A hydraulically assisted exoskeleton mechanism with back weight energy recovery during walking

Abstract

The invention discloses a hydraulic power-assisted exoskeleton mechanism in which the back weight-bearing energy can be recovered during walking, which includes left and right lower limbs and a back energy recovery mechanism with completely symmetrical structures; the left and right lower limbs both include: sole parts, calf parts , a set of driving parts, thigh parts, waist parts. In the present invention, the ankle joints of the lower limbs are equipped with torsion springs to store energy, the knee joints and hip joints are equipped with driving parts to assist the human body to walk, and the back uses a set of double-piston rod hydraulic cylinders to directly convert the mechanical energy generated by the back load during the walking process of the human body wearing the exoskeleton into hydraulic pressure. The hydraulic energy is stored through the constant pressure accumulator on the back, and the stored hydraulic energy is directly used as a backup energy source for the lower extremity exoskeleton. The hydraulic mechanism for energy recovery adopts double-piston rod double-acting hydraulic cylinder, the overall structure is simple, the mass is small, and the constant-pressure accumulator used has a large energy storage density, which can realize the efficient conversion of mechanical energy and hydraulic energy.

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...

AI Technical Summary

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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