CN112999023A - Variable hydraulic damping mechanism of mechanical exoskeleton ankle joint - Google Patents
Variable hydraulic damping mechanism of mechanical exoskeleton ankle joint Download PDFInfo
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- CN112999023A CN112999023A CN202110297515.2A CN202110297515A CN112999023A CN 112999023 A CN112999023 A CN 112999023A CN 202110297515 A CN202110297515 A CN 202110297515A CN 112999023 A CN112999023 A CN 112999023A
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- 238000013016 damping Methods 0.000 title claims abstract description 51
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 210000002683 foot Anatomy 0.000 claims abstract description 67
- 239000007788 liquid Substances 0.000 claims abstract description 33
- 230000009471 action Effects 0.000 claims abstract description 9
- 210000001699 lower leg Anatomy 0.000 claims description 41
- 210000003423 ankle Anatomy 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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- 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
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- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0165—Damping, vibration related features
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention belongs to the technical field of intelligent rehabilitation training equipment, and particularly relates to a variable hydraulic damping mechanism for an ankle joint of a mechanical exoskeleton, which comprises a hydraulic damper, wherein the hydraulic damper comprises a piston cylinder, a piston and a piston rod, one end of the piston rod is fixedly connected with the piston, the other end of the piston rod is pivoted with a shank exoskeleton, and the piston cylinder is pivoted with an exoskeleton foot support; the lower half part of the piston cylinder is provided with a variable damping hole communicated with a rodless cavity below the piston, and a liquid storage cavity is arranged below the variable damping hole; the variable orifice is configured to progressively decrease the flow area as the angle of inclination of the lower leg exoskeleton increases as the lower leg exoskeleton tilts forward or backward from an upright position relative to the exoskeleton foot rest. The invention skillfully utilizes the tilting action of the exoskeleton to adjust the flow area of the damping hole, realizes the strain adjustment of the hydraulic damper without any external power, and realizes the lightweight design in the true sense while ensuring the functionality of the ankle joint.
Description
Technical Field
The invention belongs to the technical field of intelligent rehabilitation training equipment, and particularly relates to a mechanical exoskeleton ankle joint variable hydraulic damping mechanism.
Background
The intelligent rehabilitation training robot is intelligent rehabilitation training equipment based on AI technology, and the feedback control in the mechanical assistance exoskeleton technology is mainly used for actively identifying the movement intention of a patient and providing auxiliary action power for the patient, so that the intelligent rehabilitation training robot is beneficial to the patient to independently complete various rehabilitation training actions, can monitor movement data in real time, and is convenient for the patient to know the training state and the training progress in real time.
One design requirement of the rehabilitation training robot is light weight, in order to meet the requirement of light weight, the use of a driving element is reduced as far as possible, the prior art mainly starts with an ankle joint, the driving element of the ankle joint is removed, and after the ankle joint driving element is removed, a corresponding light weight damping mechanism needs to be additionally arranged to meet the requirements of joint support and movement. The ankle joint needs different damping sizes in different motion states, for example, the overturning trend of the crus in an upright state is not obvious, the small damping is kept at the moment, the front-back swing of the ankle joint in the walking process is facilitated, the overturning trend of the crus becomes obvious after the inclination angle of the crus is increased, and the larger damping is needed to offset the overturning force of the crus at the moment; in addition, when the foot is lifted, the damping is greatly reduced, so that the ankle can keep a relaxed state and is closer to the real walking process. In the prior art, the resistance of the damping mechanism cannot be controlled in a self-adaptive adjustment mode, and some methods utilize a controller to actively control the damping mechanism, but in the way, elements such as a hydraulic pump, an electric control valve and the like need to be additionally arranged, and the design requirement of light weight is still violated.
Disclosure of Invention
The invention aims to provide a variable hydraulic damping mechanism for ankle joints of a mechanical exoskeleton, which can automatically adjust the damping according to the motion state of a shank exoskeleton under the condition that the ankle joints are unpowered.
The technical scheme adopted by the invention is as follows:
a variable hydraulic damping mechanism for a mechanical exoskeleton ankle joint comprises a hydraulic damper, wherein two ends of the hydraulic damper are respectively pivoted with a shank exoskeleton and an exoskeleton foot rest, wherein the shank exoskeleton and the exoskeleton foot rest are mutually pivoted to form the exoskeleton ankle joint; the hydraulic damper comprises a piston cylinder, a piston and a piston rod, the piston is slidably arranged in the piston cylinder, one end of the piston rod is fixedly connected with the piston, the other end of the piston rod is pivoted with the shank exoskeleton, and the piston cylinder is pivoted with the exoskeleton foot support; when the exoskeleton of the leg and the foot supports of the exoskeleton are in an upright state, the axes of the pivot between the piston rod and the exoskeleton of the leg, the pivot between the piston cylinder and the foot supports of the exoskeleton of the leg and the axes of the pivot between the exoskeleton of the leg and the foot supports of the exoskeleton of the leg are collinear, and the hydraulic damper reaches the maximum elongation at the moment; the lower half part of the piston cylinder is provided with a variable damping hole communicated with a rodless cavity below the piston, and a liquid storage cavity is arranged below the variable damping hole; the variable orifice is configured to progressively decrease the flow area as the angle of inclination of the lower leg exoskeleton increases as the lower leg exoskeleton tilts forward or backward from an upright position relative to the exoskeleton foot rest.
The variable damping hole comprises a straight hole communicated with the bottom of the rodless cavity and a tapered hole connected with the lower end of the straight hole, a conical head is arranged in the tapered hole, and the flow area of the variable damping hole is adjusted by adjusting the depth of the conical head inserted into the tapered hole.
The exoskeleton foot support is characterized in that the cone head is connected with a push rod, the push rod is in sliding connection with the piston cylinder along the axis direction of the piston cylinder, the lower end of the push rod is fixedly connected with a push plate, a triangular cam is arranged on a pivot between the piston cylinder and the exoskeleton foot support, the bottom surface of the push plate is in sliding abutting fit with the wheel surface of the triangular cam, a first elastic element for driving the push rod to move downwards is arranged between the push rod and the piston cylinder, and when the piston cylinder tilts forwards or backwards relative to the exoskeleton foot support, the triangular cam can drive the push rod to lift so as to change.
The piston block is arranged in the liquid storage cavity in an axial sliding mode along the liquid storage cavity, the space, below the piston block, of the liquid storage cavity is communicated with the atmosphere, the space, above the piston block, of the liquid storage cavity is communicated with the variable damping hole, the conical head is located above the piston block, and the ejector rod penetrates through the piston block and is in sealing sliding fit with the piston block.
And a rod cavity above the piston is communicated with the liquid storage cavity through a first pipeline.
The first pipeline is connected with a branch pipe which is communicated with the rodless cavity below the piston, and the branch pipe is provided with a controllable one-way valve which is assembled in such a way that when the exoskeleton foot support stands on the ground, oil in the branch pipe can only flow to the rodless cavity from the first pipeline but can not flow to the first pipeline from the rodless cavity, and when the exoskeleton foot support leaves the ground, the oil in the branch pipe can flow in two directions.
The controllable check valve comprises a valve casing, a valve cavity is arranged in the valve casing, a first interface penetrating through the valve casing is arranged at one end of the valve cavity, a second interface penetrating through the valve casing is arranged on the side face of the valve cavity, a valve head and a movable seat are arranged in the valve cavity, the movable seat is movably arranged along the axial direction of the valve cavity, the valve head is in sliding connection with the movable seat along the axial direction of the valve cavity, a second elastic element and a limiting part are arranged between the valve head and the movable seat, the second elastic unit is assembled into a structure that the elastic force of the second elastic unit can drive the valve head to slide relative to the movable seat in the direction close to the first interface, and the limiting part is assembled; a third elastic element is arranged between the movable seat and the exoskeleton foot rest, the movable seat protrudes out of the bottom surface of the exoskeleton foot rest under the action of the third elastic element, and the valve head is kept in a state of being separated from the first interface under the action of the limiting part; when the exoskeleton foot rest is vertically supported on the ground, the movable seat can be compressed upwards so that the valve head elastically props against the inner end of the first interface; the first interface is communicated with the first pipeline through the branch pipe, and the second interface is communicated with the rodless cavity through the branch pipe.
The exoskeleton foot support is characterized in that a buffer plate is arranged behind the bottom surface of the exoskeleton foot support, the movable seat is fixedly connected with the buffer plate, the buffer plate is movably connected with the bottom surface along the normal direction of the bottom surface of the exoskeleton foot support, and the third elastic element comprises an elastic air bag arranged between the buffer plate and the bottom surface of the exoskeleton foot support.
The first elastic element and the second elastic element are both compression springs.
The first pipeline and the branch pipe are both hoses.
The invention has the technical effects that: the damping size of the hydraulic damper is controlled through real-time change of the inclination angle of the crus exoskeleton, when the inclination angle of the crus exoskeleton is larger, stronger damping is needed to overcome the overturning trend of the crus exoskeleton, the inclination motion of the exoskeleton is skillfully utilized to adjust the flow area of the damping hole, the strain adjustment of the hydraulic damper is realized without any external power, and the lightweight design is realized in a true sense while the functionality of the ankle joint is ensured.
Drawings
Fig. 1 is a perspective view of a lower extremity exoskeleton rehabilitation training robot provided in an embodiment of the present invention;
FIG. 2 is a front cross-sectional view of an ankle hydraulic damping mechanism provided by an embodiment of the present invention;
FIG. 3 is a side cross-sectional view of an ankle liquid damping mechanism provided by an embodiment of the present invention.
It should be noted that the waist support, the thigh exoskeleton, the shank exoskeleton and the exoskeleton foot support of the exoskeleton robot of the present invention should be provided with structures such as straps for fixing with the human body, which do not belong to the protection focus of the present invention, and therefore these structures are hidden in the drawings.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
As shown in fig. 1, a lower limb exoskeleton rehabilitation training robot comprises a waist support 10, a thigh exoskeleton 10, a shank exoskeleton 12 and an exoskeleton foot support 13, wherein the thigh exoskeleton 10 is pivoted with the waist support 10, the shank exoskeleton 12 is pivoted with the thigh exoskeleton 10, the exoskeleton foot support 13 is pivoted with the shank exoskeleton 12, a power module and a main control unit are installed on the waist support 10, a first driving motor 14 is arranged at a joint of the thigh exoskeleton 10 and the waist support 10, and a second driving motor 15 is arranged at a joint of the shank exoskeleton 12 and the thigh exoskeleton 10; a plurality of sensors for identifying human body movement trends are arranged on the waist support 10, the thigh exoskeleton 10, the shank exoskeleton 12 and the exoskeleton foot support 13, and the first driving motor 14, the second driving motor 15 and the sensors are connected with the power supply module and the main controller; a hydraulic damper 30 is arranged at the joint of the lower leg exoskeleton 12 and the exoskeleton foot support 13, and an adjusting mechanism 20 for adjusting the leg length is arranged on the lower leg exoskeleton 12. The invention arranges an adjusting mechanism 20 for adjusting the leg length on the crus exoskeleton 12 so as to adapt to the use requirements of people with different heights or under different wearing conditions; in addition, the unpowered hydraulic damper 30 is arranged at the ankle joint, so that the weight of the whole machine is reduced, and the ankle joint is ensured to have sufficient supporting force.
Preferably, as shown in fig. 2 and 3, both ends of the hydraulic damper 30 are respectively pivoted with the lower leg exoskeleton 12 and the exoskeleton foot rest 13, wherein the lower leg exoskeleton 12 and the exoskeleton foot rest 13 are mutually pivoted to form an exoskeleton ankle joint; the hydraulic damper 30 comprises a piston cylinder 31, a piston 32 and a piston rod 33, the piston 32 is slidably arranged in the piston cylinder 31, one end of the piston rod 33 is fixedly connected with the piston 32, the other end of the piston rod 33 is pivoted with the shank exoskeleton 12, and the piston cylinder 31 is pivoted with the exoskeleton foot rest 13; when the lower leg exoskeleton 12 and the exoskeleton foot supports 13 are in an upright state, viewed along the axis direction of the exoskeleton ankle joints, the axes of the pivot between the piston rod 33 and the lower leg exoskeleton 12, the pivot between the piston cylinder 31 and the exoskeleton foot supports 13, and the pivot between the lower leg exoskeleton 12 and the exoskeleton foot supports 13 are collinear, and at this time, the hydraulic damper 30 also reaches the maximum elongation; the lower half part of the piston cylinder 31 is provided with a variable damping hole communicated with a rodless cavity below the piston 32, and a liquid storage cavity 35 is arranged below the variable damping hole; the variable orifice is configured to progressively decrease the flow area as the angle of inclination of the lower leg exoskeleton 12 increases as the lower leg exoskeleton 12 tilts forward or backward relative to the exoskeleton foot rest 13 from an upright position. According to the invention, the damping size of the hydraulic damper 30 is controlled through the real-time change of the inclination angle of the lower leg exoskeleton 12, and when the inclination angle of the lower leg exoskeleton 12 is larger, stronger damping is needed to overcome the overturning trend of the lower leg exoskeleton 12.
Preferably, as shown in fig. 2 and 3, the variable damping hole comprises a straight hole 311 communicated with the bottom of the rodless cavity and a tapered hole 312 connected with the lower end of the straight hole 311, a tapered head 34 is arranged in the tapered hole 312, and the flow area of the variable damping hole is adjusted by adjusting the depth of the tapered head 34 inserted into the tapered hole 312; the cone head 34 is connected with a top rod 341, the top rod 341 is connected with the piston cylinder 31 in a sliding manner along the axial direction of the piston cylinder 31, the lower end of the top rod 341 is fixedly connected with a top push plate 342, a triangular cam 36 is arranged on a pivot between the piston cylinder 31 and the exoskeleton foot rest 13, the bottom surface of the top push plate 342 is in sliding interference fit with the wheel surface of the triangular cam 36, a first elastic element for driving the top rod 341 to move downwards is arranged between the top rod 341 and the piston cylinder 31, and when the piston cylinder 31 tilts forwards or backwards relative to the exoskeleton foot rest 13, the triangular cam 36 can drive the top rod 341 to lift so as to change the flow area between the cone head.
Further, a piston block 351 which is arranged in the liquid storage cavity 35 in a sliding mode along the axial direction of the liquid storage cavity 35 is arranged in the liquid storage cavity 35, the space, below the piston block 351, of the liquid storage cavity 35 is communicated with the atmosphere, the space, above the piston block 351, of the liquid storage cavity 35 is communicated with a variable damping hole, the conical head 34 is located above the piston block 351, and the ejector rod 341 penetrates through the piston block 351 and is in sealing sliding fit with the piston block 351; the rod chamber above the piston 32 is communicated with the liquid storage chamber 35 through a first pipeline 301; because the sectional areas of the rod cavity and the rodless cavity are different, the speed and the total amount of liquid pumped by the rod cavity and the speed and the total amount of liquid pumped by the rodless cavity exist difference in the moving process of the piston 32, the liquid storage cavity 35 is arranged in the invention, when the piston 32 moves downwards, a part of liquid discharged by the rodless cavity is pumped away by the rodless cavity, and the excessive part can be stored in the liquid storage cavity 35, when the piston 32 moves upwards, the liquid discharged by the rod cavity is not enough to be supplied to the rodless cavity, and at the moment, the liquid stored in the liquid storage cavity 35 can supplement the rodless cavity.
Further, a branch 302 is connected to the first conduit 301, the branch 302 communicating with the rodless chamber below the piston 32, and a controllable one-way valve 37 is provided in the branch 302, the controllable one-way valve 37 being configured such that when the exoskeleton foot rest 13 is standing on the ground, oil in the branch 302 can only flow from the first conduit 301 to the rodless chamber and cannot flow from the rodless chamber to the first conduit 301, and when the exoskeleton foot rest 13 is off the ground, oil in the branch 302 can flow in both directions; the controllable check valve 37 comprises a valve housing 371, a valve cavity is arranged in the valve housing 371, a first interface 373 penetrating through the valve housing 371 is arranged at one end of the valve cavity, a second interface 374 penetrating through the valve housing 371 is arranged on the side surface of the valve cavity, a valve head 372 and a movable seat 375 are arranged in the valve cavity, the movable seat 375 is movably arranged along the axial direction of the valve cavity, the valve head 372 is connected with the movable seat 375 in a sliding manner along the axial direction of the valve cavity, a second elastic element 376 and a limiting portion 377 are arranged between the valve head 372 and the movable seat 375, the second elastic element 274 is assembled so that the elastic force of the second elastic element can drive the valve head 372 to slide relative to the movable seat 375 in the direction close to the first interface 373, and the limiting portion 377 is assembled so as to; a third elastic element 381 is arranged between the movable seat 375 and the exoskeleton foot rest 13, the movable seat 375 is protruded out of the bottom surface of the exoskeleton foot rest 13 under the action of the third elastic element 381, and at this time, the valve head 372 is kept in a state of being separated from the first interface 373 under the action of the limiting part 377; the movable seat 375 can be compressed upward when the exoskeleton foot rest 13 is supported upright on the ground so that the valve head 372 elastically abuts against the inner end of the first interface 373; a first port 373 communicates with the first conduit 301 via the branch 302 and a second port 374 communicates with the rodless cavity via the branch 302. The controllable one-way valve 37 is arranged for improving the comfort of a patient when lifting feet, when the exoskeleton foot rest 13 is supported on the ground, the controllable one-way valve 37 works in a one-way conduction mode, at the moment, liquid in a rodless cavity can only enter the liquid storage cavity 35 through the lower damping hole, when the exoskeleton foot rest 13 is separated from the ground, the controllable one-way valve 37 works in a two-way conduction mode, at the moment, the liquid in the rodless cavity can bypass the damping hole and directly enter the rod cavity and the liquid storage cavity 35 through the branch pipe 302, so that the movable resistance of an ankle joint can be reduced to the maximum extent, and the comfort in the foot lifting process is improved.
Preferably, as shown in fig. 3, a buffer plate 38 is disposed behind the bottom surface of the exoskeleton foot rest 13, the movable seat 375 is fixedly connected to the buffer plate 38, the buffer plate 38 is movably connected to the bottom surface of the exoskeleton foot rest 13 along the normal direction of the bottom surface, and the third elastic element 381 comprises an elastic air bag disposed between the buffer plate 38 and the bottom surface of the exoskeleton foot rest 13; the first and second elastic elements 376 are compression springs; the first pipeline 301 and the branch pipe 302 are hoses, and the buffer plate 38 and the elastic air bags can also provide certain buffer when the feet fall to the ground, so that discomfort caused by rigid contact between the foot support and the ground is avoided.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (10)
1. The utility model provides a variable hydraulic damping mechanism of mechanical ectoskeleton ankle joint which characterized in that: the ankle joint exoskeleton comprises a hydraulic damper (30), wherein two ends of the hydraulic damper (30) are respectively pivoted with a shank exoskeleton (12) and an exoskeleton foot support (13), and the shank exoskeleton (12) and the exoskeleton foot support (13) are mutually pivoted to form an exoskeleton ankle joint; the hydraulic damper (30) comprises a piston cylinder (31), a piston (32) and a piston rod (33), the piston (32) is arranged in the piston cylinder (31) in a sliding mode, one end of the piston rod (33) is fixedly connected with the piston (32), the other end of the piston rod is pivoted with the shank exoskeleton (12), and the piston cylinder (31) is pivoted with the exoskeleton foot support (13); when the crus exoskeleton (12) and the exoskeleton foot supports (13) are in an upright state, the axes of a pivot between the piston rod (33) and the crus exoskeleton (12), a pivot between the piston cylinder (31) and the exoskeleton foot supports (13) and a pivot between the crus exoskeleton (12) and the exoskeleton foot supports (13) are collinear, and the hydraulic damper (30) also reaches the maximum elongation at the moment; the lower half part of the piston cylinder (31) is provided with a variable damping hole communicated with a rodless cavity below the piston (32), and a liquid storage cavity (35) is arranged below the variable damping hole; the variable orifice is configured to progressively decrease in flow area as the angle of inclination of the lower leg exoskeleton (12) increases as the lower leg exoskeleton (12) tilts forward or backward from an upright position relative to the exoskeleton foot rest (13).
2. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 1, wherein: the variable damping hole comprises a straight hole (311) communicated with the bottom of the rodless cavity and a tapered hole (312) connected with the lower end of the straight hole (311), a conical head (34) is arranged in the tapered hole (312), and the flow area of the variable damping hole is adjusted by adjusting the depth of the conical head (34) inserted into the tapered hole (312).
3. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 2, wherein: the cone head (34) is connected with a top rod (341), the top rod (341) is in sliding connection with the piston cylinder (31) along the axis direction of the piston cylinder (31), a top push plate (342) is fixedly connected to the lower end of the top rod (341), a triangular cam (36) is arranged on a pivot between the piston cylinder (31) and the exoskeleton foot rest (13), the bottom surface of the top push plate (342) is in sliding interference fit with the wheel surface of the triangular cam (36), a first elastic element for driving the top rod (341) to move downwards is arranged between the top rod (341) and the piston cylinder (31), and when the piston cylinder (31) tilts forwards or backwards relative to the exoskeleton foot rest (13), the triangular cam (36) can drive the top rod (341) to lift so as to change the flow area between the cone head (34) and the cone hole (312).
4. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 2, wherein: the piston block (351) which is arranged along the axial sliding direction of the liquid storage cavity (35) is arranged in the liquid storage cavity (35), the space, below the piston block (351), of the liquid storage cavity (35) is communicated with the atmosphere, the space, above the piston block (351), of the liquid storage cavity (35) is communicated with the variable damping hole, the conical head (34) is located above the piston block (351), and the ejector rod (341) penetrates through the piston block (351) and forms sealing sliding fit with the piston block (351).
5. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 3, wherein: the rod chamber above the piston (32) is communicated with the liquid storage chamber (35) through a first pipeline (301).
6. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 4, wherein: the first pipeline (301) is connected with a branch pipe (302), the branch pipe (302) is communicated with the rodless cavity below the piston (32), a controllable one-way valve (37) is arranged on the branch pipe (302), the controllable one-way valve (37) is assembled in such a way that when the exoskeleton foot rest (13) stands on the ground, oil in the branch pipe (302) can only flow to the rodless cavity from the first pipeline (301) but cannot flow to the first pipeline (301) from the rodless cavity, and when the exoskeleton foot rest (13) leaves the ground, the oil in the branch pipe (302) can flow in two directions.
7. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 5, wherein: the controllable check valve (37) comprises a valve casing (371), a valve cavity is arranged in the valve casing (371), a first interface (373) penetrating through the valve casing (371) is arranged at one end of the valve cavity, a second interface (374) penetrating through the valve casing (371) is arranged on the side face of the valve cavity, a valve head (372) and a movable seat (375) are arranged in the valve cavity, the movable seat (375) is movably arranged along the axial direction of the valve cavity, the valve head (372) is in sliding connection with the movable seat (375) along the axial direction of the valve cavity, a second elastic element (376) and a limiting portion (377) are arranged between the valve head (372) and the movable seat (375), the second elastic unit (274) is assembled to enable the valve head (372) to slide towards the direction close to the first interface (373) relative to the movable seat (375) through elasticity, and the limiting portion (377) is assembled to limit the stroke of the valve head (372) when the movable seat (375; a third elastic element (381) is arranged between the movable seat (375) and the exoskeleton foot rest (13), the movable seat (375) protrudes out of the bottom surface of the exoskeleton foot rest (13) under the action of the third elastic element (381), and the valve head (372) is kept in a state of being separated from the first interface (373) under the action of the limiting part (377); when the exoskeleton foot rest (13) is vertically supported on the ground, the movable seat (375) can be compressed upwards so that the valve head (372) elastically abuts against the inner end of the first interface (373); the first port (373) is in communication with the first conduit (301) via the branch conduit (302), and the second port (374) is in communication with the rodless chamber via the branch conduit (302).
8. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 6, wherein: the rear part of the bottom surface of the exoskeleton foot support (13) is provided with a buffer plate (38), the movable seat (375) is fixedly connected with the buffer plate (38), the buffer plate (38) is movably connected with the bottom surface of the exoskeleton foot support (13) along the normal direction of the bottom surface, and the third elastic element (381) comprises an elastic air bag arranged between the buffer plate (38) and the bottom surface of the exoskeleton foot support (13).
9. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 6, wherein: the first and second elastic elements (376) are compression springs.
10. The mechanical exoskeleton ankle variable hydraulic damping mechanism of claim 6, wherein: the first pipeline (301) and the branch pipe (302) are both hoses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110297515.2A CN112999023A (en) | 2021-03-19 | 2021-03-19 | Variable hydraulic damping mechanism of mechanical exoskeleton ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110297515.2A CN112999023A (en) | 2021-03-19 | 2021-03-19 | Variable hydraulic damping mechanism of mechanical exoskeleton ankle joint |
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| Publication Number | Publication Date |
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| CN112999023A true CN112999023A (en) | 2021-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110297515.2A Withdrawn CN112999023A (en) | 2021-03-19 | 2021-03-19 | Variable hydraulic damping mechanism of mechanical exoskeleton ankle joint |
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| Country | Link |
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| CN (1) | CN112999023A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116922355A (en) * | 2023-06-13 | 2023-10-24 | 中船重工信息科技有限公司 | An industrial exoskeleton robot ankle joint with shock-absorbing and buffering functions |
| CN117679229A (en) * | 2024-02-01 | 2024-03-12 | 佳木斯大学 | High polymer material knee joint support of adjustable holding power |
| CN118927220A (en) * | 2023-06-07 | 2024-11-12 | 中国科学技术大学 | Linear Actuators and Exoskeletons |
-
2021
- 2021-03-19 CN CN202110297515.2A patent/CN112999023A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118927220A (en) * | 2023-06-07 | 2024-11-12 | 中国科学技术大学 | Linear Actuators and Exoskeletons |
| CN116922355A (en) * | 2023-06-13 | 2023-10-24 | 中船重工信息科技有限公司 | An industrial exoskeleton robot ankle joint with shock-absorbing and buffering functions |
| CN117679229A (en) * | 2024-02-01 | 2024-03-12 | 佳木斯大学 | High polymer material knee joint support of adjustable holding power |
| CN117679229B (en) * | 2024-02-01 | 2024-04-16 | 佳木斯大学 | High polymer material knee joint support of adjustable holding power |
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