Hydraulic locking device for exoskeleton joint and exoskeleton joint

Abstract

The present invention relates to a hydraulic locking device 10 for an exoskeleton joint, comprising a retractable hydraulic cylinder 12, a housing 16, and a switch valve 20. The hydraulic cylinder 12 is connected to the housing 16 via a conduit 14, and the switch valve 20 is disposed within the conduit 14. The switch valve 20 is switchable between a release position FS and a blocking position SS. When the switch valve 20 is in the release position FS, the hydraulic cylinder 12 is free to move; when the switch valve 20 is in the blocking position SS, the hydraulic cylinder 12 is prevented from retracting. The present invention is characterized in that the hydraulic locking device 10 comprises a housing 18; the hydraulic cylinder is a plunger cylinder 12, wherein the plunger cylinder 12 comprises a plunger cylinder housing 22 and a plunger piston 24 movably disposed within the plunger cylinder housing 22; and the plunger cylinder 12 is disposed within the housing 18. Furthermore, the present invention relates to an exoskeleton joint having such a hydraulic locking device 10.

Description

Technical Field

[0001] The invention relates to a hydraulic locking device for an exoskeleton joint and an exoskeleton joint having the hydraulic locking device. Background Art

[0002] Exoskeleton joints are used to connect the various parts of the exoskeleton together in an articulated manner. Exoskeletons, as external support structures, are often used as a device for supporting human weight, for example to reduce energy demands or stress. They can also be used in medical rehabilitation therapy. Similarly, it is conceivable that the device could be used as a training device during space travel to specifically train muscle groups that are not activated due to weightlessness.

[0003] Preferably, the exoskeleton is applied to the lower limbs of a human being so as to support weight relative to the ground during stance phase and to allow free movement during swing phase. In other words, known exoskeletons provide an external support structure for the legs of a human user, i.e., during stance phase, the exoskeleton can support a heavy object (e.g., a backpack) carried by the user relative to the ground; during swing phase, i.e., when the legs are moving, the exoskeleton does not provide support but instead allows free movement.

[0004] To this end, it is necessary to enable the exoskeleton joint used to be able to be pushed by the user's muscle power with as little friction as possible during the swing phase and to be locked during the stance phase. The exoskeleton joint may be, for example, an exoskeleton knee joint.

[0005] Hydraulic locking devices are often used to block exoskeleton joints. These devices typically consist of a retractable hydraulic cylinder, a housing, and an on / off valve. The cylinder extends and retracts with the exoskeleton joint, locking the joint when hydraulic pressure is applied.

[0006] To achieve this, the hydraulic cylinder is connected to the housing via a piping system, and a switch valve is disposed within the piping system. The switch valve can be switched between a released position and a blocked position. When the switch valve is in the released position, the hydraulic cylinder can move freely. Therefore, during the swing phase, the switch valve is in the released position, allowing the hydraulic cylinder to rotate in or out with the exoskeleton joint. During the stance phase, the switch valve is switched to the blocked position, disconnecting the hydraulic cylinder from the housing. For example, an acceleration sensor, contact sensor, or even a pressure sensor can be provided to identify whether the stance phase or the swing phase is in progress.

[0007] Figure 1A hydraulic circuit diagram of a hydraulic locking device 100 according to known prior art, used in an exoskeleton joint, is shown. Hydraulic locking device 100 includes a hydraulic cylinder configured as a differential cylinder 102, which is connected to a tank configured as an accumulator 106 via a conduit 104. Differential cylinder 102 includes a cylinder housing 108 and a piston 110 movably disposed within cylinder housing 108. Piston 110 separates a piston chamber 112 from a rod chamber 114. Conduit 104 includes a first branch 116 connected to piston chamber 112. A second branch 118 of conduit 104 is connected to rod chamber 114. A switching valve 120 is disposed in first branch 116 and is switchable between a release position FS and a blocking position SS. When current is applied to switching valve 120, spring force causes switching valve 120 to switch from the release position FS to the blocking position SS. In addition, the hydraulic locking device 100 further includes a short-circuit line 122 that bypasses the switching valve 120 between the first branch 116 and the second branch 118. A spring check valve 124 is provided in the short-circuit line 122 and opens in the flow direction from the rod chamber 114 to the piston chamber 112.

[0008] The switch valve 120 is driven by a control device (not shown) so that it is in the blocking position SS during the stance phase, thereby blocking the first branch 116. In this case, the hydraulic fluid cannot move from the piston chamber 112 to the tank 106, thereby blocking the piston 110 from retracting. At this time, the piston 110 can still be extended because the hydraulic fluid can be sucked from the tank 106 via the check valve 124. In the case of an exoskeleton knee joint, this actually means that the leg supported by the exoskeleton can continue to extend, but cannot bend beyond the knee. Therefore, the opening angle of the exoskeleton knee joint can increase, but cannot decrease. This ensures that full extension of the leg can be achieved even if the switch valve 120 is already in the blocking position SS.

[0009] Exoskeleton joints with such hydraulic locking devices are known, for example, see EP 2687339 B1. In the prior art, differential cylinders are evenly connected to the thigh and shank of the exoskeleton in an articulated manner and can be blocked via a switching valve during stance.

[0010] A disadvantage of the known solution is that the hydraulic cylinder interferes with the user when sitting down, as it is located directly behind the knee joint. Therefore, according to the solutions known in the prior art, the hydraulic cylinder is arranged on the side of the knee joint. However, there is a problem in that the lateral exoskeleton is very large, which makes the hydraulic cylinder more susceptible to damage, for example, the hydraulic cylinder can get stuck in the rigid structure. In addition, the transversely arranged hydraulic cylinder has the problem that the rotational torque it introduces must be compensated. The transversely arranged hydraulic cylinder also causes interference when walking, as it is located in the swing area of ​​the arm. In addition, the hydraulic locking device according to the known solution takes up a relatively large amount of space and is also heavy. Summary of the Invention

[0011] Therefore, the purpose of the present invention is to provide a hydraulic locking device for an exoskeleton joint, which has a simple structure and occupies a small installation space, can not only avoid damage, but also minimize the harm to the user, while its weight is also reduced.

[0012] The above problem can be solved by a hydraulic locking device for an exoskeleton joint according to claim 1. Furthermore, the above problem can be solved by an exoskeleton joint according to claim 9. The dependent claims describe preferred embodiments.

[0013] Compared to hydraulic locking devices known in the prior art, the hydraulic locking device for an exoskeleton according to the present invention is characterized in that it includes a housing, and its hydraulic cylinder is a plunger cylinder having a plunger cylinder housing and a plunger piston movably disposed in the plunger cylinder housing. According to the present invention, the plunger cylinder is disposed within the housing.

[0014] The plunger cylinder is a single-acting cylinder, also known as a plunger piston cylinder. Although the plunger cylinder does not have an actual piston, the piston rod acts as a piston. During the gait phase, the user's muscle power will generate an external reset force, so the reset with a plunger cylinder will be more complicated and an insignificant disadvantage. In general, the mechanical efficiency generated by the use of a plunger cylinder is higher than that of a traditional differential cylinder. Therefore, the plunger cylinder can be designed to be smaller, which can also reduce weight. In addition, arranging the plunger cylinder in the housing can also avoid damage, and the corresponding arrangement directly in the exoskeleton joint can prevent the hydraulic locking device from injuring the user.

[0015] Preferably, the hydraulic locking device comprises a rotation shaft and a lever. Preferably, the rotation shaft is rotatably mounted on the housing about a first rotation axis, and the plunger cylinder housing is rotatably mounted on the housing about a second rotation axis. Preferably, the lever comprises a shaft coupling portion and a piston coupling portion, wherein the shaft coupling portion is non-rotatably connected to the rotation shaft. Preferably, the piston coupling portion is rotatably connected to the plunger.

[0016] The rotating shaft transmits rotational motion to the plunger via the lever. When the on-off valve is in the blocked position, the plunger is fixed and cannot retract. At this point, since the rotating shaft is directly connected to the plunger via the lever, it cannot continue to rotate. Therefore, a supporting force is generated by the rotating shaft, the lever, and the plunger cylinder. Preferably, the first rotating shaft is parallel to the second rotating shaft.

[0017] Preferably, the rotating shaft is rotatable between a first end position and a second end position, with a dead center position located between the first end position and the second end position. Preferably, the plunger is extended in the first end position and moves into the dead center position when the rotating shaft rotates. Preferably, the plunger is extended when it rotates from the dead center position to the second end position.

[0018] The first end position of the rotation axis can, for example, correspond to the maximum possible angle of the exoskeleton joint. Thus, the second end position can, for example, correspond to the minimum possible angle of the exoskeleton joint. Using the exoskeleton knee joint as an example, this means that when the leg is substantially or fully extended, the rotation axis is in the first end position, and when the leg is substantially or fully flexed, the rotation axis is in the second end position.

[0019] During movement from the first end position to the second end position, the plunger initially retracts and reaches its maximum extent when it reaches the dead center position of the rotation axis (located between the first and second end positions). However, when movement continues from the dead center position to the second end position, the plunger extends again, thereby reversing the direction of movement of the plunger. As a result, this maximum complete range of movement between the first and second end positions can be reproduced with a significantly smaller back-and-forth movement of the plunger cylinder. This makes the design of the hydraulic locking device particularly space-saving and weight-saving.

[0020] Preferably, the switching valve has a non-return valve, which is activated in the blocking position and opens in the flow direction from the tank to the plunger cylinder. The non-return valve thus enables the plunger cylinder to be refilled, thereby allowing the plunger to continue to extend. When the switching valve is in the blocking position, the plunger piston cannot be retracted. Therefore, even if the switching valve is in the blocking position, the exoskeleton joint can still be opened further. Taking the exoskeleton knee joint as an example, this means that the user can further extend the knee joint even if the switching valve is already in the blocking position or the gait stance phase has been detected. However, when the switching valve is in the blocking position, it is not possible to bend the knee, so that any possible weight can still be supported safely and reliably by the exoskeleton.

[0021] Alternatively, the plunger cylinder has a non-return valve that opens in the direction of flow from the housing to the plunger cylinder. Particularly preferably, the plunger piston has a non-return valve. This arrangement also offers the aforementioned advantages, namely that the plunger piston can still be extended even in the blocked position of the switching valve. Furthermore, the non-return valve can be integrated into the plunger, resulting in a particularly compact and lightweight design.

[0022] Preferably, the plunger piston and the plunger cylinder housing define a plunger chamber, which is connected to the housing via a pressure relief valve. A maximum permissible pressure is set on the pressure relief valve, allowing the pressure relief valve to function as a safety valve. Once the pressure in the plunger chamber, i.e., the pressure in at least part of the conduit arrangement, exceeds the maximum pressure set by the pressure relief valve, the pressure relief valve opens, releasing the pressure in the plunger chamber into the housing. In this way, damage to the hydraulic locking device can be effectively prevented.

[0023] Preferably, the housing is formed as the housing, and the plunger cylinder is arranged within the housing. Therefore, there is no need to specifically seal the plunger cylinder to prevent leakage, as any leakage will directly enter the housing. In addition, the stance phase is usually relatively short, so a certain amount of leakage from the plunger cylinder over a certain period of time is tolerable without additional concern. In view of this, it is possible to omit the high-pressure seal of the plunger piston relative to the plunger cylinder housing, and only provide a clearance seal.

[0024] At the same time, there is no need to provide a large number of high-pressure seals in the entire hydraulic locking device. Instead, only one high-pressure seal is required between the plunger cylinder or plunger chamber and the switch valve, because this is the only part of the hydraulic locking device where a pressure higher than atmospheric pressure may occur.

[0025] The exoskeleton joint according to claim 9 can also solve the above problem, and the joint includes the above-mentioned hydraulic locking device. Preferably, the exoskeleton joint is an exoskeleton knee joint. However, it is also conceivable that the exoskeleton joint can also be an exoskeleton hip joint, an exoskeleton elbow joint, an exoskeleton ankle joint, or an exoskeleton shoulder joint.

[0026] Preferably, the exoskeleton joint comprises a first bracket and a second bracket, wherein the first bracket is disposed on the housing of the hydraulic locking device, and the second bracket is movably mounted on the housing via a four-bar linkage. Preferably, the four-bar linkage is connected to the rotation axis. For example, the exoskeleton's thigh can be attached to the first bracket, and the exoskeleton's calf can be attached to the second bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be explained in more detail below based on the exemplary embodiments shown in the drawings, in which:

[0028] Figure 1shows a hydraulic circuit diagram of a hydraulic locking device known in the prior art;

[0029] Figure 2 shows a hydraulic circuit diagram of a hydraulic locking device according to a first embodiment of the present invention;

[0030] Figure 3 shows a hydraulic circuit diagram of a hydraulic locking device according to a second embodiment of the present invention;

[0031] Figure 4 shows a hydraulic circuit diagram of a hydraulic locking device according to a third embodiment of the present invention;

[0032] Figure 5 shows a first perspective view of a hydraulic locking device according to the present invention;

[0033] Figure 6 Shown according to Figure 5 A second perspective view of the hydraulic locking device;

[0034] Figure 7 Shown according to Figure 5 a partially exposed side view of the hydraulic locking device;

[0035] Figure 8 Shown according to Figure 5 Another portion of the hydraulic locking device is revealed in a side view.

[0036] Figure 9 Shown according to Figure 7 and Figure 8 Views of the plunger cylinder in different positions;

[0037] Figure 10 Shown according to Figure 2 Side view of the exoskeleton joint with hydraulic locking mechanism; and

[0038] Figure 11 Shown by Figure 10 A partial cross-section of the exoskeleton joint is shown. DETAILED DESCRIPTION

[0039] Figure 2 FIG. 1 shows a hydraulic circuit diagram of an exoskeleton joint 50 according to a first embodiment using the hydraulic locking device 10 according to the present invention. Figure 10 and 11As shown, a hydraulic locking device 10 can be used with an exoskeleton knee joint 50. The hydraulic locking device 10 includes a hydraulic cylinder configured as a plunger cylinder 12, which is connected to a tank 16 via a pipe arrangement 14. In addition, the hydraulic locking device 10 includes a housing 18 formed as a tank 16. The plunger cylinder 12 is arranged in the housing 18 and, therefore, in the tank 16. Therefore, the plunger cylinder 12 is exposed to the hydraulic fluid.

[0040] The on-off valve 20 is disposed in the piping assembly 14 and is switchable between a release position FS and a blocking position SS. The on-off valve 20 includes a biasing element 23 for biasing the on-off valve to the release position FS. An actuator 27 can be driven to switch the on-off valve 20 to the blocking position SS. In this embodiment, the actuator 27 is an electromagnet, which is energized by a higher-level control system (not shown).

[0041] The plunger cylinder 12 includes a plunger cylinder housing 22 and a plunger piston 24 that is axially movable within the plunger cylinder housing 22. The plunger piston 24 and the plunger cylinder housing 22 define a plunger chamber 26 of variable volume.

[0042] If free movement is desired, the switching valve 20 is placed in the release position FS, and when the plunger piston 24 is extended, hydraulic fluid can be drawn from the tank 16 via the conduit 14. Thus, hydraulic fluid is removed from the plunger chamber 26 by the inward movement of the plunger piston 24 and introduced into the tank 16 via the conduit. Once the switching valve 20 is switched to the blocking position SS, the connection between the tank 16 and the plunger chamber 26 is blocked. The plunger piston 24 is then fixed relative to the plunger cylinder housing 22 and cannot be extended or retracted.

[0043] As described above, the plunger cylinder 12 is completely disposed within the housing 16, so even if there is any potential risk of leakage from the plunger cylinder 12, it is not a problem. Therefore, the structure of the plunger cylinder 12 can be very simple, and there is no need to provide a high-pressure seal between the plunger piston 24 and the plunger cylinder housing 22. Instead, it is sufficient to provide a gap seal between the plunger piston 24 and the plunger cylinder housing 22. This is because when the hydraulic locking device 10 is used in the exoskeleton joint 50, after the switch valve 20 is switched to the blocking position SS, the movement of the plunger piston 24 can be tolerated even if it causes leakage. The purpose of blocking the movement of the plunger piston 24 is to support the weight, for example, during the stance phase of gait. However, this period is very limited in time, so even if there is leakage or movement of the plunger piston 24 during this short period of time, it is insignificant.

[0044] Figure 3 A hydraulic circuit diagram of a hydraulic locking device 10 according to a second embodiment of the present invention is shown. Figure 3 The embodiment shown is Figure 2The embodiment shown differs in that a nonreturn valve 28 is provided in the plunger piston 24. The nonreturn valve 28 is a spring-loaded nonreturn valve 28 which opens in the direction of flow from the tank 16 to the plunger chamber 26 against the force of a spring.

[0045] When the on-off valve 20 is in the blocked position SS, the plunger piston 24 is locked and cannot retract. However, when the on-off valve 20 is in the blocked position SS, the plunger piston 24 can continue to extend because hydraulic fluid can be drawn into the plunger chamber 26 via the check valve 28. This will be described in more detail below using the example of an exoskeleton knee joint 50. This means that when the on-off valve 20 is in the blocked position SS, the knee joint can continue to extend. However, the knee joint cannot flex because the plunger piston 24 is locked and cannot retract when the on-off valve 20 is in the blocked position SS.

[0046] The integration of the non-return valve 28 into the plunger piston 24 allows for a particularly compact design of the plunger cylinder 12 .

[0047] Figure 4 The hydraulic circuit diagram of the hydraulic locking device 10 according to the third embodiment of the present invention is shown. Figure 3 The hydraulic locking device 10 of the second embodiment shown differs primarily in that the check valve 28 is not disposed in the plunger piston 24, but rather in the on-off valve 20. As shown, when the on-off valve 20 is in the blocking position SS, the check valve 28 is activated and open in the direction of flow from the tank 16 to the plunger chamber 26. When the on-off valve 20 is in the blocking position SS, hydraulic fluid is drawn into the plunger chamber 26 via the conduit 14, causing the check valve 28 to allow the plunger piston 24 to continue extending relative to the cylinder housing 22. Furthermore, the check valve 28 is open during the extension of the plunger piston 24 from the tank 16. Also in this embodiment, the check valve 28 is a spring-loaded check valve 28 that opens against the force of a spring in the direction of flow from the tank 16 to the plunger chamber 26.

[0048] Secondly, Figure 4 The hydraulic locking device 10 according to the third embodiment of the present invention is shown with Figure 3 The embodiment shown also differs in that a branch line 30 branching off from the conduit arrangement 14 is provided between the switching valve 20 and the plunger chamber 26. As shown in the figure, the branch line 30 is arranged in the housing 18 so that the branch line 30 leads to the tank. A pressure relief valve 32 is provided on the branch line, which is a safety valve for protecting the high-pressure side of the hydraulic locking device 10 from damage. A maximum permissible pressure is set at the pressure relief valve 32. As soon as the pressure in the plunger chamber 26, that is, the pressure in at least part of the conduit arrangement 14, exceeds the maximum permissible pressure set at the pressure relief valve 32, the pressure relief valve 32 will open, thereby releasing the pressure in the plunger chamber 26 to the tank 16.

[0049] Of course, in Figure 2 and Figure 3 In the embodiment of the hydraulic locking device 10 shown, a branch line 30 with a pressure relief valve 32 can also be used. In addition, it is also conceivable that a pressure relief valve 32 is provided in the plunger piston 24 both in addition to and in place of the non-return valve 28.

[0050] The following will refer to Figures 5 to 9 as well as Figure 11 The specific structural design of the hydraulic locking device 10 is described in detail. The hydraulic locking device 10 described here corresponds to Figure 3 The following explanations also apply to the embodiment shown. Figure 2 and Figure 4 The embodiment shown.

[0051] The housing 18 of the hydraulic locking device 10 includes a base 36 and a cover 38. The base 36 and the cover 38 form a closed space in the housing 18, which forms the box 16. Figure 5 , the switch valve 20 is fixed to the outside of the housing, and a portion of the line device 14 also extends from the outside of the housing 18 to the inside of the housing 18. In addition, a first bracket 52 adjacent to the switch valve 20 is provided on the outside of the housing 18. Figure 10 The function of the first bracket 52 is to fix the exoskeleton joint 50 on the exoskeleton, for example, by connecting it to the thigh 54 of the exoskeleton to achieve fixation.

[0052] Figures 7 to 9 A side view of the hydraulic locking device 10 is shown with the cover 38 removed. It can be seen that the plunger cylinder 12 is disposed within the housing 18, i.e., within the housing 16. Therefore, a simple seal, such as a gap seal, can be used to seal the plunger piston 24 relative to the plunger cylinder housing 22. Any leakage from the plunger chamber 26 is simply withdrawn into the housing 16, so no special leak-proofing measures are required.

[0053] The hydraulic locking device 10 also includes a rotating shaft 34 extending through the housing 18. Specifically, the rotating shaft 34 passes through the main body 36 and through the cover 38, so that one end of the rotating shaft 34 protrudes from either side of the housing 18. The rotating shaft 34 is sealed relative to the housing 18 and the housing 16. Since only atmospheric pressure exists in the housing 16, relatively simple seals are sufficient. As shown in the figure, square objects are provided at each end of the rotating shaft 34 to connect the rotating shaft to other components in a rotationally fixed manner, see Figure 10 Of course, other possible ways of connecting the rotating shaft 34 to other components may also be provided.

[0054] The rotation axis 34 defines a first rotation axis D1. The plunger cylinder housing 22 is also rotatably disposed within the housing 18. As shown, the plunger cylinder housing 22 is rotatably mounted on the base 36 and the cover 38 about a second rotation axis D2. The second rotation axis D2 is disposed parallel to the first rotation axis D1.

[0055] A lever 40 is disposed within the housing 18 or the case 16. The lever 40 has a shaft coupling portion 42 at one end thereof and a piston coupling portion 44 at the other end thereof. The shaft coupling portion 42 is non-rotatably connected to the rotating shaft 34, and the piston coupling portion 44 is rotatably connected to one end of the plunger piston 24 extending from the plunger cylinder housing 22.

[0056] When the rotating shaft 34 rotates around the first rotating axis D1, the rotating motion is converted into the linear motion of the plunger piston 24 through the rotatable support of the lever 40 and the plunger cylinder housing 22 around the second rotating axis D2. Figure 7 ) and the second end EP2 (reference Figure 8 For example, the first end position EP1 may correspond to the fully open position of the exoskeleton joint 50, and the second end position EP2 may correspond to the fully closed end position EP2 of the exoskeleton joint 50.

[0057] When the rotating shaft 34 is in the first end position EP1, the plunger piston 24 is substantially fully extended. When the rotating shaft 34 rotates from the first end position EP1 to the second end position EP2, the plunger piston 24 retracts and the plunger cylinder housing 22 rotates about the second rotation axis D2. The plunger piston 24 then continues to retract until it reaches a dead center position between the first end position EP1 and the second end position EP2. At this dead center position, although the rotating shaft 34 has not yet entered the second end position EP2, the plunger piston 24 has already fully retracted. When the rotating shaft 34 continues to rotate about the first rotation axis D1 from the dead center position toward the second end position EP2, the plunger piston 24 extends again until it is substantially extended again when the rotating shaft 34 is in the second end position EP2. In view of this back-and-forth movement between the first end position EP1 and the second end position EP2 throughout the entire motion cycle, the structure of the plunger cylinder 12 can be particularly compact. Figure 9 Different positions of the lever 40 , the plunger piston 24 , and the plunger cylinder housing 22 are shown.

[0058] from Figure 11As can be seen in the partially sectional view shown (the switching valve 20 is not shown in the sectional view), the check valve 28 is disposed in the plunger piston 24. To this end, the plunger piston 24 has an axial opening 46 for receiving the check valve 28. One end of the axial opening 46 communicates with the plunger chamber 26, and the other end leads to a bore 48 that radially passes through the plunger piston 24 and communicates with the housing 16. When the switching valve 20 is in the blocking position SS, hydraulic fluid can be drawn into the plunger chamber 26 via the axial opening 46, the bore 48, and the check valve 28, so that the plunger piston 24 can still extend.

[0059] Figure 10 and Figure 11 An exoskeleton joint 50 with a hydraulic locking device 10 according to the present invention is shown. The exoskeleton joint 50 shown is an exoskeleton knee joint. As shown, the exoskeleton's thigh 54 is housed in a first bracket 52. Furthermore, the exoskeleton knee joint 50 includes a second bracket 56 that is movably mounted to the housing 18 via a four-bar linkage 58. In this embodiment, the exoskeleton's lower leg 60 is secured to the second bracket 56.

[0060] The four-bar linkage 58 includes a first leg 62, one end of which is non-rotatably connected to the rotation shaft 34 and the other end of which is rotatably connected to the second bracket 56. In addition, the four-bar linkage 58 includes a second leg 64, one end of which is rotatably connected to the housing 18 and the other end of which is rotatably connected to the second bracket 56. The four-bar linkage 58 can deviate the fulcrum between the thigh 54 and the shank 60 from the housing 18 and select the optimal fulcrum from an anatomical perspective.

[0061] Reference numerals

[0062] 10 Hydraulic locking device

[0063] 12 plunger cylinder

[0064] 14 Piping device

[0065] 16 cabinet

[0066] 18 housing

[0067] 20 On / Off Valve

[0068] 22 Plunger cylinder housing

[0069] 23 Bias element

[0070] 24 plunger piston

[0071] 26 Plunger chamber

[0072] 27 Actuator

[0073] 28 Check valve

[0074] 30 branches

[0075] 32 Pressure relief valve

[0076] 34 Rotation Axis

[0077] 36 matrix

[0078] 38 lid

[0079] 40 Leverage

[0080] 42 Shaft connection

[0081] 44 Piston connection

[0082] 46 Axial opening

[0083] 48 holes

[0084] 50 exoskeleton joints / exoskeleton knee joints

[0085] 52 First bracket

[0086] 54 thigh

[0087] 56 Second bracket

[0088] 58 Four-bar linkage

[0089] 60 calf

[0090] 62 First Leg

[0091] 64 Second Leg

[0092] 100 Hydraulic locking device

[0093] 102 hydraulic cylinder / differential cylinder

[0094] 104 pipeline device

[0095] 106 accumulator / box

[0096] 108 cylinder housing

[0097] 110 piston

[0098] 112 Piston chamber

[0099] 114 Rod Room

[0100] 116 First Branch Road

[0101] 118 Second Branch Road

[0102] 120 On / Off Valve

[0103] 122 Short Circuit

[0104] 124 Check Valve

[0105] D1 First rotation axis

[0106] D2 Second rotation axis

[0107] EP1 first end position

[0108] EP2 Second end position

[0109] FS release position

[0110] SS blocking position

Claims

1. A hydraulic locking device (10) for an exoskeleton joint (50), comprising: A retractable hydraulic cylinder (12), a housing (16) and a switch valve (20); wherein the hydraulic cylinder (12) is connected to the box (16) via a pipeline device (14); and The switch valve (20) is arranged in the pipeline device (14); The switch valve (20) is capable of switching between a release position (FS) and a blocking position (SS); When the switch valve (20) is in the release position (FS), the hydraulic cylinder (12) can move freely; and when the switch valve (20) is in the blocking position (SS), the hydraulic cylinder (12) can be prevented from retracting. It is characterized in that The hydraulic locking device (10) has a housing (18); the hydraulic cylinder (12) is a plunger cylinder, wherein the plunger cylinder has a plunger cylinder housing (22) and a plunger piston (24) movably arranged in the plunger cylinder housing (22); Wherein, the plunger cylinder is arranged in the housing (18); The hydraulic locking device (10) has a rotating shaft (34) and a lever (40); The rotating shaft (34) is rotatably mounted on the housing (18) around a first rotating shaft (D1), and the plunger cylinder housing (22) is rotatably mounted on the housing (18) around a second rotating shaft (D2); The lever (40) includes a shaft coupling portion (42) and a piston coupling portion (44), the shaft coupling portion (42) being non-rotatably connected to the rotating shaft (34); and Wherein, the piston coupling portion (44) is rotatably connected to the plunger piston (24).

2. The hydraulic locking device (10) according to claim 1, characterized in that: The rotating shaft (34) is capable of rotating between a first end position (EP1) and a second end position (EP2); Wherein, the dead point position is located between the first end position (EP1) and the second end position (EP2); The plunger piston (24) is extended at the first end position (EP1) and enters the dead point position when the rotating shaft (34) rotates, and as the rotating shaft (34) rotates, the plunger piston (24) is extended from the dead point position to the second end position (EP2).

3. The hydraulic locking device (10) according to claim 1 or 2, characterized in that: The switching valve (20) has a non-return valve (28); in the blocking position (SS), the non-return valve (28) is in an activated state and opens in the flow direction from the tank (16) to the plunger cylinder.

4. The hydraulic locking device (10) according to claim 1 or 2, characterized in that: The plunger cylinder has a non-return valve (28) which opens in the flow direction from the tank (16) to the plunger cylinder.

5. The hydraulic locking device (10) according to claim 4, characterized in that: The plunger piston (24) has the check valve (28).

6. The hydraulic locking device (10) according to claim 1 or 2, characterized in that: The plunger piston (24) and the plunger cylinder housing (22) define a plunger chamber (26), and the plunger chamber (26) is connected to the tank (16) via a pressure relief valve (32).

7. The hydraulic locking device (10) according to claim 1 or 2, characterized in that: The housing (18) forms the box (16), wherein the plunger cylinder is arranged in the box (16).

8. An exoskeleton joint (50), comprising: A hydraulic locking device (10) according to claim 1 or 2.

9. The exoskeleton joint (50) according to claim 8, characterized in that The exoskeleton joint (50) has a first bracket (52) provided on the housing (18) and a second bracket (56) movably mounted on the housing (18) via a four-bar linkage (58).

Images