CN209414285U - A kind of hydraulic system and lower limbs rehabilitation training robot - Google Patents
A kind of hydraulic system and lower limbs rehabilitation training robot Download PDFInfo
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- CN209414285U CN209414285U CN201822007222.2U CN201822007222U CN209414285U CN 209414285 U CN209414285 U CN 209414285U CN 201822007222 U CN201822007222 U CN 201822007222U CN 209414285 U CN209414285 U CN 209414285U
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Abstract
The utility model discloses a kind of hydraulic system and lower limbs rehabilitation training robots.In hydraulic system, under the action of hydraulic pump, medium enters a wherein chamber through the first access, conducting position, and to push piston rod movement, the medium of another chamber is back to medium box through conducting position, alternate path, in this way, hydraulic system realizes externally acting mode；In outer power drive piston rod movement, medium moves to another chamber through ending position from a wherein chamber, realize circulation of the medium between two chambers, simultaneously, the chamber of piston rod is not set and is connected to through cut-off position with alternate path, enables medium box to not setting the chamber progress medium supply of piston rod, or does not set medium extra in the chamber of piston rod to be back to medium box, in this way, hydraulic system realizes damping mode.Above-mentioned hydraulic system has multi-motion modes, expands the application range of hydraulic system.
Description
Technical field
The utility model relates to hydraulic-driven technical field more particularly to a kind of hydraulic system and lower limb rehabilitation training machines
People.
Background technique
Existing hydraulic system be all by hydraulic pump by medium be pressed into hydraulic cylinder push piston rod movement acting, and
The advantages of hydraulic drive, has: 1) can export big thrust or big torque.2) realization stepless speed regulation can be facilitated, speed adjustable range is big,
And it can be adjusted the speed in system operation.3) under identical power conditions, hydraulic transmission is small in size, light-weight, structure is tight
It gathers, layout is equipped with very big flexibility.4) actuator movement is uniform and stable, zero-speed reversion when commutation, and can be real
Now frequently commutation.5) easy to operate, adjust it is easy to control, it is easy to accomplish automation, especially with mechanical, electrical be used in combination when, energy
Conveniently realize complicated automatic working cycle.6) it is easy to implement overload protection, use is safe and reliable.7) it is easily achieved series
Change, standardization and generalization, be convenient for design, manufacture, repair and promote the use of etc..Hydraulic drive have the advantages that it is so many, but
But due to its single motor pattern, application range is subject to certain restrictions.
Utility model content
The utility model is intended to solve one of above-mentioned technical problem in the related technology at least to a certain extent.For this purpose,
Originally practical to propose a kind of hydraulic system, which increases motor pattern, and application range is wider.
Technical solution used by this practical its technical problem of solution is:
A kind of hydraulic system, comprising: hydraulic cylinder, medium box, reversal valve, hydraulic pump, the reversal valve have conducting position and
End position, there are two the chambers being disposed opposite to each other for tool in the hydraulic cylinder, wherein piston rod is equipped in a chamber, described in two
Chamber is connected to the reversal valve respectively, and the medium box, the hydraulic pump and the reversal valve are sequentially connected with to form first
Access, the medium box are connect with the reversal valve to form alternate path；
Medium enters a wherein chamber through first access, the conducting position, to push the piston rod movement,
The medium of another chamber is back to the medium box through the conducting position, the alternate path；Alternatively, described in outer power drive
When piston rod movement, medium moves to another chamber through the cut-off position from wherein one chamber, does not set piston rod
The chamber is connected to through the cut-off position with the alternate path, to realize medium supply or medium back flow.
In some embodiments, the reversal valve is 3-position 4-way Y type reversal valve, and the conducting position is two, two institutes
Conducting bit interleaving conducting is stated, so that the piston rod back and forth movement.
In some embodiments, the access that the chamber is connected to the reversal valve is equipped with control valve, the control valve
The flow velocity of medium can be adjusted.
In some embodiments, the control valve includes check valve and the throttle valve that is arranged in parallel with the check valve, is situated between
Matter can import the chamber through the reversal valve, the check valve, and the indoor medium of chamber can be led through the throttle valve
Enter the reversal valve.
In some embodiments, the control is respectively provided on the access that two chambers are connected to the reversal valve
Valve.
In some embodiments, access and an accumulator that the chamber of piston rod is connected to the reversal valve are not provided with
Connection, the accumulator is for storing oil or supply.
In some embodiments, the hydraulic system includes unidirectional stop valve, and the unidirectional stop valve is installed on described
On one access, and it is located at the liquid outlet of the hydraulic pump.
In some embodiments, the hydraulic system includes overflow valve, and the liquid outlet of the hydraulic pump is unidirectionally cut with described
Only the access between valve is connected to the inlet of the overflow valve, and the liquid outlet of the overflow valve is connected to the medium box.
In some embodiments, the hydraulic system includes digital display type pressure switch, the digital display type pressure switch connection
On the first access, measures, shows and adjust with the pressure to first access.
A kind of lower limbs rehabilitation training robot, comprising:
First support frame, first support frame can be worn on human thigh；
Second support frame, second support frame can be worn on human calf, first support frame and described the
The rotation connection of two support frames；
Above-mentioned hydraulic system, the cylinder body of the hydraulic cylinder are installed on first support frame, the work of the hydraulic cylinder
Stopper rod and second support frame are rotatablely connected.
The beneficial effects of the utility model are: medium enters wherein through the first access, conducting position under the action of hydraulic pump
One chamber, to push piston rod movement, the medium of another chamber is back to medium box through conducting position, alternate path, in this way, hydraulic
System realizes externally acting mode；In outer power drive piston rod movement, medium is moved to separately from a wherein chamber through ending position
One chamber realizes circulation of the medium between two chambers, meanwhile, the chamber for not setting piston rod connects through cut-off position and alternate path
It is logical, so that medium box is carried out medium supply to the chamber for not setting piston rod, or do not set Jie extra in the chamber of piston rod
Matter can be back to medium box, in this way, hydraulic system realizes damping mode.Above-mentioned hydraulic system has multi-motion modes, expands
The big application range of hydraulic system.
Further, it is adjusted by setting control valve with the flow velocity to medium, to be controlled under external acting mode
The movement velocity and thrust of hydraulic stem processed, while can also increase the damping of hydraulic system under damping mode, or even realize and determine
Point is locked.
When carrying out rehabilitation training using above-mentioned lower limbs rehabilitation training robot, the external acting mode of hydraulic system can be driven
Second support frame is rotated relative to the first support frame, and then drives human body lower limbs passive exercise；Damping mode is in hydraulic system
When, human calf drives the second support frame to rotate relative to the first support frame, reaches the active training purpose of human body.
Detailed description of the invention
Fig. 1 is the schematic diagram of the hydraulic system of an embodiment of the present invention.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the better embodiment of the application.But the application can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more disclosure of this application
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
Referring to Fig.1, a kind of hydraulic system 100 of the utility model include hydraulic cylinder 110, medium box 120, reversal valve 130,
Hydraulic pump 140.It is formed in the cylinder body 111 of hydraulic cylinder 110 there are two the chamber being disposed opposite to each other, two chambers is respectively defined as the
One chamber 113, second chamber 114, and piston rod 112 is equipped in second chamber 114, therefore, first chamber 113 is also to be not provided with
The chamber of piston rod 112, second chamber 114 are also the chamber equipped with piston rod 112.First chamber 113 and second chamber 114 are divided
It is not connected to reversal valve 130, medium box 120, hydraulic pump 140 and reversal valve 130 are sequentially connected with to form the first access, medium box
120 connect with reversal valve 130 to form alternate path.Reversal valve 130 has conducting position and cut-off position 131, wherein conducting position is
Two, two conducting positions are respectively defined as the first conducting position 132 and the second conducting position 133.
When the first conducting position 132 of the operation of hydraulic pump 140, reversal valve 130 is connected, the medium in medium box 120 can
Enter the first conducting position 132 along the first access, and further flow into first chamber 113, is stretched out with forcing piston rod 112 to move to right
The length of cylinder body 111 increases, meanwhile, the medium in second chamber 114 can be back to through the first conducting position 132, alternate path
Medium box 120.Medium energy when the second conducting position 133 of the operation of hydraulic pump 140, reversal valve 130 is connected, in medium box 120
It is enough to enter the second conducting position 133 along the first access, and second chamber 114 is further flowed into, it is contracted with forcing piston rod 112 to move to left
It returns in cylinder body 111, meanwhile, the medium in first chamber 113 can be back to medium box through the second conducting position 133, alternate path
120.At the first conducting position 132 and the second conducting 133 alternate conduction of position, piston rod 112 can be realized back and forth movement, thus real
Existing hydraulic system 100 continues externally to do work.
In addition, hydraulic pump 140 is out of service, the cut-off position 131 of reversal valve 130 is connected, outer power drive piston rod 112 moves to right
And when stretching out the length increase of cylinder body 111, the medium in second chamber 114 is ended position 131 and flow to first chamber 113, meanwhile,
Spatial variations amount since piston rod 112 is arranged in second chamber 114, when piston rod 112 is mobile, in first chamber 113
Greater than the spatial variations amount in second chamber 114, i.e., the medium amount needed in first chamber 113 is discharged greater than second chamber 114
Medium amount, therefore, medium in medium box 120 flows into first chamber 113 through alternate path, cut-off position 131, for the first chamber
113 supplying media of room.And hydraulic pump 140 is out of service, the conducting of cut-off position 131 of reversal valve 130, outer power drive piston rod
112 move to left when retract cylinder 111, and the medium amount that first chamber 113 is discharged is greater than the medium amount that second chamber 114 needs, because
This, a part of medium in first chamber 113 is ended position 131 and flow to second chamber 114, extra medium through cut-off position 131,
Alternate path is back in medium box 120.Medium can externally generate resistance by piston rod 112 during flowing, so
Just the lasting damping mode of hydraulic system 100 is realized.
Above-mentioned hydraulic system 100 not only has externally acting mode, also has damping mode, solves conventional hydraulic system
The single problem of 100 modes, expands the application range of hydraulic system 100.
Specifically, reversal valve 130 is 3-position 4-way Y type reversal valve, under the action of motor, the first conducting position 132 and the
Two conducting 133 alternate conductions of position, so that 112 back and forth movement of piston rod, and under the action of motor, it in conducting position and can cut
It is selected between stop bit 131.
In one embodiment, the access that chamber is connected to reversal valve 130 is equipped with control valve 150, and control valve 150 can be right
The flow velocity of medium is adjusted, so that the movement velocity of piston rod 112 be adjusted, and can lower in damping mode
Section externally generates the size of resistance.
Further, control valve 150 includes check valve 151 and the throttle valve 152 being arranged in parallel with check valve 151, medium
Chamber can be imported through reversal valve 130, check valve 151, the indoor medium of chamber can import reversal valve 130 through throttle valve 152.Such as
This setting, can make medium smoothly import chamber, and when being exported from chamber by certain draught control.Specifically in this reality
It applies in example, a control valve 150 is respectively provided on the access that two chambers are connected to reversal valve 130.Medium through reversal valve 130,
When check valve 151 in left side control valve 150 imports first chamber 113, the medium in second chamber 114 is through right side control valve
Throttle valve 152 in 150 imports reversal valve 130, by adjusting throttle valve 152 to export the flow velocity of medium to second chamber 114
It is controlled, the movement velocity of piston rod 112 can be controlled.First chamber 113 exports medium, and second chamber 114 is led
The case where entering medium.In addition, under damping mode, if adjusting throttle valve 152 until the closing of throttle valve 152, can incite somebody to action
Piston rod 112 is fixed on specific position, prevents piston rod 112 from moving, to realize that fixed point is locked.
In one embodiment, the access that first chamber 113 is connected to reversal valve 130 is connected to an accumulator 160, accumulator
160 for storing oil or supply.Since piston rod 112 is arranged in second chamber 114, when piston rod 112 is mobile, first chamber
Spatial variations amount in 113 is greater than the spatial variations amount in second chamber 114, i.e., the medium amount needed in first chamber 113 is big
In the medium amount that second chamber 114 is discharged, the medium amount that first chamber 113 is discharged is also greater than the medium that second chamber 114 needs
Amount.Therefore, under damping mode, when medium is discharged in first chamber 113, certain media can be stored in accumulator 160, the
One chamber 113 needs medium for seasonable, and the medium in accumulator 160 can feed in time first chamber 113, in this way, i.e.
The difficulty for feeding medium for first chamber 113 from medium box 120 can be reduced, reduce the noise intensity that hydraulic cylinder 110 issues.
Hydraulic system 100 includes unidirectional stop valve 170, and unidirectional stop valve 170 is installed on the first access, and is located at hydraulic
At the liquid outlet of pump 140.The effect of one-way conduction may be implemented by the way that unidirectional stop valve 170 is arranged, prevent medium back flow to Jie
Matter case 120.
Further, hydraulic system 100 includes overflow valve 180, the liquid outlet of hydraulic pump 140 and unidirectional stop valve 170 it
Between access be connected to the inlet of overflow valve 180, the liquid outlet of overflow valve 180 is connected to medium box 120.Overflow valve 180
Setting can play a protective role to the first access, prevent the first gallery pressure excessive and the phenomenon that booster occur.
Hydraulic system 100 includes digital display type pressure switch 190, and digital display type pressure switch 190 is connected on the first access, with
The pressure of first access is measured, shown and adjusted.
The utility model further includes a kind of lower limbs rehabilitation training robot (not shown) comprising the first support frame, second
Support frame and above-mentioned hydraulic system 100.First support frame can be worn on human thigh, and the second support frame can be worn on
On human calf, the first support frame and the second support frame are rotatablely connected, and the cylinder body 111 of hydraulic cylinder 110 is installed on the first support frame
On, the piston rod 112 of hydraulic cylinder 110 and the second support frame are rotatablely connected.When hydraulic system 100 is in externally acting mode,
Piston rod 112 is moved to drive the second support frame to rotate relative to the first support frame, so that the shank of human body be driven to revolve with respect to thigh
Turn, and then realizes the passive rehabilitation training of human body.There is certain muscular strength in human body lower limbs, hydraulic system 100 is in damping mode
When, when the shank of human body is with respect to thigh active rotation, the second support frame can be driven to rotate relative to the first support frame, piston rod
112 can move therewith, and by adjusting the size of resistance, the initiative rehabilitation training of human body can be realized.
Certainly, above-mentioned hydraulic system 100 is not limited to be applied on lower limbs rehabilitation training robot, can be also used for
On the rehabilitation training machine of remaining human body such as limb, ankle-joint.Medium in above-mentioned hydraulic system 100 is oil liquid, at other
In embodiment, medium can also be other liquid mediums except degreasing fluid.
The above specific structure and dimension data are illustrated to this practical preferred embodiment, but this practical wound
It makes and is not limited to the specific embodiments, those skilled in the art can also make kind under the premise of without prejudice to this practical spirit
The equivalent deformation or replacement of kind, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of hydraulic system characterized by comprising hydraulic cylinder, medium box, reversal valve, hydraulic pump, the reversal valve have
Position and cut-off position is connected, there are two the chambers being disposed opposite to each other for tool in the hydraulic cylinder, wherein piston rod is equipped in a chamber,
Two chambers are connected to the reversal valve respectively, the medium box, the hydraulic pump and the reversal valve be sequentially connected with
The first access is formed, the medium box is connect with the reversal valve to form alternate path；
Medium enters a wherein chamber through first access, the conducting position, another to push the piston rod movement
The medium of the chamber is back to the medium box through the conducting position, the alternate path；Alternatively, piston described in outer power drive
When bar moves, medium moves to another chamber through the cut-off position from wherein one chamber, does not set the described of piston rod
Chamber is connected to through the cut-off position with the alternate path, to realize medium supply or medium back flow.
2. hydraulic system according to claim 1, which is characterized in that the reversal valve is 3-position 4-way Y type reversal valve, institute
Stating conducting position is two, two conducting bit interleaving conductings, so that the piston rod back and forth movement.
3. hydraulic system according to claim 1, which is characterized in that on the access that the chamber is connected to the reversal valve
Equipped with control valve, the flow velocity of medium can be adjusted in the control valve.
4. hydraulic system according to claim 3, which is characterized in that the control valve include check valve and with it is described unidirectional
The throttle valve that valve is arranged in parallel, medium can import the chamber, indoor Jie of chamber through the reversal valve, the check valve
Matter can import the reversal valve through the throttle valve.
5. hydraulic system according to claim 4, which is characterized in that two chambers are connected to logical with the reversal valve
Road is respectively provided with the control valve.
6. hydraulic system according to claim 1, which is characterized in that be not provided with piston rod the chamber and the commutation
The access of valve connection is connected to an accumulator, and the accumulator is for storing oil or supply.
7. hydraulic system according to claim 1, which is characterized in that the hydraulic system includes unidirectional stop valve, described
Unidirectional stop valve is installed on first access, and is located at the liquid outlet of the hydraulic pump.
8. hydraulic system according to claim 7, which is characterized in that the hydraulic system includes overflow valve, described hydraulic
Access between the liquid outlet of pump and the unidirectional stop valve is connected to the inlet of the overflow valve, and the overflow valve goes out liquid
Mouth is connected to the medium box.
9. hydraulic system according to claim 1, which is characterized in that the hydraulic system includes digital display type pressure switch,
The digital display type pressure switch is connected on the first access, is measured, shows and is adjusted with the pressure to first access.
10. a kind of lower limbs rehabilitation training robot characterized by comprising
First support frame, first support frame can be worn on human thigh；
Second support frame, second support frame can be worn on human calf, first support frame with described second
Support rotation connection；
Hydraulic system described in any one of the claims 1 to 9 claim, the cylinder body of the hydraulic cylinder are installed on described
On first support frame, the piston rod of the hydraulic cylinder and second support frame are rotatablely connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822007222.2U CN209414285U (en) | 2018-11-30 | 2018-11-30 | A kind of hydraulic system and lower limbs rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822007222.2U CN209414285U (en) | 2018-11-30 | 2018-11-30 | A kind of hydraulic system and lower limbs rehabilitation training robot |
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| CN209414285U true CN209414285U (en) | 2019-09-20 |
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| CN201822007222.2U Active CN209414285U (en) | 2018-11-30 | 2018-11-30 | A kind of hydraulic system and lower limbs rehabilitation training robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112983908A (en) * | 2021-05-17 | 2021-06-18 | 中国人民解放军国防科技大学 | Active and passive hybrid driving device for joint driving |
-
2018
- 2018-11-30 CN CN201822007222.2U patent/CN209414285U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112983908A (en) * | 2021-05-17 | 2021-06-18 | 中国人民解放军国防科技大学 | Active and passive hybrid driving device for joint driving |
| CN112983908B (en) * | 2021-05-17 | 2021-08-27 | 中国人民解放军国防科技大学 | Active and passive hybrid driving device for joint driving |
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