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An active-passive hybrid drive device for joint drive

A hybrid drive, active and passive technology, applied in fluid pressure actuators, servo motors, servo motor components, etc., can solve the problems of large volume and weight, complex structure, inconvenient maintenance, etc., and achieve the effect of continuously adjustable damping

Active Publication Date: 2021-08-27
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • An active-passive hybrid drive device for joint drive
  • An active-passive hybrid drive device for joint drive

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Embodiment Construction

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0031] The core of the present invention is to provide an active-passive hybrid drive device for joint drive, the damping can be automatically adjusted in real time to control the magnitude of the damping force under different load forces and human gait, and realize natural and smooth rotation.

[0032] Please refer to Figure 1 to Figure 2 , figure 1 It is a schematic diagram of the internal structure of a specific embodiment of the active and passive hybrid...

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Abstract

The invention discloses an active-passive hybrid drive device for joint drive, comprising: a hydraulic cylinder, including a hydraulic cavity, a piston and a piston rod inserted in the hydraulic cavity; a first inlet port and a first outlet port of a throttle valve. One-to-one communication with the first flow channel and the second flow channel of the hydraulic cylinder; the first motor is connected to the throttle valve and controls the opening size of the throttle valve; the second inlet port and the second outlet port of the gear pump pass through the slide The valve is connected to the first flow path and the second flow path of the hydraulic cylinder; the second motor is connected to the spool valve and used to drive the spool valve to move and shift; The energy storage chamber is inserted with an upper spring compartment and a lower spring compartment which are sealed and slidable with the energy storage chamber, and an energy storage buffer spring is arranged between the upper spring compartment and the lower spring compartment. The damping can be automatically adjusted in real time to control the magnitude of the damping force under different load forces and human gait, so as to achieve natural and smooth rotation.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F15B11/08F15B13/02F15B1/02F15B15/14F15B15/22
CPCF15B1/02F15B11/08F15B13/02F15B15/1423F15B15/1433F15B15/1447F15B15/1457F15B15/22
Inventor 罗自荣尚建忠白向娟吴伟林泽宁蒋涛卢钟岳徐毓泽夏明海
Owner NAT UNIV OF DEFENSE TECH
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