CN112497187B - Hydraulic assistance exoskeleton mechanism with recoverable back load energy in walking process - Google Patents
Hydraulic assistance exoskeleton mechanism with recoverable back load energy in walking process Download PDFInfo
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- CN112497187B CN112497187B CN202011134934.6A CN202011134934A CN112497187B CN 112497187 B CN112497187 B CN 112497187B CN 202011134934 A CN202011134934 A CN 202011134934A CN 112497187 B CN112497187 B CN 112497187B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses a hydraulic power-assisted exoskeleton mechanism capable of recovering back load energy in a walking process, which comprises a left lower limb, a right lower limb and a back energy recovery mechanism, wherein the left lower limb, the right lower limb and the back energy recovery mechanism are completely symmetrical in structure; the left and right lower limbs all include: the sole component, the shank component, a set of drive components, the thigh component, the waist component. According to the invention, the torsion spring is arranged at the ankle joint of the lower limb to store energy, the driving parts are arranged at the knee joint and the hip joint to assist the human body to walk, the mechanical energy generated by back load in the walking process of the human body wearing the exoskeleton is directly converted into hydraulic energy by the back through the group of double-piston-rod hydraulic cylinders, the hydraulic energy is stored through the constant-pressure energy accumulator at the back, and the stored hydraulic energy is directly used as standby energy for the lower-limb exoskeleton. The hydraulic mechanism for energy recovery adopts a double-piston-rod double-acting hydraulic cylinder, has a simple overall structure and small mass, adopts a constant-pressure energy accumulator with high energy storage density, and can realize high-efficiency conversion of mechanical energy and hydraulic energy.
Description
Technical Field
The invention belongs to the technical field of energy-saving devices for recovering energy of lower limb exoskeletons, and relates to a hydraulic power-assisted exoskeletons mechanism capable of recovering back load energy in a walking process.
Background
In recent years, the exoskeleton robot is a new field at the front of science and technology, and has wide application prospect in occasions of carrying heavy load during individual combat, assisting in walking by human bodies and the like. The advantages of high power density of hydraulic drive make it the driving scheme favored by such high-end electromechanical devices, but the low energy efficiency is still an unavoidable weakness. Therefore, searching for reliable energy sources as power sources of such devices, improving the energy efficiency of the hydraulic overall system has become an important requirement for research in this field.
Energy recovery is the most common and effective means for achieving energy conservation in hydraulic systems. The exoskeleton robot generates abundant mechanical energy when walking along with a human body, if the energy is recovered and stored, and then the driving is implemented by adopting a mode of composite energy supply of a motor pump and an energy accumulator, the energy efficiency of the system can be effectively increased, the volume and the weight of a power unit are reduced, and the endurance mileage is increased. When a human back is loaded and walks, the heavy object moves along with the gravity center of the human body to generate abundant mechanical energy, for the loaded exoskeleton, the larger the load is, the more energy is generated, the higher the recovery value is, the mechanical energy for walking of the human body is converted into hydraulic energy with higher power density, and the lightweight and compact structure design of the device is easier to realize.
The hydraulic components for energy recovery are multiple, the system structure is complex, the energy density of the traditional energy accumulator is low, the size and the weight of the whole accumulator are additionally increased, and the maintainability is poor. For example, the chinese patent application with application number 201910600142.4 proposes a hydraulic mechanism for recovering the reciprocating motion energy of the load on the back of the human body, which uses four symmetrically distributed hydraulic cylinders to recover the motion energy of the walking of the human body and store the motion energy in the traditional leather bag energy accumulator. The hydraulic mechanism has the problems of complex overall structure, excessive weight and low energy density, and therefore, the maintenance performance is also poor.
Therefore, a hydraulic mechanism facing the exoskeleton, which is used for walking and loading on the back of the human body, is needed to be designed, wherein the mechanism is simpler in energy recovery, lighter in weight and higher in energy storage density.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a hydraulic power-assisted exoskeleton mechanism capable of recycling back load energy in a walking process, a hydraulic mechanism for energy recovery of the hydraulic power-assisted exoskeleton mechanism adopts a double-piston-rod double-acting hydraulic cylinder, the whole structure is simple, the whole mass is small, the energy storage density of an adopted constant-pressure energy accumulator is high, the high-efficiency conversion of mechanical energy and hydraulic energy can be realized, and the constant-pressure energy accumulator can be directly used as a standby hydraulic source to provide power for an exoskeleton.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the invention discloses a hydraulic assistance exoskeleton mechanism capable of recovering back load energy in a walking process, which comprises a back energy recovery mechanism, a waist part, a group of left and right lower limb bodies and a driving part, wherein the left and right lower limb bodies are identical in structure and are symmetrically arranged;
the left and right lower limbs respectively comprise a thigh part, a shank part and a sole part which are connected in sequence from top to bottom; the thigh part is connected with the waist part;
the driving component is used for assisting the walking of a human body and comprises a first driving component and a second driving component, and the first driving component is respectively connected with the shank component and the thigh component and is used for assisting the movement of the knee joint; the second driving part is respectively connected with the thigh part and the waist part and is used for assisting the movement of the hip joint;
the back energy recovery mechanism comprises a constant-pressure energy accumulator, a valve block group and a group of double-piston-rod hydraulic cylinders, and the double-piston-rod hydraulic cylinders are connected with the constant-pressure energy accumulator through the valve block group; mechanical energy generated by back load in the walking process can be directly converted into hydraulic energy through the group of double-piston-rod hydraulic cylinders, the hydraulic energy is stored through the constant-pressure energy accumulator, and the stored hydraulic energy is directly used as standby energy of the lower-limb exoskeleton.
Preferably, the back energy recovery mechanism further comprises: the device comprises a back plate, copper columns, a fixing frame, two groups of locking nuts, two groups of fixing plates, a load plate and a group of load blocks;
the back board passes through the copper post and links to each other with the mount, a set of double piston rod pneumatic cylinder symmetry set up on this mount, the bogie plate is fixed with a set of double piston rod pneumatic cylinder through two lock nuts and two fixed plates, the constant voltage energy storage ware is fixed with the bogie plate, the counterweight piece is fixed with the bogie plate embedding.
Further preferably, the constant pressure accumulator includes: the device comprises a sealing flange, an energy accumulator shell, a piston, a group of constant pressure springs, a group of spring rollers and a sealing end cover;
the energy accumulator shell is fixedly embedded in the load plate, the sealing flange and the piston are axially connected with the interior of the energy accumulator shell, the piston can axially slide along the interior of the energy accumulator shell, one end of the constant force spring is fixed with the piston, the other end of the constant force spring is fixed with the spring roller, and the spring roller is connected with the roller of the sealing end cover.
Preferably, the valve block set includes: the energy accumulator comprises an oil inlet P, a first working port A, a second working port B, an energy accumulator oil inlet T, four one-way valves, a two-position two-way valve and an overflow valve; the first working port A is connected with the upper end of the double-piston-rod hydraulic cylinder, the second working port B is connected with the lower end of the double-piston-rod hydraulic cylinder, an oil inlet T of the energy accumulator is connected to the constant-pressure energy accumulator, and an oil inlet P is connected with an oil source.
The four one-way valves comprise a first one-way valve, a second one-way valve, a third one-way valve and a fourth one-way valve; the first check valve oil return port is connected with the first working port A, the oil inlet is connected with an energy accumulator oil inlet T, the second check valve oil inlet is connected with the first working port A, the oil return port is connected with the two-position two-way valve, the third check valve oil return port is connected with the second working port B, the oil inlet is connected with the energy accumulator oil inlet T, the fourth check valve oil inlet is connected with the second working port B, the oil return port is connected with the energy accumulator oil inlet T, one end of the two-position two-way valve is connected with the check valve, the other end of the two-position two-way valve is connected with the oil inlet P, one end of the overflow valve is connected with the oil inlet P, and the other end of the overflow valve is connected with the energy accumulator oil inlet T.
Preferably, the waist feature comprises: the waist plate, the limiting pin, the waist rotating shaft, a group of adjusting plates and the connecting plate;
the waist plate is hinged with the waist rotating shaft to form a hip joint frontal plane kinematic pair, the limiting pin is fixed with the adjusting plate and passes through a limiting hole of the waist plate, the adjusting plate is fixed with the waist rotating shaft and is used for adjusting the width of the waist, the adjusting plate is fixed with the connecting plate, and the connecting plate is connected with the back energy recovery mechanism.
Further preferably, the thigh member includes: a thigh lower rod, a thigh upper bent rod, a group of sliding blocks, a group of guide rails and a hip joint rotating shaft;
the inner side of the lower thigh rod is fixed with a sliding block, the outer side of the upper thigh bent rod is fixed with a guide rail, the sliding block and the guide rail form a linear motion pair for adjusting the length of the thigh, the upper thigh bent rod is fixed with a hip joint rotating shaft, and the hip joint rotating shaft is hinged with a waist plate to form a hip joint sagittal plane motion pair.
Further preferably, the lower leg member includes: a lower shank rod, an upper shank rod, a group of slide blocks, a group of guide rails and a knee joint rotating shaft;
the outer side of the lower shank rod is fixed with a sliding block, the inner side of the upper shank rod is fixed with a guide rail, the sliding block and the guide rail form a linear motion pair for adjusting the length of the shank, the upper shank rod is fixed with a knee joint rotating shaft, and the knee joint rotating shaft is hinged with the lower thigh rod to form a knee joint sagittal plane motion pair.
Still further preferably, the sole assembly includes: the ankle joint comprises a foot bottom plate, a group of fixed end covers, a group of torsion springs and an ankle joint rotating shaft;
the foot bottom plate is connected with the fixed end cover and the ankle joint rotating shaft, two ends of the torsion spring are respectively fixedly connected with the fixed end cover and the lower shank rod, and the ankle joint rotating shaft is hinged with the lower shank rod to form an ankle joint sagittal plane kinematic pair.
Still further preferably, the first drive member and the second drive member each include: the lower hinge, the connecting rod, the hydraulic cylinder and the upper hinge;
the lower hinge is connected with the connecting rod, the connecting rod is fixed with the hydraulic cylinder, the hydraulic cylinder is connected with the upper hinge, the lower hinge of the first driving part is fixed with the lower leg part, the upper hinge of the first driving part is fixed with the thigh part, the lower hinge of the second driving part is fixed with the thigh part, and the upper hinge of the second driving part is fixed with the waist part.
Compared with the prior art, the invention has the following beneficial effects:
firstly, mechanical energy generated by load walking on the back of a human body is directly converted into hydraulic energy through the hydraulic cylinders, and the mechanical energy is collected in the walking process by utilizing a group of symmetrical double-piston-rod hydraulic cylinders, so that the structure is compact, the mechanical energy is directly converted into the hydraulic energy, and the energy conversion efficiency is improved;
and secondly, the constant-pressure energy accumulator is used for storing hydraulic energy to realize conversion into storage integration, the constant-pressure energy accumulator is used as a device for energy recovery and power source output, a constant-pressure spring stores the hydraulic energy of the system, the pressure of the energy accumulator is not increased along with the increase of the stored hydraulic energy any more, and the energy recovery system can continuously and efficiently work.
Thirdly, through the back load energy recovery device, the hydraulic energy is stored without energy form conversion, and is directly used as a standby hydraulic source to provide power for the exoskeleton, so that the cruising ability of the hydraulic exoskeleton is improved.
Fourthly, the hydraulic mechanism for energy recovery adopts a double-piston-rod double-acting hydraulic cylinder, the whole structure is simple, the mass is small, the energy storage density of the adopted constant-pressure energy accumulator is large, and the high-efficiency conversion of mechanical energy and hydraulic energy can be realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a hydraulic power-assisted exoskeleton robot capable of recovering back load energy during walking;
FIG. 2 is a schematic structural view of the sole member of FIG. 1;
FIG. 3 is a schematic structural view of the lower leg member of FIG. 1;
FIG. 4 is a schematic view of the drive unit of FIG. 1;
FIG. 5 is a schematic structural view of the thigh member of FIG. 1;
FIG. 6 is a schematic view of the waist feature of FIG. 1;
FIG. 7 is a schematic structural view of the back energy recovery mechanism of FIG. 1;
FIG. 8 is an exploded view of the constant pressure accumulator of FIG. 7;
fig. 9 is a schematic diagram of the hydraulic recovery system of fig. 7.
Wherein: 1. plantar part, 2, calf part, 3.1, first driving part, 3.2, second driving part, 4, thigh part, 5, waist part, 6 and back energy recovery mechanism; 11. the ankle joint fixing device comprises a foot bottom plate, 12.1, a first fixing end cover, 12.2, a second fixing end cover, 13.1, a first torsion spring, 13.2, a second torsion spring, 14 and an ankle joint rotating shaft; 21. a lower shank rod 22, an upper shank rod 23.1, a first lower shank slider 23.2, a second lower shank slider 24.1, a first lower shank guide rail 24.2, a second lower shank guide rail 25 and a knee joint rotating shaft; 31. a lower hinge 32, a connecting rod 33, a hydraulic cylinder 34 and an upper hinge; 41. a lower thigh rod 42, an upper thigh bent rod 43.1, a first thigh sliding block 43.2, a second thigh sliding block 44.1, a first thigh guide rail 44.2, a second thigh guide rail 45 and a hip joint rotating shaft; 51. waist plate 52, limit pin 53, waist rotating shaft 54.1, first adjusting plate 54.2, second adjusting plate 55 and connecting plate; 61. the device comprises a back plate, 62, a copper column, 63, a fixing frame, 64.1, a first double-piston-rod hydraulic cylinder, 64.2, a second double-piston-rod hydraulic cylinder, 65, a locking nut, 66, a fixing plate, 67, a load plate, 68, a constant-pressure energy accumulator, 69.1, a first negative weight block, 69.2 and a second negative weight block; 681. a sealing flange, 682, accumulator housing, 683, piston, 684a, first constant pressure spring, 684b, second constant pressure spring, 685a, first spring roller, 685b, second spring roller, 686, sealing end cap; 701a, a first check valve, 701b, a second check valve, 701c, a third check valve, 701d, a fourth check valve, 702, a two-position two-way valve, 703 and an overflow valve.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
the invention discloses a hydraulic assistance exoskeleton mechanism capable of recovering back load energy in a walking process, which comprises a back energy recovery mechanism 6, and a left lower limb and a right lower limb which are completely symmetrical in structure; the left and right lower limbs all include: a sole part 1, a shank part 2, a group of driving parts, a thigh part 4 and a waist part 5; the sole component 1 is connected with the lower leg component 2 through an ankle joint rotating shaft 14, the lower leg component 2 is connected with the thigh component 4 through a knee joint rotating shaft 25, the first driving component 3.1 is connected with the lower leg component 2 and the thigh component 4 through a lower hinge 31 and an upper hinge 34 respectively, the thigh component 4 is connected with the waist component 5 through a hip joint rotating shaft, the second driving component 3.2 is connected with the waist component 4 through the lower hinge 31 and the upper hinge 34 respectively, and the waist component 5 is connected with the back energy recovery mechanism 6 through a back plate 61.
Specifically, as shown in fig. 1 and 2, the sole assembly 1 includes: the ankle joint comprises a foot bottom plate 11, a first fixed end cover 12.1, a second fixed end cover 12.2, a first torsion spring 13.1, a second torsion spring 13.2 and an ankle joint rotating shaft 14; the ankle joint sagittal plane kinematic pair is formed by hinging the ankle joint rotating shaft 14 and the lower leg rod 21, wherein the ankle joint sagittal plane kinematic pair is formed by connecting the sole plate 11 with a first fixed end cover 12.1, a second fixed end cover 12.2 and the ankle joint rotating shaft 14, two ends of a first torsion spring 13.1 are fixedly connected with the first fixed end cover 12.1 and the lower leg rod 21 respectively, two ends of a second torsion spring 13.2 are fixedly connected with the second fixed end cover 12.2 and the lower leg rod 21 respectively.
As shown in fig. 1 and 3, the lower leg member 2 includes: a lower shank rod 21, an upper shank rod 22, a first lower shank slider 23.1, a second lower shank slider 23.2, a first lower shank guide rail 24.1, a second lower shank guide rail 24.2 and a knee joint rotating shaft 25; the outer side of the lower shank rod 21 is respectively fixed with a first lower shank sliding block 23.1 and a second lower shank sliding block 23.2, the inner side of the upper shank rod 22 is respectively fixed with a first lower shank guide rail 24.1 and a second lower shank guide rail 24.2, a linear motion pair consisting of the two sliding blocks and the two guide rails can adjust the length of the lower shank, the upper shank rod 22 is fixed with a knee joint rotating shaft 25, and the knee joint rotating shaft 25 is hinged with the lower thigh rod 41 to form a sagittal knee joint plane motion pair.
As shown in fig. 1 and 4, the driving member 3 includes: a lower hinge 31, a connecting rod 32, a hydraulic cylinder 33, and an upper hinge 34; the lower hinge 31 is connected with the connecting rod 32, the connecting rod 32 is fixed with the hydraulic cylinder 33, the hydraulic cylinder 33 is connected with the upper hinge 34, the lower hinge 31 of the first driving part 3.1 is fixed with the outer side of the upper shank rod 22, the upper hinge 34 is fixed with the outer side of the lower thigh rod 41, the lower hinge 31 of the second driving part 3.2 is fixed with the outer side of the upper thigh bent rod 42, and the upper hinge 34 is fixed with the lower side of the waist plate 51.
As shown in fig. 1 and 5, the thigh member 4 includes: a lower thigh rod 41, an upper thigh bent rod 42, a first thigh slide block 43.1, a second thigh slide block 43.2, a first thigh guide rail 44.1, a second thigh guide rail 44.2 and a hip joint rotating shaft 45; the inner side of the lower thigh rod 41 is respectively fixed with a first thigh slide block 43.1 and a second thigh slide block 43.2, the outer side of the upper thigh bent rod 42 is respectively fixed with a first thigh guide rail 44.1 and a second thigh guide rail 44.2, the two slide blocks and the two guide rails form a linear motion pair, the length of the thigh can be adjusted, the upper thigh bent rod 42 is fixed with a hip joint rotating shaft 45, and the hip joint rotating shaft 45 is hinged with a waist plate 51 to form a hip joint sagittal motion pair.
As shown in fig. 1 and 6, the waist member 5 includes: a waist plate 51, a limit pin 52, a waist rotating shaft 53, a first adjusting plate 54.1, a second adjusting plate 54.2 and a connecting plate 55; the waist plate 51 is hinged with the waist rotating shaft 53 to form a hip frontal plane kinematic pair, the limiting pin 52 is respectively fixed with the first adjusting plate 54.1 and the second adjusting plate 54.2 and passes through a limiting hole of the waist plate 51, the first adjusting plate 54.1 and the second adjusting plate 54.2 are respectively fixed with the waist rotating shaft 53 for adjusting the waist width, the first adjusting plate 54.1 and the second adjusting plate 54.2 are respectively fixed with the connecting plate 55, and the connecting plate 55 is connected with the back plate 61.
As shown in fig. 1, 7, and 9, the back energy recovery mechanism 6 includes: the hydraulic control system comprises a back plate 61, a copper column 62, a fixed frame 63, a first double-piston-rod hydraulic cylinder 64.1, a second double-piston-rod hydraulic cylinder 64.2, two groups of locking nuts 65, two groups of fixed plates 66, a load plate 67, a constant-pressure energy accumulator 68, a first load block 69.1, a second load block 69.2 and a valve block group 70; the back plate 61 is connected with a fixed frame 63 through a copper column 62, a first double-piston-rod hydraulic cylinder 64.1 and a second double-piston-rod hydraulic cylinder 64.2 are symmetrically connected with the fixed frame 63, a load plate 67 is fixed with the first double-piston-rod hydraulic cylinder 64.1 and the second double-piston-rod hydraulic cylinder 64.2 through two groups of locking nuts 65 and two groups of fixed plates 66, a constant-pressure energy accumulator 68 is fixedly embedded into the load plate 67, the double-piston-rod hydraulic cylinders are connected with the constant-pressure energy accumulator 68 through a valve block group 70, and a first load block 69.1 and a second load block 69.2 are respectively fixed with the load plate 67.
As shown in fig. 1, 7, and 8, the constant pressure accumulator 68 includes: a seal flange 681, an accumulator housing 682, a piston 683, first and second constant pressure springs 684a, 684b, first and second spring barrels 685a, 685b, and a seal end cap 686; the energy accumulator housing 682 is embedded and fixed with the weight plate 67, the sealing flange 681 and the piston 683 are axially connected with the inside of the energy accumulator housing 682, the piston 683 can axially slide along the inside of the energy accumulator housing 682, one end of the first constant pressure spring 684a and one end of the second constant pressure spring 684b are respectively fixed with the piston 683, the other end (inside) of the first constant pressure spring 684a and the second constant pressure spring 684b are respectively fixed with the first spring roller 685a and the second spring roller 685b, and the first spring roller 685a and the second spring roller 685b are both connected with the roller shaft of the sealing end cover 686.
As shown in fig. 9, the valve block group 70 includes: an oil inlet P, a first working port A, a second working port B, an energy accumulator oil inlet T, a first check valve 701a, a second check valve 701B, a third check valve 701c, a fourth check valve 701d, a two-position two-way valve 702 and an overflow valve 703; the first working port A is connected with the upper end of the double-piston rod hydraulic cylinder 64, the second working port B is connected with the lower end of the double-piston rod hydraulic cylinder 64, an oil inlet T of the energy accumulator is connected to the constant-pressure energy accumulator 68, and an oil inlet P is connected with an oil source.
The working process of the invention is mainly realized by the following method:
when a wearer wears the lower limb exoskeleton device, the size of the lower leg can be adjusted to the optimal size through matching of the inner lower leg first slide block 23.1, the inner lower leg second slide block 23.2, the inner lower leg first guide rail 24.1 and the inner lower leg second guide rail 24.2; the size of the thigh can be matched and adjusted to the optimal size through the inner thigh first sliding block 43.1, the inner thigh second sliding block 43.2, the thigh first guide rail 44.1 and the thigh second guide rail 44.2, and the size of the waist is matched to the optimal size through the adjusting plate 54; when a wearer moves, the torsion springs 13 of the ankle joints store and release energy along with the movement of the ankle joints in the walking process of the human body, the first driving part 3.1 assists the movement of the knee joints, and the second driving part 3.2 assists the movement of the hip joints.
When the back negative weight 69 and the constant pressure accumulator 68 move up and down along with the walking process of the lower extremity exoskeleton, the first double-piston-rod hydraulic cylinder 64.1 and the second double-piston-rod hydraulic cylinder 64.2 which are symmetrically distributed alternately absorb and press oil, and high-pressure oil is stored in the constant pressure accumulator 68.
When the back load moves upwards relative to the exoskeleton, the upper parts of the first double-piston-rod hydraulic cylinder 64.1 and the second double-piston-rod hydraulic cylinder 64.2 which are symmetrically distributed perform oil pressing action, the lower parts perform oil absorption action, high-pressure oil reaches an oil inlet T of the energy accumulator through the first working port A, the second one-way valve 701B and the two-position two-way valve 702, the high-pressure oil is stored in the constant-pressure energy accumulator 68 to complete the oil pressing action, and low-pressure hydraulic oil flowing out of the oil inlet P reaches the lower parts of the hydraulic cylinders through the third one-way valve 701c and the second working port B.
When the back load moves downwards relative to the exoskeleton, the lower parts of the first double-piston-rod hydraulic cylinder 64.1 and the second double-piston-rod hydraulic cylinder 64.2 which are symmetrically distributed perform oil pressing action, the upper part performs oil absorption action, high-pressure oil reaches an oil inlet T of the energy accumulator through the second working port B, the fourth one-way valve 701d and the two-position two-way valve 702, the high-pressure oil is stored in the constant-pressure energy accumulator 68 to complete the oil pressing action, and low-pressure hydraulic oil flowing out of the oil inlet P reaches the upper part of the hydraulic cylinders through the first one-way valve 701a and the first working port A.
When the high-pressure oil of the first double-piston-rod hydraulic cylinder 64.1 and the second double-piston-rod hydraulic cylinder 64.2 enters the oil cavity of the constant-pressure accumulator 68, the piston 683 is pushed to slide, one ends of the first constant-pressure spring 684a and the second constant-pressure spring 684b stretch along with the high-pressure oil, the stretching amount increases along with the increase of the system pressure, when the system pressure reaches the maximum, the deformation of the first constant-pressure spring 684a and the second constant-pressure spring 684b is in a constant-force working area, the system pressure is stably accumulated, and the energy recovery system continuously works until the oil is accumulated to the maximum volume.
In conclusion, the torsion springs are arranged at the ankle joints of the lower limbs of the exoskeleton, the knee joints and the hip joints are provided with the driving parts to assist the human body to walk, the mechanical energy generated by back load in the walking process of the human body wearing the exoskeleton is directly converted into hydraulic energy by the back through the group of double-piston-rod hydraulic cylinders, the hydraulic energy is stored through the constant-pressure energy accumulator at the back, and the stored hydraulic energy is directly used as standby energy of the lower-limb exoskeleton. The hydraulic mechanism for energy recovery adopts a double-piston-rod double-acting hydraulic cylinder, has a simple overall structure and small mass, adopts a constant-pressure energy accumulator with high energy storage density, and can realize high-efficiency conversion of mechanical energy and hydraulic energy.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (7)
1. A hydraulic assistance exoskeleton mechanism capable of recycling back load energy in a walking process is characterized by comprising a back energy recycling mechanism (6), a waist part (5), a group of left and right lower limb bodies and a driving part, wherein the left and right lower limb bodies and the driving part are identical in structure and are symmetrically arranged;
the left lower limb body and the right lower limb body respectively comprise a thigh part (4), a shank part (2) and a sole part (1) which are sequentially connected from top to bottom; the thigh part (4) is connected with the waist part (5);
the driving component is used for assisting a human body to walk and comprises a first driving component (3.1) and a second driving component (3.2), and the first driving component (3.1) is respectively connected with the shank component (2) and the thigh component (4) and is used for assisting the movement of the knee joint; the second driving part is respectively connected with the thigh part (4) and the waist part (5) and is used for assisting the movement of the hip joint;
the back energy recovery mechanism (6) comprises a constant-pressure energy accumulator (68), a valve block group (70) and a group of double-piston-rod hydraulic cylinders, and the double-piston-rod hydraulic cylinders are connected with the constant-pressure energy accumulator (68) through the valve block group (70); mechanical energy generated by back load in the walking process can be directly converted into hydraulic energy through the group of double-piston-rod hydraulic cylinders, the hydraulic energy is stored through the constant-pressure energy accumulator (68), and the stored hydraulic energy is directly used as standby energy of the lower-limb exoskeleton;
the back energy recovery mechanism (6) further comprises: the device comprises a back plate (61), copper columns (62), a fixing frame (63), two groups of locking nuts (65), two groups of fixing plates (66), a load plate (67) and a group of load blocks;
the back plate (61) is connected with the fixed frame (63) through a copper column (62), the group of double-piston-rod hydraulic cylinders are symmetrically arranged on the fixed frame (63), the weight plate (67) is fixed with the group of double-piston-rod hydraulic cylinders through two locking nuts (65) and two fixed plates (66), the constant-pressure energy accumulator (68) is fixed with the weight plate (67), and the weight block (69) is embedded and fixed with the weight plate (67);
the constant pressure accumulator (68) comprising: a sealing flange (681), an accumulator housing (682), a piston (683), a set of constant pressure springs, a set of spring rollers, and a sealing end cap (686);
the energy accumulator shell (682) is embedded and fixed with the weight plate (67), the sealing flange (681) and the piston (683) are axially connected with the inside of the energy accumulator shell (682), the piston (683) can axially slide along the inside of the energy accumulator shell (682), one end of the constant pressure spring is fixed with the piston (683), the other end of the constant pressure spring is fixed with the spring roller (685), and the spring roller (685) is connected with the roller of the sealing end cover (686).
2. The walking back weight energy recovery hydraulic assist exoskeleton mechanism of claim 1, wherein the valve block set (70) comprises: the oil inlet P, the first working port A, the second working port B, the energy accumulator oil inlet T, four one-way valves, a two-position two-way valve (702) and an overflow valve (703); the first working port A is connected with the upper end of the double-piston rod hydraulic cylinder, the second working port B is connected with the lower end of the double-piston rod hydraulic cylinder, an oil inlet T of the energy accumulator is connected to a constant-pressure energy accumulator (68), and an oil inlet P is connected with an oil source;
the four check valves include a first check valve (701 a), a second check valve (701 b), a third check valve (701 c), and a fourth check valve (701 d); the oil return port of the first check valve (701 a) is connected with the first working port A, the oil inlet is connected with the oil inlet T of the energy accumulator, the oil inlet of the second check valve (701B) is connected with the first working port A, the oil return port is connected with the two-position two-way valve (702), the oil return port of the third check valve (701 c) is connected with the second working port B, the oil inlet is connected with the oil inlet T of the energy accumulator, the oil inlet of the fourth check valve (701 d) is connected with the second working port B, the oil return port is connected with the oil inlet T of the energy accumulator, one end of the two-position two-way valve (702) is connected with the check valve, the other end of the two-position two-way valve is connected with the oil inlet P, one end of the overflow valve (703) is connected with the oil inlet P, and the other end of the overflow valve (703) is connected with the oil inlet T of the energy accumulator.
3. The walking back-loading energy recoverable hydraulically assisted exoskeleton mechanism of claim 1, wherein the waist feature (5) comprises: a waist plate (51), a limit pin (52), a waist rotating shaft (53), a group of adjusting plates and a connecting plate (55);
the waist plate (51) is hinged with the waist rotating shaft (53) to form a hip joint frontal plane kinematic pair, the limiting pin (52) is fixed with the adjusting plate (54) and passes through a limiting hole of the waist plate (51), the adjusting plate (54) is fixed with the waist rotating shaft (53) and is used for adjusting the waist width, the adjusting plate is fixed with the connecting plate (55), and the connecting plate (55) is connected with the back energy recovery mechanism (6).
4. The walking back-loading energy recoverable hydraulically assisted exoskeleton mechanism of claim 3, wherein the thigh member (4) comprises: a lower thigh rod (41), an upper thigh bent rod (42), a group of sliding blocks, a group of guide rails and a hip joint rotating shaft (45);
the inner side of the lower thigh rod (41) is fixed with a sliding block (43), the outer side of the upper thigh bent rod (42) is fixed with a guide rail (44), the sliding block (43) and the guide rail (44) form a linear motion pair for adjusting the length of a thigh, the upper thigh bent rod (42) is fixed with a hip joint rotating shaft (45), and the hip joint rotating shaft (45) is hinged with a waist plate (51) to form a hip joint sagittal plane motion pair.
5. The walking back weight-bearing energy recoverable hydraulically assisted exoskeleton mechanism of claim 4, wherein the lower leg members (2) comprise: a lower shank rod (21), an upper shank rod (22), a group of slide blocks, a group of guide rails and a knee joint rotating shaft (25);
the outer side of the lower shank rod (21) is fixed with a sliding block, the inner side of the upper shank rod (22) is fixed with a guide rail, the sliding block and the guide rail form a linear motion pair for adjusting the length of the lower shank, the upper shank rod (22) is fixed with a knee joint rotating shaft (25), and the knee joint rotating shaft (25) is hinged with the lower thigh rod (41) to form a knee joint sagittal plane motion pair.
6. The hydraulic assisted exoskeleton mechanism with recoverable back-loading energy during walking of claim 5, wherein the plantar component (1) comprises: a foot bottom plate (11), a group of fixed end covers, a group of torsion springs and an ankle joint rotating shaft (14);
the sole plate (11) is connected with the fixed end cover and the ankle joint rotating shaft (14), two ends of the torsion spring are respectively and fixedly connected with the fixed end cover and the lower shank rod (21), and the ankle joint rotating shaft (14) is hinged with the lower shank rod (21) to form an ankle joint sagittal plane kinematic pair.
7. The walking back weight-bearing energy recoverable hydraulically assisted exoskeleton mechanism of claim 5, wherein the first and second drive components (3.1, 3.2) each comprise: a lower hinge (31), a connecting rod (32), a hydraulic cylinder (33) and an upper hinge (34);
the lower hinge (31) is connected with the connecting rod (32), the connecting rod (32) is fixed with the hydraulic cylinder (33), the hydraulic cylinder (33) is connected with the upper hinge (34), the lower hinge (31) of the first driving part (3.1) is fixed with the lower leg part (2), the upper hinge (34) of the first driving part (3.1) is fixed with the upper leg part (4), the lower hinge (31) of the second driving part (3.2) is fixed with the upper leg part (4), and the upper hinge (34) of the second driving part (3.2) is fixed with the waist part (5).
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| CN110319065B (en) * | 2019-07-04 | 2020-07-28 | 西安交通大学 | Hydraulic mechanism for recovering reciprocating motion energy of load on back of human body |
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