CN207309932U - Throttle grverning hydraulic system and power-assisted lower limb exoskeleton - Google Patents

Abstract

Throttle grverning hydraulic system provided by the utility model and power-assisted lower limb exoskeleton, are related to wearable mechanical mechanism technical field.The throttle grverning hydraulic system applications are under the first valve opening state in power-assisted lower limb exoskeleton, electrohydraulic servo valve, and Power Component extracts the rodless cavity that the hydraulic oil in fuel tank is extremely connected with electrohydraulic servo valve, is extended with the piston rod of driving hydraulic cylinder.Electrohydraulic servo valve is under the second valve opening state, and the piston rod for the hydraulic cylinder being connected with electrohydraulic servo valve is shunk so that the hydraulic oil in rodless cavity is back to fuel tank.Also, high-speed switch valve is under valve opening state, the piston rod for the hydraulic cylinder being connected with high-speed switch valve is shunk so that the hydraulic oil in rodless cavity is back to fuel tank.Under the cooperation of high-speed switch valve, pressure set-up delays are short, hydraulic cylinder fast response time.Due to using the throttle grverning hydraulic system, the power-assisted lower limb exoskeleton pressure set-up delays are short, the instantaneous rigidity foot of hydraulic cylinder fast response time exoskeleton system.

Description

Throttle grverning hydraulic system and power-assisted lower limb exoskeleton

Technical field

Wearable mechanical mechanism technical field is the utility model is related to, in particular to a kind of throttle grverning hydraulic pressure System and power-assisted lower limb exoskeleton.

Background technology

Assistance exoskeleton is that mechanical structure is power subject taking human as control main body, and machinery and people are mutually independent servo-actuated System, people can dress assistance exoskeleton and carry out a series of activities.Development of the appearance of assistance exoskeleton to productivity has huge Big effect, main function is that human motion is followed during human motion, with speed, the strength of machine power lifting wearer Understanding the ability with the nature remodeling world with locomitivity, raising human motion Energy Efficiency Ratio, the extension mankind such as endurance.

Power unit is the key components of assistance exoskeleton, and existing assistance exoskeleton dynamical system is carried out device type For mainly there is hydraulic-driven, air pressure driving and motor to drive three kinds.In being applied in current ectoskeleton field, hydraulic system is negative There is greater advantage in terms of reppearing power, be also widely used

Hydraulic power unit in this area is substantially high there are pressurization time delay, time length, and efficiency is low etc. asks Topic.

Utility model content

The purpose of this utility model is to provide a kind of throttle grverning hydraulic system, the hydraulic pressure of the throttle grverning hydraulic system Power unit response is fast, and pressure is established and unloading delay is short.

The another object of the utility model is to provide a kind of power-assisted lower limb exoskeleton, due to using the throttle grverning hydraulic pressure System, the hydraulic power unit response of throttle grverning hydraulic system is fast, the instantaneous rigidity foot of power-assisted lower limb exoskeleton.

The utility model, which solves its technical problem, to be realized using following technical solution：

A kind of throttle grverning hydraulic system provided by the utility model, applied to power-assisted lower limb exoskeleton, under the power-assisted Limb ectoskeleton includes two thighs and two shanks, and two shanks are hinged with two thighs respectively；The throttling is adjusted Fast hydraulic system includes Power Component, fuel tank, two execution systems and two electrohydraulic servo valves；Each execution system is wrapped Include the hydraulic cylinder and high-speed switch valve of interconnection；Two electrohydraulic servo valves pass through the power packages with the fuel tank respectively Part connects, and the rodless cavity of each hydraulic cylinder is connected with an electrohydraulic servo valve.

Each electrohydraulic servo valve is under the first valve opening state, and the Power Component extracts the hydraulic pressure in the fuel tank Oil is to the rodless cavity being connected with the electrohydraulic servo valve, to drive the piston rod of the hydraulic cylinder to extend；Each electricity Hydraulic servo is under the second valve opening state, and the piston rod for the hydraulic cylinder being connected with the electrohydraulic servo valve is shunk so that Hydraulic oil in the rodless cavity is back to the fuel tank；Each high-speed switch valve is under valve opening state, with the height The piston rod of the hydraulic cylinder of fast switch valve connection is shunk so that the hydraulic oil in the rodless cavity is back to the fuel tank.

Further, the high-speed switch valve includes valve body, valve pocket, spool and drive component；The valve body has accommodating Chamber, offers the first hydraulic fluid port and the second hydraulic fluid port on the side wall of the accommodating cavity；The rodless cavity is connected with first hydraulic fluid port, institute The second hydraulic fluid port is stated to be connected with the fuel tank；

The spool is fixedly connected with the valve body, and the spool includes valve core, and the valve core is placed in the appearance Intracavitary is put, intercommunicating pore is provided with the valve pocket, the valve pocket is slided with the inner wall of the accommodating cavity and the valve core respectively Connection, the driving component are connected with the valve pocket, and the driving component is used to drive the relatively described accommodating cavity of the valve pocket Inner wall and the valve core slide, and first hydraulic fluid port are connected with second hydraulic fluid port by the intercommunicating pore, alternatively, close Seal first hydraulic fluid port and second hydraulic fluid port.

Further, the first oil groove and the second oil groove, first oil groove and described second are provided with the valve core Oil groove is oppositely arranged with first hydraulic fluid port and second hydraulic fluid port respectively；Under the valve opening state, the intercommunicating pore is by institute The first hydraulic fluid port, second hydraulic fluid port, first oil groove is stated to connect with second oil groove.

Further, first oil groove and second oil groove are annular in shape.

Further, the quantity of the intercommunicating pore is multiple that multiple intercommunicating pores are arranged at intervals.

Further, the spool includes connecting portion, and the connecting portion connects T-shaped, the connection with the valve core Portion is connected with the valve body, and the high-speed switch valve further includes return unit, and the return unit is arranged on the valve pocket and the company Between socket part.

Further, the driving component includes the electromagnetic drive component and mandril being connected with each other, and the mandril is away from institute The one end for stating electromagnetic drive component is connected with the valve pocket.

Further, the throttle grverning hydraulic system includes two first pressure sensors and second pressure sensor； Two first pressure sensors are connected with two high-speed switch valves respectively, and the second pressure sensor is arranged on two Between a electrohydraulic servo valve and the fuel tank.

Further, the Power Component includes servomotor and gear pump, and the servomotor connects with the gear pump Connect, the gear pump is connected with the fuel tank, and the outlet of the gear pump is connected with two electrohydraulic servo valves respectively.

A kind of power-assisted lower limb exoskeleton provided by the utility model, including body, two thighs, two shanks, control system System and the throttle grverning hydraulic system, each thigh are hinged with the body respectively, two shanks respectively with Two one end of the thigh away from the body are hinged, the both ends of each hydraulic cylinder respectively with a thigh and with Hinged shank connection；Two electrohydraulic servo valves are electrically connected with the control system respectively, two high speeds Switch valve is electrically connected with the control system respectively, and the control system is used to control two electrohydraulic servo valves to be in respectively First valve opening state or second valve opening state；The control system is additionally operable to control two high-speed switches respectively Valve is in the valve opening state.

The beneficial effect of the utility model embodiment is：

Throttle grverning hydraulic system provided by the utility model, each electrohydraulic servo valve are under the first valve opening state, are moved Power component extracts the rodless cavity that the hydraulic oil in fuel tank is extremely connected with electrohydraulic servo valve, is extended with the piston rod of driving hydraulic cylinder. Each electrohydraulic servo valve is under the second valve opening state, and the piston rod for the hydraulic cylinder being connected with electrohydraulic servo valve is shunk so that nothing Hydraulic oil in rod cavity is back to fuel tank.Also, each high-speed switch valve is under valve opening state, is connected with high-speed switch valve The piston rod of hydraulic cylinder is shunk so that the hydraulic oil in rodless cavity is back to fuel tank.Therefore, under the cooperation of high-speed switch valve, So that pressure set-up delays are short, hydraulic cylinder fast response time.

Power-assisted lower limb exoskeleton provided by the utility model, due to using the throttle grverning hydraulic system, pressure, which is established, prolongs When it is short, hydraulic cylinder fast response time exoskeleton system it is instantaneous rigidity foot.

Brief description of the drawings

, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Attached drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiment of the utility model, therefore should not be by Regard the restriction to scope as, for those of ordinary skill in the art, without creative efforts, may be used also To obtain other relevant attached drawings according to these attached drawings.

Fig. 1 is the structure diagram for the power-assisted lower limb exoskeleton that the utility model specific embodiment provides.

Fig. 2 is the structure diagram for the throttle grverning hydraulic system that the utility model specific embodiment provides.

Fig. 3 is a kind of usage state diagram for the high-speed switch valve that the utility model specific embodiment provides.

Fig. 4 is another usage state diagram for the high-speed switch valve that the utility model specific embodiment provides.

Icon：100- power-assisted lower limb exoskeletons；110- bodies；120- hips；130- thighs；140- shanks；150- foots； 170- lower limb bearing systems；200- throttle grverning hydraulic systems；212- fuel tanks；213- check valves；214- filters；215- overflows Valve；216- Power Components；2161- servomotors；2162- gear pumps；220- hydraulic cylinders；221- rodless cavities；223- piston rods； 240- electrohydraulic servo valves；250- first pressure sensors；260- second pressure sensors；300- high-speed switch valves；310- valve bodies； The first hydraulic fluid ports of 311-；The second hydraulic fluid ports of 312-；314- accommodating cavities；320- valve pockets；321- intercommunicating pores；330- spools；331- valve cores； The first oil grooves of 3311-；The second oil grooves of 3312-；332- connecting portions；340- drive components；3401- electromagnetic drive components；341- is held in the mouth Iron；342- armature pipes；343- coils；344- pole shoes；3402- mandrils；350- return units.

Embodiment

It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and The component of the utility model embodiment shown can be arranged and designed with a variety of configurations.

Therefore, requirement is not intended to limit to the detailed description of the embodiment of the utility model provided in the accompanying drawings below The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model Embodiment, those of ordinary skill in the art's all other embodiments obtained without creative efforts, all Belong to the scope of the utility model protection.

It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.

In the description of the utility model, it is necessary to explanation, term " on " etc. instruction orientation or position relationship be base In orientation shown in the drawings or position relationship, or the utility model product using when the orientation usually put or position close System, is for only for ease of and describes the utility model and simplified description, rather than the device or element of instruction or hint meaning are necessary With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.

In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important Property.

In the description of the utility model, it is also necessary to explanation, unless in addition having more specific regulation and limiting, term " setting ", " connection " should do more broadly understanding, for example, " connection " can be fixedly connected or be detachably connected, or It is integrally connected；Can mechanically connect or be electrically connected；It can be directly connected, can also be by between intermediary Connect connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition Concrete meaning of the above-mentioned term in the utility model.

Below in conjunction with the accompanying drawings, elaborate to an embodiment of the utility model, in the case where there is no conflict, under Feature in the embodiment stated can be mutually combined.

Fig. 1 is the structure diagram of power-assisted lower limb exoskeleton 100 provided in this embodiment.Fig. 1 is refer to, the present embodiment carries A kind of power-assisted lower limb exoskeleton 100 is supplied, it includes body 110,130, two, the thigh shank 140, two of hip 120, two Foot 150, hip power delivery system (figure is not marked), (figure is not for two lower limb bearing systems, 170, two foot sensing shoe systems Mark), control system (figure do not mark) and throttle grverning hydraulic system 200.

Hip 120 is connected with body 110, and each thigh 130 is hinged with body 110 respectively, and two shanks 140 are respectively with two A one end of thigh 130 away from body 110 is hinged, and two foots 150 are respectively with two shanks 140 away from two thighs 130 One end connects.Hip power delivery system is connected with hip 120, and two lower limb bearing systems 170 are separately positioned on a thigh 130 With the junction of a shank 140, two foot sensing shoe systems are separately positioned on two foots 150.Throttle grverning hydraulic pressure system System 200 includes two hydraulic cylinders 220, and the both ends of each hydraulic cylinder 220 are respectively with a thigh 130 and hinged with the thigh 130 Shank 140 connect.Hip power delivery system, two lower limb bearing systems, 170, two foot sensing shoe systems and throttle grverning Hydraulic system 200 is electrically connected with control system respectively.

It is understood that hip power delivery system, two lower limb bearing systems, 170, two foot sensing shoe systems point Control signal Yong Yu not be generated, control system is used to receive control signal, and controls throttle grverning hydraulic system 200, with respectively Two hydraulic cylinders 220 of driving are extended or shunk.

It should be noted that in the present embodiment, due to using the throttle grverning hydraulic system 200, pressure set-up delays are short, The instantaneous rigidity foot of 220 fast response time exoskeleton system of hydraulic cylinder.

Fig. 2 is the structure diagram of throttle grverning hydraulic system 200 provided in this embodiment.Fig. 2 is refer to, specifically, In the present embodiment, throttle grverning hydraulic system 200 includes two electrohydraulic servo valves 240, fuel tank 212, check valve 213, filter 214th, overflow valve 215,216, two first pressure sensors 250 of Power Component, second pressure sensor 260 and two perform system System, each execution system include the high-speed switch valve 300 and hydraulic cylinder 220 being connected with each other.

Two first pressure sensors 250 are connected with two high-speed switch valves 300 respectively, and second pressure sensor 260 is set Put between two electrohydraulic servo valves 240 and fuel tank 212.Two first pressure sensors 250 and second pressure sensor 260 divide Do not connected with control system, control system is used for the pressure for receiving first pressure sensor 250, second pressure sensor 260 generates Force signal, and control two electrohydraulic servo valves, 240, two high-speed switch valves 300 to act, with stretching for two hydraulic cylinders 220 of adjusting Contracting.

Two electrohydraulic servo valves 240 are connected with fuel tank 212 by Power Component 216 respectively, it is preferable that in the present embodiment, Power Component 216 includes servomotor 2161 and gear pump 2162, and servomotor 2161 is connected with gear pump 2162, gear pump 2162 are connected with fuel tank 212, and the outlet of gear pump 2162 is connected with two electrohydraulic servo valves 240 respectively.

In the present embodiment, check valve 213 and filter 214 are arranged between electrohydraulic servo valve 240 and fuel tank 212.Specifically , the outlet of gear pump 2162, check valve 213, filter 214 are sequentially connected and are connected respectively with two electrohydraulic servo valves 240. Overflow valve 215 is arranged between filter 214 and electrohydraulic servo valve 240.

Two electrohydraulic servo valves 240 are connected with the rodless cavity 221 of two hydraulic cylinders 220 respectively.And two electrohydraulic servo valves 240 are connected with fuel tank 212 respectively.

High-speed switch valve 300 is connected with the rodless cavity 221 of hydraulic cylinder 220, and high-speed switch valve 300 is connected with fuel tank 212, liquid Cylinder pressure 220 is connected for thigh 130, and the piston rod 223 of hydraulic cylinder 220 is used to be connected with shank 140.

It is understood that check valve 213 is used for the hydraulic oil one-way flow for controlling Power Component 216 to extract, anti-non-return Stream.Filter 214 has the function that to purify hydraulic oil.Overflow valve 215 is used as safety valve.In other preferred embodiments, unidirectionally Valve 213, filter 214 and overflow valve 215 are optionally set.

It should be appreciated that in the present embodiment, servomotor 2161 and gear pump 2162 is selected to extract oil as Power Component 216 Hydraulic oil in case 212, has the characteristics of small, light-weight, meets the feature of light-duty throttle grverning hydraulic system 200.

Also, high-speed switch valve 300 is used for the rodless cavity 221 and fuel tank 212 of connection liquid cylinder pressure 220, can improve hydraulic pressure 220 response speed of cylinder.

Each electrohydraulic servo valve 240 is under the first valve opening state, and Power Component 216 extracts the hydraulic oil in fuel tank 212 To the rodless cavity 221 being connected with electrohydraulic servo valve 240, extended with the piston rod 223 of driving hydraulic cylinder 220.Each electro-hydraulic servo Valve 240 is under the second valve opening state, and the piston rod 223 for the hydraulic cylinder 220 being connected with electrohydraulic servo valve 240 is shunk so that nothing Hydraulic oil in rod cavity 221 is back to fuel tank 212.

Each high-speed switch valve 300 is under valve opening state, the piston for the hydraulic cylinder 220 being connected with high-speed switch valve 300 Bar 223 is shunk so that the hydraulic oil in rodless cavity 221 is back to fuel tank 212.

It is understood that when electrohydraulic servo valve 240, high-speed switch valve 300 are in closed valve state, hydraulic cylinder 220 Piston rod 223 is static.

It should be noted that utility model people has found, using the high-speed switch valve 300 or cone valve type knot of ball-valve type structure The high-speed switch valve 300 of structure cannot agree with the use of power-assisted lower limb exoskeleton 100 well.For example, ball-valve type structure in order to Ensureing that reliable sealing and spool 330 are not stuck, requirement on machining accuracy is very high, and difficulty of processing is big, and manufacture is of high cost, and And the adjustment of switch valve working clearance is difficult, is normally only used for the occasion of small latus rectum or low pressure.On the other hand, the series of valves is general Latus rectum is smaller, and through-current capability is poor, and no load discharge is less than 10L/min under rated pressure, specified without reaching Under pressure condition, flow will reduce rapidly, if the structure improves the no load discharge under rated pressure, will substantially reduce its response Speed, is unsatisfactory for the use of ectoskeleton high-speed switch valve 300.

In the present embodiment, utility model people uses the method that high-speed switch valve 300 and electrohydraulic servo valve 240 are used cooperatively, To agree with the use of power-assisted lower limb exoskeleton 100.The high-speed switch valve 300 has high frequency sound and high workload pressure, big flow and Low restriction loss and small, it is light-weight the characteristics of.On the other hand, the volume of existing pump and hydraulic cylinder 220, quality cannot Meet that ectoskeleton hydraulic system uses, the cylinder diameter of its hydraulic cylinder 220 and bar footpath will with ectoskeleton actual flow load matched, so The present embodiment uses the pump and hydraulic cylinder 220 of designed, designed, it has the characteristics of small, light-weight, meets heavy burden ectoskeleton.

In the present embodiment, two electrohydraulic servo valves 240 are three-way electro hydraulic servo valve 240, are directly connected with fuel tank 212 respectively Connect, be connected with fuel tank 212 by Power Component 216, and be connected with the rodless cavity 221 of hydraulic cylinder 220.

Fig. 3 is a kind of usage state diagram of high-speed switch valve 300 provided in this embodiment.Fig. 4 is provided in this embodiment Another usage state diagram of high-speed switch valve 300.Incorporated by reference to reference to Fig. 3 and Fig. 4, in the present embodiment, high-speed switch valve 300 wraps Include valve body 310, valve pocket 320, spool 330 and drive component 340.

Valve body 310 has accommodating cavity 314, and the first hydraulic fluid port 311 and the second hydraulic fluid port 312 are offered on the side wall of accommodating cavity 314. The rodless cavity 221 of hydraulic cylinder 220 is connected with the first hydraulic fluid port 311, and the second hydraulic fluid port 312 is connected with fuel tank 212.

Spool 330 is fixedly connected with valve body 310, is provided with intercommunicating pore 321 on valve pocket 320, valve pocket 320 respectively with accommodating cavity 314 inner wall and 330 body of spool is slidably connected, and drive component 340 is connected with valve pocket 320, and drive component 340 is used to drive valve pocket The inner wall and 330 body of spool of 320 opposite accommodating cavities 314 slide, and the first hydraulic fluid port 311 and the second hydraulic fluid port 312 are passed through intercommunicating pore 321 connections, alternatively, the first hydraulic fluid port 311 of sealing and the second hydraulic fluid port 312.

It is understood that high-speed switch valve 300 provided in this embodiment is a kind of linear motion formula structure, response speed It hurry up.

Specifically, in the present embodiment, spool 330 includes being connected with each other T-shaped 330 body of spool and connecting portion 332.Connection Portion 332 is fixedly connected with valve body 310, and 330 body of spool is placed in accommodating cavity 314.The first oil groove is provided with 330 body of spool 3311 and second oil groove 3312.First oil groove 3311, the second oil groove 3312 are opposite with the first hydraulic fluid port 311, the second hydraulic fluid port 312 respectively Set, to form the first cavity volume, the second oil groove 3312 and the second hydraulic fluid port when the first oil groove 3311 is connected with the first hydraulic fluid port 311 The second cavity volume is formed during 312 connection.

Three intercommunicating pores 321 are provided with valve pocket 320, three intercommunicating pores 321 are arranged at intervals.The diameter of intercommunicating pore 321 is big In the distance of the first oil groove 3311 and the second oil groove 3312.The distance between two intercommunicating pores 321 are more than 3311 He of the first oil groove The distance of second oil groove 3312.

It is understood that when valve pocket 320 and the inner wall and 330 body of spool of accommodating cavity 314 slide, the first hydraulic fluid port can be made 311st, the second hydraulic fluid port 312, the first oil groove 3311 are connected with the second oil groove 3312, form the valve opening state of high-speed switch valve 300, or Person seals the first hydraulic fluid port 311 and the second hydraulic fluid port 312, forms the closed valve state of high-speed switch valve 300.

It should be appreciated that the quantity of intercommunicating pore 321 can have different changes, such as one, two or other quantity.

Preferably, the first oil groove 3311 and the second oil groove 3312 are annular in shape.It is understood that the first volume formed Chamber (figure is not marked), the second cavity volume (figure is not marked) control the flow of fluid in the linear motion by valve pocket 320, simple in structure, It is easy to operate, and easy to control.

In the present embodiment, drive component 340 includes the electromagnetic drive component 3401 and mandril 3402 being connected with each other.

Electromagnetic drive component 3401 includes armature 341, armature 341 is managed, coil 343, pole shoe 344, armature 341 and pole shoe 344 are separately positioned in armature 341 manages, and coil 343 is managed outer around being located at armature 341, and one end and the armature 341 of mandril 3402 connect Connect, the other end is connected through pole shoe 344 with valve pocket 320.

To accelerate the corresponding speed of high-speed switch valve 300, return unit is additionally provided between valve pocket 320 and connecting portion 332 350.In the present embodiment, return unit 350 is return spring.

It is understood that the high-speed switch valve 300 of this direct dynamic structure is simple in structure, and it is small, it is light-weight.Valve pocket 320 slide construction small opening big flow easy to implement, saves the open and close time of valve and reduces throttling loss.Also, this In embodiment, spool 330 is fixed, and the mode that valve pocket 320 moves makes hydraulic power be transported as power-assisted or weakening hydraulic power to valve pocket 320 Dynamic influence, and heavy moving parts are reduced, improve response speed.

Continuing with combination referring to Figures 1 and 2, it is to be understood that in the present embodiment, two electrohydraulic servo valves 240, two High-speed switch valve 300 is electrically connected with control system respectively, and control system is used to controlling two electrohydraulic servo valves 240 to be in the respectively One valve opening state, the second valve opening state or closed valve state, and control two high-speed switch valves 300 to be in the first valve opening state respectively Or closed valve state.

To sum up, throttle grverning hydraulic system 200 provided in this embodiment, when electrohydraulic servo valve 240, high-speed switch valve 300 During in closed valve state, the piston rod 223 of hydraulic cylinder 220 is static., can when electrohydraulic servo valve 240 is under the first valve opening state To extract the hydraulic oil in fuel tank 212 by Power Component 216 to the rodless cavity 221 being connected with electrohydraulic servo valve 240, with driving The piston rod 223 of hydraulic cylinder 220 extends.When electrohydraulic servo valve 240 is under the second valve opening state, and at high-speed switch valve 300 Under valve opening state, the piston rod 223 for the hydraulic cylinder 220 being connected with electrohydraulic servo valve 240 is shunk so that in rodless cavity 221 Hydraulic oil is back to fuel tank 212 by high-speed switch valve 300 and electrohydraulic servo valve 240, completes a period of motion.It is appreciated that Be hydraulic oil in rodless cavity 221, back-flow velocity is fast, convenient to adjust.

Specific to power-assisted lower limb exoskeleton 100 provided in this embodiment, during its work, human body wearing power-assisted lower limb exoskeleton 100, weight is born, whole system is battery powered, and people dresses power-assisted lower limb exoskeleton 100 and walks, and squats down, climb and fall, During cat ladder, when each Gait is completed, plantar pressure sensors and first sensor, second sensor, the 3rd sensing The signal of detection is fed back to control system by device by sensor-based system, monitors 100 operating status of power-assisted lower limb exoskeleton in real time.With This at the same time, hydraulic system part, servomotor 2161 drives pump to convert electrical energy into hydraulic energy, control system output control letter Number, the flow and pressure for flowing into the hydraulic cylinder 220 between thigh and calf 140 are controlled using electrohydraulic servo valve 240, and by opening at a high speed Close flow and pressure that valve 300 further adjusts hydraulic cylinder 220.During hydraulic work system control, hydraulic cylinder 220, which has, to be received Return, stretch out, static three states.By controlling ectoskeleton knee joint hydraulic cylinder 220, to complete one controlling cycle of leg.So Move in circles, realize two lower limb alternating movement of assistance exoskeleton, power-assisted is provided for human body.

The throttle grverning hydraulic system 200 is matched with the kinematics characteristic of ectoskeleton institute, when piston rod 223 stretches out, The throttle grverning hydraulic system 200 of power-assisted lower limb exoskeleton 100 drives two leg piston rod 223 of assistance exoskeleton, makes power-assisted dermoskeleton Bone follows human motion to provide power-assisted for human body.From human cinology's model, the movement of two lower limb alternating cyclical of human body, speed Degree change is fast and the velocity peak values time is short.Therefore had periodically, intermittently using the assistance exoskeleton hydraulic system of piston rod 223 Property and peak flow duration short feature.The system integration, more compact structure, quality smaller, meets carrying in ectoskeleton On.The dynamic response performance of system can effectively be improved using high-speed switch valve 300, so as to influence the property of whole ectoskeleton Energy.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the present invention, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on, should be included within the scope of protection of this utility model.

Claims (10)

1. a kind of throttle grverning hydraulic system, applied to power-assisted lower limb exoskeleton, the power-assisted lower limb exoskeleton includes two big Leg and two shanks, two shanks are hinged with two thighs respectively；It is characterized in that, the throttle grverning hydraulic pressure system System includes Power Component, fuel tank, two execution systems and two electrohydraulic servo valves；Each execution system includes mutually interconnecting The hydraulic cylinder and high-speed switch valve connect；Two electrohydraulic servo valves are connected with the fuel tank by the Power Component respectively, The rodless cavity of each hydraulic cylinder is connected with an electrohydraulic servo valve；

Each electrohydraulic servo valve is under the first valve opening state, and the hydraulic oil in the Power Component extraction fuel tank is extremely The rodless cavity being connected with the electrohydraulic servo valve, to drive the piston rod of the hydraulic cylinder to extend；It is each described electro-hydraulic to watch Take valve to be under the second valve opening state, the piston rod for the hydraulic cylinder being connected with the electrohydraulic servo valve is shunk so that described Hydraulic oil in rodless cavity is back to the fuel tank；Each high-speed switch valve is under valve opening state, is opened with the high speed The piston rod for closing the hydraulic cylinder of valve connection is shunk so that the hydraulic oil in the rodless cavity is back to the fuel tank.

2. throttle grverning hydraulic system as claimed in claim 1, it is characterised in that the high-speed switch valve includes valve body, valve Set, spool and drive component；The valve body has accommodating cavity, and the first hydraulic fluid port and the second oil are offered on the side wall of the accommodating cavity Mouthful；The rodless cavity is connected with first hydraulic fluid port, and second hydraulic fluid port is connected with the fuel tank；

The spool is fixedly connected with the valve body, and the spool includes valve core, and the valve core is placed in the accommodating cavity It is interior, intercommunicating pore is provided with the valve pocket, the valve pocket is slidably connected with the inner wall of the accommodating cavity and the valve core respectively, The driving component is connected with the valve pocket, the driving component be used for drive the relatively described accommodating cavity of the valve pocket inner wall and The valve core slides, and first hydraulic fluid port is connected with second hydraulic fluid port by the intercommunicating pore, alternatively, described in sealing First hydraulic fluid port and second hydraulic fluid port.

3. throttle grverning hydraulic system as claimed in claim 2, it is characterised in that the first oil groove is provided with the valve core With the second oil groove, first oil groove and second oil groove respectively with first hydraulic fluid port and second hydraulic fluid port is opposite sets Put；Under the valve opening state, the intercommunicating pore is by first hydraulic fluid port, second hydraulic fluid port, first oil groove and described Second oil groove connects.

4. throttle grverning hydraulic system as claimed in claim 3, it is characterised in that first oil groove and second oil groove It is annular in shape.

5. throttle grverning hydraulic system as claimed in claim 2, it is characterised in that the quantity of the intercommunicating pore is more to be multiple A intercommunicating pore is arranged at intervals.

6. throttle grverning hydraulic system as claimed in claim 2, it is characterised in that the spool includes connecting portion, the company Socket part connects T-shaped with the valve core, and the connecting portion is connected with the valve body, and the high-speed switch valve further includes reset Part, the return unit are arranged between the valve pocket and the connecting portion.

7. throttle grverning hydraulic system as claimed in claim 2, it is characterised in that the driving component includes what is be connected with each other Electromagnetic drive component and mandril, the one end of the mandril away from the electromagnetic drive component are connected with the valve pocket.

8. throttle grverning hydraulic system as claimed in claim 1, it is characterised in that the throttle grverning hydraulic system includes two A first pressure sensor and second pressure sensor；Two first pressure sensors respectively with two high-speed switches Valve connects, and the second pressure sensor is arranged between two electrohydraulic servo valves and the fuel tank.

9. throttle grverning hydraulic system as claimed in claim 1, it is characterised in that the Power Component include servomotor and Gear pump, the servomotor are connected with the gear pump, the gear pump is connected with the fuel tank, and the gear pump goes out Mouth is connected with two electrohydraulic servo valves respectively.

10. a kind of power-assisted lower limb exoskeleton, it is characterised in that including body, two thighs, two shanks, control system and such as Claim 1-9 any one of them throttle grverning hydraulic systems, each thigh are hinged with the body respectively, two institutes Shank is stated to be hinged with two one end of the thigh away from the body respectively, the both ends of each hydraulic cylinder respectively with one The thigh is connected with the hinged shank therewith；Two electrohydraulic servo valves are electrically connected with the control system respectively, Two high-speed switch valves are electrically connected with the control system respectively, and the control system is used to control two electricity respectively Hydraulic servo is in first valve opening state or second valve opening state；The control system is additionally operable to control two respectively The high-speed switch valve is in the valve opening state.