CN112975908A - Hydraulic system and hydraulic driving method applied to load-mobile exoskeleton - Google Patents
Hydraulic system and hydraulic driving method applied to load-mobile exoskeleton Download PDFInfo
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- CN112975908A CN112975908A CN202110188491.7A CN202110188491A CN112975908A CN 112975908 A CN112975908 A CN 112975908A CN 202110188491 A CN202110188491 A CN 202110188491A CN 112975908 A CN112975908 A CN 112975908A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 210000000629 knee joint Anatomy 0.000 claims abstract description 132
- 210000004394 hip joint Anatomy 0.000 claims abstract description 118
- 230000033001 locomotion Effects 0.000 claims abstract description 69
- 210000002414 leg Anatomy 0.000 claims abstract description 28
- 230000008569 process Effects 0.000 claims abstract description 22
- 230000008859 change Effects 0.000 claims abstract description 6
- 239000011664 nicotinic acid Substances 0.000 claims description 83
- 230000001276 controlling effect Effects 0.000 claims description 9
- 210000000689 upper leg Anatomy 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 8
- 230000003592 biomimetic effect Effects 0.000 claims description 6
- 210000001624 hip Anatomy 0.000 claims description 6
- 210000003127 knee Anatomy 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a hydraulic system and a hydraulic driving method applied to a load motorized exoskeleton, wherein two hydraulic loops of the system are connected in parallel and are respectively connected with an oil sac, a hip joint hydraulic cylinder and a knee joint hydraulic cylinder, and a position sensor is arranged at the knee joint hydraulic cylinder; in each hydraulic loop, the hydraulic pump is connected with the oil bag and the one-way valve, the one-way valve is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, and the hydraulic valve is also connected with the oil bag, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, so that a closed loop is formed; the motor is connected with and drives the hydraulic pump, controls the oil pressure in the moving process of the hydraulic cylinder by controlling the rotating speed of the motor, and controls the flow in the extending motion process of the hydraulic cylinder by the hydraulic pump and the one-way valve so as to drive the extending motion of the hydraulic cylinder; the retraction movement of the hydraulic cylinder is driven by the human legs, wherein the flow of the hydraulic cylinder in the phase change and retraction movement processes is controlled by a hydraulic valve. The hydraulic system has the advantages of compact structure, light weight, small volume and good practicability.
Description
Technical Field
The invention relates to the technical field of exoskeleton driving, in particular to a hydraulic system and a hydraulic driving method applied to a load-mobile exoskeleton.
Background
The load-mobile exoskeleton is a set of high-technology intelligent equipment consisting of a mechanical system, a sensing system, a power system, a control system and the like, and a wearer can not only be an operation object of the exoskeleton but also be a use object, can carry assistance with the wearer, enhance the physical ability of the wearer, and reduce and prevent the injury of the wearer.
The power system is an energy source of the load-mobile exoskeleton, directly determines the working efficiency, the running time and the energy utilization rate of the exoskeleton, and indirectly influences the stability, the reliability and the safety of the exoskeleton. The current driving system of the lower extremity exoskeleton mainly has two types of schemes: one type uses a storage battery as an energy carrier, and a driving system directly outputs electric power to drive an actuator based on a motor. The other type uses a storage battery as an energy carrier, and the power adopts a motor to drive a hydraulic system and drives the exoskeleton limbs to move in a fluid transmission mode. The battery-motor scheme has the advantages of simple structure, good controllability and the like, but is poor in driving performance. The battery-hydraulic solution has a high power-to-weight ratio (power-to-weight ratio of the power mechanism) and good control accuracy (hydraulic fluid is usually incompressible), so the battery-hydraulic solution is usually adopted for the load-type exoskeleton.
At present, load type exoskeletons basically adopt double-acting hydraulic cylinders, however, the double-acting hydraulic cylinders are large in size and weight, and stretching out and retracting of the double-acting hydraulic cylinders are required to be controlled, so that a driving oil way is also complex, the load type exoskeletons are severely limited by size and weight, and the load type exoskeletons are often limited in practicability.
Disclosure of Invention
The first objective of the present invention is to overcome the drawbacks and disadvantages of the prior art, and to provide a hydraulic system for a load-powered exoskeleton, which has the advantages of compact structure, light weight, small size, and good practicability.
A second object of the present invention is to provide a hydraulic driving method applied to a load-mobile exoskeleton.
It is a third object of the present invention to provide a load-powered exoskeleton system.
The first purpose of the invention is realized by the following technical scheme:
a hydraulic system applied to a load motorized exoskeleton comprises an oil bag, two hydraulic circuits, 2 hip joint hydraulic cylinders and 2 knee joint hydraulic cylinders, wherein the hip joint hydraulic cylinders and the knee joint hydraulic cylinders are respectively single-acting oil cylinders, and each hydraulic circuit is connected with the oil bag, the corresponding 1 hip joint hydraulic cylinder and the corresponding 1 knee joint hydraulic cylinder through hydraulic pipes;
each hydraulic loop comprises a motor, a hydraulic pump, a one-way valve, a hydraulic pipe and a hydraulic valve, wherein the motor, the hydraulic pump and the hydraulic valve are all connected with a power supply in the exoskeleton system and are powered by the power supply; the motor is connected with a control system in the exoskeleton system, and the working state of the motor is controlled by the control system; the check valve and the hydraulic valve are respectively connected with the control system, and the opening degree of the check valve and the hydraulic valve is controlled by the control system;
in each hydraulic loop, a hydraulic pump is connected with an oil bag and a one-way valve through a hydraulic pipe, the one-way valve is connected with a hip joint hydraulic cylinder and a knee joint hydraulic cylinder through the hydraulic pipe, and the hydraulic valve is also connected with the oil bag, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through the hydraulic pipe, so that a closed loop is formed;
the motor is connected with and drives the hydraulic pump, and the hydraulic pump is controlled by controlling the rotating speed of the motor; the motor controls the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending and retracting movement process through the hydraulic pump, and controls the flow rate of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending movement process through the hydraulic pump and the one-way valve so as to drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend; the retraction movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder is driven by the legs of the person, wherein the phase change of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder and the flow in the retraction movement process are controlled by a hydraulic valve;
and the knee joint hydraulic cylinder of each hydraulic loop is provided with a position sensor which is connected with the control system and used for detecting the position of the knee joint hydraulic cylinder in real time and sending the acquired data to the control system.
Preferably, the hydraulic valves of the two hydraulic circuits are connected through hydraulic pipes and share the same section of hydraulic pipe to be connected to the oil bag; the hydraulic pumps of the two hydraulic loops are connected through hydraulic pipes and share the same section of hydraulic pipe to be connected to the oil bag.
Preferably, in each hydraulic circuit, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are connected through a hydraulic pipe and are connected to the check valve and the hydraulic valve by sharing the same section of hydraulic pipe.
Preferably, each hydraulic circuit is further provided with an overflow valve, one end of each overflow valve is connected to the hydraulic valve through a hydraulic pipe, and the other end of each overflow valve is connected to the one-way valve through a hydraulic pipe.
Preferably, the control system consists of a central processing unit, a motion data acquisition card, a servo driver and a CAN bus, wherein the central processing unit is connected with the motion data acquisition card and issues a control instruction; the motion data acquisition card is connected with the position sensor, acquires sensing data and uploads the sensing data to the central controller; the motion data acquisition card is connected with the servo driver and issues a driving instruction to the servo driver according to the control instruction; the servo driver is connected with the motor, the one-way valve and the hydraulic valve through a CAN bus and controls the motor, the one-way valve and the hydraulic valve according to a driving instruction.
Preferably, the oil bag, the hydraulic pump, the one-way valve, the hydraulic valve and the motor are arranged on the bionic trunk of the load motorized exoskeleton; the hip joint hydraulic cylinders are arranged at the bionic hip joints on the left and right bionic legs of the load-maneuvering exoskeleton and are simultaneously connected with the bionic trunk of the exoskeleton and the bionic hip joints; the knee joint hydraulic cylinder is arranged at the bionic knee joints on the left and right bionic legs of the load motorized exoskeleton and is simultaneously connected with a thigh rod and a shank rod on the bionic leg of the exoskeleton.
Furthermore, the bionic hip joint has 3 degrees of freedom of the hip joint, namely 1 degree of freedom of initiative and 2 degrees of freedom of passivity, wherein 1 degree of freedom of initiative refers to the hip joint forward flexion/backward extension, and 2 degrees of freedom of passivity refers to the hip joint internal rotation/external rotation and the hip joint abduction/adduction; the motion range of the bionic hip joint in each degree of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion;
the bionic knee joint has 1 knee joint degree of freedom, which is an active degree of freedom and refers to knee joint flexion/extension; the motion range of the bionic knee joint in each degree of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion.
Furthermore, when the hip joint hydraulic cylinder drives a joint angle theta of one joint axis in the bionic hip joint to bend forwards/backwards to be 45 degrees, the bionic hip joint has the largest force arm and generates the largest torque;
when the joint angle theta of the knee joint hydraulic cylinder driving one joint shaft in the bionic knee joint to bend/extend is 45 degrees, the bionic knee joint has the largest moment arm and generates the largest torque.
The second purpose of the invention is realized by the following technical scheme:
a hydraulic drive method for a load-motorized exoskeleton, said method being based on a first object of the present invention, said hydraulic system for a load-motorized exoskeleton comprising the steps of:
s1, the control system opens the one-way valve and closes the hydraulic valve, then the hydraulic system is started by electrifying, the power supply supplies power to the motor, and the motor starts to work;
s2, driving a hydraulic pump by a motor to enable the hydraulic pump to pump oil from an oil bag, and transmitting the oil to the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in each hydraulic circuit through a one-way valve;
s3, the two hydraulic loops are independent, when one hydraulic loop needs to drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend, the control system adjusts the working state of the hydraulic pump by controlling the rotating speed of the motor, so as to adjust the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending and retracting movement process, meanwhile, the flow of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending movement process is controlled by the hydraulic pump and the one-way valve, and the motor drives the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend and move based on the oil pressure and the flow;
when the hip joint hydraulic cylinder and the knee joint hydraulic cylinder need to retract, the control system controls a hydraulic valve in the hydraulic loop to open, a one-way valve is closed, then the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are driven by the human legs to retract, and oil liquid of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder flows back into an oil bag through the hydraulic valve;
in the process, the position sensors of the two hydraulic circuits respectively detect the positions of the knee joint hydraulic cylinders of the corresponding hydraulic circuits in real time, and send the acquired position data to the control system;
and S4, acquiring the extension or retraction movement conditions of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by the control system according to the position data of the two hydraulic loops so as to adjust the rotating speed of the motor in real time, further regulating and controlling the movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, judging whether the knee joint hydraulic cylinder moves to the limit position according to the position data, and closing the motor when the knee joint hydraulic cylinder moves to the limit position.
The third purpose of the invention is realized by the following technical scheme:
a load-motorized exoskeleton system having a hydraulic system for a load-motorized exoskeleton according to a first aspect of the present invention.
Compared with the prior art, the invention has the following advantages and effects:
(1) the hydraulic system is divided into two hydraulic loops according to the drive of the left leg and the right leg of the load motorized exoskeleton, each hydraulic loop is driven by a motor to drive a hydraulic pump, high-pressure oil generated by the hydraulic pump is transmitted to a hip joint hydraulic cylinder and a knee joint hydraulic cylinder through a one-way valve, so that the extension movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder is driven, the oil pressure and the flow of the two cylinders can be controlled by the motors, the two cylinders are retracted and are driven by the legs of a person, and in the retraction process, the oil flows back to an oil sac through the hydraulic valve, so that the complete and efficient movement control of the bionic hip joint and the bionic knee joint is realized.
(2) The hydraulic system of the invention adopts the single-acting hydraulic cylinder, compared with the common double-acting hydraulic cylinder, the hydraulic system has small volume, light weight and simpler driving oil path, and can improve the practicability and flexibility of the load-maneuvering exoskeleton. In addition, the miniaturized hydraulic elements such as an electric gear pump, an electromagnetic valve and the like are adopted, so that each hydraulic circuit is equivalent to a micro hydraulic station, and the structure of a hydraulic system is more compact.
(3) The two hydraulic circuits of the hydraulic system are connected in parallel, so that the interference between the hydraulic circuits can be avoided to the greatest extent, the independence of each hydraulic circuit is ensured, in addition, the whole hydraulic circuit of each hydraulic circuit forms a closed cavity, the hydraulic medium is not contacted with the air, the pollution of solid particles and moisture in the air to the hydraulic medium can be prevented, the air is prevented from being mixed into the hydraulic medium, and the elastic modulus of the hydraulic medium is reduced.
(4) According to the invention, the position sensor is arranged at the knee joint hydraulic cylinder, the position sensor is used for detecting the position data of the knee joint hydraulic cylinder in real time to serve as control feedback, the control system can adjust the rotating speed of the motor in real time according to the feedback, so that the movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder is regulated and controlled, meanwhile, whether the knee joint hydraulic cylinder moves to the limit position can be judged according to the position data, the motor can be timely closed when the knee joint hydraulic cylinder moves to the limit position, and the hydraulic system is prevented from being.
Drawings
Fig. 1 is a schematic diagram of a hydraulic system of the present invention as applied to a load-mobile exoskeleton.
Fig. 2 is a schematic diagram of the hydraulic system of fig. 1.
Fig. 3 is a control schematic of the hydraulic system of fig. 1.
Fig. 4 is a schematic view of a load-mobile exoskeleton.
Fig. 5 is a side view of a load-motorized exoskeleton.
Fig. 6 is a schematic connection diagram of the bionic leg with a hip joint hydraulic cylinder and a knee joint hydraulic cylinder.
Fig. 7 is a schematic diagram of degrees of freedom of a biomimetic hip joint and a biomimetic knee joint.
Fig. 8 is a schematic diagram of the relationship between the moment and the joint angle of the bionic hip joint or the bionic knee joint.
Description of reference numerals:
the bionic exoskeleton system comprises an oil bag 1, a hydraulic pipe 2, a hip joint hydraulic cylinder 3, a knee joint hydraulic cylinder 4, a motor 5, a hydraulic pump 6, a one-way valve 7, a hydraulic valve 8, an overflow valve 9, a position sensor 10, a power supply 11, a control system 12, a bionic trunk 13, a bionic leg 14, a bionic hip joint 141, a thigh rod 142, a bionic knee joint 143, a shank rod 144, a bionic ankle joint 145, a bionic foot 15, a binding band 16 and a load-maneuvering exoskeleton system 100.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
The embodiment discloses a hydraulic system applied to a load-motorized exoskeleton, which comprises an oil bag 1, two hydraulic circuits connected in parallel, 2 hip hydraulic cylinders and 2 knee hydraulic cylinders, as shown in fig. 1 and 2.
As shown in fig. 1 to 3, each hydraulic circuit corresponds to a micro hydraulic station, and each hydraulic circuit is connected with an oil bag, 1 corresponding hip hydraulic cylinder 3 and 1 corresponding knee hydraulic cylinder 4 through a hydraulic pipe 2. The hip joint hydraulic cylinder and the knee joint hydraulic cylinder both adopt single-acting oil cylinders (the extension direction is active, and the retraction direction is passive).
Each hydraulic circuit comprises an electric motor 5, a hydraulic pump 6, a one-way valve 7 and a hydraulic valve 8. In each hydraulic loop, the hydraulic pump is connected with the oil bag and the one-way valve through a hydraulic pipe, the one-way valve is connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through the hydraulic pipe, and the hydraulic valve is also connected with the oil bag, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through the hydraulic pipe, so that a closed loop is formed.
Because each hydraulic circuit integrally forms a closed cavity, the hydraulic medium is not contacted with the air, so that the hydraulic medium can be prevented from being polluted by solid particles and moisture in the air, and the air is prevented from being mixed into the hydraulic medium to reduce the elastic modulus of the hydraulic medium.
The motor is connected with and drives the hydraulic pump, and controls the hydraulic pump by controlling the rotation speed of the motor, and the hydraulic pump can generate oil pressure, so that the motor can control the oil pressure in the extension and retraction movement processes of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through the hydraulic pump, and control the flow rate in the extension movement processes of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through the hydraulic pump and the one-way valve so as to drive the extension movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder. Because the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are single-acting oil cylinders, the retraction motions of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are driven by the legs of a person. In this process, the flow during the commutation and retraction movements of the hip and knee hydraulic cylinders is controlled by hydraulic valves.
As shown in FIG. 2, the hydraulic valves of the two hydraulic circuits are connected through hydraulic pipes and share the same section of hydraulic pipe to be connected to the oil bag. That is to say, the hydraulic pipes connecting the two hydraulic valves are connected with the oil bag through another section of hydraulic pipe, and the section of hydraulic pipe is used as a shared pipeline.
Similarly, the hydraulic pumps of the two hydraulic circuits are connected through hydraulic pipes and share the same section of hydraulic pipe to be connected to the oil bag. That is to say, the hydraulic pipes connecting the two hydraulic pumps are connected with the oil bag through another section of hydraulic pipe, and the section of hydraulic pipe is used as a shared pipeline.
In each hydraulic loop, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are connected through hydraulic pipes and share the same section of hydraulic pipe to be connected to a one-way valve and a hydraulic valve. That is, another section of hydraulic pipe is connected between the hydraulic pipe between the hip joint hydraulic cylinder and the knee joint hydraulic cylinder and the hydraulic circuit, and the section of hydraulic pipe is used as an oil inlet/outlet pipe of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder at the same time.
In addition, in order to conveniently know the extension or retraction movement conditions of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder and judge whether the knee joint hydraulic cylinder moves to the limit position, a position sensor 10 is arranged at the knee joint hydraulic cylinder of each hydraulic circuit, and referring to fig. 5, the position sensor is connected with a control system and can be used for detecting the position of the knee joint hydraulic cylinder in real time and sending collected data to the control system.
In order to prevent the pipeline from overloading, each hydraulic loop can be further provided with an overflow valve 9 to stabilize the oil pressure of the pipeline and prevent overflow. As shown in fig. 2, one end of the relief valve is connected to the hydraulic valve through a hydraulic pipe, and the other end is connected to the check valve through a hydraulic pipe.
In this embodiment, the electric motor, hydraulic pump and hydraulic valve are all connected to and powered by a power source in the exoskeleton system. The motors are connected to and controlled by a control system in the exoskeleton system, see fig. 3. The check valve and the hydraulic valve are respectively connected with the control system, and the opening degree of the check valve and the hydraulic valve is controlled by the control system.
The motor can be a direct current motor. The hydraulic pump can adopt electronic gear pump, and what this embodiment adopted is high rotational speed gear pump, and its operating speed can reach 10000rpm, can be by motor direct drive, reduces transmission, the speed change mechanism between motor and the hydraulic pump, reduces whole weight and space and occupies. Meanwhile, the high-rotating-speed gear pump has the characteristics of small volume and light weight, and is a key element for realizing a high-power-density power system. The hydraulic valve may be a normally closed solenoid valve and may be used to balance the relationship between the output speed (flow) and torque (oil pressure) of the hydraulic cylinder to ensure that there is sufficient torque to drive the exoskeleton system to travel at the desired speed.
As shown in fig. 4 and 5, the load-mobile exoskeleton system 100 is mainly composed of a control system 12, a bionic trunk 13, a left bionic leg 14, a right bionic leg 14, a left bionic foot 15 and a right bionic foot 15, which are connected in sequence from top to bottom. The biomimetic torso, left and right biomimetic legs may be provided with straps 16 to facilitate the user to wear the exoskeleton system on the body.
The bionic trunk can be used for placing a load, a control system, a power supply 11 for supplying power to each element, the oil bag 1, the hydraulic pump 6, the one-way valve 7, the hydraulic valve 8 and the motor 5.
As shown in fig. 6, each bionic leg 14 is divided into a bionic hip joint 141, a thigh rod 142, a bionic knee joint 143, a shank rod 144 and a bionic ankle joint 145 which are connected in sequence from top to bottom, and the bionic ankle joint is connected with a corresponding bionic foot. IMU sensors can be arranged between the thigh rod and the shank rod, the number of the IMU sensors can be four, and the IMU sensors are respectively arranged on the thigh rod and the shank rod of the left bionic leg and the right bionic leg so as to detect the speed, the acceleration and/or the angular velocity of the thigh rod and the shank rod in real time. The IMU sensor may be an ADIS16475 IMU sensor with a three-axis gyroscope and a three-axis accelerometer built into the IMU.
The hip joint hydraulic cylinders are arranged at the bionic hip joints on the left and the right bionic legs and are simultaneously connected with the bionic trunk and the bionic hip joints. The knee joint hydraulic cylinder is arranged at the bionic knee joint on the left bionic leg and the right bionic leg and is simultaneously connected with the thigh rod and the shank rod. Force sensors can be arranged at the knee joint hydraulic cylinder and the hip joint hydraulic cylinder and used for detecting the output force of the knee joint hydraulic cylinder and the hip joint hydraulic cylinder in real time.
As shown in fig. 7, the bionic hip joint can be regarded as a joint structure including a rotation point and a joint axis rotating around the rotation point. The bionic hip joint has 3 degrees of freedom (DOF) of the hip joint, which are 1 active degree of freedom and 2 passive degrees of freedom respectively, wherein 1 active degree of freedom refers to forward flexion/backward extension of the hip joint, and 2 passive degrees of freedom refer to inward rotation/outward rotation and abduction/adduction of the hip joint. The motion range of the bionic hip joint in the respective degrees of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion.
The bionic knee joint has 1 knee joint degree of freedom, which is an active degree of freedom and refers to knee joint flexion/extension. The motion range of the bionic knee joint in each degree of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion. The thigh rod and the shank rod are joint axes of the bionic knee joint.
The bionic foot can adopt an intelligent shoe provided with a sole pressure sensor, and the sole pressure sensor can be used for detecting the weight distribution and the central change of a human body in real time so as to facilitate the control system to judge whether the foot is in contact with the ground. The sole pressure sensor is a film pressure sensor.
The control system consists of a central processing unit, a motion data acquisition card, a servo driver and a CAN bus, wherein the central processing unit is connected with the motion data acquisition card and issues a control instruction; the motion data acquisition card is connected with the position sensor, acquires sensing data and uploads the sensing data to the central controller; the motion data acquisition card is connected with the servo driver and issues a driving instruction to the servo driver according to the control instruction; the servo driver is connected with the motor, the one-way valve and the hydraulic valve through a CAN bus and controls the motor, the one-way valve and the hydraulic valve according to a driving instruction.
The central processing unit stores various machine algorithms such as an intelligent fuzzy inference algorithm, a minimized human-computer interaction force control algorithm and a self-adaptive impedance adjustment algorithm, and can be used for generating an optimal control instruction according to data of the position sensor and other sensors (a sole pressure sensor, an IMU sensor and a force sensor) in the exoskeleton system.
The central processing unit can also be connected with a computer in a wireless communication mode, and the computer is used as a monitoring center, can monitor various sensing data of the exoskeleton system in real time, and can also issue a control instruction to the exoskeleton system.
In general, the IMU sensors, plantar pressure sensors, force sensors and position sensors constitute the sensing system of the exoskeleton and can be used for intent sensing. The control system can be used as a control center of the whole exoskeleton system and used for cognitive decision. The hydraulic system forms a power system of the exoskeleton and is used for driving a mechanical system formed by the bionic trunk, the bionic legs and the bionic feet, and the mechanical system is used for executing relevant actions.
In addition, the embodiment also analyzes the driving condition of the bionic hip joint/bionic knee joint aiming at the hydraulic system. When the joint axis of the bionic hip joint/the bionic knee joint generates torque around the joint (the torque is the force multiplied by the moment arm), the moment arm R changes along with the change of the joint angle theta, and a relation graph of the torque and the joint angle theta of the bionic hip joint/the bionic knee joint shown in figure 8 is drawn through mechanical analysis and calculation.
In FIG. 8, the abscissa is the angle θ, the ordinate is the moment, TmaxpullFor maximum torque, T, of the joint axis in different degrees of flexionmaxpushThe maximum torque of the joint axis under different extension conditions.
As can be seen from fig. 8, when the joint angle θ of the hip hydraulic cylinder driving one joint axis of the bionic hip joint to bend forward/backward is 45 °, the highest point of the curve located above in fig. 8 corresponds to the lowest point of the curve located below, that is, when the bending/extending angle θ reaches 45 °, the bionic hip joint has the largest moment arm (the maximum torque is the maximum force multiplied by the moment arm), the hip hydraulic cylinder generates the largest torque, and the moment arms at other angles are all smaller than the moment arm at 45 °.
Similarly, when the joint angle θ of the knee joint hydraulic cylinder driving one joint axis in the bionic knee joint to bend/extend is equal to 45 °, the bionic knee joint has the largest moment arm, the knee joint hydraulic cylinder generates the largest torque, the moment arms at other angles are all smaller than the moment arm at θ equal to 45 °, and when θ is equal to 115 °, the torques generated by the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are all smaller.
In addition, the embodiment also discloses a hydraulic driving method applied to the load-mobile exoskeleton, which is based on the hydraulic system and specifically comprises the following steps:
s1, the control system opens the one-way valve and closes the hydraulic valve, then the hydraulic system is started by electrifying, the power supply supplies power to the motor, and the motor starts to work;
s2, driving a hydraulic pump by a motor to enable the hydraulic pump to pump oil from an oil bag, and transmitting the oil to the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in each hydraulic circuit through a one-way valve;
s3, the two hydraulic loops are independent, when one hydraulic loop needs to drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend, the control system adjusts the working state of the hydraulic pump by controlling the rotating speed of the motor, so as to adjust the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending and retracting movement process, meanwhile, the flow of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending movement process is controlled by the hydraulic pump and the one-way valve, and the motor drives the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend and move based on the oil pressure and the flow;
when the hip joint hydraulic cylinder and the knee joint hydraulic cylinder need to retract, the control system controls a hydraulic valve in the hydraulic loop to open, a one-way valve is closed, then the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are driven by the human legs to retract, and oil liquid of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder flows back into an oil bag through the hydraulic valve;
in the process, the position sensors of the two hydraulic circuits respectively detect the positions of the knee joint hydraulic cylinders of the corresponding hydraulic circuits in real time, and send the acquired position data to the control system;
and S4, acquiring the extension or retraction movement conditions of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by the control system according to the position data of the two hydraulic loops so as to adjust the rotating speed of the motor in real time, further regulating and controlling the movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, and judging whether the knee joint hydraulic cylinder moves to the limit position according to the position data so as to timely close the motor when the hip joint hydraulic cylinder and the knee joint hydraulic cylinder move to the limit position.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A hydraulic system applied to a load motorized exoskeleton is characterized by comprising an oil bag, two hydraulic circuits, 2 hip joint hydraulic cylinders and 2 knee joint hydraulic cylinders, wherein the hip joint hydraulic cylinders and the knee joint hydraulic cylinders are respectively single-acting oil cylinders, and each hydraulic circuit is connected with the oil bag, the corresponding 1 hip joint hydraulic cylinder and the corresponding 1 knee joint hydraulic cylinder through hydraulic pipes;
each hydraulic loop comprises a motor, a hydraulic pump, a one-way valve, a hydraulic pipe and a hydraulic valve, wherein the motor, the hydraulic pump and the hydraulic valve are all connected with a power supply in the exoskeleton system and are powered by the power supply; the motor is connected with a control system in the exoskeleton system, and the working state of the motor is controlled by the control system; the check valve and the hydraulic valve are respectively connected with the control system, and the opening degree of the check valve and the hydraulic valve is controlled by the control system;
in each hydraulic loop, a hydraulic pump is connected with an oil bag and a one-way valve through a hydraulic pipe, the one-way valve is connected with a hip joint hydraulic cylinder and a knee joint hydraulic cylinder through the hydraulic pipe, and the hydraulic valve is also connected with the oil bag, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder through the hydraulic pipe, so that a closed loop is formed;
the motor is connected with and drives the hydraulic pump, and the hydraulic pump is controlled by controlling the rotating speed of the motor; the motor controls the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending and retracting movement process through the hydraulic pump, and controls the flow rate of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending movement process through the hydraulic pump and the one-way valve so as to drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend; the retraction movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder is driven by the legs of the person, wherein the phase change of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder and the flow in the retraction movement process are controlled by a hydraulic valve;
and the knee joint hydraulic cylinder of each hydraulic loop is provided with a position sensor which is connected with the control system and used for detecting the position of the knee joint hydraulic cylinder in real time and sending the acquired data to the control system.
2. The hydraulic system for a load-motorized exoskeleton of claim 1 wherein the hydraulic valves of the two hydraulic circuits are connected by hydraulic pipes and share the same hydraulic pipe to be connected to the oil bladder; the hydraulic pumps of the two hydraulic loops are connected through hydraulic pipes and share the same section of hydraulic pipe to be connected to the oil bag.
3. The hydraulic system as recited in claim 1 wherein the hip and knee hydraulic cylinders are connected by hydraulic lines in each hydraulic circuit and further share the same hydraulic line to a check valve and a hydraulic valve.
4. The hydraulic system as applied to a load-motorized exoskeleton of claim 1 wherein each hydraulic circuit is further provided with an overflow valve connected at one end to a hydraulic valve via a hydraulic line and at the other end to a check valve via a hydraulic line.
5. The hydraulic system for a load-motorized exoskeleton of claim 1, wherein the control system comprises a central processing unit, a motion data acquisition card, a servo driver and a CAN bus, the central processing unit is connected with the motion data acquisition card and issues control commands; the motion data acquisition card is connected with the position sensor, acquires sensing data and uploads the sensing data to the central controller; the motion data acquisition card is connected with the servo driver and issues a driving instruction to the servo driver according to the control instruction; the servo driver is connected with the motor, the one-way valve and the hydraulic valve through a CAN bus and controls the motor, the one-way valve and the hydraulic valve according to a driving instruction.
6. The hydraulic system for a load-motorized exoskeleton of claim 1 wherein the oil bladder, the hydraulic pump, the one-way valve, the hydraulic valve and the motor are mounted on the biomimetic torso of the load-motorized exoskeleton; the hip joint hydraulic cylinders are arranged at the bionic hip joints on the left and right bionic legs of the load-maneuvering exoskeleton and are simultaneously connected with the bionic trunk of the exoskeleton and the bionic hip joints; the knee joint hydraulic cylinder is arranged at the bionic knee joints on the left and right bionic legs of the load motorized exoskeleton and is simultaneously connected with a thigh rod and a shank rod on the bionic leg of the exoskeleton.
7. The hydraulic system for a load-mobile exoskeleton of claim 6 wherein the biomimetic hip joint has 3 degrees of freedom for the hip joint, 1 active degree of freedom and 2 passive degrees of freedom, wherein 1 active degree of freedom is hip joint flexion/extension and 2 passive degrees of freedom are hip joint internal/external rotation and hip joint abduction/adduction; the motion range of the bionic hip joint in each degree of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion;
the bionic knee joint has 1 knee joint degree of freedom, which is an active degree of freedom and refers to knee joint flexion/extension; the motion range of the bionic knee joint in each degree of freedom is larger than the motion range of human walking and smaller than the maximum motion range of human motion.
8. The hydraulic system as recited in claim 7 wherein the bionic hip joint has the largest moment arm and generates the largest torque when the hip joint hydraulic cylinder drives the joint angle θ of one joint axis in the bionic hip joint to bend forward/backward equal to 45 °;
when the joint angle theta of the knee joint hydraulic cylinder driving one joint shaft in the bionic knee joint to bend/extend is 45 degrees, the bionic knee joint has the largest moment arm and generates the largest torque.
9. A hydraulic drive method for a load-mobile exoskeleton, based on the hydraulic system of any one of claims 1 to 8, comprising the steps of:
s1, the control system opens the one-way valve and closes the hydraulic valve, then the hydraulic system is started by electrifying, the power supply supplies power to the motor, and the motor starts to work;
s2, driving a hydraulic pump by a motor to enable the hydraulic pump to pump oil from an oil bag, and transmitting the oil to the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in each hydraulic circuit through a one-way valve;
s3, the two hydraulic loops are independent, when one hydraulic loop needs to drive the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend, the control system adjusts the working state of the hydraulic pump by controlling the rotating speed of the motor, so as to adjust the oil pressure of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending and retracting movement process, meanwhile, the flow of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder in the extending movement process is controlled by the hydraulic pump and the one-way valve, and the motor drives the hip joint hydraulic cylinder and the knee joint hydraulic cylinder to extend and move based on the oil pressure and the flow;
when the hip joint hydraulic cylinder and the knee joint hydraulic cylinder need to retract, the control system controls a hydraulic valve in the hydraulic loop to open, a one-way valve is closed, then the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are driven by the human legs to retract, and oil liquid of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder flows back into an oil bag through the hydraulic valve;
in the process, the position sensors of the two hydraulic circuits respectively detect the positions of the knee joint hydraulic cylinders of the corresponding hydraulic circuits in real time, and send the acquired position data to the control system;
and S4, acquiring the extension or retraction movement conditions of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder by the control system according to the position data of the two hydraulic loops so as to adjust the rotating speed of the motor in real time, further regulating and controlling the movement of the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, judging whether the knee joint hydraulic cylinder moves to the limit position according to the position data, and closing the motor when the knee joint hydraulic cylinder moves to the limit position.
10. A load-motorized exoskeleton system comprising a hydraulic system as claimed in any one of claims 1 to 8 applied to a load-motorized exoskeleton.
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