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Hydraulic system and hydraulic driving method applied to load motorized exoskeleton

A hydraulic system and exoskeleton technology, which is applied in the field of exoskeleton drive, can solve the problems of limited practicability of load-driven exoskeleton, heavier load-driven exoskeleton, and complex drive oil circuit, and achieve light weight, compact structure, and volume small effect

Pending Publication Date: 2021-06-18
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0004] At present, load-bearing exoskeletons basically use double-acting hydraulic cylinders. However, double-acting hydraulic cylinders are large in size and weight, and their extension and retraction need to be controlled, which makes the drive oil circuit more complicated. Exoskeletons are constrained by volume and weight, which often limits the practicality of payload-mobile exoskeletons

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  • Hydraulic system and hydraulic driving method applied to load motorized exoskeleton
  • Hydraulic system and hydraulic driving method applied to load motorized exoskeleton
  • Hydraulic system and hydraulic driving method applied to load motorized exoskeleton

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Embodiment Construction

[0048] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0049] This embodiment discloses a hydraulic system applied to a load-driven exoskeleton, such as figure 1 and figure 2 As shown, the hydraulic system includes an oil bag 1, a parallel two-way hydraulic circuit, 2 hip joint hydraulic cylinders and 2 knee joint hydraulic cylinders.

[0050] Such as Figure 1 ~ Figure 3 As shown, each hydraulic circuit is equivalent to a miniature hydraulic station, and each hydraulic circuit is connected to an oil bag, a corresponding hip joint hydraulic cylinder 3 and a knee joint hydraulic cylinder 4 through a hydraulic pipe 2 . Both the hip joint hydraulic cylinder and the knee joint hydraulic cylinder are single-acting cylinders (active in the direction of extension and passive in the direction of retraction).

[0051] Each hydrau...

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Abstract

The invention discloses a hydraulic system and hydraulic driving method applied to a load motorized exoskeleton. Two hydraulic circuits of the system are connected in parallel and are both connected with an oil bag, a hip joint hydraulic cylinder and a knee joint hydraulic cylinder, and a position sensor is arranged at the knee joint hydraulic cylinder; in each hydraulic circuit, a hydraulic pump is connected with the oil bag and a one-way valve, the one-way valve is then connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, and a hydraulic valve is also connected with the oil bag, the hip joint hydraulic cylinder and the knee joint hydraulic cylinder, so that a closed circuit is formed; a motor is connected with and drives the hydraulic pump, the oil pressure in the movement process of the hydraulic cylinders is controlled by controlling the rotating speed of the motor, and flow in the extension movement process of the hydraulic cylinders is controlled through the hydraulic pump and the one-way valve so as to drive the hydraulic cylinders to extend; and retraction movement of the hydraulic cylinders is automatically driven by human legs, wherein the flow in the phase change and retraction movement process of the hydraulic cylinders is controlled through the hydraulic valve. The hydraulic system is compact in structure, light in weight, small in size and good in practicability.

Description

technical field [0001] The invention relates to the technical field of exoskeleton drive, in particular to a hydraulic system and a hydraulic drive method applied to a load-driven exoskeleton. Background technique [0002] The load-mobile exoskeleton is a set of high-tech intelligent equipment composed of a mechanical system, a sensing system, a power system, and a control system. The wearer is not only the operating object of the exoskeleton, but also the user object. Enhance the physical fitness of the wearer, reduce and prevent the wearer's injury, etc. [0003] The power system is the energy source of the load-mobile exoskeleton, which directly determines the working efficiency, running time and energy utilization rate of the exoskeleton, and indirectly affects the stability, reliability and safety of the exoskeleton. At present, there are two main types of drive systems for lower extremity exoskeletons: one uses batteries as energy carriers, and the drive system direct...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J17/02F15B1/02F15B11/17F15B13/06F15B21/02
CPCB25J9/0006B25J17/0258F15B1/024F15B11/17F15B13/06F15B21/02F15B2211/20576F15B2211/78
Inventor 屈盛官尹鹏杨靓曲希帅曾德政姜笑天
Owner SOUTH CHINA UNIV OF TECH
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