CN112983908B - Active and passive hybrid driving device for joint driving - Google Patents
Active and passive hybrid driving device for joint driving Download PDFInfo
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- CN112983908B CN112983908B CN202110534234.4A CN202110534234A CN112983908B CN 112983908 B CN112983908 B CN 112983908B CN 202110534234 A CN202110534234 A CN 202110534234A CN 112983908 B CN112983908 B CN 112983908B
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
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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
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1433—End caps
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1447—Pistons; Piston to piston rod assemblies
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1457—Piston rods
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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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
Abstract
The invention discloses an active and passive hybrid driving device for joint driving, which comprises: the hydraulic cylinder comprises a hydraulic cavity, and a piston rod which are inserted into the hydraulic cavity in a matched manner; the first inlet end and the first outlet end of the throttle valve are communicated with a first flow passage and a second flow passage of the hydraulic cylinder in a one-to-one manner; the first motor is connected with the throttle valve and controls the opening size of the throttle valve; a second inlet end and a second outlet end of the gear pump are connected with a first flow passage and a second flow passage of the hydraulic cylinder through slide valves; the second motor is connected with the slide valve and is used for driving the slide valve to move and shift; the energy storage assembly comprises an energy storage cavity communicated with a flow passage between the gear pump and the slide valve, an upper spring separation cavity and a lower spring separation cavity which are hermetically slid with the energy storage cavity are inserted in the energy storage cavity, and an energy storage buffer spring is arranged between the upper spring separation cavity and the lower spring separation cavity. The damping can be automatically adjusted in real time to control the magnitude of different load forces and damping force under human gait, and natural and smooth rotation is realized.
Description
Technical Field
The invention relates to the technical field of joint driving, in particular to an active and passive hybrid driving device for joint driving.
Background
The number of amputees in the disabled population in China is large, the amputees are likely to cause human disabilities due to accidents such as traffic accidents, industrial injuries and natural disasters or due to diseases such as diabetes, but only some of the amputees are provided with lower limb artificial limbs or use exoskeleton systems, and the amputees can return to the society at present.
The traditional wearable robot joint part adopts mechanical damping, and the damping value cannot be adjusted along with the gait, so that the gait is unnatural and the driving efficiency is not high. Meanwhile, the existing partial joint driving structure has large volume and weight, complex structure and inconvenient maintenance.
Therefore, how to solve the problems of unnatural gait, complex structure and large volume and weight caused by the conventional joint driving device is a problem to be solved urgently by those skilled in the art at present.
Disclosure of Invention
In view of this, the present invention provides an active and passive hybrid driving device for joint driving, in which damping can be automatically adjusted in real time to control different load forces and the magnitude of damping force under human gait, so as to achieve natural and smooth rotation.
In order to achieve the above purpose, the invention provides the following technical scheme:
an active and passive hybrid drive for joint drive, comprising:
the hydraulic cylinder comprises a hydraulic cavity, a first flow passage communicated with the upper cavity of the hydraulic cavity and a second flow passage communicated with the lower cavity of the hydraulic cavity;
the piston is inserted in the hydraulic cavity in a matching manner;
the piston rod is connected to the piston and used for driving the joint component;
the throttling valve comprises a first inlet end and a first outlet end, and the first inlet end and the first outlet end are communicated with the first flow channel and the second flow channel in a one-to-one mode;
the first motor is connected with the throttle valve and controls the opening size of the throttle valve;
the gear pump comprises a second inlet end and a second outlet end, and the second inlet end and the second outlet end are connected to the first flow passage and the second flow passage through slide valves;
the second motor is connected with the slide valve and is used for driving the slide valve to move and shift;
the energy storage subassembly, including communicate in the energy storage chamber of the runner between gear pump and the slide valve, energy storage intracavity cartridge have with the sealed gliding spring of energy storage chamber is gone up and is separated the chamber, is separated the chamber under the spring, separate the chamber on the spring with be equipped with energy storage buffer spring under the spring between separating the chamber.
Preferably, the hydraulic cylinder comprises a cylinder body and an upper end cover connected to the upper end of the cylinder body in a sealing mode, a sealing interface connected to the energy storage assembly in a sealing mode is arranged at the lower end of the cylinder body, and the hydraulic cavity, the first flow channel and the second flow channel are arranged in the cylinder body.
Preferably, the energy storage assembly comprises an energy storage cylinder body, the energy storage cavity is arranged on the energy storage cylinder body and penetrates through the upper end face of the energy storage cylinder body, and the upper end of the energy storage cylinder body is inserted into the sealing interface in a sealing manner.
Preferably, the hydraulic cylinder is provided with a third flow passage, and the energy storage cavity is communicated with a flow passage between the gear pump and the slide valve through the third flow passage.
Preferably, a needle valve for controlling the flow rate of the third flow channel is arranged on the third flow channel, and the needle valve is connected to a third motor.
Preferably, the upper end of the piston rod is provided with a piston rod lug for connecting the joint component.
Preferably, the throttle valve is a ball throttle valve.
Preferably, the first motor, the second motor, the throttle valve, the slide valve and the gear pump are all installed inside the hydraulic cylinder.
According to the active and passive hybrid driving device for driving the joints, when a human body is in a state that the torque required by the joints such as walking on a flat ground, going down stairs, going down a slope and the like is small, the driving is not required to be provided, the passive driving mode is adopted, the slide valve is stopped at the middle position, a flow passage between the gear pump and the hydraulic cavity is closed, the upper cavity and the lower cavity of the hydraulic cavity are communicated through the throttle valve, the opening size of the valve port of the throttle valve is controlled through the first motor, the damping force is adjusted, continuous and adjustable damping is achieved, and natural and smooth rotation is achieved.
When a human body is in a state of large torque required by joints such as going upstairs and going up a slope, an active driving mode is adopted, a throttle valve is closed, a gear pump supplies energy to a hydraulic cavity, sufficient active torque is provided for the joints according to a gait curve of the human body, the defect of passive driving in the gait is overcome, the position of a slide valve is controlled according to the swing state of lower limbs so as to change the position of the slide valve to control the oil supply direction of hydraulic oil, and therefore the motion direction of a piston rod is changed to change the rotation angle of the joints; when the human body stands straight, the slide valve is stopped at the middle position, so that the flow passages of the gear pump and the hydraulic cavity are closed to form a rigid support.
In the whole walking process, the energy storage assembly stores energy for redundant energy, redundant hydraulic oil flows into an energy storage cavity of the energy storage assembly and enters an energy storage state, when energy needs to be supplied, the hydraulic oil in the energy storage assembly supplies energy, and meanwhile, the compressed spring can also provide restoring force for the piston rod, so that the energy utilization rate in the walking process is improved, and the function of buffering and assisting force in the walking process is achieved, so that the walking gait is smooth and natural, and the walking process is comfortable and safe.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the internal structure of an embodiment of the active and passive hybrid driving device for joint driving according to the present invention;
fig. 2 is a front view schematically illustrating an embodiment of the active and passive hybrid driving device for joint driving according to the present invention.
The hydraulic cylinder comprises a piston rod 1-lug, a piston rod 2-3-upper end cover, a piston 4-5-hydraulic cylinder, a spring upper partition chamber 6-a spring lower partition chamber 7-a spring lower partition chamber 8-a throttle valve, a slide valve 9-a gear pump 10-a needle valve 11-an energy storage cylinder body 12-an energy storage buffer spring 13-a hydraulic cavity 14-a first flow passage 15-a second flow passage 16-and an energy storage cavity 17.
Detailed Description
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.
The core of the invention is to provide an active and passive hybrid driving device for joint driving, and damping can be automatically adjusted in real time to control different load forces and the damping force under human gait, so as to realize natural and smooth rotation.
Referring to fig. 1 to 2, fig. 1 is a schematic diagram illustrating an internal structure of an active and passive hybrid driving device for joint driving according to an embodiment of the present invention; fig. 2 is a front view schematically illustrating an embodiment of the active and passive hybrid driving device for joint driving according to the present invention.
The invention provides an active and passive hybrid driving device for joint driving, which comprises:
a hydraulic cylinder 5 including a hydraulic chamber 14, a first flow passage 15 communicating with an upper chamber of the hydraulic chamber 14, and a second flow passage 16 communicating with a lower chamber of the hydraulic chamber 14;
the piston 4 is inserted into the hydraulic cavity 14 in a matching way;
the piston rod 2 is connected to the piston 4 and used for driving the joint component;
the throttle valve 8 comprises a first inlet end and a first outlet end, and the first inlet end and the first outlet end are communicated with the first flow passage 15 and the second flow passage 16 in a one-to-one mode;
a first motor connected to the throttle valve 8 and controlling the opening size of the throttle valve 8;
a gear pump 10 including a second inlet end and a second outlet end, the second inlet end and the second outlet end being connected to the first flow passage 15 and the second flow passage 16 through a slide valve 9;
the second motor is connected to the slide valve 9 and is used for driving the slide valve 9 to move and shift positions;
the energy storage assembly comprises an energy storage cavity 17 communicated with a flow passage between the gear pump 10 and the slide valve 9, an upper spring separation cavity 6 and a lower spring separation cavity 7 which slide in a sealing manner with the energy storage cavity 17 are inserted in the energy storage cavity 17, and an energy storage buffer spring 13 is arranged between the upper spring separation cavity 6 and the lower spring separation cavity 7.
The hydraulic cylinder 5 comprises a hydraulic cavity 14, a piston 4 and a piston rod 2 are inserted in the hydraulic cavity 14, an energy storage assembly is connected to the bottom of the hydraulic cylinder 5, a first flow passage 15 communicated with the upper cavity of the hydraulic cavity 14 and a second flow passage 16 communicated with the lower cavity of the hydraulic cavity 14 are arranged in the hydraulic cylinder 5, the throttle valve 8 comprises a first inlet end and a first outlet end, the first inlet end and the first outlet end are communicated with the first flow passage 15 and the second flow passage 16 in a one-to-one mode, the throttle valve 8 is connected to a first motor through an extended valve rod, and the size of a rotary opening of the spherical throttle valve 8 is controlled by the first motor to change the flow rate of hydraulic oil in the hydraulic cavity 14.
The position of the slide valve 9 relative to the first flow passage 15 and the second flow passage 16 is controlled by the second motor to control the connection, reversing and stopping of the hydraulic oil path, so that the flow direction of hydraulic oil entering the hydraulic cavity 14 is controlled, and the movement direction of the piston 4 in the hydraulic cavity 14 is controlled. The whole hydraulic system is driven by a plug-in gear pump 10, and the whole system is supplied with energy through the operation of the pump.
The energy storage component is installed to the lower part of pneumatic cylinder 5, the energy storage component includes energy storage buffer spring 13, separate chamber 6 on the spring, separate chamber 7 under the spring, the spring is installed and is separated chamber 6 on the spring, separate the inside of chamber 7 under the spring, the compression that separates the chamber with the release through the spring promotes the spring and separates the up-and-down motion that separates the chamber, thereby promote the hydraulic oil that stores in the energy storage chamber 17 and supply the hydraulic oil of gear pump 10, install needle valve 11 on the third runner between the energy storage component and the pump body, the valve rod accessible third motor of needle valve 11 links to each other, the opening size of needle valve 11 is controlled through the rotation of control third motor, adjust the size that the energy storage component supplied hydraulic oil flow.
When a human body is in a state of small torque required by joints such as walking on flat ground, going down stairs and going down slopes, driving is not required to provide driving torque at the moment, a passive driving mode is adopted, the slide valve 9 is stopped at the middle position, the flow channel between the gear pump 10 and the hydraulic cavity 14 is closed, the upper cavity and the lower cavity of the hydraulic cavity 14 are communicated through the throttle valve 8, the opening size of the valve port of the throttle valve 8 is controlled through the first motor, and the damping force is adjusted, so that continuous and adjustable damping is realized; when the human body stands upright, the throttle valve 8 is closed, so that the passage between the upper chamber and the lower chamber of the hydraulic chamber 14 is closed, and a rigid support is formed.
When a human body is in a state of large torque required by joints such as stairs and slopes, the human body needs to be driven to provide an active torque, an active driving mode is adopted, the throttle valve 8 is closed, the gear pump 10 supplies energy to the hydraulic cavity 14, sufficient active torque is provided for the joints according to a gait curve of the human body, the defect of passive driving in the gait is overcome, the position of the slide valve 9 is controlled according to the swing state of the lower limbs, so that the oil supply direction of hydraulic oil is controlled by transposition, and the movement direction of the piston rod 2 is changed so as to change the rotation angle of the joints; when the human body stands upright, the slide valve 9 is stopped at the middle position, so that the flow passages of the gear pump 10 and the hydraulic cavity 14 are closed to form a rigid support.
In the whole walking process, the energy storage assembly stores energy for redundant energy, redundant hydraulic oil flows into the energy storage cavity 17 of the energy storage assembly and enters an energy storage state, when energy is required to be supplied, the hydraulic oil in the energy storage assembly supplies energy, and meanwhile, the compressed spring can also provide restoring force for the piston rod 2, so that the energy utilization rate in the walking process is improved, and the function of buffering assistance in the walking process is achieved. The energy supply of the energy storage assembly can control the flow of the hydraulic oil through the needle valve 11, so that the walking gait is smooth and natural.
In addition to the above embodiments, in view of the specific implementation of the energy storage assembly and the hydraulic cylinder 5, as a preferable mode, the hydraulic cylinder 5 includes a cylinder body, and an upper end cover 3 connected to the upper end of the cylinder body in a sealing manner, the lower end of the cylinder body is provided with a sealing interface connected to the energy storage assembly in a sealing manner, and the hydraulic pressure chamber 14, the first flow passage 15, and the second flow passage 16 are provided in the cylinder body. The energy storage assembly comprises an energy storage cylinder body 12, an energy storage cavity 17 is arranged on the energy storage cylinder body 12 and penetrates through the upper end face of the energy storage cylinder body 12, the upper end of the energy storage cylinder body 12 is hermetically inserted into a sealing interface, and the integration of the hydraulic cylinder 5 and the energy storage assembly is realized, so that the volume and weight are minimized, and the energy storage assembly is small in volume and weight, compact in structure and low in energy consumption. Specifically, the hydraulic cylinder 5 is provided with a third flow passage, and the energy storage cavity 17 is communicated with a flow passage between the gear pump 10 and the slide valve 9 through the third flow passage.
On the basis of the above embodiment, as a preferable option, the third flow channel is provided with a needle valve 11 for controlling the flow of waves of the third flow channel, and the needle valve 11 is connected to the third motor to control the opening size of the needle valve 11 through the third motor, so as to control the flow of the hydraulic oil and ensure the low energy consumption and the flexibility of the walking gait.
On the basis of the above-described embodiment, the upper end of the piston rod 2 is preferably provided with a piston rod lug 1 for connecting the joint assembly. Specifically, the piston rod ear 1 and the joint component can be connected through the steel wire rope, so that the joint component is driven to rotate through the steel wire rope. In view of the specific arrangement of the throttle valve 8, the throttle valve 8 is, in particular, a ball throttle valve.
In addition to the above embodiments, the throttle valve 8 and the gear pump 10 are preferably installed inside the hydraulic cylinder 5.
In this embodiment, all imbed the inside of pneumatic cylinder 5 with choke valve 8, gear pump 10, integrated as an organic whole, greatly simplified assembly structure, further realized the compact structure and the lightweight of drive structure.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The active and passive hybrid driving device driven by the joint provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. An active and passive hybrid drive for joint actuation, comprising:
the hydraulic cylinder (5) comprises a hydraulic cavity (14), a first flow passage (15) communicated with the upper cavity of the hydraulic cavity (14) and a second flow passage (16) communicated with the lower cavity of the hydraulic cavity (14);
the piston (4) is inserted into the hydraulic cavity (14) in a matching manner;
the piston rod (2) is connected to the piston (4) and is used for driving the joint component;
the throttling valve (8) comprises a first inlet end and a first outlet end, and the first inlet end and the first outlet end are communicated with the first flow passage (15) and the second flow passage (16) in a one-to-one mode;
the first motor is connected with the throttle valve (8) and is used for controlling the opening size of the throttle valve (8);
a gear pump (10) comprising a second inlet port and a second outlet port, the second inlet port and the second outlet port being connected to the first flow passage (15) and the second flow passage (16) by a slide valve (9);
the second motor is connected with the slide valve (9) and is used for driving the slide valve (9) to move and shift positions;
the energy storage assembly comprises an energy storage cavity (17) communicated with a flow passage between the gear pump (10) and the slide valve (9), an upper spring separation cavity (6) and a lower spring separation cavity (7) which slide in a sealing manner with the energy storage cavity (17) are inserted into the energy storage cavity (17), and an energy storage buffer spring (13) is arranged between the upper spring separation cavity (6) and the lower spring separation cavity (7);
the hydraulic cylinder (5) comprises a cylinder body and an upper end cover (3) connected to the upper end of the cylinder body in a sealing mode, a sealing interface connected with the energy storage assembly in a sealing mode is arranged at the lower end of the cylinder body, and the hydraulic cavity (14), the first flow channel (15) and the second flow channel (16) are all arranged in the cylinder body;
the energy storage assembly comprises an energy storage cylinder body (12), an energy storage cavity (17) is arranged on the energy storage cylinder body (12) and penetrates through the upper end face of the energy storage cylinder body (12), and the upper end of the energy storage cylinder body (12) is hermetically inserted into the sealing interface;
the throttle valve (8), the slide valve (9), gear pump (10) all install in inside the pneumatic cylinder (5).
2. Active and passive hybrid drive for joint drive according to claim 1, characterised in that the hydraulic cylinder (5) is provided with a third flow channel, through which the energy charging chamber (17) communicates with the flow channel between the gear pump (10) and the slide valve (9).
3. The active-passive hybrid driving device for joint driving according to claim 2, wherein a needle valve (11) for controlling the flow rate of the third flow channel is provided in the third flow channel, and the needle valve (11) is connected to a third motor.
4. Active and passive hybrid drive for joint drive according to claim 1, characterized in that the upper end of the piston rod (2) is provided with a piston rod ear (1) for connecting a joint assembly.
5. Active and passive hybrid drive for joint drive according to claim 4, characterized in that the throttle (8) is a ball throttle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110534234.4A CN112983908B (en) | 2021-05-17 | 2021-05-17 | Active and passive hybrid driving device for joint driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110534234.4A CN112983908B (en) | 2021-05-17 | 2021-05-17 | Active and passive hybrid driving device for joint driving |
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| CN112983908A CN112983908A (en) | 2021-06-18 |
| CN112983908B true CN112983908B (en) | 2021-08-27 |
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| CN202110534234.4A Active CN112983908B (en) | 2021-05-17 | 2021-05-17 | Active and passive hybrid driving device for joint driving |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115898990B (en) * | 2023-01-05 | 2023-05-23 | 中国人民解放军国防科技大学 | Bionic joint driving hydraulic system |
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| CN104602650A (en) * | 2012-07-03 | 2015-05-06 | 奥托·博克保健有限公司 | Orthotic or prosthetic joint device and method for controlling same |
| WO2018065570A1 (en) * | 2016-10-06 | 2018-04-12 | Otto Bock Healthcare Products Gmbh | Actuator/damper unit |
| CN109745159A (en) * | 2019-01-21 | 2019-05-14 | 北京航空航天大学 | A kind of ankle-joint artificial limb hydraulic drive circuit for realizing damping control and energy regenerating |
| CN109764011A (en) * | 2019-01-21 | 2019-05-17 | 北京航空航天大学 | A kind of hydraulic circuit of active control artificial limb knee ankle motion |
| CN209414285U (en) * | 2018-11-30 | 2019-09-20 | 深圳市罗伯医疗科技有限公司 | A kind of hydraulic system and lower limbs rehabilitation training robot |
| CN111365306A (en) * | 2020-04-17 | 2020-07-03 | 哈工大机器人湖州国际创新研究院 | Knee joint prosthesis, hydraulic damper for prosthesis and energy storage acting method of knee joint prosthesis |
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2021
- 2021-05-17 CN CN202110534234.4A patent/CN112983908B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104602650A (en) * | 2012-07-03 | 2015-05-06 | 奥托·博克保健有限公司 | Orthotic or prosthetic joint device and method for controlling same |
| WO2018065570A1 (en) * | 2016-10-06 | 2018-04-12 | Otto Bock Healthcare Products Gmbh | Actuator/damper unit |
| CN209414285U (en) * | 2018-11-30 | 2019-09-20 | 深圳市罗伯医疗科技有限公司 | A kind of hydraulic system and lower limbs rehabilitation training robot |
| CN109745159A (en) * | 2019-01-21 | 2019-05-14 | 北京航空航天大学 | A kind of ankle-joint artificial limb hydraulic drive circuit for realizing damping control and energy regenerating |
| CN109764011A (en) * | 2019-01-21 | 2019-05-17 | 北京航空航天大学 | A kind of hydraulic circuit of active control artificial limb knee ankle motion |
| CN111365306A (en) * | 2020-04-17 | 2020-07-03 | 哈工大机器人湖州国际创新研究院 | Knee joint prosthesis, hydraulic damper for prosthesis and energy storage acting method of knee joint prosthesis |
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| CN112983908A (en) | 2021-06-18 |
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