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An electro-hydraulic hybrid drive exoskeleton device

An electro-hydraulic hybrid and exoskeleton technology, which is used in appliances to help people move around, physical therapy, etc., can solve problems such as insufficient driving force and torque, inaccurate position control, and low sensitivity, and achieve large torque and torque. The effect of low volume and transformation difficulty

Active Publication Date: 2020-04-07
TAIYUAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the shortcomings of exoskeleton driving such as insufficient driving force and torque, inaccurate position control, and low sensitivity, the present invention proposes an electro-hydraulic hybrid drive exoskeleton device, which connects the hip joint of the left leg, the knee joint of the left leg, and the hip joint of the right leg The motor drive and hydraulic drive of the joint and the knee joint of the right leg are combined, and the original drive system is replaced with a hydraulic-electric hybrid drive, which has the advantages of large output torque, accurate positioning, and stable work.

Method used

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  • An electro-hydraulic hybrid drive exoskeleton device

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Embodiment 1

[0033] Such as figure 1 As shown, an electro-hydraulic hybrid drive exoskeleton device includes a load plate 27, a waist belt 28, a left leg 40, a right leg 39, a driver for the hip joint of the left leg 34, a driver for the knee joint of the left leg 36, and a driver for the hip joint of the right leg 29 , right leg knee joint driver 31 and the first hydraulic drive circuit 41, left leg and right leg structure are identical, all comprise thigh 30, shank 32, pin 33, hip joint 35, knee joint 37 and ankle joint 38, load plate, The belt is connected to the thigh through the hip joint, and the thigh to the calf is connected through the knee joint.

[0034] Described left leg hip joint driver, left leg knee joint driver, right leg hip joint driver, right leg knee joint driver are hydraulic mechanical cylinders 11, such as Figure 4 As shown, the hydraulic mechanical cylinder includes the second variable hydraulic pump / motor 16, the second transmission box 17 and the second mechani...

Embodiment 2

[0037] Such as figure 1 As shown, an electro-hydraulic hybrid-driven exoskeleton device includes a load plate, a belt, a left leg, a right leg, a driver for the hip joint of the left leg, a driver for the knee joint of the left leg, a driver for the hip joint of the right leg, a driver for the knee joint of the right leg and The second hydraulic drive circuit, the left leg and the right leg have the same structure, including the thigh, calf, foot, hip joint, knee joint and ankle joint, the load plate, the waist belt and the thigh are connected through the hip joint connected by the knee joint.

[0038] The described left leg hip joint driver, left leg knee joint driver, right leg hip joint driver, and right leg knee joint driver are electro-hydraulic mechanical cylinders 10, such as Figure 5 As shown, the electro-hydraulic mechanical cylinder includes the first variable hydraulic pump / motor 12, the motor 13, the first transmission box 14 and the first mechanical cylinder 15;...

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PUM

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Abstract

The inVention discloses an electro-hydraulic hybrid-driVen exoskeleton deVice. Motor driVing and hydraulic driVing are combined together, an original driVing system is replaced with electro-hydraulichybrid driVing, and an electro-hydraulic mechanical cylinder and a hydraulic mechanical cylinder serVe as secondary adjusting elements to driVe a linear load. The deVice has the adVantages of being simple in structure, easy to operate, capable of saVing energy, efficient, high in power density and the like, and has an energy recoVery function.

Description

technical field [0001] The invention belongs to the technical field of power drive, and in particular relates to an electro-hydraulic hybrid drive exoskeleton device. Background technique [0002] Due to the development of human society, people have begun to develop wearable robots in order to improve their own abilities and improve their own defects (such as the elderly with limited mobility, patients with leg diseases, etc.). The lower extremity exoskeleton is a kind of wearable robot, which mainly improves the function of the lower limbs of the human body, provides assistance for the walking of the lower limbs of the human body, and improves the carrying capacity of the human body. With the development of medical treatment, military affairs, and science and technology, lower extremity exoskeleton technology is widely used and has become a hot research technology. How to provide a stable and safe power to the exoskeleton has become an important problem at present. [000...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2201/0157A61H2201/1207A61H2201/1238A61H2201/14A61H2201/1642A61H2201/165A61H2201/1657A61H2201/50A61H2205/088A61H2205/10A61H2205/12
Inventor 权龙葛磊刘彪张旭飞王波李泽鹏
Owner TAIYUAN UNIV OF TECH