CN109077897B - Hydraulic drive's ankle joint booster unit - Google Patents
Hydraulic drive's ankle joint booster unit Download PDFInfo
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- CN109077897B CN109077897B CN201810839457.XA CN201810839457A CN109077897B CN 109077897 B CN109077897 B CN 109077897B CN 201810839457 A CN201810839457 A CN 201810839457A CN 109077897 B CN109077897 B CN 109077897B
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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
- 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
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle 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
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
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- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a hydraulically-driven ankle joint power assisting device, belongs to the technical field of ankle joint power assisting devices, and solves the problems that an existing ankle joint power assisting device is complex in structure, large in human body energy consumption, fatigue feeling after being used for a long time, and poor in power assisting effect. The power assisting device comprises a sole, an ankle support, a shank backup plate and an energy storage structure, wherein the energy storage structure is arranged on the shank backup plate and connected with the ankle support through a steel wire rope, the energy storage structure comprises a piston cylinder and a piston arranged in the piston cylinder, the lower end of the piston is connected with a spring, and the other end of the spring abuts against the bottom of the piston cylinder; the piston cylinder is connected with a joint in a sealing mode, the joint is connected with the two-position two-way solenoid valve through an oil pipe, the joint is connected with the P oil source oil pipe to form a main oil way, the joint is connected with the T oil tank oil pipe to form an oil return way, and energy storage and release of the energy storage structure are completed by controlling oil pressure in the piston cylinder containing cavity. The structure of the power assisting device is simplified, and the power assisting effect is improved.
Description
Technical Field
The invention relates to the technical field of ankle joint power assisting devices, in particular to a hydraulically-driven ankle joint power assisting device.
Background
The ankle joint is a very important joint in human body movement, the output torque of the ankle joint can reach 250Nm and the power can reach 200W in the walking process, so that the ankle joint power assisting device becomes a research hotspot in the fields of exoskeletons, rehabilitation medical treatment and disabled assisting instruments.
The prior ankle joint power assisting device mainly comprises an active power assisting device and a passive power assisting device, wherein a motor or a hydraulic cylinder is used as an actuator to directly drive an ankle joint, and the ankle joint power assisting device is used for assisting the ankle joint when walking and pedaling the ground, so that the power assisting form has good controllability, the power assisting size of the power assisting device can be directly controlled by controlling the torque of the motor and the pressure of the hydraulic cylinder, but the problems that the power assisting time is difficult to grasp, and the response of the motor and a hydraulic system is not timely exist; the passive form that adopts the spring energy storage, through fixing the spring at shank and sole, rely on the change of human walking ankle joint angle, extension spring energy storage when the foot lands, the spring release energy is ankle joint helping hand when kicking off the ground, and this kind of helping hand form is simple, and the response time of spring is fast, but the tensile required energy of spring is provided by the human body, can consume the human body and be a part of energy, and the helping hand effect is relatively poor, and long-time wearing fatigue is felt and is showing.
At present, have the advantage and the characteristics that active and passive form booster unit was synthesized to domestic scholars, accurate passive form ankle joint booster unit has been researched and developed, this type booster unit adopts driving motor or atmospheric pressure compression spring energy storage, the helping hand effect has certain promotion than active and passive form, but this type booster unit structure is complicated, and is bulky and heavy, has increased the burden for the wearer, and the helping hand effect is unstable moreover, and same booster unit model size is fixed, can not satisfy different long crowd's in leg demand.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a hydraulically driven ankle joint assisting device, so as to solve the technical problems of complex structure, large energy consumption of human body, fatigue feeling after long-term use and poor assisting effect of the conventional ankle joint assisting device.
The purpose of the invention is mainly realized by the following technical scheme:
a hydraulically driven ankle joint power assisting device comprises a foot supporting plate, an ankle support, a shank backup plate and an energy storage structure, wherein the foot supporting plate is used for supporting and bearing the foot strength of a wearer; the ankle support is arranged at the rear end part of the foot support plate and is connected with the shank backup plate through a rotating joint; the energy storage structure is arranged on the shank backup plate and connected with the ankle support through a steel wire rope, and is characterized in that the energy storage structure comprises a piston cylinder and a piston arranged in the piston cylinder, the lower end of the piston is connected with a spring, and the other end of the spring abuts against the bottom of the piston cylinder; the piston cylinder is hermetically connected with a joint, the joint is connected with two connecting ports of the two-position two-way electromagnetic valve through an oil pipe, the joint is connected with a P oil source to form a main oil path, and the joint is connected with a T oil tank to form an oil return path; the two-position two-way electromagnetic valve comprises a main oil way electromagnet and an oil return way electromagnet, wherein the main oil way electromagnet and the oil return way electromagnet control the opening and closing of the main oil way and the oil return way, so that the oil pressure in the piston cylinder accommodating cavity is controlled, and the energy storage and release of the energy storage structure are completed.
The invention has the following beneficial effects:
a) according to the hydraulically-driven ankle joint power assisting device, hydraulic pressure is adopted to replace a human body to exert force to compress a spring for energy storage, a two-position two-way electromagnetic valve is arranged, energy storage and release of an energy storage structure are completed through oil circuit switching, so that the power assisting of an ankle joint is realized, the energy consumption of the human body during walking can be reduced, and the fatigue feeling is reduced. Piston and spring lug connection's structure, design benefit, simple structure reduces the use of material, reduces booster unit's weight, alleviates wearer's burden to reduce manufacturing cost, hydraulic pressure energy storage release process is more steady simultaneously, has promoted booster unit's stability and helping hand effect.
b) According to the hydraulically-driven ankle joint power assisting device, the steel wire rope is connected with the ankle support through the rotating shaft, the included angle between the steel wire rope and the shank can be dynamically adjusted to the optimal angle along with the pace of a person in the movement process, the force can be transmitted in the most labor-saving mode, the force transmission efficiency is greatly improved, the power assisting effect is better, and the energy utilization rate is improved.
c) According to the hydraulically-driven ankle joint power assisting device, the position of the energy storage structure on the shank backup plate is adjustable, and meanwhile, the steel wire rope, the piston and the ankle support are of detachable connection structures, so that the steel wire ropes with different lengths can be maintained and replaced conveniently, the requirements of people with different leg lengths can be met, the defect that the requirements of people with different leg lengths cannot be met by a traditional power assisting device is overcome, and the hydraulically-driven ankle joint power assisting device is wide in application and wide in market prospect.
On the basis of the scheme, the invention is further improved as follows:
furthermore, an L-shaped limiting part is fixedly arranged on the rear side of the shank backup plate, a through hole for a steel wire rope to pass through is formed in the L-shaped limiting part, and a limiting groove for accommodating the energy storage structure is formed by the L-shaped limiting part and the shank backup plate.
Furthermore, the L-shaped limiting part and the shank backup plate are integrally formed or the L-shaped limiting part and the shank backup plate are detachably connected.
Further, the ankle support is provided with a connecting piece, and the steel wire rope is connected with the connecting piece through the rotating shaft.
Further, the steel wire rope is detachably connected with the piston and the connecting piece respectively.
Further, the joint is connected with the piston cylinder through threads.
Furthermore, the piston is provided with a ring groove, and a Glare ring and a guide belt are arranged in the ring groove.
Further, the diameter of the spring is smaller than the inner diameter of the piston cylinder, and the sum of the free length of the spring and the height of the piston is not smaller than the length of the piston cylinder.
Further, the foot support plate comprises a front support plate and a rear support plate, and the front support plate and the rear support plate are rotatably connected.
Further, the lower surface of the foot supporting plate is provided with an anti-skid bulge.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of a hydraulically actuated ankle assist device in accordance with an embodiment of the present invention;
FIG. 2 is a diagram illustrating an exemplary embodiment of the present invention in a state in which the power assist device is operating during heel strike;
FIG. 3 is a diagram illustrating an exemplary embodiment of a power assist device;
FIG. 4 is a diagram illustrating an exemplary embodiment of the present invention in a state of operation of the power assist device when pedaling the ground.
Reference numerals:
1. a foot support plate; 2. an ankle brace; 21. a connecting member; 3. a shank backup plate; 4. an energy storage structure; 5. a piston cylinder; 6. a two-position two-way solenoid valve; 61. a main oil path electromagnet; 62. an oil return path electromagnet; 7. a piston; 71. a Glare circle; 72. a guide belt; 8. a spring; 9. a joint; 10. a steel cord.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
In one embodiment of the present invention, as shown in fig. 1 to 4, a hydraulically driven ankle joint assisting device is disclosed, which comprises a foot supporting plate 1, an ankle support 2, a lower leg backup plate 3 and an energy storage structure 4, wherein the foot supporting plate 1 is used for supporting and bearing the foot strength of a wearer; the ankle support 2 is arranged at the rear end part of the foot support plate 1 and is connected with the shank backup plate 3 through a rotary joint, the shank backup plate 3 is made of hard light material, preferably aluminum alloy material, the material has small density, high specific strength and good corrosion resistance, the weight of the power assisting device is reduced, the production cost is reduced, and the service life is prolonged; the energy storage structure 4 is arranged on the shank backup plate 3 and connected with the ankle support 2 through a steel wire rope 10, the energy storage structure 4 comprises a piston cylinder 5 and a piston 7 arranged in the piston cylinder 5, the lower end of the piston 7 is connected with a spring 8, and the other end of the spring 8 abuts against the bottom of the piston cylinder 5, so that the energy storage structure 4 is compact in structure, small in occupied size and capable of reducing the using amount of materials, and the whole size and weight of the power assisting device are reduced; the piston cylinder 5 is hermetically connected with a joint 9, the joint 9 is connected with two connecting ports of the two-position two-way electromagnetic valve 6 through oil pipes, the joint 9 is connected with a P oil source to form a main oil path, and the joint 9 is connected with a T oil tank to form an oil return path; the two-position two-way electromagnetic valve 6 comprises a main oil way electromagnet 61 and an oil return way electromagnet 62, the electromagnets 61 and 62 are control parts of the two-position two-way electromagnetic valve, and the on-off of the two-position two-way electromagnetic valve 6 can be controlled by controlling the power-on or power-off of the main oil way electromagnet 61 and the oil return way electromagnet 62, namely, the on-off of the main oil way and the oil return way is controlled, so that the oil pressure in the piston cylinder accommodating cavity is controlled, and the energy storage and release of the energy storage structure 4 are. This booster unit can also include other auxiliary component like sole pressure sensor, ankle joint angle encoder and controller, sole pressure sensor, ankle joint angle encoder are used for gathering the sole pressure information of wearing person, detect the human motion gesture, and when sole pressure sensor, the information transmission to the controller of ankle joint angle encoder collection, the gait of wearing person can be judged to the controller, and then the switching of control oil circuit. Specifically, when a wearer walks in the process of swinging a shank forward to a foot step, the motion posture of the human body is detected through other auxiliary elements such as a sole pressure sensor, an ankle joint angle encoder and the like, the controller controls the power on of the main oil path electromagnet 61, the power off of the oil return path electromagnet 62 is realized, the piston cylinder accommodating cavity is communicated with the P oil source, pressure oil enters the piston cylinder accommodating cavity through an oil pipe, the pressure oil acts on the piston 7, the piston 7 compresses the spring 8, and the energy storage structure 4 stores energy; when a wearer walks in a process of lifting off the ground by pedaling, the auxiliary detection element detects the motion posture of a human body, the controller controls the power off of the main oil way electromagnet 61, when the oil return way electromagnet 62 is electrified, the piston cylinder accommodating cavity is communicated with the T oil tank, pressure oil flows into the T oil tank through the oil pipe, the energy storage structure 4 can release energy, the spring 8 extends and stretches the steel wire rope 10 acting on the foot support plate 1 to provide the ground pedaling force for the ankle joint, and the power assistance to the ankle joint is realized.
Compared with the prior art, the hydraulic drive's ankle joint booster unit that this embodiment provided, adopt hydraulic pressure force compression spring 8 to store energy for spring 8, switch through the oil circuit, accomplish storage and the release of spring 8 energy in order to realize ankle joint's helping hand, replace human power generation compression spring 8, can reduce human energy consumption, reduce fatigue, piston 7 and spring 8 lug connection's design benefit, moreover, the steam generator is simple in structure, energy storage structure 4 is small, light in weight, the whole weight of ankle joint booster unit has directly been reduced, wearer's burden has been reduced, and the material use amount has been reduced, the production cost is reduced, hydraulic pressure energy storage and release the ability process more steady simultaneously, the stability and the helping hand effect of booster unit have been promoted.
When the ankle joint assisting device is implemented, a wearer firstly fixes the energy storage structure 4 of the ankle joint assisting device and the shank backup plate 3, then fixes the shank backup plate 3 and the shank of the wearer, if the shank backup plate is bonded and fixed by elastic bands, the shank of the wearer and the shank backup plate 3 are directly bonded and fixed by the elastic bands, preferably, the shank backup plate is fixed by a ring frame lock catch, the ring frame lock catch is formed by splicing a first semicircular ring and a second semicircular ring, the ring frame lock catch is annular and made of hard materials, one ends of the two semicircular rings are fixedly connected to the shank backup plate 3 through rotating shafts, and the two semicircular rings can be opened and closed around the rotating shafts; wherein, the free end of first semicircle ring sets up the lockpin, the free end of second semicircle ring set up with lockpin complex hasp, the lockpin is fixed with shank backup plate 3 and shank with the hasp cooperation, the booster unit of this structure is convenient for the wearer and wears, fixed effect is better, the security is higher, has promoted wearer's comfort.
In order to prevent the piston cylinder 5 from leaking oil, the joint 9 is connected with the piston cylinder 5 through threads in a threaded connection mode, so that the installation is convenient, and the sealing performance is good; the piston 7 is provided with an annular groove, and the GREEN ring 71 and the guide belt 72 are arranged in the annular groove, so that oil leakage can be prevented, the sealing performance of the piston cylinder 5 is improved, and the stability of hydraulic pressure is ensured, thereby improving the power assisting effect and the power assisting stability.
Considering that the length of the spring 8 influences the energy storage effect, the diameter of the spring 8 is smaller than the inner diameter of the piston cylinder 5, the sum of the free length of the spring 8 and the height of the piston 7 is not smaller than the length of the piston cylinder 5, elastic potential energy can be fully released when the piston cylinder is released, sufficient assistance force is provided, and the assistance force effect is further improved.
In order to fix the energy storage structure 4, the rear side of the calf backup plate 3 is fixedly provided with a limiting part, the calf backup plate 3 and the limiting part are integrally formed, or the limiting part is welded on the calf backup plate 3, the limiting part is provided with a through hole for the steel wire rope 10 to pass through, and the energy storage structure 4 is welded or detachably fixed on the limiting part. Preferably, the locating part is L shape locating part, and L shape locating part bottom is equipped with the through-hole that supplies wire rope 10 to pass through, and L shape locating part and shank backup plate 3 form the spacing groove that holds energy storage structure 4, and energy storage structure 4 installs at spacing inslot, and spacing inslot wall can set up the elasticity foam layer, and energy storage structure 4 who installs at spacing inslot can with spacing inslot wall in close contact with, avoids energy storage structure 4 to rock, has promoted energy storage structure 4's stability. Consider wearing booster unit crowd's height and leg length, the locating part can be dismantled with shank backup plate 3 and be connected, the locating part is provided with the screw rod with shank backup plate 3 contact position, 3 dorsal parts of shank backup plate set up a plurality of through-holes that correspond with the screw rod in different positions on vertical, screw rod cooperation screw is fixed locating part and shank backup plate 3, wire rope 10 can dismantle with piston 7 and connecting piece 21 respectively and be connected, the position of the adjustable locating part of booster unit of this structure on shank backup plate 3, and select the wire rope 10 that is fit for length, in order to satisfy the crowd demand of different leg lengths, it is more extensive to use. In addition, the power assisting device with the detachable connecting structure is more convenient to maintain and replace accessories.
Because the shank is at the in-process of walking, wire rope 10 has certain change with the shank contained angle, can influence the transmission efficiency of power, the fixed ankle support 2 that is provided with on foot backup pad 1, ankle support 2 highly is higher than the height of ankle, set up connecting piece 21 on the ankle support 2, wire rope 10 is connected with connecting piece 21 through the pivot, wire rope 10 can be along with the best angle of the automatic adjustment of the swing of shank, can carry out the power transmission with the most laborsaving mode, the transmission efficiency of power has been promoted, and then energy utilization is improved, the long-time not tired of wearing of wearer, the comfort level obviously strengthens, the helping hand effect is better. In addition, the steel wire swings along with the shank, and the defect that the existing steel wire rope 10 is easily broken due to fatigue when being directly fixed on the ankle support 2 is overcome.
Considering that the people can be crooked naturally walking the in-process sole, foot supporting plate 1 includes preceding backup pad and back backup pad, preceding backup pad and back backup pad rotatable coupling, and the upper surface of preceding backup pad and back backup pad can set up the soft layer similar with the sole shape, preferred foam layer, and foot supporting plate 1 of this structure accords with human dynamics structure, has eliminated the uncomfortable sense that booster unit brought for the foot of wearing person. In order to adapt to the shape of the ankle and further improve the comfort of a wearer, the ankle support 2 is a U-shaped baffle fixed on the upper part of the heel, the U-shaped baffle is welded on the foot supporting plate 1, and the width of the opening of the U-shaped baffle is wider than the width of the sole of the foot.
In order to increase the stability when falling to the ground, the lower surface of the foot supporting plate 1 is provided with the anti-skidding protrusions, so that the friction force between the sole and the ground can be increased, the slipping is avoided, the rubber layer or the oxford layer with the damping effect can be arranged on the lower surface of the foot supporting plate 1, the anti-skidding protrusions are arranged on the rubber layer or the oxford layer, and the stability and the safety when falling to the ground are increased.
The gait cycle of the wearer in the walking process is divided into the following three stages:
the first stage is as follows: the heel falls to the sole landing stage.
When a wearer walks in a state that the heels of the feet land to the soles of the feet land, as shown in figure 2, the motion posture of the human body is detected through other auxiliary elements such as a sole pressure sensor, an ankle joint angle encoder and the like, then the controller controls the power off of the main oil way electromagnet 61, the oil return way electromagnet 62 is electrified, the piston cylinder accommodating cavity is communicated with the T oil tank, the spring 8 is not stressed, the spring 8 in a free state supports the piston 7 to abut against the bottom of the joint 9, and no pressure oil exists in the piston cylinder accommodating cavity at the moment.
And a second stage: the lower leg is swung forward to the ground of pedaling.
When a wearer walks in the process of swinging the lower leg forward to the ground, as shown in fig. 3, the motion posture of the human body is detected through other auxiliary elements such as a sole pressure sensor, an ankle joint angle encoder and the like, then the controller controls the power on of the main oil path electromagnet 61, the power off of the oil return path electromagnet 62 is realized, the piston cylinder accommodating cavity is communicated with the P oil source, pressure oil enters the piston cylinder accommodating cavity through the oil pipe, the pressure oil acts on the piston 7, and then the piston 7 compresses the spring 8, is converted into elastic potential energy of the spring 8 and is stored in the energy storage structure 4.
And a third stage: and (5) a step of stepping on the ground to lift off the ground.
When the walking gait of the wearer is in the process of lifting off the ground by pedaling, as shown in fig. 4, the auxiliary detection element detects the motion posture of the human body, the controller controls the power off of the main oil path electromagnet 61, the oil return path electromagnet 62 is electrified, the piston cylinder accommodating cavity is communicated with the T oil tank, the pressure oil flows into the T oil tank through the oil pipe, the oil pressure acting on the spring 8 is reduced, until the pressure oil in the piston cylinder accommodating cavity completely flows into the T oil tank, the oil pressure is reduced to zero, the energy storage structure 4 releases the elastic potential energy stored in the previous stage, and the spring 8 stretches and stretches the steel wire rope 10 acting on the foot support plate 1 to provide the ground pedaling force for the ankle joint and realize the assisting force on.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (5)
1. A hydraulically-driven ankle joint power assisting device is characterized by comprising a foot supporting plate, an ankle bracket, a shank backup plate, an energy storage structure, a P oil source, a T oil tank, a sole pressure sensor, an ankle joint angle encoder and a controller, wherein the foot supporting plate is used for supporting and bearing the foot strength of a wearer; the ankle support is arranged at the rear end part of the foot support plate and is connected with the shank backup plate through a rotary joint; the energy storage structure is arranged on the shank backup plate and connected with the ankle support through a steel wire rope, the energy storage structure comprises a piston cylinder and a piston arranged in the piston cylinder, the lower end of the piston is connected with a spring, and the other end of the spring abuts against the bottom of the piston cylinder;
the piston cylinder is connected with a joint in a sealing mode, the joint is connected with two connecting ports of the two-position two-way electromagnetic valve through oil pipes, the joint is connected with a P oil source to form a main oil path, and the joint is connected with a T oil tank to form an oil return path;
the two-position two-way electromagnetic valve comprises a main oil way electromagnet and an oil return way electromagnet, wherein the main oil way electromagnet and the oil return way electromagnet respectively control the opening and closing of a main oil way and an oil return way, so that the oil pressure in the containing cavity of the piston cylinder is controlled, and the energy storage and release of the energy storage structure are completed;
an L-shaped limiting piece is fixedly arranged on the rear side of the shank backup plate, a through hole for the steel wire rope to pass through is formed in the L-shaped limiting piece, and a limiting groove for accommodating the energy storage structure is formed by the L-shaped limiting piece and the shank backup plate;
the L-shaped limiting piece and the shank backup plate are integrally formed or the L-shaped limiting piece and the shank backup plate are detachably connected;
the ankle support is provided with a connecting piece, and the steel wire rope is connected with the connecting piece through a rotating shaft;
the steel wire rope is detachably connected with the piston and the connecting piece respectively;
the joint is connected with the piston cylinder through threads;
when a wearer walks in the process of swinging the shank forward to the ground, the motion posture of the human body is detected through a foot pressure sensor and an ankle joint angle encoder, then the controller controls the main oil way electromagnet to be electrified, the oil return way electromagnet is powered off, the piston cylinder accommodating cavity is communicated with the P oil source, pressure oil enters the piston cylinder accommodating cavity through the oil pipe, the pressure oil acts on the piston, the piston compresses the spring, and the energy storage structure stores energy;
when a wearer walks in the process of lifting off the ground by pedaling, the human motion posture is detected through the foot pressure sensor and the ankle joint angle encoder, the controller controls the power off of the main oil way electromagnet, the oil return way electromagnet is electrified, the piston cylinder accommodating cavity is communicated with the T oil tank, pressure oil flows into the T oil tank through the oil pipe, the energy storage structure can release energy, and the spring extends to further pull the steel wire rope so as to provide the ground pedaling force for the ankle joint.
2. The hydraulically driven ankle assist device of claim 1 wherein the piston is provided with a ring groove in which a gray ring and a guide belt are mounted.
3. The hydraulically driven ankle assist device of claim 1 wherein the spring has a diameter less than the inner diameter of the piston cylinder, and the free length of the spring plus the height of the piston is no less than the length of the piston cylinder.
4. The hydraulically driven ankle assist device of any one of claims 1-3 wherein the foot support plate comprises a front support plate and a rear support plate, the front support plate being rotatably coupled to the rear support plate.
5. The hydraulically driven ankle power assist device of any one of claims 1 to 3, wherein the lower surface of the foot support plate is provided with a non-slip protrusion.
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| CN201810839457.XA CN109077897B (en) | 2018-07-27 | 2018-07-27 | Hydraulic drive's ankle joint booster unit |
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| CN201810839457.XA CN109077897B (en) | 2018-07-27 | 2018-07-27 | Hydraulic drive's ankle joint booster unit |
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| CN109077897B true CN109077897B (en) | 2021-01-01 |
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| CN110368167A (en) * | 2019-08-14 | 2019-10-25 | 刘航宇 | One kind is intellectual to help ankle device |
| CN111671625A (en) * | 2020-07-14 | 2020-09-18 | 张强 | Hand and foot wound walking robot |
| CN112451319B (en) * | 2020-11-24 | 2023-03-14 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
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