CN111805513B - Semi-active rigid-flexible coupling type hydraulic exoskeleton - Google Patents

Abstract

The invention discloses a semi-active rigid-flexible coupling type hydraulic exoskeleton, which relates to a power-assisted mechanism in the field of robots, and comprises: a waist component and a leg component; and the hydraulic damping regulator comprises a cylinder body, a titanium alloy sleeve, a cylinder cover, a piston, an extension assisting spring, an oil filling port plug, a staggered channel type valve body, a valve body sealing seat, a valve body end bevel gear, an angle sensor, a motor fixing seat, a direct current servo motor, a coupler and a motor end bevel gear. The invention can realize the assistance or damping adjustment of two modes of a heavy object carrying mode and a load walking mode; under the heavy object carrying mode, two carrying modes from a high position to a low position and from the low position to the high position can be supported, and the applicability is strong; meanwhile, the power assisting device can provide power assisting for the knee joint when the knee joint is naturally bent under the state of bending waist; a semi-active moment adjusting system is formed by a hydraulic damper and a spring, and the magnitude of the assisting force and the damping force can be adjusted; the weight is light, and the man-machine coupling is strong.

Description

A semi-active rigid-flexible coupling hydraulic exoskeleton

technical field

The invention relates to a power assist mechanism in the field of robots, in particular to a semi-active rigid-flexible coupling hydraulic exoskeleton.

Background technique

my country's transportation industry, logistics industry, construction industry and manufacturing industry have a huge number of employees, and a considerable number of types of work need to perform long-term repetitive operations, resulting in physical fatigue injuries, especially the waist and knees are the most serious. 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. 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. According to different walking states, 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. During the adjustment process, it is easy to lose steps and cannot reach the designated position, which seriously affects the performance of the knee joint damping adjustment. .

Therefore, those skilled in the art are devoted to developing a semi-active rigid-flexible coupling hydraulic exoskeleton to solve the disadvantages of high energy consumption, short battery life, poor man-machine coupling and unadjustable power assist in the prior art.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects of the prior art, 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. When the flow velocity is slow, that is, laminar flow, 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 invention constructs a semi-active rigid-flexible coupling hydraulic exoskeleton based on the spring-hydraulic damper.

In order to achieve the above purpose, the present invention provides a semi-active rigid-flexible coupling hydraulic exoskeleton, including:

Waist assembly and leg assembly;

And a hydraulic damping adjuster, the hydraulic damping adjuster includes a cylinder block, a titanium alloy sleeve, a cylinder head, a piston, an extension spring, an oil filling port plug, a staggered channel valve body, a valve body sealing seat, and a valve body end bevel gear , angle sensor, motor mount, DC servo motor, coupling and motor end bevel gear;

in,

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 upper piston rod passes through the cylinder head;

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;

The 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;

The valve body end bevel gear meshes with the motor end bevel gear for transmission.

Further, the 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.

Further, the 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.

Further, 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.

Further, the angles of the two fan-shaped grooves are respectively 55° and 150°.

Further, 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.

Further, 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.

Further, 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.

Further, in the waist assembly, 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.

Further, in the leg assembly, 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 present invention has at least the following beneficial effects:

1. It can realize the assistance or damping adjustment of the two modes of carrying heavy objects and walking with load;

2. In 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. ;

3. The semi-active torque adjustment system is composed of hydraulic dampers and springs, and the assist and damping forces can be adjusted;

4. Rigid-flexible coupling exoskeleton structure, light weight and strong man-machine coupling;

5. Only one motor is used to realize two-way independent control of 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;

6. It can effectively avoid the axial load acting on the motor in the damping cylinder, and avoid the motor out of step and the failure of damping adjustment caused by excessive load; it can effectively avoid the direct convection impact of the hydraulic oil flowing out of the hydraulic oil channel on the valve body The larger tangential force is generated, 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;

7. The structure is exquisite and easy to process.

The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, characteristics and effects of the present invention.

Description of drawings

Fig. 1 is a human body wearing diagram of a semi-active rigid-flexible coupling hydraulic exoskeleton in an embodiment of the present invention;

Fig. 2 is the overall view of the apparatus in the embodiment of the present invention;

3 is a cross-sectional view of a hydraulic damping adjuster in an embodiment of the present invention;

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;

6 is a schematic structural diagram of a cylinder in an embodiment of the present invention;

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;

8 is a schematic diagram of a transport scene from a high place to a low place in an embodiment of the present invention;

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.

Detailed ways

The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

In the drawings, structurally identical components are denoted by the same numerals, and structurally or functionally similar components are denoted by like numerals throughout. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thicknesses of components are appropriately exaggerated in some places in the drawings.

In order to make the technical means, creative features, goals and effects realized by the present invention easy to understand, a semi-active rigid-flexible coupling hydraulic exoskeleton of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a diagram of wearing a human body.

Fig. 2 is an overall view of the device.

As shown in Figure 1 and Figure 2, a semi-active rigid-flexible coupling hydraulic exoskeleton provided by the present invention 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

Hydraulic damping regulator 3, including cylinder block 31, titanium alloy sleeve 32, cylinder head 33, piston 34, extension spring 35, oil filling port plug 38, staggered channel valve body 39, valve body sealing seat 310, valve body end Bevel gear 311 , angle sensor 312 , motor holder 313 , DC servo motor 314 , coupling 315 and bevel gear 316 at the motor end.

3 is a cross-sectional view of a hydraulic damping adjuster.

As shown in FIG. 3 , 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, the hollow lower piston rod 343 passes through the lower end of the cylinder body 31, and the piston body 342 is in the cylinder body. 31 moves up and down and divides the inner cavity of the cylinder 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, The cylinder wall of the cylinder block 31 is provided with an oil injection port 37, and the oil passage opened from the oil injection 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 injection port plug 38 and The oil filling port 37 is connected by a thread. 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.

The different structural features of the knee hydraulic damping adjuster 3a and the waist hydraulic damping adjuster 3b are: 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.

As shown in FIGS. 1 , 2 , 3 and 4 , in the waist 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.

As shown in FIG. 1 , FIG. 2 , FIG. 3 , and FIG. 5 , in the leg assembly 2 , 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. Coaxially with the upper end of the calf rod 24, 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.

As shown in FIG. 6 , 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.

As shown in FIG. 7 , 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.

As shown in FIG. 3 , FIG. 6 and FIG. 7 , 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.

As shown in Fig. 8, when the human body transports heavy objects 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 When the human body bends over, the knee joint usually flexes naturally, at this time, 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.

As shown in Fig. 9, when the human body carries heavy objects from a low place to a high place, the energy stored by the extension spring 35 in the waist hydraulic damper 3b is released, and the downward movement of the piston rod provides assistance for the waist to get up; the knee hydraulic damper The energy stored in the extension spring 35 in 3a is released, and the downward movement of the piston rod assists the extension of the knee joint.

FIG. 10 is a schematic diagram of a walking state.

As shown in FIG. 10 , when the knee joint flexes during walking, 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 to reach In the fan-shaped groove 312, the staggered channel valve body 39 is rotated to a preset angle by the DC servo motor 314, the check valve 394 in the second oil passage 393 is closed, and by changing the overlapping area of the first oil passage 392 and the fan-shaped groove 312, Then the flow area of the hydraulic oil is changed, so that the damping force on the knee joint is changed.

When the knee joint extends during walking, 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 function mode and effect of the above-mentioned embodiment are as follows:

For normal people who perform repetitive tasks for a long time, due to carrying heavy objects and walking with loads for a long time, the problems of psoas and knee joint strain are prominent, which seriously affects their health and work efficiency. The semi-active rigid-flexible coupling hydraulic exoskeleton provided by the present invention can support two working modes of carrying heavy objects and walking with load. 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 impact produces a large tangential force, 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 is exquisite and easy to process.

The preferred embodiments of the present invention have been described in detail above. It should be understood that many modifications and changes can be made according to the concept of the present invention by those skilled in the art without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (10)

1. A semi-active rigid-flexible coupled hydraulic exoskeleton, comprising:

a waist component and a leg component;

the hydraulic damping regulator comprises a cylinder body, a titanium alloy sleeve, a cylinder cover, a piston, an extension assisting spring, an oil filling port plug, a staggered channel type valve body, a valve body sealing seat, a valve body end bevel gear, an angle sensor, a motor fixing seat, a direct current servo motor, a coupler and a motor end bevel gear;

wherein,

the titanium alloy sleeve is coaxially nested inside the cylinder body;

the cylinder cover is connected with the upper end of the cylinder body through threads;

the piston is divided into an upper piston rod, a piston body and a hollow lower piston rod;

the upper piston rod penetrates through the cylinder cover;

the hollow lower piston rod penetrates through the lower end of the cylinder body;

the piston body moves up and down in the cylinder body and divides the inner cavity of the cylinder body into an upper cavity and a lower cavity;

an upper cavity oil hole and a lower cavity oil hole are drilled at two ends of the inner cavity of the cylinder body and are respectively matched with the titanium alloy sleeve;

an oil filling opening is formed in the cylinder wall of the cylinder body, and an oil passage communicated from the oil filling opening is intersected with the upper cavity oil hole and the lower cavity oil hole to form a hydraulic oil loop;

the oil filling port plug is connected with the oil filling port through threads;

a special-shaped shaft is arranged on one side of the staggered channel type valve body;

the special-shaped shaft is sequentially coaxially matched with a hole arranged on the valve body sealing seat, the valve body end bevel gear and the angle sensor, and the valve body end bevel gear, the angle sensor and the special-shaped shaft are fixed through set screws;

the valve body sealing seat and the motor fixing seat are fixed on the side wall of the cylinder body through screws;

the direct current servo motor is fixed on the motor fixing seat through threads, and the output end of the motor is connected with the motor end bevel gear through the coupler;

and the valve body end bevel gear is in meshing transmission with the motor end bevel gear.

2. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 1 wherein there are two different structural configurations of the hydraulic damper adjusters for the waist and knee, respectively: a knee hydraulic damping adjuster and a lumbar hydraulic damping adjuster.

3. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 2 wherein said extension springs in said knee hydraulic damper actuators are built into the lower chamber of said cylinder; the extension assisting spring in the waist hydraulic damping regulator is arranged in an upper cavity of the cylinder body.

4. A semi-active rigid-flexible coupled hydraulic exoskeleton as claimed in claim 1 wherein said cylinder block has a valve slot and two fan-shaped slots on its side wall intersecting said upper chamber port and said lower chamber port respectively, such that hydraulic oil from said ports can flow into said fan-shaped slots without causing convective impact between said channels in said staggered channel valve.

5. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 4 wherein the angle of the sector grooves intersecting the upper cavity oil hole is 55 ° and the angle of the sector grooves intersecting the lower cavity oil hole is 150 °.

6. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 4 wherein 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 in a straight line with different planes, so that the two oil passages are not influenced by each other and are at a certain angle; the relationship of the angles is: projecting the axes of the two oil passages on the end face of the staggered channel type valve body, wherein one end of each axis is intersected at one point on the edge line of the staggered channel type valve body, and the other ends of the axes form an angle of 27.5 degrees with each other; two end faces of the staggered channel type valve body are provided with a circle of bulges, so that the contact area between the staggered channel type valve body and the cylinder body and the valve body sealing seat is reduced, and the staggered channel type valve body is placed in the valve groove; and one-way valves are arranged in the first oil duct and the second oil duct in different directions respectively.

7. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 6 wherein said dc servo motor is driven by said valve body end bevel gear and said motor end bevel gear in a meshing manner to adjust the rotation angle of said interleaved channel valve body, and the flow areas of said first oil passage and said second oil passage in said interleaved channel valve body are changed by the fit clearance between said first oil passage and said second oil passage in said interleaved channel valve body and said sector groove, so as to change the flow rate of said upper chamber and said lower chamber of said cylinder block, and an angle sensor is provided at the valve shaft end to realize the full closed loop control of said dc servo motor.

8. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 3 wherein said lumbar assembly comprises: the waist belt, the shoulder belt, the waist fixing seat, the piston rod connecting block, the pulley assembly and the Bowden cable are arranged on the waist belt; the waist belt and the shoulder straps are made of flexible materials, and the front ends of the shoulder straps are fixedly connected with the waist belt by bypassing the human body; the lower end of the waistband fixing seat is fixedly connected with the waistband through a screw;

the leg component comprises a thigh rod, a thigh bandage, a leg rod connecting component, a calf rod, a calf bandage and a foot plate; the upper end of the thigh rod is coaxially connected with the lower end of the waistband at the position of a hip joint of a human body, so that the hip joint has rotational freedom; the thigh binding belt penetrates through a square through hole formed in the middle end of the thigh rod and is used for fixing the thigh rod and a thigh of a human body; the shank binding band penetrates through a square through hole formed in the middle end of the shank rod and is used for fixing the shank rod and a shank of a human body; the lower end of the shank rod is coaxially connected with the foot plate, so that the ankle joint has rotational freedom.

9. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 8 wherein in said lumbar assembly, said pulley assembly comprises a pulley mount, a first pulley and a second pulley; the pulley fixing seat is fixed at the rear end of the shoulder strap through a screw; the first pulley and the second pulley are symmetrically arranged on two sides of the interior of the pulley fixing seat; the piston rod connecting block is coaxially connected with the upper piston rod in the waist hydraulic damping regulator, the piston rod connecting block is provided with a first notch, and the Bowden cable penetrates through the first notch of the piston rod connecting block and respectively penetrates through the first pulley and the second pulley and is fixedly connected with the left side and the right side of the shoulder strap respectively.

10. The semi-active rigid-flexible coupled hydraulic exoskeleton of claim 8 wherein in said leg assembly, said leg rod connection assembly comprises a hydraulic cylinder swivel mount, a first end cap, a leg rod bearing, a second end cap, a third end cap, and a piston rod bearing; the hydraulic cylinder rotating seat is composed of a cylinder with a bulge and a hollow cylinder; the cylinder with the bulge is coaxially matched with the middle end of the thigh rod; the first end cover axially fixes the hydraulic cylinder rotating seat through a bulge arranged on the cylinder with the bulge; the hollow cylinder is fixedly connected with the bottom end of the knee hydraulic damping adjuster; the hollow lower piston rod passes through the hollow cylinder to move up and down; the upper end of the shank rod is provided with a second notch, and the lower end through hole of the thigh rod is internally provided with the shank rod bearing and is coaxially matched with the second notch at the upper end of the shank rod; the second end cover and the third end cover are respectively fixed on the left side and the right side of the joint of the thigh rod and the shank rod through screws, so that the axial fixing effect is achieved; the rear part of the upper end of the shank rod is provided with the special-shaped shaft, and the tail end of the special-shaped shaft is provided with a thread; the upper piston rod of the knee hydraulic damping adjuster is coaxially matched with the special-shaped shaft through the piston rod bearing, and is axially fixed with a rod piece through a nut and a thread at the tail end of the special-shaped shaft.

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