WO2022011941A1 - 基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼 - Google Patents

基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼 Download PDF

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Publication number
WO2022011941A1
WO2022011941A1 PCT/CN2020/135125 CN2020135125W WO2022011941A1 WO 2022011941 A1 WO2022011941 A1 WO 2022011941A1 CN 2020135125 W CN2020135125 W CN 2020135125W WO 2022011941 A1 WO2022011941 A1 WO 2022011941A1
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WIPO (PCT)
Prior art keywords
valve body
cylinder
hydraulic
oil
rod
Prior art date
Application number
PCT/CN2020/135125
Other languages
English (en)
French (fr)
Inventor
喻洪流
汪晓铭
张哲文
孟巧玲
Original Assignee
上海理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010675494.9A external-priority patent/CN111779788B/zh
Priority claimed from CN202010674616.2A external-priority patent/CN111805513B/zh
Application filed by 上海理工大学 filed Critical 上海理工大学
Priority to US17/278,359 priority Critical patent/US11389947B2/en
Publication of WO2022011941A1 publication Critical patent/WO2022011941A1/zh

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K15/00—Check valves
    • F16K15/18—Check valves with actuating mechanism; Combined check valves and actuated valves

Definitions

  • the invention relates to a power assist mechanism in the field of robots, in particular to a semi-active rigid-flexible coupling exoskeleton based on a single-circuit bidirectional damping regulator.
  • Exoskeleton robot refers to a kind of intelligent wearable device that imitates the state of human motion and enhances the ability of human motion, and integrates bionics and ergonomics.
  • the existing waist and knee assist exoskeletons are divided into two types, namely active assist exoskeleton and passive assist exoskeleton.
  • the active power-assisted exoskeleton is to assist the upper body movement of the human body or the knee joint flexion and extension movement by controlling the rotation direction and torque of the power-assisted motor set at the joint. Poor coupling.
  • Passive power-assisted exoskeletons mainly use springs or elastic ropes to store energy when the human body bends or bends their knees, and releases it when they stand up or extend their knees to achieve a boosting effect.
  • This solution has the advantages of simple system, small quality and strong man-machine fit, but it also has the disadvantage that the size of the booster cannot be adjusted.
  • Application No. 201911255477.3 proposes a passive waist-assisted exoskeleton based on spring energy storage, using a special-shaped wheel that rotates with the human body bending/getting up to control the compression and extension of the spring, and the spring is used for energy storage during the human body bending process.
  • the spring When lifting a heavy object, the spring releases energy, thereby providing assistance to the user during the lifting process.
  • the biggest problem with this solution is that the size of the power assist cannot be adjusted, and it is only suitable for the scene where the wearer is carrying heavy objects from a high place to a low place.
  • Application No. 201910402215.9 proposes an active-passive combined waist-assisted exoskeleton, and a curling part is designed to convert the gravitational potential energy of the human body into elastic potential energy when bending over. Similar to Application No. 201911255477.3, in this solution, in addition to using the stored elastic potential energy, the solution also uses motor drive to actively provide assistance in the stage of lifting heavy objects by the human body. Although this solution reduces the power supply of the drive unit and reduces battery power consumption by reducing the work done by the drive unit, the system energy consumption is still relatively large. Moreover, the waist-assisted exoskeleton proposed by these two patents ignores the natural flexion of the knee joint when the human body bends over, and cannot realize the knee-assistance at the same time as the waist-assistance.
  • Application No. 201710736309.0 proposes a knee joint walking aid robot.
  • a hydraulic damper is set at the knee joint, and a flow adjustment device is set on the hydraulic rod.
  • different damping forces are controlled, but flexion and extension
  • the damping cannot be adjusted independently, and when the hydraulic oil in the cavity is compressed during the operation of the knee joint, the motor will be subjected to a large axial load.
  • the technical problem to be solved by the present invention is how to solve the disadvantages of the prior art such as high energy consumption, short battery life, poor man-machine coupling and unadjustable power assist.
  • the hydraulic damping force exhibits different properties with the change of the hydraulic oil flow velocity.
  • the damping and velocity are linear, and when the flow velocity is large, that is, turbulent flow, the increase of damping is nonlinear.
  • This property enables the adjustment of the damping force at different speeds by changing the hydraulic oil flow area and then changing the hydraulic oil flow rate to create turbulent flow to achieve rapid adaptation and control of the damping torque, and the energy consumption is much lower than when the motor drive mode provides the same damping force. the resulting energy consumption.
  • the present invention constructs a semi-active rigid-flexible coupling exoskeleton based on a single-circuit bidirectional damping regulator.
  • the present invention provides a semi-active rigid-flexible coupling exoskeleton based on a single-loop bidirectional damping regulator, including:
  • the hydraulic damping regulator includes a cylinder block, a titanium alloy sleeve, a cylinder head, a piston, an extension spring, an oil filling port plug, and a flow pre-adjustment component
  • the flow pre-adjustment component includes a staggered channel valve body, valve body sealing seat, valve body end bevel gear, angle sensor, motor fixing seat, DC servo motor, coupling and motor end bevel gear;
  • the titanium alloy sleeve is coaxially nested inside the cylinder;
  • the cylinder cover is connected with the upper end of the cylinder body by threads;
  • the piston is divided into an upper piston rod, a piston body and a hollow lower piston rod;
  • the hollow lower piston rod passes through the lower end of the cylinder
  • the piston body moves up and down in the cylinder and divides the inner cavity of the cylinder into an upper cavity and a lower cavity;
  • Both ends of the inner cavity of the cylinder body are respectively matched with the titanium alloy sleeve to drill an upper cavity oil hole and a lower cavity oil hole;
  • An oil injection port is provided on the cylinder wall of the cylinder body, and the oil passage opened from the oil injection port intersects with the oil hole in the upper cavity and the oil hole in the lower cavity to form a hydraulic oil circuit;
  • the oil filling port plug is connected with the oil filling port through threads;
  • One side of the staggered channel valve body is provided with a special-shaped shaft
  • the special-shaped shaft is in sequence with the hole provided on the valve body sealing seat, the valve body end bevel gear and the angle sensor are coaxially matched, and the valve body end bevel gear and the angle sensor and the special-shaped
  • the shaft is fixed by the set screw;
  • valve body sealing seat and the motor fixing seat are fixed on the side wall of the cylinder body by screws;
  • the DC servo motor is fixed on the motor fixing seat by threads, and the motor output end is connected with the bevel gear of the motor end through the coupling;
  • valve body end bevel gear meshes with the motor end bevel gear for transmission.
  • hydraulic damping adjusters have two different structural forms because they are respectively arranged on the waist and knees: knee hydraulic damping adjusters and waist hydraulic damping adjusters.
  • extension spring in the knee hydraulic damping adjuster is built in the lower cavity of the cylinder; the extension spring in the waist hydraulic damping adjuster is built in the upper part of the cylinder. cavity.
  • a valve groove and two fan-shaped grooves respectively intersecting with the oil hole in the upper cavity and the oil hole in the lower cavity are arranged on the side wall of the cylinder body, so that the hydraulic oil flowing out of the oil hole can flow into the oil hole. in the fan-shaped groove without convective impact between the channels in the staggered channel valve body.
  • angles of the two fan-shaped grooves are respectively 55° and 150°.
  • the staggered-channel valve body is provided with a first oil passage and a second oil passage, and the axes of the two oil passages are straight lines of different planes, so that the two oil passages do not affect each other and are at a certain angle;
  • the relationship of the angles is as follows: the axes of the two oil passages are projected on the end face of the staggered channel valve body, and one end of the axis intersects at a point on the edge line of the staggered channel valve body, so The other end of the axis is 27.5° from each other; the two end faces of the staggered channel valve body are provided with a circle of protrusions to reduce the contact area between the staggered channel valve body, the cylinder body and the valve body sealing seat , the staggered channel valve body is placed in the valve groove; the first oil passage and the second oil passage are respectively provided with one-way valves in opposite directions.
  • the DC servo motor is driven by meshing with the bevel gear at the end of the valve body and the bevel gear at the end of the motor to adjust the rotation angle of the staggered channel valve body.
  • the matching clearance between the first oil passage and the second oil passage and the fan-shaped groove can change the flow area of the first oil passage and the second oil passage in the cross-channel valve body, thereby changing the The flow rate of the upper cavity and the lower cavity of the cylinder block, and the angle sensor is arranged at the shaft end of the valve to realize the full closed-loop control of the DC servo motor.
  • the waist assembly includes: a waist belt, a shoulder strap, a waist fixing seat, a piston rod connecting block, a pulley assembly and a Bowden cable;
  • the waist belt and the shoulder strap are flexible materials, and the front end of the shoulder strap goes around
  • the human body is fixedly connected with the waistband;
  • the waistband fixing seat is a rigid material, and the lower end of the waistband fixing seat is fixedly connected with the waistband by screws;
  • the leg assembly includes a thigh rod, a thigh strap, a leg rod connection assembly, a calf rod, a calf strap, and a foot plate; the upper end of the thigh rod and the lower end of the waistband are coaxially connected at the hip joint position of the human body, so that the The hip joint has a degree of freedom of rotation; the thigh strap passes through a square through hole set at the middle end of the thigh rod to fix the thigh rod and the human thigh; the calf strap passes through the calf A square through hole is set at the middle end of the rod for fixing the calf rod and the human calf; the lower end of the calf rod is coaxially connected with the foot plate, so that the ankle joint has a degree of rotational freedom.
  • the pulley assembly includes a pulley fixing seat, a first pulley and a second pulley; the pulley fixing seat is fixed to the rear end of the shoulder strap by screws; the first pulley and The second pulley is symmetrically arranged on both sides of the inside of the pulley fixing seat; the piston rod connecting block is coaxially connected with the upper piston rod in the waist hydraulic damping adjuster, and the piston rod connecting block A first notch is provided, and the Bowden wire passes through the first notch of the piston rod connecting block, and respectively passes through the first pulley and the second pulley and the shoulder strap.
  • the left and right sides are fixedly connected respectively.
  • the leg rod connection assembly includes a hydraulic cylinder rotating seat, a first end cover, a leg rod bearing, a second end cover, a third end cover and a piston rod bearing; the hydraulic cylinder
  • the rotating seat is composed of a protruding cylinder and a hollow cylinder; the protruding cylinder is coaxially matched with the middle end of the thigh rod; the first end cover is fixed on the upper end of the thigh rod by screws.
  • the lower end, and the hydraulic cylinder rotating seat is axially fixed by the protrusions provided on the cylindrical body with protrusions; the hollow cylindrical body is fixedly connected with the bottom end of the knee hydraulic damping adjuster; the hollow cylinder
  • the lower piston rod moves up and down through the hollow cylinder; the upper end of the lower leg rod is provided with a second slot, and the lower leg rod is installed in the second slot; the lower end through hole of the thigh rod is installed with a
  • the leg rod bearing is coaxially matched with the upper end of the calf rod; the second end cover and the third end cover are respectively fixed to the left and right of the connection between the thigh rod and the calf rod by screws.
  • the upper end of the lower leg rod is provided with the special-shaped shaft, and the end of the special-shaped shaft is provided with threads; the upper piston rod of the knee hydraulic damping adjuster
  • the piston rod bearing is coaxially matched with the special-shaped shaft, and the rod is axially fixed by the nut and the thread at the end of the special-shaped shaft.
  • the mode of carrying heavy objects it can support two carrying modes: from high to low and from low to high, with strong applicability; and at the same time, it can provide assistance to the knee joint when the knee joint is naturally flexed in the bent state. ;
  • the semi-active torque adjustment system is composed of hydraulic dampers and springs, and the assist and damping forces can be adjusted;
  • FIG. 1 is a body-wearing diagram of a semi-active rigid-flexible coupling exoskeleton based on a single-circuit bidirectional damping regulator in an embodiment of the present invention
  • Fig. 2 is the overall view of the apparatus in the embodiment of the present invention.
  • FIG. 3 is a cross-sectional view of a hydraulic damping adjuster in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a pulley assembly in an embodiment of the present invention.
  • Fig. 5 is the structural schematic diagram of the leg link joint in the embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a cylinder in an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram and a cross-sectional view of a staggered channel valve body according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a transport scene from a high place to a low place in an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a transport scene from a low place to a high place in an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a walking state in an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of various states of the staggered channel valve body in the embodiment of the present invention.
  • FIG. 1 is a diagram of wearing a human body.
  • Fig. 2 is an overall view of the device.
  • the semi-active rigid-flexible coupling exoskeleton provided by the present invention based on a single-circuit two-way damping regulator has:
  • the waist assembly 1 includes a waist belt 11 , a shoulder strap 12 , a waist fixing seat 13 , a piston rod connecting block 14 , a pulley assembly 15 and a Bowden cable 16 .
  • the waistband 11 and the shoulder strap 12 are made of flexible materials, and the front end of the shoulder strap 12 is fixedly connected to the waistband 11 around the human body;
  • the waistband fixing seat 13 is a rigid material, and the lower end is fixedly connected to the waistband 11 by screws;
  • the leg assembly 2 includes a thigh rod 21 , a thigh strap 22 , a leg rod connecting assembly 23 , a calf rod 24 , a calf strap 25 , and a foot plate 26 .
  • the upper end of the thigh rod 21 and the lower end of the waist belt 11 are coaxially connected at the hip joint position of the human body, so that the hip joint has a degree of freedom of rotation; Fix the thigh rod 21 and the human thigh; the calf strap 25 passes through the square through hole set at the middle end of the calf rod 24 to fix the calf rod 24 and the human calf; the lower end of the calf rod 24 is coaxial with the foot plate connected so that the ankle joint has rotational degrees of freedom; and
  • the hydraulic damping regulator 3 includes a cylinder block 31, a titanium alloy sleeve 32, a cylinder head 33, a piston 34, an extension spring 35, an oil filling port plug 38, and a flow pre-adjustment component, which includes a cross-channel valve Body 39 , valve body sealing seat 310 , valve body end bevel gear 311 , angle sensor 312 , motor fixing seat 313 , DC servo motor 314 , coupling 315 and motor end bevel gear 316 .
  • FIG 3 is a cross-sectional view of a hydraulic damping adjuster.
  • the hydraulic damping adjuster 3 has two different structural forms because it is respectively arranged at the waist and knee: knee hydraulic damping adjuster 3 a and waist hydraulic damping adjuster 3 b.
  • the knee hydraulic damping adjuster 3a has the same structural features as the waist hydraulic damping adjuster 3b: the titanium alloy sleeve 32 is coaxially nested inside the cylinder body 31; the cylinder cover 33 is connected with the upper end of the cylinder body 31 by threads;
  • the piston 34 can be divided into an upper piston rod 341, a piston body 342 and a hollow lower piston rod 343, the upper piston rod 341 passes through the cylinder head 33, and the upper piston rod 341 and the cylinder head 33 are sealed and movably connected by a sealing ring and a guide sleeve.
  • the lower hollow piston rod 343 passes through the lower end of the cylinder body 31, and the lower hollow piston rod 343 is connected to the lower end of the cylinder body 31 through a sealing ring and a guide sleeve.
  • the cavity is divided into an upper cavity and a lower cavity; the two ends of the inner cavity of the cylinder block 1 and the titanium alloy sleeve 32 are respectively drilled with an upper cavity oil hole 361 and a lower cavity oil hole 362, and the cylinder wall of the cylinder block 31 is provided with oil injection 37, and the oil passage opened from the oil filling port intersects with the upper cavity oil hole 361 and the lower cavity oil hole 362 to form a hydraulic oil circuit 36; the oil filling port plug 38 and the oil filling port 37 are connected by threads, and the A sealing ring is provided to ensure tightness.
  • One side of the staggered-channel valve body 39 is provided with a special-shaped shaft 391, and the special-shaped shaft 391 is in turn coaxial with the hole provided on the valve body sealing seat 310, the valve body end bevel gear 311 and the angle sensor 312, and the valve body end
  • the bevel gear 311, the angle sensor 312 and the special-shaped shaft 391 are fixed by set screws;
  • the valve body sealing seat 310 and the motor fixing seat 313 are fixed on the side wall of the cylinder block 31 by screws;
  • the DC servo motor 314 is fixed by screws It is fixed on the motor fixing seat 313, and the motor output end is connected with the motor end bevel gear 316 through the coupling 315;
  • the valve body end bevel gear 311 meshes with the motor end bevel gear 316 for transmission.
  • a sealing ring is arranged between the cylinder body 31 and the valve body sealing seat 310 , and a sealing ring is arranged between the valve body sealing seat 310 and the staggered channel valve body 39 to ensure the
  • FIG. 11 it is a schematic diagram of each state of the staggered channel valve body.
  • the staggered channel valve body 39 is in the initial state, at this time, the flexion oil passage 392 and the extension oil passage 393 are both coincident with the fan-shaped groove 312, and the hydraulic oil can be unidirectional in the flexion oil passage 392 and the extension oil passage 393 respectively. circulation.
  • the piston 34 moves downward under the action of gravity, and at the same time compresses the extension spring 35 to store energy, and the hydraulic oil enters the hydraulic circuit 36 through the lower cavity oil hole 362 and reaches the sector groove 320, and the staggered channel valve body 39 Driven by the DC servo motor 314 to rotate to a preset angle, the one-way valve 394 in the extension oil passage 393 is closed, and by changing the overlapping area of the flexion oil passage 392 and the fan-shaped groove 320, the flow area of the hydraulic oil is changed, so that the knee joint is flexed The damping force experienced changes.
  • the energy stored in the extension spring 35 is released to provide assistance for the upward movement of the piston 34.
  • the hydraulic oil enters the fan-shaped groove 312 through the oil hole 361 in the lower cavity, and the staggered channel valve body 39 is driven by the DC servo motor 314. Rotate down to the preset angle, the one-way valve 394 in the flexion oil passage 392 is closed, and by changing the overlapping area of the extension oil passage 393 and the fan-shaped groove 312, the circulation area of the hydraulic oil is changed, so that the damping force of the knee joint is extended. Change.
  • the extension spring 35 in the knee hydraulic damping adjuster 3a is built in the lower cavity of the cylinder block 31, while the waist hydraulic damping adjustment
  • the extension spring 35 in the device 3b is built in the upper cavity of the cylinder block 31 .
  • FIG. 4 is a schematic diagram of the structure of the pulley assembly.
  • the pulley assembly 15 includes a pulley fixing seat 151 , a first pulley 152 and a second pulley 153 .
  • the pulley fixing seat 151 is fixed to the rear end of the shoulder strap 12 by screws; the first pulley 152 and the second pulley 153 are symmetrically arranged on both sides of the inner pulley fixing seat 151; the piston rod connecting block 14 and the
  • the upper piston rod 341 in the lumbar hydraulic damping adjuster 3b is coaxially connected, and the piston rod connecting block 14 is provided with a first notch, and the Bowden wire 16 passes through the first notch of the piston rod connecting block 14 , and respectively pass through the first pulley 152 and the second pulley 153 to be fixedly connected to the left and right sides of the shoulder strap 12 respectively.
  • FIG. 5 is a schematic diagram of the structure of the leg link connection.
  • the leg link assembly 23 includes a hydraulic cylinder rotating seat 231 , a first end cover 232 , a leg link bearing 233 , a second End cap 234 , third end cap 235 and piston rod bearing 236 .
  • the hydraulic cylinder rotating seat 231 is composed of a protruding cylinder 2311 and a hollow cylinder 2312.
  • the protruding cylinder 2311 is coaxially matched with the middle end of the thigh rod 21, and the first end cover 232 is fixed by screws.
  • the lower end of the thigh rod 21, and the hydraulic cylinder rotating seat 231 is axially fixed by the protrusions provided on the cylindrical body 2311 with protrusions.
  • the hollow cylindrical body 2312 is fixedly connected with the bottom end of the knee hydraulic damping adjuster 3a.
  • the lower piston rod 343 moves up and down through the hollow cylinder 2312; the upper end of the calf rod 24 is provided with a second notch, the calf rod 21 is installed in the second notch, and the leg rod bearing 233 is installed in the through hole of the lower end of the thigh rod 21.
  • the second end cover 234 and the third end cover 235 are respectively fixed to the left and right sides of the connection between the thigh rod 21 and the calf rod 24 by screws, so as to play an axial fixing role;
  • the upper end of the rod 24 is provided with a special-shaped shaft 241 at the rear, and the end of the special-shaped shaft 241 is provided with a thread.
  • the upper piston rod 341 of the knee hydraulic damping adjuster 3a is coaxially matched with the special-shaped shaft 241 through the piston rod bearing 236, and through the nut The rod is axially fixed with the thread at the end of the special-shaped shaft 241 .
  • FIG. 6 is a schematic structural diagram of a cylinder block.
  • a valve groove 311 and two fan-shaped grooves 312 respectively intersecting with the upper cavity oil hole 361 and the lower cavity oil hole 362 are provided on the side wall of the cylinder block 31, so that the hydraulic pressure flowing out of the oil hole Oil can flow into the fan-shaped grooves 312 without convective impact between the channels in the valve body; the angles of the two fan-shaped grooves 312 are 55° and 150°, respectively.
  • FIG. 7 is a schematic structural diagram and a cross-sectional view of a staggered channel valve body.
  • the staggered channel valve body 39 is provided with a first oil passage 392 and a second oil passage 393, and the axes of the two oil passages are non-planar straight lines, so that the two oil passages do not affect each other and are arranged in a straight line.
  • a certain angle, the angular relationship is: the axes of the two oil passages are projected on the end face of the valve body, one end of the axes intersects at a point on the edge line of the valve body, and the other end forms 27.5° with each other;
  • the two end faces are provided with a circle of protrusions to reduce the contact area between the valve body and the cylinder body 31 and the valve body sealing seat 310.
  • the valve body is placed in the valve groove 311; the first oil passage 392 and the second oil passage 393
  • One-way valves 394 are provided in opposite directions respectively.
  • the DC servo motor 314 meshes with the motor end bevel gear 316 through the valve body end bevel gear 311 to adjust the rotation angle of the staggered channel valve body 39 .
  • the matching gap between the first oil passage 392 and the second oil passage 393 and the fan-shaped groove 312 in the middle of the valve body can change the flow area of the two hydraulic oil passages in the valve body, thereby changing the flow rate of the upper and lower chambers of the hydraulic cylinder.
  • the angle sensor 312 realizes the full closed-loop control of the motor.
  • FIG. 8 is a schematic diagram of a transport scene from a high place to a low place.
  • the piston 34 in the waist hydraulic damper 3b moves upward under the action of gravity, and at the same time compresses the extension spring 35 to store energy, and the hydraulic oil passes through the upper chamber
  • the oil hole 362 enters the hydraulic circuit 36 and reaches the fan-shaped groove 312.
  • the cross-channel valve body 39 is driven by the DC servo motor 314 to rotate to a preset angle.
  • the check valve 394 in the second oil passage 393 is closed, and by changing the first oil passage
  • the overlapping area of 392 and the fan-shaped groove 312 changes the flow area of hydraulic oil, thereby providing variable damping force, dispersing the load of heavy objects on the waist of the human body to the shoulders, back and lower limbs, so as to achieve the purpose of actively protecting the bones and muscles of the waist
  • the piston 34 in the knee hydraulic damper 3a moves upward, and at the same time compresses the extension spring 35 to store energy, similar to the waist hydraulic damper, by changing the first An oil passage 392 overlaps with the fan-shaped groove 312 in area, thereby changing the flow area of hydraulic oil, thereby providing variable damping force and supporting the load of the knee joint.
  • FIG. 9 is a schematic diagram of a transport scene from a low place to a high place.
  • FIG. 10 is a schematic diagram of a walking state.
  • the energy stored in the extension spring 35 is released to provide assistance for the upward movement of the piston 34.
  • the hydraulic oil enters the fan-shaped groove 312 through the oil hole 361 in the lower cavity, and the staggered channel valve body 39 is in the direct current state.
  • the servo motor 314 is driven to rotate to a preset angle, the check valve 394 in the first oil passage 392 is closed, and by changing the overlapping area of the second oil passage 393 and the fan-shaped groove 312, the flow area of the hydraulic oil is changed, so that the knee joint is stretched The damping force experienced changes.
  • the semi-active rigid-flexible coupling exoskeleton based on a single-circuit two-way damping regulator can support two working modes of carrying heavy objects and walking with a load, and the heavy object carrying mode can be further divided into a high-to-low carrying mode And from low to high transport mode.
  • the waist and back are made of flexible textile materials and elastic ropes as the main materials to construct the basic frame of the waist exoskeleton, which can be flexibly fitted to the human body through optimization of the structure and force position; hydraulic dampers with spring elastic structures are respectively arranged on the waist and the body.
  • the left and right knee joints provide assist or damping force for the waist and knees.
  • the hydraulic damper can adjust the two-way hydraulic oil flow through only one hydraulic oil circuit through the design of the staggered channel valve body with built-in one-way valve. , and one of the channels is merged with the oil injection port to minimize the number of openings in the hydraulic cylinder, increase the strength of the hydraulic cylinder and reduce the possibility of oil leakage.
  • the valve body is embedded on the side wall of the hydraulic cylinder, which also reduces the difficulty of processing and It is easy to leak oil; only one motor is used to realize two-way simultaneous independent control of knee joint hydraulic damping, and the damping adjustment is continuous. Compared with the hydraulic damping cylinder structure controlled by two motors, one motor control makes the mechanism smaller in size, lighter in weight and less power consumption.
  • Electricity reduction can effectively avoid the axial load acting on the motor in the damping cylinder, avoid the motor out of step and the failure of the damping adjustment caused by excessive load; can effectively avoid the hydraulic oil flowing out of the hydraulic oil channel directly convection to the valve body
  • the large tangential force is generated by the impact, which greatly reduces the torque required by the motor to control the rotation of the valve, reduces the power consumption, and improves the control performance of the motor; and the structure isaki and easy to process.

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Abstract

基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼，涉及机器人领域中的助力机构，包括：腰部组件(1)和腿部组件(2)；以及液压阻尼调节器(3)，所述液压阻尼调节器(3)包括缸体(31)、钛合金套(32)、缸盖(33)、活塞(34)、助伸弹簧(35)、注油口堵头(38)、交错通道式阀体(39)、阀体密封座(310)、阀体端锥齿轮(311)、角度传感器(312)、电机固定座(313)、直流伺服电机(314)、联轴器(315)以及电机端锥齿轮(316)。该外骨骼可以实现搬运重物模式以及带负荷行走模式两种模式的助力或阻尼调节；在搬运重物模式下，可以支持由高处至低处与由低处至高处两种搬运模式，适用性强；并且同时可以在弯腰状态下膝关节自然屈曲时对膝关节提供助力；由液压阻尼器与弹簧构成半主动力矩调节系统，助力与阻尼力大小可调节；质量轻，人机耦合性强。

Description

基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼 技术领域
本发明涉及机器人领域中的助力机构，尤其涉及基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼。
背景技术
我国的运输行业、物流行业、建筑行业及制造行业的从业人员基数庞大，相当一部分工种需要进行长时间重复性作业动作，由此造成的肢体疲劳损伤，尤其是腰部、膝部最为严重。外骨骼机器人是指一类模仿人体运动状态、加强人体运动能力的、集仿生学与人体工效学的智能穿戴装置，可以提高人们在行走耐久性、负重能力等特定方面的能力。现有的腰部和膝部助力外骨骼助力形式分为两种，分别为主动助力外骨骼和被动助力外骨骼。主动助力外骨骼是通过控制设置于关节处的助力电机的转动方向和转动力矩，对人体上身运动或者膝关节屈伸运动进行辅助，该方案驱动系统质量大、能耗高、续航时间短、人机耦合性差。被动助力外骨骼是主要采用弹簧或弹力绳在人体弯腰或屈膝时蓄能，起身或伸膝时释放，达到助力效果。该方案具有系统简单、质量小、人机贴合性强的优点，但也存在助力大小不可调节的弊端。
申请号201911255477.3提出了一种基于弹簧蓄能的被动腰部助力外骨骼，采用随人体弯腰/起身动作旋转的异形轮控制弹簧的压缩和伸展，在人体弯腰过程中采用弹簧进行储能，当搬起重物起身时，弹簧释能，从而为使用者在搬运过程中提供助力。该方案的最大问题是助力大小不可调节，且只适用于穿戴者由高处至低处的搬运重物助力场景。
申请号201910402215.9提出了一种主被动结合式腰部助力外骨骼，设计了卷曲部件用以将人体弯腰时的重力势能转换成弹性势能。与申请号201911255477.3类似的是该方案在人体搬运重物起身阶段，除了利用储存的弹性势能外，还采用电机驱动主动提供助力。该方案虽然通过减少驱动单元的做功，从而减少驱动单元的供电，减少电池电量消耗，但系统能耗仍然较大。并且这两个专利提出的腰部助力外骨骼都忽略了人体弯腰时膝关节会自然屈曲的特点，不能在实现腰部助力的同时实现膝部助力。
申请号201710736309.0提出了一种膝关节助行机器人，在膝关节处设置了液压阻尼器，并在液压杆上设置了流量调节装置，根据不同的行走状态，控制不同的阻尼力，但是屈曲和伸展阻尼不可独立调节，并且存在膝关节运作过程中腔体内液压油压缩时，电机会受到很大的轴向载荷，调节过程中很容易失步及无法到达指定位置，严重影响膝关节阻尼调节的性能。
因此，本领域的技术人员致力于开发基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼，解决现有技术中存在的能耗高、续航时间短、人机耦合性差以及助力大小不可调节的弊端。
发明内容
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是如何解决现有技术中存在的能耗高、续航时间短、人机耦合性差以及助力大小不可调节的弊端。
液压阻尼力随着液压油流动速度的变化呈现出不同的性质，流速较慢即层流时阻尼与速度呈线性，流速大即湍流时则阻尼的增大呈非线性。此种性质使得不同速度下阻尼力的调整可通过改变液压油通流面积进而改变液压油流速制造湍流实现阻尼力矩的快速适应与控制，所需能耗远低于电机驱动方式提供相同阻尼力时所产生的能量消耗。本发明基于弹簧-液压阻尼器，构建了基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼。
为实现上述目的，本发明提供了基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼，包括：
腰部组件和腿部组件；
以及液压阻尼调节器，所述液压阻尼调节器包括缸体、钛合金套、缸盖、活塞、助伸弹簧、注油口堵头、流量预调节组件，所述流量预调节组件包括交错通道式阀体、阀体密封座、阀体端锥齿轮、角度传感器、电机固定座、直流伺服电机、联轴器以及电机端锥齿轮；
其中，
所述钛合金套同轴嵌套于所述缸体内部；
所述缸盖与所述缸体的上端通过螺纹连接；
所述活塞分为上活塞杆、活塞体以及中空下活塞杆；
所述上活塞杆穿过所述缸盖；
所述中空下活塞杆穿过所述缸体的下端；
所述活塞体在所述缸体内进行上下运动并将所述缸体的内腔分为上腔与下腔；
所述缸体的所述内腔的两端分别与所述钛合金套配钻有上腔油孔与下腔油孔；
所述缸体的缸壁上设有注油口，并且从所述注油口处打通的油道与所述上腔油孔与所述下腔油孔交汇形成一条液压油回路；
所述注油口堵头与所述注油口通过螺纹连接；
所述交错通道式阀体的一侧设有异形轴；
所述异形轴依次与所述阀体密封座上设置的孔、所述阀体端锥齿轮与所述角度传感器同轴配合，且所述阀体端锥齿轮与所述角度传感器以及所述异形轴通过紧定螺钉固定；
所述阀体密封座与所述电机固定座通过螺钉固定于所述缸体的侧壁上；
所述直流伺服电机通过螺纹固定于所述电机固定座上，且电机输出端通过所述联轴器与所述电机端锥齿轮连接；
所述阀体端锥齿轮与所述电机端锥齿轮啮合传动。
进一步地，所述液压阻尼调节器因分别设置于腰部和膝部而存在两种不同结构形式：膝部液压阻尼调节器和腰部液压阻尼调节器。
进一步地，所述膝部液压阻尼调节器中的所述助伸弹簧内置于所述缸体的下腔；所述腰部液压阻尼调节器中的所述助伸弹簧内置于所述缸体的上腔。
进一步地，所述缸体的侧壁上设有一个阀门槽以及两个分别与所述上腔油孔与所述下腔油孔相交的扇形槽，使得从油孔流出的液压油可以流入所述扇形槽中而不对所述交错通道式阀体中的通道之间产生对流冲击。
进一步地，所述两个扇形槽的角度分别为55°和150°。
进一步地，所述交错通道式阀体设置有第一油道和第二油道，且两条油道的轴线为异面直线，使得所述两条油道互不影响且呈一定的角度；所述角度的关系为：将所述两条油道的轴线投影于所述交错通道式阀体的端面，所述轴线的一端相交于所述交错通道式阀体的边缘线上的一点，所述轴线的另一端互成27.5°；所述交错通道式阀体的两个端面设有一圈凸起，减少所述交错通道式阀体与所述缸体以及所述阀体密封座的接触面积，所述交错通道式阀体放置于所述阀门槽内；所述第一油道和第二油道中分别异向地设置单向阀。
进一步地，所述直流伺服电机通过所述阀体端锥齿轮与所述电机端锥齿轮啮合传动，调节所述交错通道式阀体的旋转角度，通过所述交错通道式阀体中的所述第一油道和所述第二油道与所述扇形槽的配合间隙来改变所述交错通道式阀体中所述第一油道和所述第二油道的流量面积，进而改变所述缸体的所述上腔与所述下腔流动的流量，并且在阀门轴端设置角度传感器实现了所述直流伺服电机的全闭环控制。
进一步地，所述腰部组件包括：腰带、肩带、腰部固定座、活塞杆连接块、滑轮组件以及鲍登线；所述腰带和所述肩带为柔性材料，所述肩带的前端绕过人体与所述腰带固定连接；所述腰带固定座为刚性材料，所述腰带固定座的下端与所述腰带通过螺钉固定连接；
所述腿部组件包括大腿杆、大腿绑带、腿杆连接组件、小腿杆、小腿绑带、脚板；所述大腿杆的上端与所述腰带的下端在人体的髋关节位置同轴连接，使所述髋关节具有旋转自由度；所述大腿绑带穿过所述大腿杆的中端所设方形通孔，用以固定所述大腿杆与人体大腿；所述小腿绑带穿过所述小腿杆中端所设方形通孔，用以固定所述小腿杆与人体小腿；所述小腿杆的下端与所述脚板同轴连接，使踝关节具有旋转自由度。
进一步地，在所述腰部组件中，所述滑轮组件包括滑轮固定座、第一滑轮和第二滑轮；所述滑轮固定座通过螺钉固定于所述肩带的后端；所述第一滑轮和所述第二滑 轮对称设置于所述滑轮固定座的内部两侧；所述活塞杆连接块与所述腰部液压阻尼调节器中的所述上活塞杆同轴连接，并且所述活塞杆连接块设置有一个第一槽口，所述鲍登线穿过所述活塞杆连接块的所述第一槽口，并分别穿过所述第一滑轮和所述第二滑轮与所述肩带的左右两侧分别固定连接。
进一步地，在所述腿部组件中，所述腿杆连接组件包括液压缸旋转座、第一端盖、腿杆轴承、第二端盖、第三端盖以及活塞杆轴承；所述液压缸旋转座由带凸起的圆柱体和中空圆柱体构成；所述带凸起的圆柱体与所述大腿杆的中端同轴配合；所述第一端盖通过螺钉固定在所述大腿杆的下端，并通过所述带凸起的圆柱体上设置的凸起轴向固定所述液压缸旋转座；所述中空圆柱体与所述膝部液压阻尼调节器的底端固定连接；所述中空下活塞杆穿过所述中空圆柱体上下运动；所述小腿杆的上端设置有第二槽口，所述小腿杆安装于所述第二槽口内；所述大腿杆的下端通孔内安装有所述腿杆轴承，并与所述小腿杆的上端同轴配合；所述第二端盖和所述第三端盖分别通过螺钉固定于所述大腿杆和所述小腿杆连接处的左右两侧，起到轴向固定的作用；所述小腿杆的上端偏后处设置有所述异形轴，所述异形轴的末端设置有螺纹；所述膝部液压阻尼调节器的所述上活塞杆通过所述活塞杆轴承与所述异形轴同轴配合，通过螺母与所述异形轴的末端的螺纹轴向固定杆件。
本发明至少具有以下有益效果：
1、可以实现搬运重物模式以及带负荷行走模式两种模式的助力或阻尼调节；
2、在搬运重物模式下，可以支持由高处至低处与由低处至高处两种搬运模式，适用性强；并且同时可以在弯腰状态下膝关节自然屈曲时对膝关节提供助力；
3、由液压阻尼器与弹簧构成半主动力矩调节系统，助力与阻尼力大小可调节；
4、刚柔耦合式外骨骼结构，质量轻，人机耦合性强；
5、仅用一个电机就实现了液压阻尼双向独立控制，且阻尼调节连续，相比两个电机控制的液压阻尼缸结构，一个电机控制使得机构体积小，重量减轻，耗电减少；
6、能够有效避免作用于阻尼缸中电机的轴向载荷，避免了因载荷过大引起电机失步和阻尼调节失败的情况；能够有效避免从液压油通道流出的液压油对阀体直接对流冲击而产生较大的切向力，大大减少了电机控制阀门转动所需的力矩，减少了耗电量，提高了电机的控制性能；
7、结构精巧且易于加工。
以下将结合附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。
附图说明
图1是本发明的实施例中基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼的人体穿戴图；
图2是本发明的实施例中装置整体视图；
图3是本发明的实施例中液压阻尼调节器的剖视图；
图4是本发明的实施例中滑轮组件的结构示意图；
图5是本发明的实施例中腿杆连接处的结构示意图；
图6是本发明的实施例中缸体的结构示意图；
图7是本发明的实施例中交错通道式阀体的结构示意图和剖视图；
图8是本发明的实施例中由高处至低处搬运场景示意图；
图9是本发明的实施例中由低处至高处搬运场景示意图；
图10是本发明的实施例中行走状态示意图；
图11是本发明的实施例中交错通道式阀体所处的各个状态示意图。
具体实施方式
以下参考说明书附图介绍本发明的多个优选实施例，使其技术内容更加清楚和便于理解。本发明可以通过许多不同形式的实施例来得以体现，本发明的保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。附图所示的每一组件的尺寸和厚度是任意示出的，本发明并没有限定每个组件的尺寸和厚度。为了使图示更清晰，附图中有些地方适当夸大了部件的厚度。
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，以下结合附图和具体实施方式对本发明的基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼作具体阐述。
图1是人体穿戴图。
图2是装置整体视图。
如图1、图2所示，本发明提供的基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼具有：
腰部组件1，包括腰带11、肩带12、腰部固定座13、活塞杆连接块14、滑轮组件15以及鲍登线16。所述腰带11和肩带12为柔性材料，肩带12前端绕过人体与腰带11固定连接；所述腰带固定座13为刚性材料，下端与腰带11通过螺钉固定连接；
腿部组件2，包括大腿杆21、大腿绑带22、腿杆连接组件23、小腿杆24、小腿绑带25、脚板26。所述大腿杆21的上端与腰带11的下端在人体髋关节位置同轴连接，使髋关节具有旋转自由度；所述大腿绑带22穿过大腿杆21中端所设方形通孔，用以固定大腿杆21与人体大腿；所述小腿绑带25穿过所述小腿杆24中端所设方形通孔，用以固定小腿杆24与人体小腿；所述小腿杆24的下端与脚板同轴连接，使踝关节具有旋转自由度；以及
液压阻尼调节器3，包括缸体31、钛合金套32、缸盖33、活塞34、助伸弹簧35、注油口堵头38、流量预调节组件，所述流量预调节组件包括交错通道式阀体39、阀体密封座310、阀体端锥齿轮311、角度传感器312、电机固定座313、直流伺服电机314、联轴器315以及电机端锥齿轮316。
图3是液压阻尼调节器的剖视图。
如图3所示，所述液压阻尼调节器3因分别设置于腰部和膝部而存在两种不同结构形式：膝部液压阻尼调节器3a以及腰部液压阻尼调节器3b。
所述膝部液压阻尼调节器3a与腰部液压阻尼调节器3b相同的结构特点为：钛合金套32同轴嵌套于缸体31内部；所述缸盖33与缸体31上端通过螺纹连接；所述活塞34可分为上活塞杆341、活塞体342以及中空下活塞杆343，上活塞杆341穿过缸盖33，而且上活塞杆341与缸盖33通过密封圈和导向套密封活动连接，中空下活塞杆343穿过缸体31下端，中空下活塞杆343与缸体31的下端通过密封圈和导向套密封活动连接，活塞体342在缸体31内进行上下运动并将缸体内腔分为上腔与下腔；所述缸体1内腔的两端分别与钛合金套32配钻有上腔油孔361与下腔油孔362，缸体31的缸壁上设有注油口37，并且从注油口处打通的油道与上腔油孔361与下腔油孔362交汇形成一条液压油回路36；所述注油口堵头38与注油口37通过螺纹连接，两者间设有密封圈以保证密封性。所述交错通道式阀体39的一侧设有异形轴391，异性轴391依次与阀体密封座310上设置的孔、阀体端锥齿轮311与角度传感器312同轴配合，且阀体端锥齿轮311与角度传感器312与异形轴391通过紧定螺钉固定；所述阀体密封座310与所述电机固定座313通过螺钉固定于缸体31侧壁上；所述直流伺服电机314通过螺纹固定于电机固定座313上，且电机输出端通过联轴器315与电机端锥齿轮316连接；所述阀体端锥齿轮311与电机端锥齿轮316啮合传动。缸体31与阀体密封座310之间设置有密封圈，以及阀体密封座310与交错通道式阀体39之间设置有密封圈，保证液压缸的密封性。
如图11所示，为交错通道式阀体所处的各个状态示意图。
在图4A中，交错通道式阀体39处于初始状态，此时屈曲油道392和伸展油道393都与扇形槽312重合，液压油可以在屈曲油道392和伸展油道393内分别单向流通。
在如图4B中，交错通道式阀体39在直流伺服电机314的转动带动下逆时针旋转至25°时，屈曲油道392与扇形槽320保持重合，伸展油道393与扇形槽逐渐交错至完全关闭的状态。
在图4C中，交错通道式阀体39从初始状态顺时针旋转至30°时，屈曲油道392与扇形槽320逐渐交错至完全关闭的状态，伸展油道393与扇形槽312保持重合。
在图4D中，交错通道式阀体39从C状态继续顺时针旋转30°时，屈曲油道392与扇形槽312保持完全关闭状态，伸展油道393与扇形槽312逐渐交错至完全关闭的状态。
当膝关节屈曲运动时，活塞34在重力作用下向下运动，同时压缩助伸弹簧35进行储能，液压油通过下腔油孔362进入液压回路36到达扇形槽320，交错通道式阀体39在直流伺服电机314带动下转动至预设角度，伸展油道393内单向阀394关闭，而通过改变屈曲油道392与扇形槽320重合面积，进而改变液压油的流通面积，使得膝关节屈曲时所受的阻尼力改变。
当膝关节伸展运动时，助伸弹簧35储存的能量得到释放，为活塞34向上运动提供助力，液压油通过下腔油孔361进入扇形槽312，交错通道式阀体39在直流伺服电机314带动下转动至预设角度，屈曲油道392内单向阀394关闭，而通过改变伸展油道393与扇形槽312重合面积，进而改变液压油的流通面积，使得膝关节伸展时所受的阻尼力改变。
所述膝部液压阻尼调节器3a与腰部液压阻尼调节器3b不同的结构特点为：膝部液压阻尼调节器3a中的所述助伸弹簧35内置于缸体31下腔，而腰部液压阻尼调节器3b中的所述助伸弹簧35内置于缸体31上腔。
图4是滑轮组件的结构示意图。
如图1、图2、图3、图4所示，所述腰部组件中，滑轮组件15包括滑轮固定座151、第一滑轮152和第二滑轮153。所述滑轮固定座151通过螺钉固定于所述肩带12的后端；所述第一滑轮152和第二滑轮153对称设置于滑轮固定座151的内部两侧；所述活塞杆连接块14与所述腰部液压阻尼调节器3b中的上活塞杆341同轴连接，并且活塞杆连接块14设置有一个第一槽口，所述鲍登线16穿过活塞杆连接块14的第一槽口，并分别穿过第一滑轮152和第二滑轮153与肩带12的左右两侧分别固定连接。
图5是腿杆连接处的结构示意图。
如图1、图2、图3、图5所示，所述腿部组件2中，所述腿杆连接组件23包括液压缸旋转座231、第一端盖232、腿杆轴承233、第二端盖234、第三端盖235以及活塞杆轴承236。所述液压缸旋转座231由带凸起的圆柱体2311和中空圆柱体2312构成，带凸起的圆柱体2311与大腿杆21中端同轴配合，所述第一端盖232通过螺钉固定在大腿杆21下端，并通过带凸起的圆柱体2311上设置的凸起轴向固定液压缸旋转座231，所述中空圆柱体2312与所述膝部液压阻尼调节器3a底端固定连接，中空下活塞杆343穿过中空圆柱体2312上下运动；所述小腿杆24上端设置有第二槽口，小腿杆21安装于第二槽口内，大腿杆21下端通孔内安装有腿杆轴承233并与小腿杆24上端同轴配合，第二端盖234和第三端盖235分别通过螺钉固定于大腿杆21和小腿杆24连接处的左右两侧，起到轴向固定的作用；所述小腿杆24上端偏后处设置有异形轴241，异形轴241的末端设置有螺纹，所述膝部液压阻尼调节器3a的上活塞杆341通过活塞杆轴承236与异形轴241同轴配合，通过螺母与异形轴241末端的螺纹轴向固定杆件。
图6是缸体的结构示意图。
如图6所示，所述缸体31的侧壁上设有一个阀门槽311以及两个分别与上腔油孔361与下腔油孔362相交的扇形槽312，使得从油孔流出的液压油可以流入扇形槽312中而不对阀体中的通道之间产生对流冲击；所述两个扇形槽312的角度分别为55°和150°。
图7是交错通道式阀体的结构示意图和剖视图。
如图7所示，所述交错通道式阀体39设置有第一油道392和第二油道393，且两条油道的轴线为异面直线，使得两条油道互不影响且呈一定的角度，此角度关系为：将两条油道的轴线投影于阀体端面，轴线一端相交于阀体边缘线上的一点，另一端互成27.5°；所述交错通道式阀体39的两个端面设有一圈凸起，减少阀体与缸体31以及阀体密封座310的接触面积，阀体放置于所述阀门槽311内；所述第一油道392和第二油道393中分别异向地设置单向阀394。
如图3、图6、图7所示，所述直流伺服电机314通过所述阀体端锥齿轮311与电机端锥齿轮316啮合传动，调节交错通道式阀体39的旋转角度，通过阀体中第一油道392和第二油道393与扇形槽312的配合间隙来改变阀体中两个液压油通道的流量面积，进而改变液压缸上下腔室流动的流量，并且在阀门轴端设置角度传感器312实现了电机的全闭环控制。
图8是由高处至低处搬运场景示意图。
如图8所示，当人体由高处至低处搬运重物时，腰部液压阻尼器3b中的活塞34在重力作用下向上运动，同时压缩助伸弹簧35进行储能，液压油通过上腔油孔362进入液压回路36到达扇形槽312，交错通道式阀体39在直流伺服电机314带动下转动至预设角度，第二油道393内单向阀394关闭，而通过改变第一油道392与扇形槽312重合面积，进而改变液压油的流通面积，从而提供可变阻尼力，将重物对人体腰部的载荷分散到肩部、背部和下肢，从而达到主动保护腰部骨骼和肌肉的目的；当人体弯腰过程中，膝关节通常会自然屈曲，此时膝部液压阻尼器3a中的活塞34向上运动，同时压缩助伸弹簧35进行储能，与腰部液压阻尼器类似，通过改变第一油道392与扇形槽312重合面积，进而改变液压油的流通面积，从而提供可变阻尼力，起到支撑膝关节载荷的作用。
图9是由低处至高处搬运场景示意图。
如图9所示，当人体由低处至高处搬运重物时，腰部液压阻尼器3b中助伸弹簧35储存的能量得到释放，活塞杆向下运动为腰部起身提供助力；膝部液压阻尼器3a中的助伸弹簧35储存的能量得到释放，活塞杆向下运动为膝关节伸展提供助力。
图10是行走状态示意图。
如图10所示，当在行走过程中膝关节屈曲运动时，活塞34在重力作用下向下运动，同时压缩助伸弹簧35进行储能，液压油通过下腔油孔362进入液压回路36到达扇形槽312，交错通道式阀体39在直流伺服电机314带动下转动至预设角度，第二油 道393内单向阀394关闭，而通过改变第一油道392与扇形槽312重合面积，进而改变液压油的流通面积，使得膝关节屈曲时所受的阻尼力改变。
当在行走过程中膝关节伸展运动时，助伸弹簧35储存的能量得到释放，为活塞34向上运动提供助力，液压油通过下腔油孔361进入扇形槽312，交错通道式阀体39在直流伺服电机314带动下转动至预设角度，第一油道392内单向阀394关闭，而通过改变第二油道393与扇形槽312重合面积，进而改变液压油的流通面积，使得膝关节伸展时所受的阻尼力改变。
上述实施方式的作用方式与效果如下：
长时间重复性作业的正常人群，由于长时间搬运重物与带负荷行走，腰肌与膝关节劳损问题突出，严重影响身体健康和工作效率。本发明提供的基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼可支持搬运重物与带负荷行走两种工作模式，搬运重物模式又可分为由高处至低处搬运模式与由低处至高处搬运模式。腰背部采用柔性纺织材料和弹力绳作为主要材料，构建腰部外骨骼基础框架，通过结构和受力位置优化，使其与人体柔性贴合；分别设置带有弹簧弹性结构的液压阻尼器于腰部与左右侧膝关节处，为腰部和膝部提供助力或阻尼力，液压阻尼器通过内置单向阀的交错通道式阀体的设计，实现仅通过一条液压油回路就能调节双向的液压油流动流量，并且其中一条通道与注油口合并，最大限度地减少液压缸开孔数，增大液压缸强度并降低漏油可能性，将阀体内嵌于液压缸侧壁上也降低了加工的难度与易漏油度；仅用一个电机就实现了膝关节液压阻尼双向同时独立控制，且阻尼调节连续，相比两个电机控制的液压阻尼缸结构，一个电机控制使得机构体积小，重量减轻，耗电减少；能够有效避免作用于阻尼缸中电机的轴向载荷，避免了因载荷过大引起电机失步和阻尼调节失败的情况；能够有效避免从液压油通道流出的液压油对阀体直接对流冲击而产生较大的切向力，大大减少了电机控制阀门转动所需的力矩，减少了耗电量，提高了电机的控制性能；并且结构精巧且易于加工。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (10)

  1. 基于单回路双向阻尼调节器的半主动刚柔耦合式外骨骼，其特征在于，包括：
    腰部组件和腿部组件；
    以及液压阻尼调节器，所述液压阻尼调节器包括缸体、钛合金套、缸盖、活塞、助伸弹簧、注油口堵头、流量预调节组件，所述流量预调节组件包括交错通道式阀体、阀体密封座、阀体端锥齿轮、角度传感器、电机固定座、直流伺服电机、联轴器以及电机端锥齿轮；
    其中，
    所述钛合金套同轴嵌套于所述缸体内部；
    所述缸盖与所述缸体的上端通过螺纹连接；
    所述活塞分为上活塞杆、活塞体以及中空下活塞杆；
    所述上活塞杆穿过所述缸盖；
    所述中空下活塞杆穿过所述缸体的下端；
    所述活塞体在所述缸体内进行上下运动并将所述缸体的内腔分为上腔与下腔；
    所述缸体的所述内腔的两端分别与所述钛合金套配钻有上腔油孔与下腔油孔；
    所述缸体的缸壁上设有注油口，并且从所述注油口处打通的油道与所述上腔油孔与所述下腔油孔交汇形成一条液压油回路；
    所述注油口堵头与所述注油口通过螺纹连接；
    所述交错通道式阀体的一侧设有异形轴；
    所述异形轴依次与所述阀体密封座上设置的孔、所述阀体端锥齿轮与所述角度传感器同轴配合，且所述阀体端锥齿轮与所述角度传感器以及所述异形轴通过紧定螺钉固定；
    所述阀体密封座与所述电机固定座通过螺钉固定于所述缸体的侧壁上；
    所述直流伺服电机通过螺纹固定于所述电机固定座上，且电机输出端通过所述联轴器与所述电机端锥齿轮连接；
    所述阀体端锥齿轮与所述电机端锥齿轮啮合传动。
  2. 如权利要求1所述的半主动刚柔耦合式液压外骨骼，其特征在于，所述液压阻尼调节器因分别设置于腰部和膝部而存在两种不同结构形式：膝部液压阻尼调节器和腰部液压阻尼调节器。
  3. 如权利要求2所述的半主动刚柔耦合式液压外骨骼，其特征在于，所述膝部液压阻尼调节器中的所述助伸弹簧内置于所述缸体的下腔；所述腰部液压阻尼调节器中 的所述助伸弹簧内置于所述缸体的上腔。
  4. 如权利要求1所述的半主动刚柔耦合式液压外骨骼，其特征在于，所述缸体的侧壁上设有一个阀门槽以及两个分别与所述上腔油孔与所述下腔油孔相交的扇形槽，使得从油孔流出的液压油可以流入所述扇形槽中而不对所述交错通道式阀体中的通道之间产生对流冲击。
  5. 如权利要求4所述的半主动刚柔耦合式液压外骨骼，其特征在于，所述两个扇形槽的角度分别为55°和150°。
  6. 如权利要求4所述的半主动刚柔耦合式液压外骨骼，其特征在于，所述交错通道式阀体设置有第一油道和第二油道，且两条油道的轴线为异面直线，使得所述两条油道互不影响且呈一定的角度；所述角度的关系为：将所述两条油道的轴线投影于所述交错通道式阀体的端面，所述轴线的一端相交于所述交错通道式阀体的边缘线上的一点，所述轴线的另一端互成27.5°；所述交错通道式阀体的两个端面设有一圈凸起，减少所述交错通道式阀体与所述缸体以及所述阀体密封座的接触面积，所述交错通道式阀体放置于所述阀门槽内；所述第一油道和第二油道中分别异向地设置单向阀。
  7. 如权利要求6所述的半主动刚柔耦合式液压外骨骼，其特征在于，所述直流伺服电机通过所述阀体端锥齿轮与所述电机端锥齿轮啮合传动，调节所述交错通道式阀体的旋转角度，通过所述交错通道式阀体中的所述第一油道和所述第二油道与所述扇形槽的配合间隙来改变所述交错通道式阀体中所述第一油道和所述第二油道的流量面积，进而改变所述缸体的所述上腔与所述下腔流动的流量，并且在阀门轴端设置角度传感器实现了所述直流伺服电机的全闭环控制。
  8. 如权利要求3所述的半主动刚柔耦合式液压外骨骼，其特征在于，所述腰部组件包括：腰带、肩带、腰部固定座、活塞杆连接块、滑轮组件以及鲍登线；所述腰带和所述肩带为柔性材料，所述肩带的前端绕过人体与所述腰带固定连接；所述腰带固定座为刚性材料，所述腰带固定座的下端与所述腰带通过螺钉固定连接；
    所述腿部组件包括大腿杆、大腿绑带、腿杆连接组件、小腿杆、小腿绑带、脚板；所述大腿杆的上端与所述腰带的下端在人体的髋关节位置同轴连接，使所述髋关节具有旋转自由度；所述大腿绑带穿过所述大腿杆的中端所设方形通孔，用以固定所述大腿杆与人体大腿；所述小腿绑带穿过所述小腿杆中端所设方形通孔，用以固定所述小腿杆与人体小腿；所述小腿杆的下端与所述脚板同轴连接，使踝关节具有旋转自由度。
  9. 如权利要求8所述的半主动刚柔耦合式液压外骨骼，其特征在于，在所述腰部组件中，所述滑轮组件包括滑轮固定座、第一滑轮和第二滑轮；所述滑轮固定座通过螺钉固定于所述肩带的后端；所述第一滑轮和所述第二滑轮对称设置于所述滑轮固定座的内部两侧；所述活塞杆连接块与所述腰部液压阻尼调节器中的所述上活塞杆同轴连接，并且所述活塞杆连接块设置有一个第一槽口，所述鲍登线穿过所述活塞杆连接块的所述第一槽口，并分别穿过所述第一滑轮和所述第二滑轮与所述肩带的左右两侧分别固定连接。
  10. 如权利要求8所述的半主动刚柔耦合式液压外骨骼，其特征在于，在所述腿部组件中，所述腿杆连接组件包括液压缸旋转座、第一端盖、腿杆轴承、第二端盖、第三端盖以及活塞杆轴承；所述液压缸旋转座由带凸起的圆柱体和中空圆柱体构成；所述带凸起的圆柱体与所述大腿杆的中端同轴配合；所述第一端盖通过螺钉固定在所述大腿杆的下端，并通过所述带凸起的圆柱体上设置的凸起轴向固定所述液压缸旋转座；所述中空圆柱体与所述膝部液压阻尼调节器的底端固定连接；所述中空下活塞杆穿过所述中空圆柱体上下运动；所述小腿杆的上端设置有第二槽口，所述小腿杆安装于所述第二槽口内；所述大腿杆的下端通孔内安装有所述腿杆轴承，并与所述小腿杆的上端同轴配合；所述第二端盖和所述第三端盖分别通过螺钉固定于所述大腿杆和所述小腿杆连接处的左右两侧，起到轴向固定的作用；所述小腿杆的上端偏后处设置有所述异形轴，所述异形轴的末端设置有螺纹；所述膝部液压阻尼调节器的所述上活塞杆通过所述活塞杆轴承与所述异形轴同轴配合，通过螺母与所述异形轴的末端的螺纹轴向固定杆件。
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