Distributed type hydraulic power source lower extremity exoskeleton robot

A technology of exoskeleton robot and hydraulic power source, which is applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of many power source components, complex system structure, and increased overall weight, so as to reduce retention loss, reduce control difficulty, The effect of improving efficiency

Active Publication Date: 2019-04-19
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

The centralized power source system mainly includes: motors, pumps, servo valve groups, fuel tanks, and pipelines. There are many components in the en

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  • Distributed type hydraulic power source lower extremity exoskeleton robot
  • Distributed type hydraulic power source lower extremity exoskeleton robot
  • Distributed type hydraulic power source lower extremity exoskeleton robot

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Embodiment Construction

[0026] The present invention will be further described below with reference to the drawings and embodiments.

[0027] Such as figure 1 , image 3 , Figure 4 , Figure 5 As shown, the present invention includes: left and right lower limbs with the same structure, the upper left and right lower limbs are connected by a lower limb connector 6; the left and right lower limbs both include: hip joint component 1, knee joint component 2, ankle Joint component 3, foot wear device 4 and wear binding device 5; hip joint component 1 is connected to knee joint component 2 through hip joint swing bar 122, knee joint component 2 is connected to ankle joint component 3 through knee joint calf bar 222, ankle The joint component 3 is connected to the foot wearing device 4 through the ankle joint support 33, and the wearing binding device 5 is installed on both the hip joint swing bar 122 and the knee joint calf bar 222.

[0028] Such as figure 1 , image 3 , Figure 4 As shown, the hip joint compo...

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Abstract

The invention discloses a distributed type hydraulic power source lower extremity exoskeleton robot. The distributed type hydraulic power source lower extremity exoskeleton robot is formed by connecting a left lower extremity body and a right lower extremity body which are of the same structure and comprises hip joint components, knee joint components, ankle joint components, foot portion wear devices and wear binding devices, wherein the hip joint components are connected with the knee joint components through hip joint swing rods, the knee joint components are connected with the ankle jointcomponents through knee joint shank rods, the ankle joint components are connected with the foot portion wear devices through ankle joint support seats, and the hip joint swing rods and the knee jointshank rods are all provided with the wear binding devices. According to the distributed type hydraulic power source lower extremity exoskeleton robot, a power source is distributed to hip and knee joints, the robot back space is released, and the load space is increased; compared with an existing centralized type power source, valve block and pipeline structures are removed, and the robot weightis reduced; valve block and pipeline elements are reduced, power source interception loss is reduced, and the power source efficiency is improved; the distributed type hydraulic power source lower extremity exoskeleton robot is convenient to maintain, and partial problems are repaired partially; and by means of use of single-action moving cylinders, the control difficulty of the robot in the swinging phase is reduced.

Description

Technical field [0001] The present invention relates to an exoskeleton assisted robot, in particular to a lower limb exoskeleton robot with a distributed hydraulic power source. Background technique [0002] The power-assisted exoskeleton robot is a human-machine integrated mechanical device that can be worn by humans. The external power-assisted device enhances human handling ability and has a wide range of application prospects. Among them, the power source of the assisted exoskeleton robot is mainly a hydraulic power source system compared to the handicapped exoskeleton robot. At present, most power-assisted exoskeleton robots are mainly concentrated power sources. The centralized power source system mainly includes: motors, pumps, servo valve groups, fuel tanks, and pipelines. The entire power source has many components, the system structure is complex, the valve blocks and pipelines add additional overall weight and poor maintenance. [0003] After literature search, the Chi...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/14B25J17/02
CPCB25J9/0006B25J9/146B25J17/0258
Inventor 欧阳小平孙茂文凌振飞黄梓亮
Owner ZHEJIANG UNIV
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