CN109779986A - A kind of miniature only power source servo hydraulic system applied to exoskeleton robot - Google Patents
A kind of miniature only power source servo hydraulic system applied to exoskeleton robot Download PDFInfo
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- CN109779986A CN109779986A CN201910194636.7A CN201910194636A CN109779986A CN 109779986 A CN109779986 A CN 109779986A CN 201910194636 A CN201910194636 A CN 201910194636A CN 109779986 A CN109779986 A CN 109779986A
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Abstract
The invention discloses a kind of miniature only power source servo hydraulic systems applied to exoskeleton robot, the hydraulic system is by hydraulic power system, hydraulic servo control system, gasbag-type sealed reservoir system, with the most of composition of hydraulic actuator four, including: hydraulic pump (1), servo motor (2), first check valve (3), first safety valve (4), air bag (5), fuel tank (6), observation window of liquid level (7), hydraulic efficiency servo-valve (8), high-speed switch valve (9), pressure sensor (10), second one-way valve (11), second safety valve (12), knee joint plunger case (13), the present invention is a kind of fast response time, pressure establish delay is short, it is small in size, it is light-weight, longevity of service, low noise, rapid heat dissipation, guarantee that miniature only power source of oil cleanliness is hydraulic from source Servo-system.
Description
Technical field
The present invention relates to technical field of hydraulic, and in particular to a kind of miniature only power applied to exoskeleton robot
Source servo hydraulic system.
Background technique
Exoskeleton robot be one kind can Rapid matching be worn on human body lateral surface, actively or passively human body can be followed to transport
It is dynamic, the intelligent device of suitable power-assisted is provided for human body.It is special that wearable exoskeleton robot has given full play to human-computer interaction perception
Property, the intelligent decision ability of people is introduced, human synovial strength is widened, completes man-machine task cooperation.
Currently, exoskeleton robot mainly uses the three classes such as motor-retarder transmission, hydraulic drive and Pneumatic Transmission to close
Save driving method.Wherein, hydraulic drive is because it is easy to minimize, power density is high, output strength is big, stable drive and has slow
Function is rushed, the advantages such as field work environment is applicable in, is widely used in exoskeleton robot, especially outside load assistance type
In bone robot, hydraulic drive is more used as mainstream transmission scheme.
Currently, domestic exoskeleton robot mostly relies on import with servo hydraulic system, using existing conventional hydraulic principle
Hydraulic system is built with hydraulic valve piece, causes hydraulic system practical set to come out volume and weight bigger than normal；Pass through a set of motor-pump
Dynamical system provides pressure oil for all executive components, causes hydraulic system to be under high pressure and big flow state always, brings
Noise is big, the working time is short and generates the problems such as heat is big.
Domestic most exoskeleton robot hydraulic system is focused on realizing function more, uses without focusing on consideration details
There are following several point defects in the structure of open type oil tank, the structure: first is that the oxygen and moisture in outside air will make oil liquid
Oxidation and hydrolysis, the acid contaminant of generation and other pollutants will make oily deterioration, pipeline and hydraulic member to hydraulic system
Device generates corrosion and electrochemical reaction, the serious normal work for damaging hydraulic system.Second is that the dirts such as acne in external environment
Dye object will be entered in fuel tank by breather valve pollutes oil liquid, thus by clogging hydraulic valve member, or even will damage some high
Precision Hydraulic Elements influence the normal work of hydraulic system；Third is that since fuel tank does not do encapsulation process, along in some cases
The violent disturbance of oil liquid will lead to fuel tank inner fluid and be leaked in external environment.Fourth is that open type oil tank volume is generally large, it is unfavorable
In the micromation and lightweight of ectoskeleton hydraulic system.
Summary of the invention
It is an object of the invention to design a kind of response speed faster, pressure establish delay is shorter, volume is smaller, weight more
Gently, the working time is longer, noise is lower, radiates faster and can guarantee that oil cleanliness is ectoskeleton machine from source
The micro hydraulic servo-system of people's list executive component offer separate power.
The purpose of the present invention is achieved through the following technical solutions: a kind of applied to the miniature only of exoskeleton robot
Power, miniature only power source servo is provided separately for exoskeleton robot list executive component in power source servo hydraulic system
Hydraulic system includes hydraulic power system, hydraulic servo control system, gasbag-type sealed reservoir system and hydraulic actuator；Institute
Stating hydraulic power system includes hydraulic pump (1), servo motor (2), the first check valve (3) and the first safety valve (4), described hydraulic
Pump (1) is connected with servo motor (2) by shaft coupling, and is installed on fuel tank (6) by the ring flange of servo motor (2), liquid
It is internal that press pump (1), the first check valve (3) and the first safety valve (4) immersion are installed on fuel tank (6)；It is characterized in that, the liquid
Pressure servo-control system include hydraulic efficiency servo-valve (8), high-speed switch valve (9), pressure sensor (10), second one-way valve (11) and
Second safety valve (12), the hydraulic efficiency servo-valve (8), high-speed switch valve (9), pressure sensor (10), second one-way valve (11)
With the second safety valve (12) integrated installation on hydraulic servocontrol valve block (14)；The gasbag-type sealed reservoir system includes oil
Case (6), air bag (5), oil filling mouth seal assembly and observation window of liquid level (7), the air bag (5) use high resilient material system
At being installed on that fuel tank (6) is internal, and bladder port is fixed on outside fuel tank, and air bag air inlet is communicated with ambient atmosphere.
Further, the hydraulic actuator includes hydraulic cylinder and hydraulic motor.
Further, the servo motor is DC brushless motor, fixed to control by controlling revolving speed and the torque of motor
It measures hydraulic pump and excludes the flow and pressure of oil liquid, to achieve the purpose that controlling plunger case stretches out speed and power output size.
Further, the high resilient material includes nitrile rubber (NBR), hydrogenated nitrile-butadiene rubber (HNBR), fluorubber
(FKM), epichlorohydrin rubber (ECO).
The present invention has the advantage that the invention proposes a kind of miniature only power sources applied to exoskeleton robot to watch
Take hydraulic system, the place that it is different from most ectoskeleton servo hydraulic system is: it is one kind by independent micro hydraulic
Servo power unit is the system that power is provided separately in single executive component, servo valve and high-speed switch valve in servo hydraulic system
Be applied in combination so that control process response speed faster, pressure establish delay it is shorter；Air bag breathes the design of sealed reservoir structure
For not only ensure that hydraulic system oil liquid high cleanliness and long life in exoskeleton robot hydraulic system, and from source
The micromation and lightweight requirements of hydraulic system are realized on head.
The present invention can both be independently operated, or be used cooperatively with conventional techniques, i.e. the ectoskeleton machine of hydraulic-driven
The present invention program can be used to drive in people, part ectoskeleton joint, and other part ectoskeleton joint uses conventional techniques
To drive.The present invention other than being applied on the ectoskeleton that army is equipped with, can also be applied to medical rehabilitation, construction,
On the environment of plant, movement, fire-fighting, rescue and relief work and the ectoskeletons such as help the elderly, hydraulic power supply is provided for it.
Detailed description of the invention
Fig. 1 is hydraulic schematic diagram of the embodiment of the present invention；
Fig. 2 is the appearance assumption diagram of the embodiment of the present invention；
Fig. 3 faces partial cutaway view for the embodiment of the present invention；
Fig. 4 is the ectoskeleton knee joint schematic diagram of the embodiment of the present invention.
Label as follows, 1, hydraulic pump in figure, 2, servo motor, the 3, first check valve, the 4, first safety valve, 5, air bag, 6,
Fuel tank, 7, observation window of liquid level, 8, hydraulic efficiency servo-valve, 9, high-speed switch valve, 10, pressure sensor, 11, second one-way valve, 12,
Two safety valves, 13, plunger case, 14, hydraulic servocontrol valve block, 15, ectoskeleton knee joint.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making further details of theory to the specific embodiment of the invention
It is bright, to help those skilled in the art to have more complete, accurate and deep reason to inventive concept of the invention, technical solution
Solution.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present embodiment devises one kind for controlling an ectoskeleton knee joint movement
Miniature only power source servo hydraulic system applied to exoskeleton robot.The hydraulic system passes through control knee joint plunger case 13
It is acted to control ectoskeleton knee joint 15.The hydraulic system is by hydraulic power system, hydraulic servo control system, gasbag-type enclosed
Oil tank system and the most of composition of hydraulic actuator four.
The hydraulic actuator is a plunger case 13.
The hydraulic power system is made of hydraulic pump 1, servo motor 2, the first check valve 3, the first safety valve 4.It is hydraulic
Pump 1 and servo motor 2 are linked together by shaft coupling, are then installed on fuel tank 6 by 2 ring flange of motor.Hydraulic pump 1,
First check valve 3 and 4 immersion of the first safety valve are installed on inside fuel tank 6, and there is such arrangement compact structure to design, more
Good oil absorbing effect, while noise when can reduce hydraulic pump works.The effect that the first check valve 3 is arranged is that oil liquid is avoided to flow backwards
Damage hydraulic pump.Be arranged the first safety valve 4 effect be pump discharge pressure be more than setup pressure value when pressure release to guarantee
Equipment safety.
The hydraulic servo control system is by hydraulic efficiency servo-valve 8, high-speed switch valve 9, pressure sensor 10, second one-way valve
11, the second safety valve 12 forms, their integrated installations are in hydraulic servocontrol valve block 14.Hydraulic efficiency servo-valve 8 is used to control column
13 precise motion of plug cylinder, high-speed switch valve 9 are switched fast under the oil inlet of plunger case and oil return two states, pressure sensor 10
Real-time detection plunger case inlet high pressure, to guarantee the validity of control process.Second one-way valve 11 is to column in the power-off state
Oil suction of the plug cylinder 13 under body state sets the maximum working pressure of hydraulic system in the second safety valve 12, guarantees system
The safety of operational process.
The gasbag-type sealed reservoir system by storage oil liquid sealed reservoir 6, be installed on air bag 5, the liquid of fuel tank internal
Position observation window 7 forms.Air bag is made of high resilient material, and air bag 5 is installed on inside fuel tank 6, and bladder port is fixed on outside fuel tank,
Air bag air inlet is come round with ambient atmosphere.In air bag 50% air is first discharged before installation with air-extractor or manually, then is pacified
Loaded in fuel tank, oil liquid is then injected for 6 injecting oil liquid of fuel tank by observation window of liquid level 7.Observation window of liquid level 7 is closed, guarantees oil
Case is in air-tight state.When hydraulic system works, 1 oil suction of hydraulic pump, fuel tank inner fluid volume reduces, and the rebound expansion of air bag 5 is returned
Body product makes up oil liquid and reduces volume；Hydraulic system oil return, the rebound of air bag 5 retract, and reserve oil storage space to hydraulic system oil return,
The respiratory of air bag is just so realized, to ensure that the oil liquid of fuel tank internal during hydraulic system oil suction and oil return not
Violent disturbance can be generated, the oil absorption of working hydraulic pump 1 is improved, the maximum speed of working barrel 1 can be greatly improved, thus
It allows working barrel to run smoothly, reduces noise when work pump operation.
The utility model has the advantages that it can be seen via above technical scheme that being that exoskeleton robot list executes the present invention provides one kind
Element be provided separately the short fast response time of power, pressure establish delay, small in size, light-weight, longevity of service, low noise,
Rapid heat dissipation, the micro hydraulic servo-system for guaranteeing oil cleanliness from source, specifically have the beneficial effect that:
1. independent hydraulic servo power unit is that power is provided separately in single executive component, fixed displacement speed Control is realized, is kept away
Exempt from hydraulic system to be in always under high pressure and big flow state, reduces system heat generation, reduce operating noise, improve system
Operational efficiency and working time；
2. in servo hydraulic system servo valve and high-speed switch valve be applied in combination so that control process response speed faster, pressure
Establish delay is short.Being switched fast for high-speed switch valve Millisecond can make to execute oil cylinder in servo-actuated state, be convenient for ectoskeleton machine
The wearing of people and walking；
3. air bag breathing sealed reservoir structure design: firstly, ensure that the cleannes demand of hydraulic system oil liquid from source,
Thus by the abrasion during the element manipulations such as valve member, pipeline, pump, hydraulic cylinder in reduction system；Secondly, it is dilute to avoid oil liquid
It releases and aoxidizes, the viscosity and physical and chemical index of oil liquid has been effectively ensured, and then extend the service life of oil liquid；Again, closed type oil
Box structure design is simple small and exquisite, so that a whole set of hydraulic system volume and weight be allowed just to become smaller from source；In addition, air bag is exhaled
The design for inhaling sealed reservoir structure, reduces the disturbance of oil liquid in fuel tank, improves the oil absorption of working hydraulic pump, can be substantially
The maximum speed of working barrel is improved, so that working barrel be allowed to run smoothly, reduces noise when work pump operation；
4. real using the installation of micropump insertion fuel tank, the combination of miniature brushless direct-current motor and the selection of micro hydraulic element
The miniaturization and lightweight of entire hydraulic system structure is showed；
5. the setting of oil sucting one-way valve ensure that wearer's oil suction in wearing ectoskeleton walking process is abundant, to guarantee to go
It is steady and safe during walking.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as using the improvement for the various unsubstantialities that inventive concept of the invention and technical solution carry out, or without changing
Other occasions are directly applied to by present inventive concept and technical solution, within that scope of the present invention.
Claims (4)
1. a kind of miniature only power source servo hydraulic system applied to exoskeleton robot executes member for exoskeleton robot list
Part is provided separately power, miniature only power source servo hydraulic system include hydraulic power system, hydraulic servo control system,
Oil tank system and hydraulic actuator；The hydraulic power system includes hydraulic pump (1), servo motor (2), the first check valve
(3) it is connected with servo motor (2) by shaft coupling with the first safety valve (4), the hydraulic pump (1), and passes through servo motor (2)
Ring flange be installed on fuel tank (6), hydraulic pump (1), the first check valve (3) and the first safety valve (4) immersion are installed on oil
Case (6) is internal；It is characterized in that, the hydraulic servo control system includes hydraulic efficiency servo-valve (8), high-speed switch valve (9), pressure
Sensor (10), second one-way valve (11) and the second safety valve (12), the hydraulic efficiency servo-valve (8), high-speed switch valve (9), pressure
Force snesor (10), second one-way valve (11) and the second safety valve (12) integrated installation are on hydraulic servocontrol valve block (14)；
The oil tank system is gasbag-type sealed reservoir system, and the gasbag-type sealed reservoir system includes fuel tank (6), air bag (5), oil
Liquid filler seal assembly and observation window of liquid level (7), the air bag (5) are made of high resilient material, are installed in fuel tank (6)
Portion, bladder port are fixed on outside fuel tank, and air bag air inlet is communicated with ambient atmosphere.
2. a kind of miniature only power source servo hydraulic system applied to exoskeleton robot as described in claim 1, feature
Be: the hydraulic actuator includes hydraulic cylinder or hydraulic motor.
3. a kind of miniature only power source servo hydraulic system applied to exoskeleton robot as described in claim 1, feature
Be: the servo motor (2) is DC brushless motor, controls quantitative hydraulic pump row by controlling revolving speed and the torque of motor
The flow and pressure of degreasing fluid, to achieve the purpose that controlling plunger case stretches out speed and power output size.
4. a kind of miniature only power source servo hydraulic system applied to exoskeleton robot as described in claim 1, feature
Be: the high resilient material includes nitrile rubber (NBR), hydrogenated nitrile-butadiene rubber (HNBR), fluorubber (FKM), chlorine ether rubber
Glue (ECO).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910194636.7A CN109779986A (en) | 2019-03-14 | 2019-03-14 | A kind of miniature only power source servo hydraulic system applied to exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910194636.7A CN109779986A (en) | 2019-03-14 | 2019-03-14 | A kind of miniature only power source servo hydraulic system applied to exoskeleton robot |
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| CN109779986A true CN109779986A (en) | 2019-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910194636.7A Pending CN109779986A (en) | 2019-03-14 | 2019-03-14 | A kind of miniature only power source servo hydraulic system applied to exoskeleton robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113944661A (en) * | 2021-11-08 | 2022-01-18 | 哈尔滨明快机电科技有限公司 | Amphibious portable hydraulic power system and device applying same |
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| CN85104763A (en) * | 1985-06-13 | 1987-01-28 | 沈汉石 | Eliminate the method and apparatus of air pocket in the hydraulic system |
| CN201475067U (en) * | 2009-09-04 | 2010-05-19 | 佛山市顺德区震德塑料机械有限公司 | Multi-pump combined control hydraulic power system based on servo motor control |
| CN202647154U (en) * | 2012-06-27 | 2013-01-02 | 山东源根石油化工有限公司 | Totally-enclosed hydraulic system |
| CN105922863A (en) * | 2016-06-25 | 2016-09-07 | 苏州高精特专信息科技有限公司 | Automobile anti-leakage oil tank |
| CN106239481A (en) * | 2016-08-31 | 2016-12-21 | 南京晨光集团有限责任公司 | A kind of exoskeleton robot micro hydraulic servosystem |
-
2019
- 2019-03-14 CN CN201910194636.7A patent/CN109779986A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85104763A (en) * | 1985-06-13 | 1987-01-28 | 沈汉石 | Eliminate the method and apparatus of air pocket in the hydraulic system |
| CN201475067U (en) * | 2009-09-04 | 2010-05-19 | 佛山市顺德区震德塑料机械有限公司 | Multi-pump combined control hydraulic power system based on servo motor control |
| CN202647154U (en) * | 2012-06-27 | 2013-01-02 | 山东源根石油化工有限公司 | Totally-enclosed hydraulic system |
| CN105922863A (en) * | 2016-06-25 | 2016-09-07 | 苏州高精特专信息科技有限公司 | Automobile anti-leakage oil tank |
| CN106239481A (en) * | 2016-08-31 | 2016-12-21 | 南京晨光集团有限责任公司 | A kind of exoskeleton robot micro hydraulic servosystem |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113944661A (en) * | 2021-11-08 | 2022-01-18 | 哈尔滨明快机电科技有限公司 | Amphibious portable hydraulic power system and device applying same |
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Application publication date: 20190521 |