CN108210254B - Pump-free double-push-rod hydraulic walking-assisting robot and control method thereof - Google Patents
Pump-free double-push-rod hydraulic walking-assisting robot and control method thereof Download PDFInfo
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- CN108210254B CN108210254B CN201711330782.5A CN201711330782A CN108210254B CN 108210254 B CN108210254 B CN 108210254B CN 201711330782 A CN201711330782 A CN 201711330782A CN 108210254 B CN108210254 B CN 108210254B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
The invention discloses a pumpless double-push-rod hydraulic walking-aid robot and a control method thereof, wherein the walking-aid robot comprises a supporting mechanism, an adjusting mechanism and an oil supply pipeline; the supporting mechanism comprises a thigh shell, a shank shell, a connecting plate and a sole plate; the adjusting mechanism is a hydraulic cylinder, two ends of the hydraulic cylinder are respectively hinged with the thigh shell and the shank shell, and the hydraulic cylinder comprises a single-acting cylinder and a double-acting cylinder; the oil supply pipeline comprises a first oil way, a second oil way, a third oil way, a fourth oil way and a fifth oil way, and the first oil way, the second oil way and the third oil way are all connected with an energy storage tank. The pumpless double-push-rod hydraulic walking-aid robot and the control method thereof have the advantages that the structure is simple, a hydraulic pump or a motor is not needed to be used as a drive, the motion state of the knee joint in the actual walking process can be accurately judged, the output power is adjusted according to the motion state of the knee joint, the energy loss is reduced, and the energy is saved.
Description
Technical Field
The invention relates to the field of rehabilitation medical instruments, in particular to a pumpless double-push-rod hydraulic walking-aid robot and a control method thereof.
Background
The walking-aid robot is an emerging technology which is rapidly developed in recent years, and is a new application of the robot technology in the medical field. At present, in the walking-aid robot in the prior art, a motor is mostly used as a drive, and a hydraulic pump is also needed to provide power even if hydraulic drive is used. In addition, when a human body normally walks, the swinging period and the supporting period of the legs are alternately carried out, the legs only need to be driven by the driving device to provide large driving force in the standing period, corresponding swinging can be realized under the action of inertia force in the rotating process of hip joints in the swinging period, the required driving force is small, but a plurality of existing walking-aid robots only rely on the same driving structure to provide power, and thus energy waste is caused.
Disclosure of Invention
The invention aims to solve the technical problems mentioned above, and provides a walking-assisting robot which is simple in structure, does not need a hydraulic pump or a motor as a drive, and can adjust the output power according to the motion state of a knee joint in the actual walking process, thereby reducing energy loss in the using process and saving energy, and a method which can accurately judge the state of a leg part during walking and control the operation of the pump-free hydraulic walking-assisting robot according to the state.
The invention is realized by the following technical scheme: a pumpless double-push rod hydraulic walking-aid robot comprises a supporting mechanism, an adjusting mechanism and an oil supply pipeline;
the supporting mechanism comprises a thigh shell, a shank shell, a connecting plate and a sole plate, wherein the thigh shell is hinged with the shank shell, and the shank shell is fixedly connected with the sole plate through the connecting plate;
adjustment mechanism is the pneumatic cylinder, the both ends of pneumatic cylinder are articulated with thigh casing and shank casing respectively, the pneumatic cylinder includes single-action jar and double-acting cylinder, the single-action jar include first cylinder body to and with first cylinder body swing joint's first piston rod, top cavity and bottom cavity are separated into with the inside cavity of first cylinder body to the piston of first piston rod, double-acting cylinder includes the second cylinder body to and with second cylinder body swing joint's second piston rod, first cavity and second cavity are separated into with the inside cavity of second cylinder body to the piston of second piston rod.
The oil supply pipeline comprises a first oil way, a second oil way, a third oil way, a fourth oil way and a fifth oil way, the first oil way and the second oil way can be communicated with the first cavity and the second cavity respectively, the third oil way and the fourth oil way can be communicated with the bottom cavity, the fifth oil way is communicated with the top cavity, the first oil way, the second oil way and the third oil way are connected with an energy storage tank, the energy storage tank can provide power for driving the first piston rod and the second piston rod to move, and a valve body for controlling the on-off of the oil supply pipeline and the flowing direction of hydraulic oil is arranged on the oil supply pipeline.
Preferably, the thigh shell and the calf shell are articulated by an upper stiffening plate and a lower stiffening plate respectively fixed thereto.
Preferably, be provided with the mounting groove on the reinforcing plate down, go up to be provided with on the reinforcing plate with mounting groove complex connecting portion, connecting portion rotate with the mounting groove through the round pin axle and are connected.
Preferably, the walking robot also comprises a controller and a sensor, wherein the sensor detects the motion state of the leg part during walking and sends a signal to the controller, and the controller controls the on-off of the oil passage and the work of the energy storage tank by receiving the signal.
Preferably, the sensor comprises a strain gauge arranged on the connection plate, and a pressure sensor arranged on the sole plate.
Preferably, the energy storage tank comprises a tank body, a partition board is movably arranged in an inner cavity of the tank body, the partition board divides the inner cavity into an upper cavity and a lower cavity, the bottom of the partition board is elastically connected with the lower cavity through an elastic piece, hydraulic oil is stored in the upper cavity, an oil inlet and an oil outlet which are communicated with the upper cavity are formed in the tank body, and one-way valves are arranged on the oil inlet and the oil outlet.
Preferably, the tank body is further provided with an oil return port communicated with the lower chamber, the first oil path, the second oil path, the fourth oil path and the fifth oil path are all communicated with the oil return port, and the partition plate is provided with a check valve capable of enabling hydraulic oil in the lower chamber to flow to the upper chamber.
Preferably, the connecting plate and the sole plate are elastic plate bodies.
Preferably, the valve body comprises a three-position four-way electromagnetic valve and a two-position two-way electromagnetic valve, the first oil path, the second oil path and the third oil path control the on-off of the oil paths and the flow direction of hydraulic oil through the three-position four-way electromagnetic valve, and the third oil path, the fourth oil path and the fifth oil path are all provided with the two-position two-way electromagnetic valve.
The invention also provides a control method of the pumpless double-push-rod hydraulic walking-aid robot, which adopts the pumpless double-push-rod hydraulic walking-aid robot in any scheme, the pumpless double-push-rod hydraulic walking-aid robot comprises a strain gauge arranged on a connecting plate, a pressure sensor arranged on a sole plate and a controller connected with the strain gauge and the pressure sensor, and the method comprises the following steps:
the strain gauge detects a strain signal generated when the connecting plate is stressed and bent, and transmits the detected strain signal to the controller;
the pressure sensor detects a pressure signal generated when the sole plate is subjected to pressure and transmits the detected pressure signal to the controller;
the controller receives and processes the strain signal and the pressure signal, judges the motion state of the leg at the moment according to the processing result, and controls the working state of the energy storage tank and the communication state of the oil pipeline;
when the leg is in a swinging period, the energy storage tank is controlled to provide driving force for the second piston rod to drive the leg to swing, and the second piston rod drives the first piston rod to move synchronously in the moving process;
when the leg is in the supporting period, the controller calculates the required power according to the received signal, and the energy storage tank is controlled to simultaneously provide power for the first piston rod and the second piston rod, so that the first piston rod and the second piston rod are completely extended out, the leg is driven to be straightened, and the oil supply pipeline is closed after the leg is straightened, and therefore the supporting force in an upright state is provided for the leg.
The beneficial effects are that: compared with the prior art, the pump-free double-push-rod hydraulic walking-aid robot has the advantages that the first piston rod and the second piston rod are driven to move by the energy storage tank, driving force and supporting force required by legs are provided, the hydraulic pump is not needed to provide power, energy loss is reduced, the structure of the walking-aid robot is lighter, production cost is reduced, the size of output power can be adjusted according to the motion state of the legs in the actual walking process, when the legs are in the swing period, the knee joints are driven to swing by the small driving force provided by the double-acting cylinders, when the legs are in the supporting period, the single-acting cylinders and the double-acting cylinders simultaneously provide large driving force for the knee joints, the legs can be ensured to be in a stable standing state, energy consumption in the walking process is reduced, and the cruising time of the walking-aid robot is prolonged.
According to the control method of the pumpless double-push-rod hydraulic walking-aid robot, the strain signal of the strain gauge and the pressure signal of the pressure sensor are combined, the controller can more accurately judge the motion state of the legs when a human body walks, and the work of the hydraulic cylinder is controlled according to the motion state, so that the motion state of the human body can be matched, and the stability of the motion process is ensured.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is a schematic structural view of a pumpless double-push-rod hydraulic walking-assistant robot of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
FIG. 3 is a schematic diagram of the energy storage tank of FIG. 1;
fig. 4 is a working principle diagram of the adjusting mechanism in the present invention.
Detailed Description
As shown in figures 1 and 4, the pumpless double-push-rod hydraulic walking-assistant robot comprises a supporting mechanism, an adjusting mechanism and an oil supply pipeline;
the supporting mechanism comprises a thigh shell 1, a shank shell 2, a connecting plate 3 and a sole plate 4, wherein the thigh shell 1 is hinged with the shank shell 2, and the shank shell 2 is fixedly connected with the sole plate 4 through the connecting plate 3;
the adjusting mechanism is a hydraulic cylinder, two ends of the hydraulic cylinder are respectively hinged with the thigh shell 1 and the shank shell 2, the hydraulic cylinder comprises a single-acting cylinder and a double-acting cylinder, the single-acting cylinder comprises a first cylinder body 5 and a first piston rod 6 movably connected with the first cylinder body 5, a cavity inside the first cylinder body 5 is divided into a top cavity 51 and a bottom cavity 52 by a piston of the first piston rod 6, the double-acting cylinder comprises a second cylinder body 7 and a second piston rod 8 movably connected with the second cylinder body 7, and the cavity inside the second cylinder body 7 is divided into a first cavity 9 and a second cavity 10 by a piston of the second piston rod 8.
The oil supply pipeline comprises a first oil way 11, a second oil way 12, a third oil way 13, a fourth oil way 15 and a fifth oil way 16, the first oil way 11 and the second oil way 12 can be respectively communicated with the first cavity 9 and the second cavity 10, the third oil way 13 and the fourth oil way 15 can be communicated with the bottom cavity 52, the fifth oil way 16 is communicated with the top cavity 51, the first oil way 11, the second oil way 12 and the third oil way 13 are connected with an energy storage tank 14, the energy storage tank 14 can provide power for driving the first piston rod 6 and the second piston rod 8 to move, and a valve body for controlling the on-off and the flow direction of hydraulic oil is arranged on the oil way pipeline.
When using, thigh casing 1, shank casing 2, connecting plate 3 and the fixed setting of sole board 4 are at the shank, can be provided with arc laminating portion respectively on thigh casing 1 and the shank casing 2, can closely laminate with thigh surface and shank surface respectively when dressing, thereby improve its stability and the travelling comfort of dressing, connecting plate 3 and sole board 4 can be the springboard body, elastic bending can take place at the walking in-process, and then the different form changes that can better cooperation walking in-process ankle department and sole department produced, further improvement the travelling comfort of dressing, and contact at sole and ground, when making connecting plate 3 and sole board 4 produce elastic bending, can also absorb partly impact force, play the effect of buffering, thereby play certain guard action to the shank.
In the normal walking process of a human body, the swinging period and the supporting period of the legs are alternately carried out, when the legs are in the swinging period, the soles are separated from the ground, the legs comprise the swinging later period and the swinging early-middle period, when the legs are in the swinging later period, the angle formed between thighs and calves is gradually increased, and the heels are contacted with the ground, in the process, hydraulic oil in the energy storage tank 14 flows into the first chamber 9 through the first oil way 11 to drive the second piston rod 8 to extend out, at the moment, the hydraulic oil in the second chamber 10 flows out from the second oil way 12, the first piston rod 6 is fixedly connected with the second piston rod 8, the second piston rod 8 drives the first piston rod 6 to synchronously move, so that the first piston rod 6 extends out, the first piston rod 6 supplies hydraulic oil into the bottom chamber 52 through the fourth oil way in the extending process, the hydraulic oil in the top chamber 51 flows out through the fifth oil way, when the leg is in the middle-forward period of the swing, the leg is separated from the ground, the angle formed between the shank and the thigh is gradually reduced, the hydraulic oil in the energy storage tank 14 flows into the second chamber 10 through the second oil path 12, the second piston rod 8 is driven to be in a fully contracted state, the hydraulic oil in the first chamber 9 is discharged from the first oil path 11 at the moment, the second piston rod 8 drives the first piston rod 6 to move to be in the fully contracted state, the first piston rod 6 supplies the hydraulic oil to the top chamber 51 through the fifth oil path 16 in the contraction process, the hydraulic oil in the bottom chamber 52 flows out from the fourth oil path 15, when the leg is in the early period of the support, the sole is in contact with the ground, the support period comprises the middle-forward period of the support and the later period of the support, when the leg is in the middle-forward period of the support, the leg is gradually straightened by bending, and when the energy storage tank 14 supplies the hydraulic oil to the first chamber, simultaneously, driving force is provided for the first piston rod 6 and the second piston rod 8, so that the first piston rod 6 and the second piston rod 8 can be completely extended out, the leg part is driven to be straightened, the oil way pipeline is closed after the leg part is straightened, a large supporting force is provided to the leg, so that the leg is straightened and kept standing, at the moment, the hydraulic oil in the second chamber 10 and the top chamber 51 respectively flows out from the second oil path 12 and the fifth oil path 16, when the leg is in the later stage of supporting, the leg moves from the straight state to the bent state, the energy storage tank 14 only supplies oil to the second chamber 10 to drive the second piston rod 8 to contract, the second piston rod 8 drives the first piston rod 6 to contract in the contraction process, at the moment, the hydraulic oil in the first chamber 9 flows out from the first oil way 11, the hydraulic oil is supplied to the top chamber 51 through the fifth oil passage 16, the hydraulic oil in the bottom chamber 52 flows out from the fourth oil passage 15, and the flowing hydraulic oil can be collected by the oil tank.
As shown in fig. 2, more preferably, the thigh shell 1 and the calf shell 2 can be hinged by an upper reinforcing plate 17 and a lower reinforcing plate 18 respectively fixed thereon, the upper reinforcing plate 17 and the lower reinforcing plate 18 can be respectively provided with two, the upper reinforcing plate 17 is fixed at the lower end of the two side portions of the thigh shell 1 by screws, the lower reinforcing plate 18 is fixed at the upper end of the two side portions of the calf shell 2 by screws, further, the lower reinforcing plate 18 can be provided with a mounting groove 19, the upper reinforcing plate 17 is provided with a connecting portion 20 matching with the mounting groove 19, or the upper reinforcing plate 17 is provided with a mounting groove 19, the lower reinforcing plate 18 is provided with a connecting portion 20, after the connecting portion 20 is inserted into the mounting groove 19, the connecting portion is rotatably connected with the mounting groove 19 by a pin 21, and by such a connection manner, the structural strength of the joint of the thigh shell 1 and the calf, and makes the calf housing 2 more stable in rotation relative to the thigh housing 1.
The pumpless double-push-rod hydraulic walking-aid robot can further comprise a controller 22 and a sensor 23, the sensor 23 detects the motion state of the leg when walking and sends a signal to the controller 22, the controller 22 controls the on-off of an oil passage and the work of the energy storage tank 14 by receiving the signal, specifically, the sensor 23 can comprise a strain gauge 24 arranged on the connecting plate 3 and a pressure sensor 25 arranged on the sole plate 4, the controller 22 and the sensor 23 are arranged, manual adjustment and control of the walking-aid robot can be omitted during use, the control is more convenient and accurate, and the controller can calculate the required power according to the signal detected by the sensor, so that the driving force provided by the energy storage tank is controlled, and the sufficient driving force can be provided.
As shown in fig. 3, preferably, the energy storage tank 14 may include a tank body 26, a partition 27 is movably disposed in an internal cavity of the tank body 26, the partition 27 divides the internal cavity into an upper cavity 28 and a lower cavity 29 which are relatively sealed, a bottom of the partition 27 is elastically connected to the lower cavity 29 through an elastic member 30, the elastic member 30 may be a spring, hydraulic oil is stored in the upper cavity 28, the tank body 26 is provided with an oil inlet 31 and an oil outlet 32 which are communicated with the upper cavity 28, the oil outlet 32 is communicated with the first oil path 11, the second oil path 12 and the third oil path 13, the oil inlet 31 and the oil outlet 32 are respectively provided with a one-way valve 34 which flows in and flows out in one way, the controller 22 is not required to control the energy storage tank 14 by providing the one-way valve 34, the controller 22 only needs to control oil path pipelines to control the operation of the energy storage tank 14, the hydraulic oil in the upper cavity, when hydraulic oil needs to be supplemented into the energy storage tank 14, hydraulic oil can be injected into the upper chamber 28 through the oil inlet 31, the hydraulic oil can provide pressure for the partition plate 27 to drive the partition plate 27 to move downwards to compress the spring, and elastic potential energy is stored, when the first oil path 11, the second oil path 12 or the third oil path 13 is in an open state, the hydraulic oil in the upper chamber 28 flows out from the oil outlet 32 under the thrust of the partition plate 27 to provide driving force for the first piston rod 6 or the second piston rod 8.
More preferably, the tank 26 may further be provided with an oil return port 33 communicated with the lower chamber 29, the first oil path 11, the second oil path 12, the fourth oil path 15 and the fifth oil path 16 are all communicated with the oil return port 33, the partition plate 27 is provided with a check valve 34 capable of making the hydraulic oil in the lower chamber 29 flow to the upper chamber 28, during the co-oil supply process, the hydraulic oil provided by the energy storage tank 14 may flow back to the lower chamber 29 through the oil return port 33, the hydraulic oil in the lower chamber may be supplied to the top chamber 51 and the bottom chamber 52, and when the upper chamber needs to be supplemented with hydraulic oil, the partition plate 27 may be pressurized by the oil pressure or air pressure from the oil inlet 31, so that the hydraulic oil in the lower chamber 29 flows into the upper chamber through the check valve 34, and thus, the cyclic utilization of the hydraulic oil may be realized.
The valve body comprises a three-position four-way electromagnetic valve 35 and a two-position two-way electromagnetic valve 36, the first oil path, the second oil path and the third oil path control the on-off of the oil paths and the flow direction of hydraulic oil through the three-position four-way electromagnetic valve 35, the third oil path, the fourth oil path and the fifth oil path are all provided with the two-position two-way electromagnetic valve 36, the five oil paths are controlled by adopting the three-position four-way electromagnetic valve 35 and the three two-position two-way electromagnetic valves 36, the control structure is simpler and is convenient to adjust, concretely, the three-position four-way electromagnetic valve 35 is provided with three working positions, namely a left position, a middle position and a right position, the hydraulic oil can respectively flow to the first cavity and the bottom cavity from the first oil path and the third oil path when the three-position four-way electromagnetic valve 35 is arranged at the middle position, the first oil path, the second oil path and, the two-position two-way electromagnetic valve 36 arranged on the third oil way is closed, the two-way electromagnetic valves 36 arranged on the fourth oil way and the fifth oil way are opened, and the three-position four-way electromagnetic valve 35 is positioned at the middle position; when the leg is in the later period of oscillation, the two-position two-way solenoid valve 36 arranged on the third oil path is closed, the two-position two-way solenoid valve 36 arranged on the fourth oil path and the fifth oil path is opened, and the three-position four-way solenoid valve 35 is in the left position; when the leg is in the support early and middle stages, the two-position two-way solenoid valve 36 arranged on the third oil path is opened, the two-position two-way solenoid valve 36 arranged on the fourth oil path is closed, the two-position two-way solenoid valve 36 arranged on the fifth oil path is opened, and the three-position four-way solenoid valve 35 is in the left position; when the leg is in the later stage of support, the two-position two-way solenoid valve 36 arranged on the third oil path is closed, the two-position two-way solenoid valve 36 arranged on the fourth oil path and the fifth oil path is opened, and the three-position four-way solenoid valve 35 is in the middle position; when the upright state is maintained, the three-position four-way solenoid valve 35 is positioned at the right position, and all the two-position two-way solenoid valves 36 are in the closed state.
The invention also provides a control method of the pumpless double-push-rod hydraulic walking-aid robot, which adopts the pumpless double-push-rod hydraulic walking-aid robot in any one of the above schemes, the pumpless double-push-rod hydraulic walking-aid robot comprises a strain gauge 24 arranged on the connecting plate 3, a pressure sensor 25 arranged on the sole plate 4, and a controller 22 connected with the strain gauge 24 and the pressure sensor 25, and the method comprises the following steps:
the strain gauge 24 detects a strain signal generated when the connecting plate 3 is stressed and bent, and transmits the detected strain signal to the controller 22;
the pressure sensor 25 detects a pressure signal generated when the ball plate is pressurized, and transmits the detected pressure signal to the controller 22;
when the leg is in a swinging period, the energy storage tank 14 is controlled to provide driving force for the second piston rod 8 to drive the leg to swing, and the second piston rod 8 drives the first piston rod 6 to move synchronously in the moving process;
when the leg is in the supporting period, the controller 22 calculates the required power according to the received signal, and controls the energy storage tank 14 to simultaneously provide power for the first piston rod 6 and the second piston rod 8, so that the first piston rod 6 and the second piston rod 8 are completely extended to drive the leg to be straightened, and after the leg is straightened, the oil supply pipeline is closed, thereby providing the supporting force in an upright state for the leg.
The specific control process is as follows:
when the pressure sensor 25 and the strain gauge 24 do not receive signals, the leg is in a swing period, the controller 22 controls the leg to drive the second piston rod 8 to drive the first piston rod 6 to move telescopically under the action of inertia force provided by the swing of the hip joint and driving force of hydraulic oil provided by the energy storage tank 14, namely the controller 22 controls the first oil path 11, the second oil path 12, the fourth oil path 15 and the fifth oil path 16 to be communicated, the third oil path 13 is closed, and the energy storage tank 14 is controlled to respectively supply 10 oil to the first cavity 9 and the second cavity to drive the second piston rod 8 to extend and contract.
When the pressure sensor 25 detects a pressure signal, the leg is in a support period, at this time, the sole of the foot is in contact with the ground, and when the user walks normally, the leg is in the support period, which is divided into three stages: support earlier stage, support middle term and support later stage, three stage respectively be only heel and ground contact, sole all with ground contact, sole and ground contact before only, support earlier stage foil gage 24 and detect positive strain signal, support middle term foil gage 24 and can not detect the signal, support later stage foil gage 24 and detect negative strain signal, because the stress direction is different when connecting plate 3 is crooked, therefore the strain signal that detects has the positive negative score.
When the controller 22 receives a pressure signal and a positive strain signal, the controller 22 controls the first oil path 11 to be communicated with the first chamber 9, the third oil path 13 to be communicated with the bottom chamber 51 of the first cylinder 5, meanwhile, the controller 22 calculates the required power, the controller 22 controls the energy storage tank 14 to respectively supply hydraulic oil into the bottom chamber and the first chamber 9 through the first oil path 11 and the third oil path 13 and simultaneously drive the first piston rod 6 and the second piston rod 8 to move, further support the leg to be completely straightened, controls the second oil path 12 to be communicated with the second chamber 10 and discharge the hydraulic oil in the second chamber 10, and the fifth oil path 16 is communicated with the top chamber 51 and discharges the hydraulic oil in the top chamber 51; when the strain gauge 24 cannot detect a signal, the leg is in an upright standing state, the oil pipeline is closed, and a larger supporting force is provided for the leg, so that the leg is straightened and kept standing; when the controller 22 receives a pressure signal, does not receive a strain signal or receives a negative strain signal, the controller 22 switches on the first oil path 11, the second oil path 12, the fourth oil path 15 and the fifth oil path 16, closes the third oil path 13, and controls the energy storage tank 14 to supply oil to the second oil path 12, so that the second piston rod 8 drives the first piston rod 6 to move synchronously, and the leg is bent and lifted until the sole of the foot is separated from the ground.
The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.
Claims (9)
1. A pumpless double-push rod hydraulic walking-aid robot is characterized by comprising a supporting mechanism, an adjusting mechanism and an oil supply pipeline;
the supporting mechanism comprises a thigh shell (1), a shank shell (2), a connecting plate (3) and a sole plate (4), the thigh shell (1) is hinged with the shank shell (2), and the shank shell (2) is fixedly connected with the sole plate (4) through the connecting plate (3);
the adjusting mechanism is a hydraulic cylinder, two ends of the hydraulic cylinder are respectively hinged with the thigh shell (1) and the shank shell (2), the hydraulic cylinder comprises a single-acting cylinder and a double-acting cylinder, the single-acting cylinder comprises a first cylinder body (5) and a first piston rod (6) movably connected with the first cylinder body (5), a cavity inside the first cylinder body (5) is divided into a top cavity (51) and a bottom cavity (52) by a piston of the first piston rod (6), the double-acting cylinder comprises a second cylinder body (7) and a second piston rod (8) movably connected with the second cylinder body (7), and the cavity inside the second cylinder body (7) is divided into a first cavity (9) and a second cavity (10) by a piston of the second piston rod (8);
the oil supply pipeline comprises a first oil way (11), a second oil way (12), a third oil way (13), a fourth oil way (15) and a fifth oil way (16), the first oil way (11) and the second oil way (12) can be respectively communicated with a first cavity (9) and a second cavity (10), the third oil way (13) and the fourth oil way (15) can be communicated with a bottom cavity (52), the fifth oil way (16) is communicated with a top cavity (51), the first oil way (11), the second oil way (12) and the third oil way (13) are connected with an energy storage tank (14), the energy storage tank (14) can provide power for driving the first piston rod (6) and the second piston rod (8) to move, and a valve body for controlling the on-off and the flow direction of hydraulic oil is arranged on the oil way pipeline; the walking leg energy storage device is characterized by further comprising a controller (22) and a sensor (23), wherein the sensor (23) detects the motion state of the leg when walking and sends a signal to the controller (22), and the controller (22) controls the on-off of an oil path and the work of the energy storage tank (14) by receiving the signal.
2. The pumpless double-pushrod hydraulic walking robot as claimed in claim 1, wherein the thigh shell (1) and the shank shell (2) are hinged by an upper reinforcement plate (17) and a lower reinforcement plate (18) respectively fixed thereto.
3. The pumpless double-push-rod hydraulic walking aid robot as claimed in claim 2, wherein the lower reinforcing plate (18) is provided with a mounting groove (19), the upper reinforcing plate (17) is provided with a connecting part (20) matched with the mounting groove (19), and the connecting part (20) is rotatably connected with the mounting groove (19) through a pin shaft (21).
4. The pumpless double-pushrod hydraulic walking robot as claimed in claim 1, wherein the sensor (23) comprises a strain gauge (24) disposed on the connecting plate (3) and a pressure sensor (25) disposed on the sole plate (4).
5. The pumpless double-push-rod hydraulic walking aid robot as recited in claim 1, wherein the energy storage tank (14) comprises a tank body (26), a partition (27) is movably arranged in an internal cavity of the tank body (26), the internal cavity is divided into an upper cavity (28) and a lower cavity (29) by the partition (27), the bottom of the partition (27) is elastically connected with the lower cavity (29) through an elastic member (30), hydraulic oil is stored in the upper cavity (28), the tank body (26) is provided with an oil inlet (31) and an oil outlet (32) which are communicated with the upper cavity (28), and the oil inlet (31) and the oil outlet (32) are respectively provided with a one-way valve (34).
6. The pumpless double-push-rod hydraulic walking-assistant robot as recited in claim 5, wherein the tank (26) is further provided with an oil return port (33) communicated with the lower chamber (29), the first oil passage (11), the second oil passage (12), the fourth oil passage (15) and the fifth oil passage (16) are all communicated with the oil return port (33), and the partition plate (27) is provided with a check valve (34) which can enable hydraulic oil in the lower chamber (29) to flow to the upper chamber (28).
7. The pumpless double-push-rod hydraulic walking-assistant robot as claimed in claim 1, wherein the connecting plate (3) and the sole plate (4) are both elastic plates.
8. The pumpless double-push-rod hydraulic walking-assisting robot is characterized in that the valve body comprises a three-position four-way electromagnetic valve (35) and a two-position two-way electromagnetic valve (36), the first oil path (11), the second oil path (12) and the third oil path (13) are controlled to be switched on and off and the flow direction of hydraulic oil through the three-position four-way electromagnetic valve (35), and the two-position two-way electromagnetic valve (36) is arranged on each of the third oil path (13), the fourth oil path (15) and the fifth oil path (16).
9. A control method of a pumpless double-push-rod hydraulic walking robot, which is characterized by using a pumpless double-push-rod hydraulic walking robot as claimed in any one of claims 1 to 8, the pumpless double-push-rod hydraulic walking robot comprising a strain gauge (24) provided on a connecting plate (3), a pressure sensor (25) provided on a sole plate (4), and a controller (22) connecting the strain gauge (24) and the pressure sensor (25), the method comprising the steps of:
the strain gauge (24) detects a strain signal generated when the connecting plate (3) is stressed and bent, and transmits the detected strain signal to the controller (22);
the pressure sensor (25) detects a pressure signal generated when the sole plate (4) is subjected to pressure and transmits the detected pressure signal to the controller (22);
the controller (22) receives and processes the strain signal and the pressure signal, judges the motion state of the leg at the moment according to the processing result, and controls the working state of the energy storage tank (14) and the communication state of the oil pipeline;
when the leg is in a swinging period, the energy storage tank (14) is controlled to provide driving force for the second piston rod (8) to drive the leg to swing, and the second piston rod (8) drives the first piston rod (6) to move synchronously in the moving process; when the leg is in the supporting period, the controller calculates the required power according to the received signals, controls the energy storage tank (14) to simultaneously provide power for the first piston rod (6) and the second piston rod (8) so as to enable the first piston rod (6) and the second piston rod (8) to be completely extended out, drives the leg to be straightened, and closes the oil supply pipeline after the leg is straightened, thereby providing the supporting force in an upright state for the leg.
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| CN201711330782.5A CN108210254B (en) | 2017-12-13 | 2017-12-13 | Pump-free double-push-rod hydraulic walking-assisting robot and control method thereof |
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| CN201711330782.5A CN108210254B (en) | 2017-12-13 | 2017-12-13 | Pump-free double-push-rod hydraulic walking-assisting robot and control method thereof |
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| US7544155B2 (en) * | 2005-04-25 | 2009-06-09 | University Of Delaware | Gravity balanced orthosis apparatus |
| KR100957379B1 (en) * | 2008-05-02 | 2010-05-11 | 최종섭 | Gait aid using weight pressure |
| RU2012109492A (en) * | 2012-03-14 | 2013-09-20 | Сергей Анатольевич Борисихин | METHOD FOR IMPLEMENTING VEHICLE FUNCTIONS AS MINIMUM WITH ONE REPEATABLE SUPPORT AND DEVICE FOR IMPLEMENTING THIS METHOD |
| CN103591077A (en) * | 2012-08-17 | 2014-02-19 | 广东科达机电股份有限公司 | Novel energy-saving and efficient tandem oil cylinder |
| CN204369363U (en) * | 2015-01-07 | 2015-06-03 | 苏州福特美福电梯有限公司 | A kind of Twin-plunger Hydraulic Elevator system |
| CN106309081B (en) * | 2015-07-06 | 2019-05-31 | 深圳市肯綮科技有限公司 | The light movement power assisting device of one kind and its control method |
| CN106152342B (en) * | 2016-07-04 | 2020-12-04 | 珠海格力电器股份有限公司 | Variable-displacement-ratio two-stage compression air conditioning system and control method thereof |
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| CN106618830B (en) * | 2016-12-30 | 2019-06-18 | 北京林业大学 | A kind of list lower limb exoskeleton orthoses and orthopedic control method |
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