CN116352685A - Hydraulic power assisting system applied to lower limb exoskeleton - Google Patents
Hydraulic power assisting system applied to lower limb exoskeleton Download PDFInfo
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- CN116352685A CN116352685A CN202310535874.6A CN202310535874A CN116352685A CN 116352685 A CN116352685 A CN 116352685A CN 202310535874 A CN202310535874 A CN 202310535874A CN 116352685 A CN116352685 A CN 116352685A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 22
- 210000000689 upper leg Anatomy 0.000 claims description 16
- 210000003414 extremity Anatomy 0.000 claims description 5
- 239000003921 oil Substances 0.000 abstract description 56
- 239000010720 hydraulic oil Substances 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
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- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a hydraulic power assisting system applied to a lower limb exoskeleton, which comprises a motor pump set, a first hydraulic circuit, a second hydraulic circuit and a mechanical arm set, wherein: the motor pump group includes: the device comprises a high-pressure energy accumulator, a second one-way valve, a check valve, a hydraulic pump, a servo motor, an oil tank and a controller; the hydraulic pump is connected with the servo motor, and an output port of the hydraulic pump is connected with the check valve in series; the system has small weight, two joints are driven by a set of motor pump sets, and the switching of hydraulic oil ways of the two joints is realized by adopting a common electromagnetic valve, so that the volume and the weight of the hydraulic system can be reduced relatively; the energy consumption is small, the hydraulic pump does not work before the exoskeleton reaches the preset pressure threshold of the controller, the hydraulic system can be divided into two closed-loop hydraulic systems, and the double-acting hydraulic cylinder and the oil cylinder can automatically store idle work generated by the exoskeleton during movement when moving along with the exoskeleton and release the idle work when needed.
Description
Technical Field
The invention belongs to the technical field of wearable mechanical exoskeleton, and particularly relates to a hydraulic power assisting system applied to a lower limb exoskeleton.
Background
The exoskeleton robot is a novel wearable man-machine combined machine, and has wide application prospects in the fields of military logistics, logistics transportation, disaster resistance, rescue, outdoor exercises and the like.
At present, three transmission modes of the exoskeleton robot mainly exist: hydraulic drive, motor drive, pneumatic drive, wherein, hydraulic drive energy density ratio is high, can export great moment.
The exoskeleton robot driven by hydraulic pressure is mainly of two types at present, one type is a valve-controlled hydraulic system, and an electrohydraulic servo valve is generally adopted to control the running direction and the running speed of each oil cylinder; the other is a pump control electro-hydrostatic actuator (EHA) scheme, the output force and the position control of the actuators are realized by controlling the rotating speed of a servo motor and further controlling the flow and the pressure output of a quantitative pump, the scheme has low energy consumption and high efficiency, but the scheme generally corresponds to one actuator through one joint, so that the volume and the weight of a system adopting the scheme are larger.
Therefore, it would be a problem to be addressed by those skilled in the art to provide a low cost hydraulic assist system for exoskeleton robots that is reliable in operation, less energy consuming, and lighter in weight.
Disclosure of Invention
The invention aims to provide a hydraulic power assisting system applied to a lower limb exoskeleton, which aims to solve the problem that the volume, the weight and the energy consumption of the existing exoskeleton robot driven by hydraulic pressure are large in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a be applied to hydraulic pressure helping hand system of low limbs ectoskeleton, this hydraulic pressure helping hand system includes motor pump package, first hydraulic circuit, second hydraulic circuit, arm group, wherein:
the motor pump group includes: the device comprises a high-pressure energy accumulator, a second one-way valve, a check valve, a hydraulic pump, a servo motor, an oil tank and a controller; the hydraulic pump is connected with the servo motor, and an output port of the hydraulic pump is connected with the check valve in series; the high-pressure accumulator is connected with the second one of the check valves in series and then connected with the two ends of the check valve in parallel, and the check valve is respectively connected with the three-position five-way reversing valve and the two-position four-way electromagnetic reversing valve in series; the controller is connected with the servo motor;
the first hydraulic circuit includes: the hydraulic cylinder is provided with a double-acting hydraulic cylinder, a hydraulic control throttle valve, a one-way valve I, an overflow valve, a throttle valve, a single-acting booster cylinder and a three-position five-way reversing valve; the double-acting hydraulic cylinder is connected with a high-pressure oil cavity of the single-acting booster cylinder in parallel, and the rodless cavity of the double-acting hydraulic cylinder is connected with the overflow valve, the hydraulic control throttle valve and the one-way valve in parallel; the rod cavity of the double-acting hydraulic cylinder is connected with the one-way valve I, the overflow valve and the throttle valve in parallel; the low-pressure oil cavity of the single-acting booster cylinder is connected with a three-position five-way reversing valve in series;
the second hydraulic circuit comprises a two-position four-way electromagnetic reversing valve, a low-pressure accumulator and a double-acting hydraulic cylinder; the hydraulic cylinder is connected with the two-position four-way electromagnetic directional valve in series, and the low-pressure accumulator is connected between the two-position four-way electromagnetic directional valve and the hydraulic cylinder; a hydraulic pipeline is connected between the three-position five-way reversing valve and the two-position four-way electromagnetic reversing valve;
the mechanical arm group comprises a first mechanical arm, a second mechanical arm, a foot pedal and a frame, wherein the foot pedal is hinged with the first mechanical arm, the first mechanical arm is hinged with the second mechanical arm, and the second mechanical arm is hinged with the frame.
Preferably, the double-acting hydraulic cylinder is a double-acting asymmetric hydraulic cylinder, and a spring is arranged in a rodless cavity of the double-acting hydraulic cylinder.
Preferably, a spring is arranged in a low-pressure oil cavity of the single-acting booster cylinder.
Preferably, the cylinder body and the piston rod of the double-acting hydraulic cylinder are respectively hinged on the frame and the second mechanical arm; the cylinder body and the piston rod of the oil cylinder are respectively hinged to the first mechanical arm and the second mechanical arm.
Preferably, the second hydraulic circuit formed by the oil cylinder and the low-pressure energy accumulator belongs to a closed-loop system.
Preferably, the controller is connected with the electric parts among the three-position five-way reversing valve, the two-position four-way electromagnetic reversing valve and the servo motor.
Preferably, two ends of the oil cylinder are respectively arranged on the first mechanical arm and the second mechanical arm; the first mechanical arm comprises an exoskeleton left thigh and an exoskeleton left shank which are connected in a hinged manner, and the second mechanical arm comprises an exoskeleton right thigh and an exoskeleton right shank which are connected in a hinged manner; the foot pedal comprises a left pedal plate and a right pedal plate which are respectively connected with the left shank of the exoskeleton and the right shank of the exoskeleton in a hinged manner; the frame is a lower limb exoskeleton frame, and the left thigh and the right thigh of the exoskeleton are hinged with the lower limb exoskeleton frame.
Compared with the prior art, the invention has the beneficial effects that:
1. the system has small weight, two joints are driven by a set of motor pump sets, and the switching of hydraulic oil ways of the two joints is realized by adopting a common electromagnetic valve, so that the volume and the weight of the hydraulic system can be reduced relatively;
2. the energy consumption is small, the hydraulic pump does not work before the exoskeleton reaches the preset pressure threshold of the controller, the hydraulic system can be divided into two closed-loop hydraulic systems, the double-acting hydraulic cylinder and the oil cylinder can automatically store idle work generated by the exoskeleton during movement and release the idle work when required when moving along with the exoskeleton, and the motor pump set only starts to work under the control of the controller after the load of the exoskeleton reaches the preset pressure threshold of the controller, so that the energy consumption of the system can be greatly reduced, and the endurance time of the exoskeleton can be prolonged;
3. because the control is simple, a plurality of sensors are not required to be installed, and complex algorithms and a powerful controller are not required, potential fault points are fewer, and the operation is more reliable.
Drawings
FIG. 1 is a schematic diagram of a complete hydraulic system for lower limb assistance in accordance with the present invention;
FIG. 2 is a schematic view of a hydraulic oil source according to the present invention;
FIG. 3 is a schematic diagram of the first hydraulic circuit of the present invention as lower limb assist;
FIG. 4 is a schematic illustration of a second hydraulic circuit of the present invention being knee joint assist;
fig. 5 is a schematic diagram of the lower limb assistance of the present invention.
In the figure: 1. a double-acting hydraulic cylinder; 2. a hydraulically controlled throttle valve; 3. a first check valve; 4. an overflow valve; 5. a throttle valve; 6. a single-acting booster cylinder; 7. three-position five-way reversing valve; 8. a high pressure accumulator; 9. a second check valve; 10. a check valve; 11. a one-way hydraulic pump; 12. a servo motor; 13. an oil tank; 14. an electrical controller; 15. two-position four-way electromagnetic reversing valve; 16. a low pressure accumulator; 17. an oil cylinder; 18. a hydraulic line; 19. a motor pump group; 20. a lower extremity exoskeleton frame; 21. left thigh of exoskeleton; 22. left lower leg of exoskeleton; 23. a left foot pedal; 24. exoskeleton right thigh; 25. exoskeleton right calf; 26. a right foot pedal.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 5, the present invention provides a technical solution: a hydraulic power assisting system applied to a lower limb exoskeleton, the hydraulic power assisting system comprises a motor pump set 19, a first hydraulic circuit, a second hydraulic circuit and a mechanical arm set, wherein:
the motor pump unit 19 includes: a high-pressure accumulator 8, a second one-way valve 9, a check valve 10, a hydraulic pump 11, a servo motor 12, an oil tank 13 and a controller 14; the hydraulic pump 11 is connected with the servo motor 12, and an output port of the hydraulic pump 11 is connected with the check valve 10 in series; the high-pressure accumulator 8 is connected with the second one-way valve 9 in series and then connected with the two ends of the check valve 10 in parallel, and the check valve 10 is respectively connected with the three-position five-way reversing valve 7 and the two-position four-way electromagnetic reversing valve 15 in series; the servo motor 12 drives the hydraulic pump 11, the hydraulic pump 11 absorbs oil from the oil tank 13 and supplies oil to oil inlets of the two-position four-way electromagnetic reversing valve 15 and the three-position five-way reversing valve 7, the arrangement is beneficial to improving the instantaneous maximum oil supply flow of the motor pump set 19, and the high-pressure accumulator 8 can also play a role in buffering; the controller 14 is connected with the servo motor 12, the controller 14 can change the rotating speed and the rotating direction of the servo motor 12, and the outlet pressure of the servo motor 12 can be kept near a certain preset value through adjusting the rotating speed and the torque of the servo motor to form a constant pressure oil source, so that the response speed can be faster due to higher standby pressure at the moment of oil supply; the servo motor 12 can also start working only when oil supply is needed, the oil supply flow is regulated through the regulation of the rotating speed of the servo motor 12, and the stations of all reversing valves can be controlled;
the first hydraulic circuit includes: the hydraulic cylinder comprises a double-acting hydraulic cylinder 1, a hydraulic control throttle valve 2, a one-way valve 3, an overflow valve 4, a throttle valve 5, a single-acting pressure cylinder 6 and a three-position five-way reversing valve 7, wherein the middle position function of the three-position five-way electromagnetic reversing valve 7 is Y-shaped, namely when the three-position five-way electromagnetic reversing valve 7 is in the middle position function, the double-acting hydraulic cylinder 1 and a high-pressure oil cavity of the single-acting pressure cylinder 6 form a first hydraulic circuit, the left station is a straight-through way, the right station is a working oil port A, B and is directly connected with the single-acting pressure cylinder 6, and when the three-position five-way reversing valve 7 is powered, the oil port A, B is straight-through with the single-acting pressure cylinder 6; when the three-position five-way reversing valve 7 is powered off, the valve is at the middle station, and the oil port A, B is directly connected with the single-acting booster cylinder 6, so that the booster cylinder can move freely; the double-acting hydraulic cylinder 1 is connected with a high-pressure oil cavity of the single-acting booster cylinder 6 in parallel, and a rodless cavity of the double-acting hydraulic cylinder 1 is connected with the overflow valve 4, the hydraulic control throttle valve 2 and the one-way valve 3 in parallel; the rod cavity of the double-acting hydraulic cylinder 1 is connected with the one-way valve I3, the overflow valve 4 and the throttle valve 5 in parallel; the low-pressure oil cavity of the single-acting booster cylinder 6 is connected with a three-position five-way reversing valve 7 in series;
the second hydraulic circuit comprises a two-position four-way electromagnetic reversing valve 15, a low-pressure accumulator 16 and a double-acting hydraulic cylinder 17; the hydraulic cylinder 17 is connected in series with the two-position four-way electromagnetic directional valve 15, the two-position four-way electromagnetic directional valve 15 is an M-shaped two-position four-way electromagnetic directional valve, namely when the two-position four-way electromagnetic directional valve 15 is positioned at the right position, the oil cylinder 17, the low-pressure accumulator 16 and the two-position four-way electromagnetic directional valve 15 form a second hydraulic circuit, the low-pressure accumulator 16 is connected between the two-position four-way electromagnetic directional valve 15 and the hydraulic cylinder 17, the first hydraulic circuit and the second hydraulic circuit can be switched between an open loop system and a closed loop system under the control of the three-position five-way directional valve 7 and the two-position four-way electromagnetic directional valve 15, and the three-position five-way directional valve 7 and the two-position four-way electromagnetic directional valve 15 can automatically switch stations when not working, so that the two hydraulic circuits are automatically positioned in a closed loop state, and simultaneously the first hydraulic circuit and the second hydraulic circuit are positioned at the closed loop, the unidirectional hydraulic pump 11 does not work, and the oil cylinder 17 moves along with the movement of an exoskeleton limb, so that the design can also improve the safety of a wearer when the power assisting system fails; for example, when the energy consumption of the battery is finished, all electric control devices are out of order, at the moment, although the movement burden of a wearer is increased, the wearer can at least walk normally, even if no temporary measures are needed, the wearer cannot be trapped in place, under the combined action of the overflow valve 4, the single-action pressurizing cylinder 6, the high-pressure energy accumulator 8 and the low-pressure energy accumulator 16, the wearer can override the exoskeleton robot by utilizing the self force under emergency, the limitation of the instantaneous maximum oil supply flow of a motor pump set is avoided, the limitation of the response speed of components is avoided, and the limitation of any control program is avoided; a hydraulic pipeline 18 is connected between the three-position five-way reversing valve 7 and the two-position four-way electromagnetic reversing valve 15;
the mechanical arm group comprises a first mechanical arm, a second mechanical arm, a foot pedal and a frame, wherein the foot pedal is hinged with the first mechanical arm, the first mechanical arm is hinged with the second mechanical arm, and the second mechanical arm is hinged with the frame.
In this embodiment, the double-acting hydraulic cylinder 1 is a double-acting asymmetric hydraulic cylinder, and a spring is built in a rodless cavity of the double-acting hydraulic cylinder 1.
In this embodiment, the low pressure oil chamber of the single acting booster cylinder 6 is internally provided with a spring.
In the embodiment, the cylinder body and the piston rod of the double-acting hydraulic cylinder 1 are respectively hinged on the frame and the second mechanical arm; the cylinder body and the piston rod of the oil cylinder 17 are respectively hinged with the first mechanical arm and the second mechanical arm.
In this embodiment, the second hydraulic circuit formed by the oil cylinder 17 and the low-pressure accumulator 16 belongs to a closed-loop system, when the oil cylinder 17 moves leftwards, the total volume of hydraulic oil in the oil cylinder 17 is reduced, the hydraulic oil in the reduced oil cylinder 17 enters the low-pressure accumulator 16, and the low-pressure accumulator 16 acts like a spring, and stores pressure energy generated when the hydraulic cylinder 17 moves leftwards.
In this embodiment, the controller 14 is connected to the electrical parts between the three-position five-way reversing valve 7, the two-position four-way electromagnetic reversing valve 15 and the servo motor 12, where the three-position five-way reversing valve 7 and the two-position four-way electromagnetic reversing valve 15 have corresponding stations to ensure that the double-acting hydraulic cylinder 1 and the hydraulic control throttle valve 2 can be synchronously or step-by-step driven or simultaneously form two independent closed loop systems, and when the three-position five-way reversing valve 7 is in the middle station and the two-position four-way electromagnetic reversing valve 15 is in the right station, the connecting pipeline cavities of the double-acting hydraulic cylinder 1 and the hydraulic control throttle valve 2 are closed loop systems, and at this time, two hydraulic closed loop systems can freely follow the exoskeleton to move, and the two cylinders 17 can freely stretch out and draw back.
In the embodiment, two ends of the oil cylinder 17 are respectively arranged on the first mechanical arm and the second mechanical arm; at this time, if the human body's thighs move from the straightened state toward the flexed state, the spring of the single-acting booster cylinder 6 of the first hydraulic circuit and the low-pressure accumulator 16 of the second hydraulic circuit are compressed and store energy; when the human body thigh moves from the leg bending state to the straightening state, the energy stored by the system begins to be released, so that the assistance is realized; when the one-way hydraulic pump 11 works, when the three-position five-way reversing valve 7 works at the right station, the one-way hydraulic pump 11 provides additional pressure for a low-pressure oil cavity of the single-acting booster cylinder 6 so as to push the double-acting hydraulic cylinder 1 to move rightwards; when the two-position four-way electromagnetic directional valve 15 works at the left station, the unidirectional hydraulic pump 11 supplies oil to the oil cylinder 17, so that the oil cylinder 17 moves rightwards; the first robotic arm includes an articulated exoskeleton left thigh 21, an exoskeleton left shank 22, and the second robotic arm includes an articulated exoskeleton right thigh 24, an exoskeleton right shank 25; the foot pedal comprises a left foot pedal 23 and a right foot pedal 26 which are respectively hinged with an exoskeleton left shank 22 and an exoskeleton right shank 25; the frame is a lower limb exoskeleton frame 20, and the left thigh 21 and the right thigh 24 of the exoskeleton are hinged with the lower limb exoskeleton frame 20.
Notably, are: firstly, when the oil cylinder 17 is not followed in time, the limbs of a wearer can forcedly drive the mechanical arm to move through the operating rod tied on the limbs of a human body;
secondly, when the mechanical arm is forced to move, if the oil absorption of the oil cylinder is insufficient, the high-pressure energy accumulator 8, the low-pressure energy accumulator 16 and the overflow valve 4 can ensure that the oil absorption of the oil cylinder 17 is smooth;
thirdly, when the wearer needs to forcedly drive the mechanical arm to move, no matter what station the three-position five-way reversing valve 7 and the two-position four-way electromagnetic reversing valve 15 are positioned at, the oil cylinder 17 can move smoothly, and if the oil cylinder 17 is needed to discharge oil at the moment, the oil discharge path is also necessarily smooth.
In the invention, a closed-loop hydraulic system is formed by the double-acting hydraulic cylinder 1 and the single-acting pressure cylinder 6 in the first hydraulic circuit, so when the double-acting hydraulic cylinder 1 moves to the direction to reduce the total volume of an oil cavity of the double-acting hydraulic cylinder 1, hydraulic oil flowing out of the double-acting hydraulic cylinder 1 is pressed into a high-pressure oil cavity of the single-acting pressure cylinder 6, so that a piston of the single-acting pressure cylinder 6 moves to the right, and a spring arranged in a low-pressure oil cavity in the single-acting pressure cylinder 6 is compressed; the hydraulic control throttle valve 2 connected with the rodless cavity of the double-acting hydraulic cylinder 1 can automatically adjust the leftward movement speed of the double-acting hydraulic cylinder 1 according to the pressure of the rodless cavity of the double-acting hydraulic cylinder 1; when the spring in the single-acting booster cylinder 6 pushes the piston to move left, the throttle valve 5 connected with the rod cavity of the double-acting hydraulic cylinder 1 can control the flow output by the single-acting booster cylinder 6 so as to limit the rightward movement speed of the double-acting hydraulic cylinder 1, and the throttle valve 5 and the hydraulic control throttle valve 2 are mutually matched to realize the bidirectional damping function of the double-acting hydraulic cylinder 1; and the overflow valve 4 and the one-way valve 3 which are connected with the throttle valve 5 and the hydraulic control throttle valve 2 in parallel at the two ends of the double-acting hydraulic cylinder 1 are respectively used for protecting the throttle valve 5 and matching the throttle valve 5 to realize the bidirectional adjustable damping function of the double-acting hydraulic cylinder 1 when the double-acting hydraulic cylinder 1 receives excessive impact load.
Because the problem of leakage of hydraulic oil in the first hydraulic circuit is unavoidable, when the leakage of the hydraulic oil in the first hydraulic circuit is overlarge, the three-position five-way reversing valve 7 can be manually adjusted to be at the left position, and the motor pump set can be used for supplementing the oil for the first hydraulic circuit.
Although embodiments of the present invention have been shown and described in detail with reference to the foregoing detailed description, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. Be applied to hydraulic pressure helping hand system of low limbs ectoskeleton, its characterized in that: the hydraulic power assisting system comprises a motor pump set (19), a first hydraulic circuit, a second hydraulic circuit and a mechanical arm set, wherein:
the motor-pump group (19) comprises: a high-pressure accumulator (8), a second one-way valve (9), a check valve (10), a hydraulic pump (11), a servo motor (12), an oil tank (13) and a controller (14); the hydraulic pump (11) is connected with the servo motor (12), and an output port of the hydraulic pump (11) is connected with the check valve (10) in series; the high-pressure accumulator (8) is connected with the second one (9) in series and then connected with the two ends of the check valve (10) in parallel, and the check valve (10) is respectively connected with the three-position five-way reversing valve (7) and the two-position four-way electromagnetic reversing valve (15) in series; the controller (14) is connected with the servo motor (12);
the first hydraulic circuit includes: the hydraulic control system comprises a double-acting hydraulic cylinder (1), a hydraulic control throttle valve (2), a one-way valve I (3), an overflow valve (4), a throttle valve (5), a single-acting booster cylinder (6) and a three-position five-way reversing valve (7); the double-acting hydraulic cylinder (1) is connected with a high-pressure oil cavity of the single-acting booster cylinder (6) in parallel, and a rodless cavity of the double-acting hydraulic cylinder (1) is connected with the overflow valve (4), the hydraulic control throttle valve (2) and the one-way valve I (3) in parallel; the rod cavity of the double-acting hydraulic cylinder (1) is connected with the one-way valve I (3), the overflow valve (4) and the throttle valve (5) in parallel; the low-pressure oil cavity of the single-acting booster cylinder (6) is connected in series with a three-position five-way reversing valve (7);
the second hydraulic circuit comprises a two-position four-way electromagnetic reversing valve (15), a low-pressure accumulator (16) and a double-acting hydraulic cylinder (17); the hydraulic cylinder (17) is connected with the two-position four-way electromagnetic directional valve (15) in series, and the low-pressure accumulator (16) is connected between the two-position four-way electromagnetic directional valve (15) and the hydraulic cylinder (17) in a bypass mode; a hydraulic pipeline (18) is connected between the three-position five-way reversing valve (7) and the two-position four-way electromagnetic reversing valve (15);
the mechanical arm group comprises a first mechanical arm, a second mechanical arm, a foot pedal and a frame, wherein the foot pedal is hinged with the first mechanical arm, the first mechanical arm is hinged with the second mechanical arm, and the second mechanical arm is hinged with the frame.
2. A hydraulic assistance system for a lower extremity exoskeleton of claim 1, wherein: the double-acting hydraulic cylinder (1) is a double-acting asymmetric hydraulic cylinder, and a spring is arranged in a rodless cavity of the double-acting hydraulic cylinder (1).
3. A hydraulic assistance system for a lower extremity exoskeleton of claim 1, wherein: a spring is arranged in a low-pressure oil cavity of the single-acting booster cylinder (6).
4. A hydraulic assistance system for a lower extremity exoskeleton of claim 2, wherein: the cylinder body and the piston rod of the double-acting hydraulic cylinder (1) are respectively hinged on the frame and the second mechanical arm; the cylinder body and the piston rod of the oil cylinder (17) are respectively hinged to the first mechanical arm and the second mechanical arm.
5. A hydraulic assistance system for a lower extremity exoskeleton of claim 1, wherein: a second hydraulic circuit formed by the oil cylinder (17) and the low-pressure energy accumulator (16) belongs to a closed-loop system.
6. A hydraulic assistance system for a lower extremity exoskeleton of claim 1, wherein: the controller (14) is connected with an electric part among the three-position five-way reversing valve (7), the two-position four-way electromagnetic reversing valve (15) and the servo motor (12).
7. A hydraulic assistance system for a lower extremity exoskeleton of claim 5, wherein: two ends of the oil cylinder (17) are respectively arranged on the first mechanical arm and the second mechanical arm; the first mechanical arm comprises an exoskeleton left thigh (21) and an exoskeleton left shank (22) which are connected in a hinged manner, and the second mechanical arm comprises an exoskeleton right thigh (24) and an exoskeleton right shank (25) which are connected in a hinged manner; the foot pedal comprises a left foot pedal (23) and a right foot pedal (26) which are respectively hinged with an exoskeleton left shank (22) and an exoskeleton right shank (25); the frame is a lower limb exoskeleton frame (20), and the left thigh (21) and the right thigh (24) of the exoskeleton are hinged with the lower limb exoskeleton frame (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310535874.6A CN116352685A (en) | 2023-05-12 | 2023-05-12 | Hydraulic power assisting system applied to lower limb exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310535874.6A CN116352685A (en) | 2023-05-12 | 2023-05-12 | Hydraulic power assisting system applied to lower limb exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116352685A true CN116352685A (en) | 2023-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310535874.6A Pending CN116352685A (en) | 2023-05-12 | 2023-05-12 | Hydraulic power assisting system applied to lower limb exoskeleton |
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| Country | Link |
|---|---|
| CN (1) | CN116352685A (en) |
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2023
- 2023-05-12 CN CN202310535874.6A patent/CN116352685A/en active Pending
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