A Throttle Valve Damping Wearable Robot Joint Drive Device
A technology of robot joints and driving devices, which is applied in artificial legs, medical science, prostheses, etc., can solve problems such as inconvenient maintenance, large volume and weight, and complex structure, so as to reduce energy consumption, make smooth and natural movements, and reduce overall The effect of volumetric weight
Active Publication Date: 2022-08-09
NAT UNIV OF DEFENSE TECH
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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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[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0032] The core of the invention is to provide a throttle valve damping wearable robot joint drive device, 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. The compactness and light weight of the drive structure are realized.
[0033] Please refer to Figure 1 to Figure 3 , figure 1 A schematic cro...
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The invention discloses a throttle valve damping wearable robot joint drive device, comprising: a double-chamber hydraulic cylinder, a first piston rod, a first piston, a second piston rod, a second piston, and a uniaxial knee joint assembly. One side of the joint is connected to the tail of the first piston rod through a connecting rope, and the other side is connected to the tail of the second piston rod through a connecting rope. The throttle valve is respectively connected to the upper cavity of the first hydraulic chamber and the second hydraulic chamber. , the hydraulic pump is respectively connected to the lower cavity of the first hydraulic chamber and the second hydraulic chamber, the first motor controls the opening area of the throttle valve, the second motor controls the speed and steering of the hydraulic pump, and the angle sensor detects the rotation of the knee joint assembly. angle and speed. 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, and at the same time, the structure of the drive structure is compact and lightweight.
Description
technical field [0001] The present invention relates to the technical field of joint driving, and more particularly, to a joint driving device of a throttle valve damping wearable robot. Background technique [0002] At present, there are a large number of patients with lower limb amputations in my country. Amputations caused by car accidents or diseases not only bring them physical pain, but also bring certain psychological torture. Therefore, designing and installing lower limb prostheses for amputees or wearing exoskeleton systems for paralyzed people is an effective means to solve the current predicament and allow them to return to society. [0003] The performance and comfort of a wearable robot joint are largely determined by the drive structure of the joint. Whether the damping of the driving structure can be continuously adjusted determines the flexibility of the swinging posture of the joints of the wearable robot. The non-compliant posture will lead to poor wearin...
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IPC IPC(8): A61F2/74A61F2/64
CPCA61F2/68A61F2/64
Inventor 尚建忠罗自荣白向娟吴伟蒲思贤蒋涛卢钟岳徐毓泽夏明海
Owner NAT UNIV OF DEFENSE TECH