of spaces, and add the manufacture of system, assembling and maintenance difficulty.If human body assisted walk robot manufactures in a large number and equips our troops, the problems referred to above are then more outstanding.Therefore the human body assisted walk robot Hydraulic integration control unit designing a kind of miniaturization high integration is needed.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is to provide a kind of human body assisted walk robot Hydraulic integration control unit, by the hydraulic driving system of human body assisted walk robot, posture perception and control system height are integrated in the hydraulic valve block of miniaturization, solve in the past that need to manufacture and design separately brought volume weight excessive due to hydraulic driving system, posture perception and control system etc., manufacture and design complexity, the problem of difficulty is installed.
(2) technological scheme
For solving the problems of the technologies described above, the invention provides a kind of human body assisted walk robot Hydraulic integration control unit, it is characterized in that: this control unit by hydraulic driving system, posture perception and control system integration in the hydraulic valve block of miniaturization.
Wherein, the power of described hydraulic driving system is motor, the oil sources supply of human body assisted walk robot is provided by two oil hydraulic pumps, P1 filler opening connects the first one-way valve filler opening, hydraulic oil is connected with the filler opening of the first two-bit triplet normal open switch valve, the first two-bit triplet normally closed switch valve, the 3rd two-bit triplet normally closed switch valve and the first relief valve respectively by the oil circuit in hydraulic valve block after flowing out from the first one-way valve oil outlet; P2 filler opening connects the second one-way valve filler opening, hydraulic oil is connected with the filler opening of the second relief valve with the second two-bit triplet normal open switch valve, the second two-bit triplet normally closed switch valve, the 4th two-bit triplet normally closed switch valve respectively by oil circuit after flowing out from the second one-way valve oil outlet; In the hydraulic valve block being provided with valve block groove, the first two-bit triplet normal open switch valve, the first two-bit triplet normally closed switch valve, the second two-bit triplet normal open switch valve, the second two-bit triplet normally closed switch valve, the first relief valve, the second relief valve, the 3rd two-bit triplet normally closed switch valve are connected with oil outlet T by oil circuit with the oil outlet of the 4th two-bit triplet normally closed switch valve.
Wherein, described posture perception and control system comprise Master control chip, acceleration transducer, angular-rate sensor, double-shaft tilt angle sensor, double-shaft tilt angle sensor transition plate, the first pressure transducer process chip and the second pressure transducer process chip, and are integrated in hydraulic valve block.
Wherein, described Master control chip is fixed on the boss of valve block groove of hydraulic valve block, carries out control and management to whole robot system.
Wherein, the side of described hydraulic valve block is separately installed with the first rectangular connector and the second rectangular connector; On described hydraulic valve block top, perception control system cover plate is set.
Wherein, control left and right sides knee joint place single-acting hydraulic power-assisted oil cylinder respectively by described second two-bit triplet normal open switch valve and the first two-bit triplet normal open switch valve, be respectively arranged with the second pressure transducer and the first pressure transducer at control port place LA and RA of described second two-bit triplet normal open switch valve, the first two-bit triplet normal open switch valve.
Wherein, control port LB, LC of described second two-bit triplet normally closed switch valve, the 4th two-bit triplet normally closed switch valve are connected with the both sides of the double-action hydraulic power-assisted oil cylinder of left side hip joint respectively, by the Master control chip of system to output signal the adjustment of dutycycle, realize regulating the opening and closing degree of the second two-bit triplet normally closed switch valve, the 4th two-bit triplet normally closed switch valve; Control port RB, RC of described first two-bit triplet normally closed switch valve, the 3rd two-bit triplet normally closed switch valve are connected with the both sides of the double-action hydraulic power-assisted oil cylinder of right hips respectively, by the Master control chip of system to output signal the adjustment of dutycycle, realize regulating the opening and closing degree of the first two-bit triplet normally closed switch valve, the 3rd two-bit triplet normally closed switch valve.
Wherein, the bottom of the valve block groove of described hydraulic valve block fixes the first chip transition plate and the second chip transition plate respectively; First chip transition plate is provided with the first pressure transducer process chip, realizes the collecting treatment to the first pressure sensor signal, established angle velocity transducer, human body trunk angular velocity; Second chip transition plate is provided with the second pressure transducer process chip, realizes, to the collecting treatment of the first pressure sensor signal, acceleration transducer is installed, human body trunk acceleration.
Wherein, described double-shaft tilt angle sensor transition plate is fixed on hydraulic valve block by draw-in groove, with the inclination angle of perception trunk portion along transverse axis and the longitudinal axis.
(3) beneficial effect
Compared with prior art, the present invention possesses following beneficial effect:
1, the present invention is by carrying out height Integrated design by the hydraulic driving system of human body assisted walk robot, posture perception and control system, realize its structure-integrated and miniaturization, reduce cost and weight thereof, decrease manufacture and the installation procedure of system, reduce the installation of system, debugging and maintenance difficulty;
2, the present invention is simple and compact for structure, and extensibility is high, both can be used for human body assisted walk robot, can be used for again endowment and helps the disabled and use power-assisting robot.
Accompanying drawing explanation
Fig. 1 is the hydraulic schematic diagram of human body assisted walk robot provided by the invention Hydraulic integration control unit;
Fig. 2 is human body assisted walk robot provided by the invention integrating control unit appearance assumption diagram;
Fig. 3 is hydraulic unit scheme of installation in human body assisted walk robot provided by the invention integrating control unit;
Fig. 4 is control chip and each sensor scheme of installation in human body assisted walk robot provided by the invention integrating control unit.
In figure: 100 is hydraulic valve block, 101 is the first pressure transducer, 102 is the first two-bit triplet normal open switch valve, 103 is the second pressure transducer, 104 is the first two-bit triplet normally closed switch valve, 105 is the second two-bit triplet normal open switch valve, 106 is the second two-bit triplet normally closed switch valve, 107 is the first relief valve, 108 is the second relief valve, 109 is the 3rd two-bit triplet normally closed switch valve, 110 is the 4th two-bit triplet normal open switch valve, 111 is the first one-way valve, 112 is the second one-way valve, 113 is hexagonal socket head plug, 114 is pipe joint, 115 is the first pressure transducer plug, 116 is the second pressure transducer plug, 200 is perception control system cover plate, 201 is set screw, 202 is Master control chip, 203 is acceleration transducer, 204 is the first pressure transducer process chip, 205 is the second pressure transducer process chip, 206 is angular-rate sensor, 207 is the first chip transition plate, 208 is the second chip transition plate, 209 is double-shaft tilt angle sensor, 210 is double-shaft tilt angle sensor transition plate, 211 is the first rectangular connector, 212 is the second rectangular connector.
Embodiment
For making object of the present invention, content and advantage clearly, below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
As Fig. 1,2, shown in 3 and 4, human body assisted walk robot provided by the invention Hydraulic integration control unit mainly comprises hydraulic valve block 100 for controlling human body assisted walk robot hydraulic driving system and relevant hydraulic control valve; For the acceleration transducer 203 of robot pose perception, angular-rate sensor 206 and double-shaft tilt angle sensor 209; For Master control chip 202, first pressure transducer process chip 204 and the second pressure transducer process chip 205 of robot Information Collecting & Processing.
As shown in Figure 1,2 and 3, the human body assisted walk robot oil sources supply that Hydraulic integration control unit is provided by two oil hydraulic pumps, enters in hydraulic valve block 100 through P1, P2 mouth respectively.P1 filler opening directly connects the filler opening of the first one-way valve 111, hydraulic oil is connected with the filler opening of the first two-bit triplet normal open switch valve 102, first two-bit triplet normally closed switch valve the 104, the 3rd two-bit triplet normally closed switch valve 109 and the first relief valve 107 respectively by the oil circuit in valve block 100 after flowing out from the first one-way valve 111 oil outlet.P2 filler opening directly connects the second one-way valve 112 filler opening, hydraulic oil is connected with the filler opening of the second relief valve 108 with the second two-bit triplet normal open switch valve 105, second two-bit triplet normally closed switch valve the 106, the 4th two-bit triplet normally closed switch valve 110 respectively by oil circuit after flowing out from the second one-way valve 112 oil outlet.In the hydraulic valve block 100 being provided with valve block groove, connected the oil outlet of the first two-bit triplet normal open switch valve 102, first two-bit triplet normally closed switch valve 104, second two-bit triplet normal open switch valve 105, second two-bit triplet normally closed switch valve 106, first relief valve 107, second relief valve 108, the 3rd two-bit triplet normally closed switch valve 109 and the 4th two-bit triplet normally closed switch valve 110 by oil circuit respectively, realize the unification of oil outlet eventually through oil outlet T.
First one-way valve 111 and the second one-way valve 112 ensure that the one-way flow of hydraulic oil, reduce hydraulic shock to the impact of oil hydraulic pump.First relief valve 107 and the second relief valve 108 respectively define the maximum system oil pressure in Hydraulic integration control unit in two oil circuits, prevent excessive system oil pressure and cause the injury of equipment with the personnel of wearing.
Left and right sides knee joint place single-acting hydraulic power-assisted oil cylinder controls respectively by the second two-bit triplet normal open switch valve 105 and the first two-bit triplet normal open switch valve 102, respectively by control port LA, RA of the second two-bit triplet normal open switch valve 105, first two-bit triplet normal open switch valve 102 and the rodless cavity of single-acting cylinder, realize the control to oil hydraulic cylinder displacement by the switch of control switch valve, and then realize kneed rotation power-assisted.Hydraulic oil second pressure transducer 103, first pressure transducer 101 has been installed additional respectively in control port place of the second two-bit triplet normal open switch valve 105 and the first two-bit triplet normal open switch valve 102, the pressure of real-time monitoring knee joint power-assisted oil cylinder, ensure that the validity of control.
The both sides of the double-action hydraulic power-assisted oil cylinder of left side hip joint are connected with control port LB, LC of the second two-bit triplet normally closed switch valve the 106, the 4th two-bit triplet normally closed switch valve 110 respectively, by the Master control chip 202 of system to output signal the adjustment of dutycycle realize regulating the second two-bit triplet normally closed switch valve the 106, the 4th two-bit triplet normally closed switch valve 110 opening and closing degree, and then realize the control to left side hip joint double-action hydraulic power-assisted oil cylinder.
The both sides of the double-action hydraulic power-assisted oil cylinder of right hips are connected with control port RB, RC of the first two-bit triplet normally closed switch valve the 104, the 3rd two-bit triplet normally closed switch valve 109 respectively, by the Master control chip 202 of system to output signal the adjustment of dutycycle realize regulating the first two-bit triplet normally closed switch valve the 104, the 3rd two-bit triplet normally closed switch valve 109 opening and closing degree, and then realize the control to left side hip joint double-action hydraulic power-assisted oil cylinder.
The valve opening that described valve block 100 bores is inner thread mouth, and adopt hexagonal socket head plug 113 to close for auxiliary hole, pressure transducer adopts the first pressure transducer plug 115 respectively; Second pressure transducer plug 116 is fixed, and oil outlet T and control port LA, LB, LC, RA, RB, RC all adopt pipe joint 114.
As shown in Figures 2 and 4, posture perception and control system integration, in the groove on the top of hydraulic valve block 100, mainly comprise the Master control chip 202 of human body assisted walk robot, acceleration transducer 203, angular-rate sensor 206, double-shaft tilt angle sensor 209, double-shaft tilt angle sensor transition plate 210, first pressure transducer process chip 204 and the second pressure transducer process chip 205.
The first chip transition plate 207 and the second chip transition plate 208 is fixed respectively in the bottom of valve block groove.On the first chip transition plate 207, the first pressure transducer process chip 204 is installed, realizes the collecting treatment to the first pressure transducer 101 signal; Angular-rate sensor 206 is installed, human body trunk angular velocity.On the second chip transition plate 208, the second pressure transducer process chip 205 is installed, realizes the collecting treatment to the first pressure transducer 103 signal; Acceleration transducer 203 is installed, human body trunk acceleration.Double-shaft tilt angle sensor transition plate 210 is fixed on valve block 100 by draw-in groove, with the inclination angle of perception trunk portion along transverse axis and the longitudinal axis.Boss in valve block upper slot is fixed with the Master control chip 202 of human body assisted walk robot, control and management can be carried out to whole robot system.First rectangular connector 211 and the second rectangular connector 212 is installed in the side of valve block 100.In order to the protection to Master control chip 202, acceleration transducer 203 and angular-rate sensor 206 and the first pressure transducer process chip 204 and the second pressure transducer process chip 205, perception control system cover plate 200 is installed on top.
Master control chip 202 realizes connection and the control of outside each sensor and final controlling element etc. with robot by the first rectangular connector 211, second rectangular connector 212, is then connected by inner wire with process chip for the sensor in hydraulic valve block 100 inside.Various transition plate, sensor and chip are all fixed by set screw 201.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also carry out some improvement and distortion, these improve and distortion also should be considered as protection scope of the present invention.
Claims (8)
1. a human body assisted walk robot Hydraulic integration control unit, is characterized in that: the hydraulic driving system that this control unit comprises, posture perception and control system integration are in the hydraulic valve block (100) of miniaturization; The power of described hydraulic driving system is motor, the oil sources supply of human body assisted walk robot is provided by two oil hydraulic pumps, first oil hydraulic pump filler opening (P1) connects the first one-way valve (111) filler opening, hydraulic oil is connected with the filler opening of the first two-bit triplet normal open switch valve (102), the first two-bit triplet normally closed switch valve (104), the 3rd two-bit triplet normally closed switch valve (109) and the first relief valve (107) respectively by the oil circuit in hydraulic valve block (100) after flowing out from the first one-way valve (111) oil outlet; Second oil hydraulic pump filler opening (P2) connects the second one-way valve (112) filler opening, hydraulic oil is connected with the filler opening of the second relief valve (108) with the second two-bit triplet normal open switch valve (105), the second two-bit triplet normally closed switch valve (106), the 4th two-bit triplet normally closed switch valve (110) respectively by oil circuit after flowing out from the second one-way valve (112) oil outlet; In the hydraulic valve block (100) being provided with valve block groove, the first two-bit triplet normal open switch valve (102), the first two-bit triplet normally closed switch valve (104), the second two-bit triplet normal open switch valve (105), the second two-bit triplet normally closed switch valve (106), the first relief valve (107), the second relief valve (108), the 3rd two-bit triplet normally closed switch valve (109) are connected with oil outlet (T) by oil circuit with the oil outlet of the 4th two-bit triplet normally closed switch valve (110).
2. human body assisted walk robot according to claim 1 Hydraulic integration control unit, it is characterized in that: described posture perception and control system comprise Master control chip (202), acceleration transducer (203), angular-rate sensor (206), double-shaft tilt angle sensor (209), double-shaft tilt angle sensor transition plate (210), the first pressure transducer process chip (204) and the second pressure transducer process chip (205), and are integrated in hydraulic valve block (100).
3. human body assisted walk robot according to claim 2 Hydraulic integration control unit, it is characterized in that: described Master control chip (202) is fixed on the boss of valve block groove of hydraulic valve block (100), carries out control and management to whole robot system.
4., according to the arbitrary described human body assisted walk robot Hydraulic integration control unit of claim 1-3, it is characterized in that: the side of described hydraulic valve block (100) is separately installed with the first rectangular connector (211) and the second rectangular connector (212); On described hydraulic valve block (100) top, perception control system cover plate (200) is set.
5. human body assisted walk robot according to claim 1 Hydraulic integration control unit, it is characterized in that: control a left side respectively by described second two-bit triplet normal open switch valve (105) and the first two-bit triplet normal open switch valve (102), knee joint place, right side single-acting hydraulic power-assisted oil cylinder, at control port (LA) place of described second two-bit triplet normal open switch valve (105), control port (RA) place of the first two-bit triplet normal open switch valve (102) is respectively arranged with the second pressure transducer (103) and the first pressure transducer (101).
6. human body assisted walk robot according to claim 1 Hydraulic integration control unit, it is characterized in that: the control port (LB) of described second two-bit triplet normally closed switch valve (106), the control port (LC) of the 4th two-bit triplet normally closed switch valve (110) is connected with the both sides of the double-action hydraulic power-assisted oil cylinder of left side hip joint respectively, by the Master control chip (202) of system to output signal the adjustment of dutycycle, realize the second two-bit triplet normally closed switch valve (106), the opening and closing degree of the 4th two-bit triplet normally closed switch valve (110) regulates, the control port (RB) of described first two-bit triplet normally closed switch valve (104), the control port (RC) of the 3rd two-bit triplet normally closed switch valve (109) are connected with the both sides of the double-action hydraulic power-assisted oil cylinder of right hips respectively, by the adjustment to the dutycycle of output signal of the Master control chip (202) of system, realize regulating the opening and closing degree of the first two-bit triplet normally closed switch valve (104), the 3rd two-bit triplet normally closed switch valve (109).
7. human body assisted walk robot according to claim 1 Hydraulic integration control unit, is characterized in that: the bottom of the valve block groove of described hydraulic valve block (100) fixes the first chip transition plate (207) and the second chip transition plate (208) respectively; First chip transition plate (207) is provided with the first pressure transducer process chip (204), realize the collecting treatment to the first pressure transducer (101) signal, established angle velocity transducer (206), human body trunk angular velocity; Second chip transition plate (208) is provided with the second pressure transducer process chip (205), realize the collecting treatment to the second pressure transducer (103) signal, acceleration transducer (203) is installed, human body trunk acceleration.
8. human body assisted walk robot according to claim 2 Hydraulic integration control unit, it is characterized in that: described double-shaft tilt angle sensor transition plate (210) is fixed on hydraulic valve block (100) by draw-in groove, with the inclination angle of perception trunk portion along transverse axis and the longitudinal axis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310711420.6A CN103697008B (en) | 2013-12-20 | 2013-12-20 | A kind of human body assisted walk robot Hydraulic integration control unit |
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| CN201310711420.6A CN103697008B (en) | 2013-12-20 | 2013-12-20 | A kind of human body assisted walk robot Hydraulic integration control unit |
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| CN103697008B true CN103697008B (en) | 2016-03-16 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104265719B (en) * | 2014-09-30 | 2016-06-29 | 平原机器厂（新乡） | Pneumatic pile-up valve group |
| FR3072440B1 (en) * | 2017-10-13 | 2019-11-29 | Parker Hannifin Emea S.A.R.L. | CONFIGURABLE VALVE FOR DISPENSING A FLUID AND METHOD FOR SETTING SAID VALVE |
| CN109630481B (en) * | 2019-01-21 | 2020-01-07 | 北京航空航天大学 | Single-degree-of-freedom active knee joint prosthesis based on closed hydraulic drive circuit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE10314436A1 (en) * | 2002-11-13 | 2004-05-27 | Continental Teves Ag & Co. Ohg | Pressure control unit, especially for an electrohydraulic motor vehicle braking system, employs the same fastenings for holding together both housing sides of a pressure sensor assembly and a support housing |
| EP1464843B1 (en) * | 2003-04-01 | 2005-05-25 | Festo AG & Co | Control device |
| CN201125901Y (en) * | 2007-11-10 | 2008-10-01 | 夏从安 | Robot articular driver |
| US8126592B2 (en) * | 2008-10-14 | 2012-02-28 | Boston Dynamics, Inc. | Actuator system |
| CN102588360A (en) * | 2012-03-08 | 2012-07-18 | 四川华通工程技术研究院 | Hydraulic system for exoskeleton suit |
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