CN116494213A - Passive multi-working-condition exoskeleton robot based on damper - Google Patents
Passive multi-working-condition exoskeleton robot based on damper Download PDFInfo
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- CN116494213A CN116494213A CN202310678751.8A CN202310678751A CN116494213A CN 116494213 A CN116494213 A CN 116494213A CN 202310678751 A CN202310678751 A CN 202310678751A CN 116494213 A CN116494213 A CN 116494213A
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- 210000003141 lower extremity Anatomy 0.000 claims abstract description 24
- 210000000689 upper leg Anatomy 0.000 claims abstract description 22
- 238000013016 damping Methods 0.000 claims description 27
- 210000000629 knee joint Anatomy 0.000 claims description 26
- 238000009825 accumulation Methods 0.000 claims description 11
- 210000002683 foot Anatomy 0.000 claims description 7
- 210000001624 hip Anatomy 0.000 claims description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 4
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 241000251468 Actinopterygii Species 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 56
- 238000010586 diagram Methods 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 206010061258 Joint lock Diseases 0.000 description 1
- 208000016593 Knee injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
- 238000009736 wetting Methods 0.000 description 1
Classifications
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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
Abstract
The invention discloses a passive multi-working-condition exoskeleton robot based on a damper, which comprises a back waist plate, a thigh part, a shank part and a foot part, wherein the thigh part and the shank part adopt the damper as an actuator, the damper comprises a plunger cylinder component, a valve group, an accumulator component and an oil tank, the plunger cylinder component comprises a plunger cavity, the valve group comprises an electromagnetic reversing valve, a first check valve, a second check valve and a servo valve, a port I of the electromagnetic reversing valve is communicated with the plunger cavity, a port II of the electromagnetic reversing valve is communicated with the oil tank through the check valve, a port II of the electromagnetic reversing valve is communicated with a port B and a port P of the servo valve through the check valve, the oil tank is communicated with a port A and a port T of the servo valve, a port III of the electromagnetic reversing valve is communicated with the accumulator component, and a port I of the electromagnetic reversing valve is communicated with a port II and a port III. The invention realizes the multi-purpose aims of light-weight and long-endurance lower limb power-assisted exoskeleton robot, such as power-assisted repeated squatting, rapid flat ground load walking, long-time standing and the like.
Description
Technical Field
The invention relates to the technical field of lower limb exoskeleton robots, in particular to a passive multi-working-condition lower limb exoskeleton robot based on a damper.
Background
Actuators are an essential component of an automatic control system, and various actuators exist in robot control systems such as exoskeletons, artificial limbs and the like to assist in the joint movement of a robot. Currently, the knee joint of the exoskeleton robot is mainly driven actively or is only suitable for a passive actuator under a single working condition, the former requires a high-power source, the actuator is large in volume and mass and short in endurance time, and the latter can only be used under the single working condition and cannot be used for the exoskeleton robot under different working conditions.
In the existing passive lower limb exoskeleton robot, the stiffness and damping of an actuator often cannot meet the requirement of smooth and gentle movement of a human knee joint under various working conditions, for example, the human knee joint mainly acts as a damper when walking on level ground, and the knee joint is more like a spring when squatting, but the existing passive actuator cannot meet the two working conditions simultaneously. In addition, the existing passive lower limb exoskeleton robot mostly directly adopts springs for knee joints, the existence of spring force can assist in standing phases, but the swing phases can block human body movement, discomfort is caused to a wearer, and the passive lower limb exoskeleton robot is difficult to be well applied to an actual exoskeleton robot.
In order to overcome these drawbacks, it is desirable to design a lightweight actuator for a lower extremity exoskeleton robot that has long endurance time, good assistance effect, is adaptable to a variety of conditions, and does not affect the smooth movement of the knee joint.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a passive multi-working-condition lower limb exoskeleton robot based on a damper, removes a high-power source, realizes a lightweight and long-endurance lower limb power assisting exoskeleton robot by using a low-power electromagnet and a torque motor, adopts semi-active control to separate a replaceable spring and a controllable damping function according to two dampers designed according to a novel damper principle, and can realize specific rigidity-damping requirements of knee joints of the exoskeleton robot under different working conditions and achieve the aims of assisting repeated squatting, fast flat-ground load walking, long-time standing and other multi-working conditions.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides a passive multi-working condition low limbs ectoskeleton robot based on attenuator, includes back waistcoat, thigh part, shank part, foot, back waistcoat and thigh part pass through the hip ball hinge and connect, thigh part and shank part pass through knee joint hinge and connect, shank part and foot pass through ankle joint ball hinge and connect, thigh part and shank part adopt the attenuator as the executor, the attenuator includes plunger cylinder subassembly, valves, accumulator subassembly and oil tank, plunger cylinder subassembly includes the plunger chamber, the valves includes electromagnetic reversing valve, check valve one, check valve two, servo valve, electromagnetic reversing valve's port one communicates the plunger chamber, electromagnetic reversing valve's port two communicates the oil tank through check valve one-way, electromagnetic reversing valve's port two communicates servo valve's B mouth and P mouth through check valve two, oil tank intercommunication servo valve's A mouth and T mouth, electromagnetic reversing valve's port three communicates accumulator subassembly, electromagnetic reversing valve's port one and port two, port three switch the intercommunication.
The electromagnetic reversing valve comprises an accumulation mode, wherein in the accumulation mode, a first port of the electromagnetic reversing valve is communicated with a third port, and a plunger cavity is communicated with an accumulator assembly.
The electromagnetic reversing valve comprises a pressing self-locking mode, wherein in the pressing self-locking mode, a port I of the electromagnetic reversing valve is communicated with a port II, the servo valve is located at the middle position, and the plunger cavity is communicated with the oil tank through the one-way valve.
The electromagnetic reversing valve comprises a pressing-down adjustable damping mode, wherein under the pressing-down adjustable damping mode, a port I of the electromagnetic reversing valve is communicated with a port II, a plunger cavity, a check valve II, a port P of a servo valve, a port A of the servo valve and an oil tank are communicated, and the port P, the port B, the port T, the port A and the oil tank of the servo valve are sequentially communicated.
The centralized damper comprises a plunger cylinder and a plunger rod, the valve group is arranged on the outer wall of the plunger cylinder, the upper end of the plunger cylinder is connected with an end cover, the plunger cavity and an oil tank are both located inside the plunger cylinder, the pressure accumulator component is connected to the tail of the plunger cylinder, one end of the plunger rod stretches into the plunger cavity, the other end of the plunger rod is connected with a fisheye joint, the pressure accumulator component comprises a pressure accumulating spring, a piston and a pressure accumulating cylinder, the piston is located in the pressure accumulating cylinder, the piston, the pressure accumulating cylinder and the plunger cylinder are matched to form a pressure accumulating cavity, the pressure accumulating cavity is communicated with a third port of the electromagnetic reversing valve, and two ends of the pressure accumulating spring are respectively propped against the piston and the pressure accumulating cylinder.
The oil tank is positioned at the periphery of the plunger cavity and the oil tank and the plunger cavity are concentrically distributed.
The fish eye joint is hinged with the lower leg part, and the pressure accumulation cylinder is hinged with the thigh part.
The distributed damper comprises a plunger cylinder and a plunger rod, wherein the upper end of the plunger cylinder is connected with an end cover, the plunger cavity is positioned inside the plunger cylinder, one end of the plunger rod extends into the plunger cavity, the other end of the plunger rod is connected with a fisheye joint, and the first port of the electromagnetic reversing valve is communicated with the plunger cavity through an oil pipe.
The other end of the plunger cylinder is connected with a fish-eye joint, the fish-eye joint of the plunger rod is hinged with the lower leg part, and the fish-eye joint of the plunger cylinder is hinged with the thigh part.
The accumulator assembly and the oil tank are arranged on the side edge of the valve bank, and the valve bank is connected with the plunger cylinder through an oil pipe.
The beneficial effects of the invention are as follows:
1. according to the rigidity-damping requirements of the knee joint of the human body under different working conditions, a novel damper principle is provided, and an accumulation mode, a downward-pressing self-locking mode and a downward-pressing adjustable damping mode can be realized. In the pressure accumulation mode, the oil way is directly connected with the pressure accumulator component, and is in a spring state at the moment, so that energy storage and energy release are realized; in the downward self-locking mode, the plunger rod cannot move downward; in the downward-pressure adjustable damping mode, the flow is adjusted through the servo valve, and the damping state is achieved at the moment, so that a controllable damping effect is achieved. The switching of the modes realizes the separation of the spring and the controllable damping, and provides the rigidity-damping requirement of the knee joint when the knee joint moves under different working conditions.
2. The centralized damper is used for arranging the oil tank inside the plunger cylinder, integrating the pressure accumulator assembly and the plunger cylinder into a whole, has compact structure and smaller volume and mass, and can be disassembled, so that the pressure accumulator assembly is convenient to select pressure accumulation springs with different rigidities according to rigidity requirements of different working conditions; the distributed damper separates the oil tank, the accumulator assembly and the plunger cylinder and is connected with the valve group, and on the basis, the plunger cylinder and the valve group can be separated and are respectively arranged at different parts of the passive exoskeleton robot. The two kinds of dampers all adopt the same principle, according to the adjustable characteristic of damping, the changeable spring and controllable damping function have all been realized to two kinds of dampers, and can select one of them to use according to the actual use condition to arrange on outer skeleton robot.
3. Compared with the existing active power assisting exoskeleton robot, the passive multi-working-condition exoskeleton robot based on the damper omits power output elements such as a high-power motor and a hydraulic pump, and achieves the aims of weight reduction, endurance and the like while guaranteeing the power assisting effect; compared with the existing passive power-assisted exoskeleton robot, the invention enables the exoskeleton robot to be applied to various working conditions through the active switching of the damper springs and the damping, is particularly suitable for the working conditions such as goods picking, airport security inspection, grain wetting and the like which need to be frequently squatted, and does not influence normal walking when assisting the squatting for a plurality of times.
4. The damper adopts the electromagnetic reversing valve and the servo valve to carry out semi-active control, realizes the autonomous switching of modes through the electromagnetic valve, ensures the automation of the system, controls the flow through the servo valve, and improves the responsiveness of the damping adjustment system during fast walking.
5. The plunger cylinder is adopted, so that the processing is simple, the sealing performance is good, and the movement stability is high.
Drawings
FIG. 1 is a schematic diagram of a single leg of the present invention;
FIG. 2 is a schematic structural view of a centralized damper of the present invention;
FIG. 3 is a schematic diagram of a distributed damper according to the present invention;
FIG. 4 is a layout of a centralized damper mounted to a lower extremity exoskeleton robot;
FIG. 5 is a layout diagram of a distributed damper mounted to a lower extremity exoskeleton robot;
FIG. 6 is a schematic diagram of an accumulator mode operating circuit of the present invention;
FIG. 7 is a schematic diagram of a working oil circuit in a push-down self-locking mode according to the present invention;
fig. 8 is a schematic diagram of a working oil circuit in a pressing-down adjustable damping mode according to the present invention.
In the figure: hip joint ball joint 1, knee joint hinge 2, ankle joint ball joint 3, centralized damper 4A, distributed damper 4B, plunger cylinder assembly 41, plunger chamber 411, plunger cylinder 412, plunger rod 413, fisheye fitting 414, end cap 415, valve block 42, electromagnetic directional valve 421, one-way valve one 422, one-way valve two 423, servo valve 424, accumulator assembly 43, accumulator chamber 431, accumulator spring 432, piston 433, accumulator cylinder 434, oil tank 44, oil pipe 45, back lumbar plate 5, thigh member 6, lower leg member 7, foot 8.
Detailed Description
The technical scheme of the invention is further described below through examples and with reference to the accompanying drawings.
As shown in fig. 1-8, a passive multi-working-condition exoskeleton robot based on a damper comprises a back waist plate 5, a thigh part 6, a shank part 7 and a foot 8, wherein the back waist plate 5 and the thigh part 6 are connected through a hip joint spherical hinge 1, the shank part 7 and the foot 8 are connected through an ankle joint spherical hinge 3, and the passive degree of freedom of movement can be ensured by adopting the spherical hinge. The back waist plate 5 is connected with left and right legs, and the two legs are mutually symmetrical and have the same structure.
The thigh member 6 and the shank member 7 are connected by the knee joint hinge 2, and the thigh member 6 and the shank member 7 employ a damper including a centralized damper 4A and a distributed damper 4B as an actuator. Dampers are mounted at the hinges of the thigh member 6 and the calf member 7 for the knee joint of the passive lower limb exoskeleton robot.
The damper comprises a plunger cylinder assembly 41, a valve group 42, an accumulator assembly 43 and an oil tank 44, wherein the plunger cylinder assembly 41 comprises a plunger cavity 411, the valve group 42 comprises an electromagnetic directional valve 421, a first check valve 422, a second check valve 423 and a servo valve 424, the electromagnetic directional valve 421 is a two-position three-way directional valve, and the servo valve 424 is a direct-drive servo valve. The first port of the electromagnetic directional valve 421 is communicated with the plunger cavity 411, the second port of the electromagnetic directional valve 421 is communicated with the oil tank 44 through the first check valve 422, the second port of the electromagnetic directional valve 421 is communicated with the port B and the port P of the servo valve 424 through the second check valve 423 (refer to fig. 2, 3 and 8), the oil tank 44 is communicated with the port a and the port T of the servo valve 424 (refer to fig. 2, 3 and 8), the third port of the electromagnetic directional valve 421 is communicated with the accumulator assembly 43, and the first port of the electromagnetic directional valve 421 is communicated with the second port and the third port in a switching manner, namely the first port of the electromagnetic directional valve 421 is communicated with the second port, or the first port of the electromagnetic directional valve 421 is communicated with the third port.
According to the two characteristics of the knee joint in a squatting spring state and a flat ground walking damping state, the principle of the damper for the knee joint is as follows: according to different working states of the electromagnetic directional valve 421 and the servo valve 424, three working modes, namely a pressure accumulation mode, a pressing self-locking mode and a pressing adjustable damping mode, can be realized.
Referring to fig. 6, in the pressure accumulating mode, the first port of the electromagnetic directional valve 421 is communicated with the third port (referring to the reference numerals labeled on the electromagnetic directional valve 421 in fig. 2 and 3, 1 represents the first port, 2 represents the second port, and 3 represents the third port), and the plunger cavity 411 is communicated with the accumulator assembly 43, that is, the accumulator assembly 43 is communicated with the rodless cavity of the plunger cylinder assembly 41, which is used for knee joint squat in the mode.
In this mode, when the electromagnet of the electromagnetic directional valve 421 is powered, the spool of the electromagnetic directional valve 421 is switched to the left position, and at this time, the plunger cavity 411 is directly connected to the pressure accumulating cavity 431 where the pressure accumulating spring 432 is located, and the purpose of energy accumulation and energy release can be achieved by compressing and releasing the pressure accumulating spring 432 in the moving process of the plunger rod 413. For example, picking conditions requiring repeated squats may be assisted, reducing the loss of pickers physical strength and knee injuries.
Referring to fig. 7, in the push-down self-locking mode, the first port of the electromagnetic directional valve 421 is connected to the second port, the servo valve 424 is in the neutral position (representing that the servo valve 424 is closed), the plunger cavity 411 is connected to the oil tank 44 through the first check valve 422, the input end of the first check valve 422 is connected to the oil tank 44, and the output end of the first check valve 422 is connected to the second port of the electromagnetic directional valve 421, in which the plunger rod 413 cannot move downward (taking the plunger rod 413 of fig. 7 as a reference direction) for standing or squatting the knee joint for a long time.
In this mode, the electromagnet of the electromagnetic directional valve 421 is de-energized, the spool of the electromagnetic directional valve 421 is located at the right position, the torque motor of the servo valve 424 controls the spool of the electromagnetic directional valve 421 to be located at the middle position, and the plunger cavity 411 is connected with the oil tank 44 only through the first check valve 422. At this time, due to the presence of the first check valve 422, the plunger rod 413 cannot be compressed inward, can only be extended outward, and forms a downward-pressing self-locking state, which can help the knee joint lock in a posture for a long time without consuming human energy. For example, a person standing on a stop for a long time or a worker who needs to maintain a certain squat for a long time can be assisted.
Referring to fig. 8, in the pressing-down adjustable damping mode, the servo valve 424 is in the left position, the port one of the electromagnetic directional valve 421 is communicated with the port two, and the plunger cavity 411, the second check valve 423, the P port of the servo valve 424, the a port of the servo valve 424, and the oil tank 44 are communicated (the black thick solid line in fig. 8), and letters P, B, T, A of the P port, the B port, the T port, and the a port are labeled in fig. 7 for convenience of observation and understanding. The port P, the port B, the port T, the port a, and the tank 44 of the servo valve 424 are sequentially connected (the gray thick line in fig. 8), that is, the hydraulic oil in the black thick line is split (the gray thick line after split) when not reaching the port P, and flows into the port B, flows out from the port T, and is converged to the black thick line, and the flow of the converging point is regulated by the servo valve 424 after the port a in this mode, so as to realize a controllable damping effect, and the hydraulic oil is used for walking on the knee joint flat ground.
In this mode, plunger rod 413 is compressed inwardly, electromagnetic directional valve 421 is positioned in the right position, servo valve 424 is positioned in the left position, and oil in plunger cavity 411 enters tank 44 through the thickened flow passage. In this case, the torque motor of the servo valve 424 can adjust the valve core opening, and the flow rate through the servo valve 424 is controlled to achieve the purpose of throttling, so as to achieve the state of adjustable damping of the depression. The state can assist the moment required by walking standing phase leg bending, can adjust damping to be smaller when the swing phase leg bending is performed, and does not influence the normal gait of the swing phase. For example, the device can be used for long-distance flat ground walking when loading.
Passive multi-working-condition exoskeleton robot based on dampers is driven by no power source, so that light weight and long endurance time are realized. According to the characteristics of the human knee joint in a squatting spring state and a flat walking damping state, a novel damper designed by the damper principle is applied to serve as a knee joint actuator of the exoskeleton robot, so that the knee joint actuator can assist under various working conditions: the damper pressure accumulation mode can assist repeated squatting; the damper is pressed down to realize the self-locking mode, so that the stand can be assisted for a long time; the damper can be pressed down to adjust the damping mode, so that the walking with the load on the flat ground can be assisted.
Referring to fig. 2 and 4, the centralized damper 4A is disposed at the knee joint, and is compact. Referring to fig. 3 and 5, the plunger cylinder assembly 41 of the distributed damper 4B is disposed at the knee joint, and the valve block 42, the accumulator assembly 43 and the oil tank 44 are integrally disposed at the lumbar backboard 5, so that the overall weight and volume of the damper are distributed throughout the exoskeleton robot, thereby reducing the weight and volume of the damper at the legs. For the above-mentioned arrangement schemes of the centralized damper 4A and the distributed damper 4B, one of the arrangement schemes may be selected according to actual use conditions: if the volume and the weight of the lower limb are too large, a distributed damper 4B arrangement scheme can be selected; if the volume and weight of the lower limb are small, a centralized damper 4A arrangement may be selected.
Referring to fig. 2 and 4, the centralized damper 4A includes a plunger cylinder 412 and a plunger rod 413, the valve block 42 is mounted on the outer wall of the plunger cylinder 412, the upper end of the plunger cylinder 412 is connected with the end cap 415, the plunger cavity 411 and the oil tank 44 are both located inside the plunger cylinder 412, and the oil tank 44 is located at the periphery of the plunger cavity 411 and concentrically distributed with the plunger cavity, so that the overall volume is small. The plunger cavity 411, the accumulator assembly 43 and the oil tank 44 are communicated with the valve group 42 through oil ways, and oil returns to the plunger cavity 411 through the valve group 42 and finally enters the accumulator assembly 43 or the oil tank 44.
The accumulator assembly 43 is screwed on the tail of the plunger cylinder 412 and can be detached to replace the accumulator springs 432 with different rigidity. One end of the plunger rod 413 stretches into the plunger cavity 411, the other end of the plunger rod 413 is connected with the fisheye joint 414, the pressure accumulator assembly 43 comprises a pressure accumulating spring 432, a piston 433 and a pressure accumulating cylinder 434, the piston 433 is located in the pressure accumulating cylinder 434, the piston 433, the pressure accumulating cylinder 434 and the plunger cylinder 412 are matched to form a pressure accumulating cavity 431, the pressure accumulating cavity 431 is communicated with a port III of the electromagnetic directional valve 421, and two ends of the pressure accumulating spring 432 are respectively abutted to the piston 433 and the pressure accumulating cylinder 434.
The fisheye fitting 414 is hingedly connected to the lower leg part 7 and the accumulator 434 is hingedly connected to the thigh part 6.
After oil enters the valve group 42 from the plunger cylinder 412 and is diverted through the electromagnetic reversing valve 421, three oil paths are provided: 1. when the port one and the port three of the electromagnetic directional valve 421 are communicated, oil is directly returned to the plunger cylinder 412 from the plunger cavity 411 to be communicated with the pressure accumulating cavity 431, and oil is discharged from the pressure accumulating cavity 431 to be directly returned to the plunger cylinder 412 to be communicated with the plunger cavity 411; 2. when the port I and the port II of the electromagnetic directional valve 421 are communicated, oil liquid is discharged from the plunger cavity 411 and can return to the plunger cylinder 412 to be communicated with the oil tank 44 after passing through the check valve II 423 and the servo valve 424; 3. when the first port and the second port of the electromagnetic directional valve 421 are communicated, oil is discharged from the oil tank 44, and can return to the plunger cylinder 412 through the first check valve 422 to be communicated with the plunger cavity 411.
The electromagnetic directional valve 421 is a cartridge valve, a valve block (not labeled in the figure) is inserted, and the servo valve 424 is connected with the valve block through a bolt; the first check valve 422 and the second check valve 423 are fixed inside the valve block.
Referring to fig. 3 and 5, the distributed damper 4B includes a plunger cylinder 412 and a plunger rod 413, wherein an upper end of the plunger cylinder 412 is connected with an end cap 415, the plunger cavity 411 is located inside the plunger cylinder 412, one end of the plunger rod 413 extends into the plunger cavity 411, the other end of the plunger rod 413 is connected with a fisheye joint 414, the valve group 42 is connected with the plunger cylinder 412 through an oil pipe 45, and particularly, a port one of the electromagnetic directional valve 421 is communicated with the plunger cavity 411 through the oil pipe 45. The oil passes through the valve block 42 and then directly into the oil tank 44 or accumulator assembly 43. The accumulator assembly 43 and the oil tank 44 are mounted to the sides of the valve block 42.
The other end of the plunger cylinder 412 is connected with a fisheye joint 414, the fisheye joint 414 of the plunger rod 413 is hinged with the lower leg part 7, and the fisheye joint 414 of the plunger cylinder 412 is hinged with the thigh part 6.
The oil enters the valve group 42 from the plunger cylinder 412 through the oil pipe 45, and after being changed in direction through the electromagnetic directional valve 421, three oil ways are provided: 1. when the first port and the third port of the electromagnetic directional valve 421 are communicated, oil is discharged from the plunger cavity 411 and is directly communicated with the accumulator assembly 43, and oil is discharged from the accumulator assembly 43 and is directly returned to the plunger cylinder 412 and is communicated with the plunger cavity 411; 2. when the port I and the port II of the electromagnetic directional valve 421 are communicated, oil liquid is discharged from the plunger cavity 411 and can be communicated with the oil tank 44 after passing through the check valve II 423 and the servo valve 424; 3. when the first port and the second port of the electromagnetic directional valve 421 are communicated, oil is discharged from the oil tank 44, and can return to the plunger cylinder 412 through the first check valve 422 to be communicated with the plunger cavity 411.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. Passive multi-working-condition lower limb exoskeleton robot based on damper, including back waist board (5), thigh part (6), shank part (7), foot (8), its characterized in that: the back waist plate (5) and the thigh part (6) are connected through the hip joint ball hinge (1), the thigh part (6) and the shank part (7) are connected through the knee joint ball hinge (2), the shank part (7) and the foot part (8) are connected through the ankle joint ball hinge (3), the thigh part (6) and the shank part (7) adopt a damper as an actuator, the damper comprises a plunger cylinder assembly (41), a valve bank (42), an accumulator assembly (43) and an oil tank (44), the plunger cylinder assembly (41) comprises a plunger cavity (411), the valve bank (42) comprises a first electromagnetic reversing valve (421), a second electromagnetic reversing valve (422), a servo valve (424), a first port of the electromagnetic reversing valve (421) is communicated with the plunger cavity (411), a second port of the electromagnetic reversing valve (421) is communicated with the oil tank (44) through the first electromagnetic reversing valve (422), a second port of the electromagnetic reversing valve (421) is communicated with a second port of the servo valve (424) through the second electromagnetic reversing valve (423) and a second port of the oil tank (424), a third port of the electromagnetic reversing valve (421) is communicated with the first electromagnetic reversing valve (421) and the third port of the electromagnetic reversing valve (421) is communicated with the third port of the electromagnetic reversing valve assembly (421) And the port three is communicated in a switching way.
2. The passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in claim 1, wherein: the hydraulic pressure control device comprises a pressure accumulation mode, wherein in the pressure accumulation mode, a first port of the electromagnetic directional valve (421) is communicated with a third port, and a plunger cavity (411) is communicated with an accumulator assembly (43).
3. The passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in claim 1, wherein: the electromagnetic reversing valve comprises a pressing self-locking mode, wherein in the pressing self-locking mode, a first port of the electromagnetic reversing valve (421) is communicated with a second port, a servo valve (424) is located in the middle position, and a plunger cavity (411) is communicated with an oil tank (44) through a first check valve (422).
4. The passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in claim 1, wherein: the hydraulic control valve comprises a pressing-down adjustable damping mode, wherein under the pressing-down adjustable damping mode, a port I of an electromagnetic reversing valve (421) is communicated with a port II, a plunger cavity (411), a check valve II (423), a P port of a servo valve (424), an A port of the servo valve (424) and an oil tank (44) are communicated, and a P port, a B port, a T port, an A port and the oil tank (44) of the servo valve (424) are sequentially communicated.
5. A passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in any one of claims 1 to 4, wherein: the utility model provides a centralized damper, the attenuator is centralized damper (4A), centralized damper (4A) includes plunger cylinder (412), plunger rod (413), valves (42) are installed in plunger cylinder (412) outer wall, end cover (415) are connected to the upper end of plunger cylinder (412), plunger cavity (411) and oil tank (44) all are located plunger cylinder (412) inside, accumulator subassembly (43) are connected in plunger cylinder (412) afterbody, plunger cavity (411) are stretched into to the one end of plunger rod (413), the other end of plunger rod (413) is connected with fish eye joint (414), accumulator subassembly (43) include pressure spring (432), piston (433) and pressure cylinder (434), piston (433) are located pressure cylinder (434), pressure cylinder (434) and plunger cylinder (412) cooperation form chamber (431), pressure chamber (431) intercommunication electromagnetic reversing valve (421)'s port three, the both ends of pressure spring (432) are supported respectively in piston (433) and 434).
6. The passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in claim 5, wherein: the oil tank (44) is arranged at the periphery of the plunger cavity (411) and is concentrically distributed.
7. The passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in claim 5, wherein: the fisheye joint (414) is hinged with the lower leg part (7), and the pressure accumulating cylinder (434) is hinged with the thigh part (6).
8. A passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in any one of claims 1 to 4, wherein: the damper is a distributed damper (4B), the distributed damper (4B) comprises a plunger cylinder (412) and a plunger rod (413), an end cover (415) is connected to the upper end of the plunger cylinder (412), a plunger cavity (411) is located inside the plunger cylinder (412), one end of the plunger rod (413) stretches into the plunger cavity (411), a fisheye joint (414) is connected to the other end of the plunger rod (413), and a first port of the electromagnetic reversing valve (421) is communicated with the plunger cavity (411) through an oil pipe (45).
9. The passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in claim 8, wherein: the other end of the plunger cylinder (412) is connected with a fish-eye joint (414), the fish-eye joint (414) of the plunger rod (413) is hinged with the lower leg part (7), and the fish-eye joint (414) of the plunger cylinder (412) is hinged with the thigh part (6).
10. The passive multi-condition lower extremity exoskeleton robot based on dampers as claimed in claim 8, wherein: the accumulator assembly (43) and the oil tank (44) are arranged on the side edge of the valve group (42), and the valve group (42) is connected with the plunger cylinder (412) through an oil pipe (45).
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| CN202310678751.8A CN116494213A (en) | 2023-06-08 | 2023-06-08 | Passive multi-working-condition exoskeleton robot based on damper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834061A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Digital hydraulic joint actuator and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834061A (en) * | 2023-08-30 | 2023-10-03 | 之江实验室 | Digital hydraulic joint actuator and robot |
| CN116834061B (en) * | 2023-08-30 | 2023-12-26 | 之江实验室 | Digital hydraulic joint actuator and robot |
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