Semi-automatic rigid-flexible coupling type hydraulic exoskeleton

A rigid-flexible coupling, semi-active technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of unadjustable power assistance, high energy consumption, and poor man-machine coupling.

Active Publication Date: 2020-10-23
UNIV OF SHANGHAI FOR SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to solve the dis

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  • Semi-automatic rigid-flexible coupling type hydraulic exoskeleton
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  • Semi-automatic rigid-flexible coupling type hydraulic exoskeleton

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Embodiment Construction

[0056] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

[0057] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.

[0058] In order to make the technical means, creative features, goals and effects of the present invention easy to understand, a se...

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Abstract

The invention discloses a semi-automatic rigid-flexible coupling type hydraulic exoskeleton, and relates to an assistant force mechanism in the field of robots. The exoskeleton comprises a waist unit,leg units and a hydraulic damper regulator. The hydraulic damper regulator comprises a cylinder body, a titanium alloy sleeve, a cylinder head, a piston, an extension assistant force spring, an oil inlet plug, an intersection channel type valve body, a valve body sealing seat, a valve body end bevel gear, an angle sensor, a motor fixing base, a direct-current servo motor, a coupling and a motor end bevel gear. The semi-automatic rigid-flexible coupling type hydraulic exoskeleton can achieve assistant force or damping adjustment in a weight carrying mode or on-load walking mode; in the weightcarrying mode, both a from-high-to-low carrying mode and a from-low-to-high carrying mode are supported, and the high applicability is achieved; assistant force can be provided to knee joints when theknee joints bend naturally when a user bends down; a semi-automatic torque adjustment system is formed by hydraulic dampers and springs, the assistant force and damping force can be adjusted in magnitude, the weight is light, and high coupling is achieved between human and machines.

Description

technical field [0001] The invention relates to a booster mechanism in the field of robots, in particular to a semi-active rigid-flexible coupling hydraulic exoskeleton. Background technique [0002] my country's transportation industry, logistics industry, construction industry, and manufacturing industry have a large number of employees, and a considerable number of jobs require long-term repetitive operations, resulting in fatigue injuries to the limbs, especially the waist and knees. Exoskeleton robot refers to a kind of intelligent wearable device that imitates the state of human motion, enhances human motion ability, and integrates bionics and ergonomics. It can improve people's ability in specific aspects such as walking durability and load-bearing capacity. Existing waist and knee assisting exoskeletons are divided into two types of assisting, namely active assisting exoskeleton and passive assisting exoskeleton. The active power-assisted exoskeleton assists the mov...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0006
Inventor 汪晓铭张哲文喻洪流曹武警孟巧玲肖艺璇
Owner UNIV OF SHANGHAI FOR SCI & TECH
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