Hydraulic power-assisted exoskeleton mechanism capable of recycling back load energy in walking process

Abstract

The invention discloses a hydraulic power-assisted exoskeleton mechanism capable of recycling back load energy in the walking process. The hydraulic power-assisted exoskeleton mechanism comprises a left lower limb, a right lower limb and a back energy recycling mechanism; and the left lower limb and the right lower limb each comprises a sole part, a shank part, a set of driving parts, a thigh partand a waist part. According to the hydraulic power-assisted exoskeleton mechanism, torsion springs are arranged on ankle joints of lower limbs to store energy, driving parts are arranged on knee joints and hip joints to assist a human body in walking, mechanical energy generated by back loads in the walking process of a human body wearing exoskeleton is directly converted into hydraulic energy through a set of double-piston-rod hydraulic cylinders on the back, the hydraulic energy is stored through a constant-pressure energy accumulator on the back, and the stored hydraulic energy is directlyused as a standby energy source of a lower limb exoskeleton. According to the hydraulic mechanism capable of recycling the energy, the double-piston-rod double-acting hydraulic cylinders are adopted,so that the overall structure is simple, the mass is small; and the energy storage density of the adopted constant-pressure energy accumulator is large, so that the efficient conversion of the mechanical energy and the hydraulic energy can be achieved.

Description

technical field [0001] The invention belongs to the technical field of an energy-saving device for energy recovery of a lower extremity exoskeleton, and relates to a hydraulic power-assisted exoskeleton mechanism whose back load energy can be recovered during walking. Background technique [0002] In recent years, exoskeleton robots are an emerging field at the forefront of science and technology, and have broad application prospects in occasions such as individual combat carrying loads and human-assisted walking. The advantages of hydraulic drive such as high power density make it a preferred drive solution for such high-end electromechanical equipment, but low energy efficiency is still an unavoidable weakness. Therefore, finding a reliable energy source as the power source of such equipment and improving the energy efficiency of the overall hydraulic system has become an important demand for research in this field. [0003] Energy recovery is the most common and effectiv...

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Problems solved by technology

The hydraulic mechanism has the problems of complex overall structure, overweight and low energy density, so the maintenance performance is also poor

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