Active and passive hybrid driving device for joint driving

Abstract

The invention discloses an active and passive hybrid driving device for joint driving. The active and passive hybrid driving device comprises a hydraulic cylinder, a piston, a piston rod, a throttle valve, a first motor, a gear pump, a second motor and an energy storage assembly, wherein the hydraulic cylinder comprises a hydraulic cavity; the piston and the piston rod are cooperatively inserted in the hydraulic cavity; a first inlet end and a first outlet end of the throttle valve are in communication with a first flow channel and a second flow channel of the hydraulic cylinder in a one-to-one manner; the first motor is connected to the throttle valve and controls the opening size of the throttle valve; a second inlet end and a second outlet end of the gear pump are connected to a first flow channel and a second flow channel of the hydraulic cylinder through a slide valve; the second motor is connected to the slide valve and used for driving the slide valve to move and change positions; the energy storage assembly comprises an energy storage cavity communicated with a flow channel between the gear pump and the sliding valve, a spring upper partition cavity and a spring lower partition cavity which slide in the energy storage cavity in a sealed mode are inserted into the energy storage cavity, and an energy storage buffer spring is arranged between the spring upper partition cavity and the spring lower partition cavity. Damping can be automatically adjusted in real time so as to control the magnitude of damping force under different loading capacities and human gaits, and natural and smooth rotation is achieved.

Description

technical field [0001] The present invention relates to the technical field of joint drive, and more specifically, relates to an active and passive hybrid drive device for joint drive. Background technique [0002] Among the disabled population in my country, there are a large number of amputee patients. Human disabilities may be caused by accidents such as traffic accidents, industrial injuries, natural disasters, or diseases such as diabetes, but only some of them have installed lower limb prostheses or An exoskeleton system is used, which is currently an effective means of reintegrating amputees into society. [0003] The joints of traditional wearable robots use mechanical damping, and the damping value cannot be adjusted with the gait, which will lead to unnatural gait and low driving efficiency. At the same time, the current part of the joint drive structure has a large volume and weight, a complex structure, and inconvenient maintenance. [0004] Therefore, how to so...

AI Technical Summary

Problems solved by technology

At the same time, the current part of the joint drive structure has a large volume and weight, a complex structure, and inconvenient maintenance.

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