Semi-automatic rigid-flexible coupling type hydraulic exoskeleton

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...

AI Technical Summary

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 disadvantages of high energy consumption, short battery life, poor man-machine coupling and non-adjustable power assistance existing in the prior art.

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