Miniature power source servo hydraulic system applied to exoskeleton robot

Abstract

The invention discloses a miniature power source servo hydraulic system applied to an exoskeleton robot. The hydraulic system consists of four parts of a hydraulic power system, a hydraulic servo control system, an air-bag-type closing-type oil tank system and a hydraulic execution element; the hydraulic system comprises a hydraulic pump (1), a servo motor (2), a first check valve (3), a first safety valve (4), an air bag (5), an oil tank (6), a hydraulic observation window (7), a hydraulic servo valve (8), a high-speed switch valve (9), a pressure sensor (10), a second check valve (11), a second safety valve (12) and a knee-joint plunger cylinder (13). The miniature power source servo hydraulic system is a miniature power source servo hydraulic system which is high in response speed, short in pressure building delay, small in size, light in weight, long in working time, low in noise and rapid in heat dissipation, and the cleanness of oil is ensured from the source.

Description

technical field [0001] The invention relates to the technical field of hydraulic control, in particular to a miniature independent power source servo hydraulic system applied to an exoskeleton robot. Background technique [0002] An exoskeleton robot is an intelligent device that can be quickly matched and worn on the outer side of the human body, can actively or passively follow the movement of the human body, and provide appropriate assistance to the human body. Wearable exoskeleton robots give full play to the perception characteristics of human-computer interaction, introduce human's intelligent decision-making ability, broaden the strength of human joints, and complete human-machine task coordination. [0003] At present, exoskeleton robots mainly use three types of joint drive methods: motor-reducer transmission, hydraulic transmission, and pneumatic transmission. Among them, hydraulic transmission is widely used in exoskeleton robots, especially in load-assisted exos...

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Problems solved by technology

[0004] At present, most domestic exoskeleton robots use servo hydraulic systems relying on imports. The existing conventional hydraulic principles and hydraulic valves are used to build the hydraulic system, resulting in the actual assembly of the hydraulic system. The actuator provides pressure oil, so that the hydraulic system is always in the state of high pressure and large flow, which brings problems such as loud noise, short working time and high heat generation.

[0005] Most domestic exoskeleton robots use hydraulic systems that pay more attention to the realization of functions, but do not pay attention to details and adopt the structure of an open fuel tank. This structure has the following defects: First, the oxygen and moisture in the outside air will cause the oil to oxidize and Hydrolysis, the generated acid pollutants and other pollutants will deteriorate the oil quality, cause corrosion and electrochemical reactions to the pipelines and hydraulic components of the hydraulic system, and seriously damage the normal operation of the hydraulic system

Second, pollutants such as acne in the external environment will enter the oil tank through the breathing valve and cause pollution to the oil, which will block the hydraulic valve parts, and even damage some high-precision hydraulic components, affecting the normal operation of the hydraulic system; Without sealing treatment, coupled with the violent disturbance of the oil in some cases, the oil in the oil tank will leak into the external environment

Fourth, the volume of the open fuel tank is generally large, which is not conducive to the miniaturization and weight reduction of the hydraulic system for the exoskeleton

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