Non-pump dual-push-rod hydraulic assistant robot and control method thereof

Abstract

The invention discloses a non-pump dual-push-rod hydraulic assistant robot and a control method thereof. The assistant robot comprises a supporting mechanism, an adjusting mechanism and an oil supplypipeline; the supporting mechanism comprises a thigh shell, a shank shell, a connecting plate and a foot sole plate; the adjusting mechanism is a hydraulic cylinder, the two ends of the hydraulic cylinder are hinged to the thigh shell and the shank shell respectively, and the hydraulic cylinder comprises a single-action cylinder and a dual-action cylinder; the oil supply pipeline comprises a firstoil way, a second oil way, a third oil way, a fourth oil way and a fifth oil way, and the first oil way, the second oil way and the third oil way are each connected with an energy storage tank. According to the non-pump dual-push-rod hydraulic assistant robot and the control method thereof, the structure is simple, no hydraulic pump or motor needs to be adopted as drive, meanwhile, the motion state of the knee joints in the actual walking process can be accurately judged, output power can be adjusted according to the motion state of the knee joints, energy consumption is lowered, and energy is saved.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to a pumpless double push rod hydraulic walking robot and a control method thereof. Background technique [0002] Walking-assisting robot is an emerging technology that has developed rapidly in recent years, and it is a new application of robotics in the medical field. At present, most walking-assisting robots in the prior art are driven by motors. Even if hydraulic drive is used, hydraulic pumps are required to provide power. The energy of the battery is large, and the battery life is short, so it needs to replenish energy frequently. In addition, when the human body walks normally, the swing phase and the support phase of the legs alternate with each other, and the legs only need the driving device to provide a large driving force in the standing phase, and the swing phase can be achieved through the rotation of the hip joint. The corresponding swing under the act...

AI Technical Summary

Problems solved by technology

At present, most walking-assisting robots in the prior art are driven by electric motors. Even if hydraulic drive is used, a hydraulic pump is required to provide power. The energy is larger, the battery life is shorter, and the energy needs to be replenished frequently

In addition, when the human body walks normally, the swing phase and the support phase of the legs alternate with each other, and the legs only need the driving device to provide a large driving force in the standing phase, and the swing phase can be achieved through the rotation of the hip joint. The corresponding swing under the action of inertial force requires less driving force, but many existing walker robots only rely on the same driving structure to provide power, which will cause energy waste

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