A high-pressure gas internal circulation pneumatic exoskeleton robot

Abstract

A high-pressure gas internal circulation pneumatic exoskeleton robot belongs to the field of exoskeletons and pneumatic system energy saving. The pneumatic exoskeleton robot includes a gas source backpack assembly and an exoskeleton assembly. The gas source backpack assembly is located on the upper part of the exoskeleton assembly and includes a gas source backpack and a power assembly. The gas source backpack includes a bag body and multiple proportional valves, and the power assembly includes two air pumps. Air pumps are respectively installed between the high-pressure gas chamber and the buffer gas chamber, and between the buffer gas chamber and the low-pressure gas chamber within the bag body. The high-pressure gas chambers are connected to the high-pressure chambers of the hip joint cylinder and the knee joint cylinder of the exoskeleton assembly via air pipes. The low-pressure gas chambers are connected to the high-pressure and low-pressure chambers of the hip joint cylinder and the knee joint cylinder of the exoskeleton assembly via air pipes. Proportional valves are connected between the air pipes and the high-pressure gas chambers, and between the air pipes and the low-pressure gas chambers. This invention can reduce the energy consumption of the pneumatic system and improve the overall endurance.

Description

Technical Field

[0001] This invention belongs to the field of energy-saving technology of exoskeletons and pneumatic systems, specifically relating to a high-pressure gas internal circulation pneumatic exoskeleton robot. Background Technology

[0002] As people age, their muscles naturally decline, leading to a decrease in physical function and quality of life for older adults. Therefore, there is an urgent need for wearable devices such as exoskeletons to restore basic mobility, which is of significant social importance in improving the quality of life for the elderly.

[0003] Most mainstream exoskeletons on the market currently use motor-driven solutions, but electric systems have inherent limitations: the rigid transmission characteristics of motor drives lead to delayed joint response, which can easily generate reverse impact forces when there is a sudden loss of balance, posing a safety hazard; at the same time, gear reduction structures cannot simulate the flexible cushioning characteristics of human joints, and may cause secondary injuries in accidental collision scenarios. In contrast, the biomimetic characteristics of gas-driven actuators (such as cylinders) are closer to the viscoelasticity of biological muscles, possessing natural compliance and force control safety.

[0004] While traditional pneumatic exoskeleton robots offer advantages such as compliant actuation and safe human-robot interaction, they suffer from high system energy consumption. Gas-driven systems typically employ an open-loop power supply mode: the low-pressure chamber of the actuator (such as a cylinder) is directly connected to the atmosphere. When the actuator moves, the high-pressure gas inside is directly discharged into the atmosphere. When recharging is required, the compressor must directly draw gas from the atmosphere and compress it at a high compression ratio, a process that consumes significant energy. Summary of the Invention

[0005] The purpose of this invention is to reduce the energy consumption of the pneumatic system and improve the endurance of the pneumatic exoskeleton robot while retaining the advantages of flexible human-machine interaction of traditional pneumatic exoskeleton robots, thereby providing a high-pressure gas internal circulation pneumatic exoskeleton robot.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A high-pressure gas internal circulation pneumatic exoskeleton robot includes an air source backpack assembly and an exoskeleton assembly; the air source backpack assembly is located on the upper part of the exoskeleton assembly, and the air source backpack assembly includes an air source backpack and a power assembly; the air source backpack includes a bag body and multiple proportional valves, and the power assembly includes two air pumps.

[0008] The exoskeleton contains three independent and sealed high-pressure gas chambers, buffer gas chambers, and low-pressure gas chambers. Air pumps are installed between the high-pressure and buffer gas chambers, and between the buffer and low-pressure gas chambers. The air pump located between the high-pressure and buffer gas chambers has its inlet connected to the buffer gas chamber and its outlet connected to the high-pressure gas chamber. Similarly, the air pump located between the buffer and low-pressure gas chambers has its inlet connected to the low-pressure gas chamber and its outlet connected to the buffer gas chamber. The high-pressure gas chambers are connected to the high-pressure chambers of the hip joint cylinder and the knee joint cylinder of the exoskeleton assembly via air tubes. The low-pressure gas chambers are connected to the high-pressure and low-pressure chambers of the hip joint cylinder and the knee joint cylinder of the exoskeleton assembly via air tubes. Proportional valves are connected between the air tubes and the high-pressure and low-pressure gas chambers.

[0009] Furthermore, the number of proportional valves is twelve; the package body also includes a bottom chamber; the high-pressure gas chamber, buffer gas chamber, low-pressure gas chamber, and bottom chamber are separated from top to bottom by three partitions; one air pump is installed on the partition between the high-pressure gas chamber and the buffer gas chamber, and another air pump is installed on the partition between the buffer gas chamber and the low-pressure gas chamber; two proportional valves are installed on each of the left and right side walls of the high-pressure gas chamber, and the two proportional valves are respectively connected to the high-pressure chambers of the hip joint cylinder and the knee joint cylinder located on the same side via air pipes; four proportional valves are installed on each of the left and right side walls of the low-pressure gas chamber, and the four proportional valves are respectively connected to the low-pressure chamber and the high-pressure chamber of the hip joint cylinder, and the low-pressure chamber and the high-pressure chamber of the knee joint cylinder located on the same side via air pipes.

[0010] Furthermore, the gas source backpack also includes a one-way valve; the one-way valve is installed on the side wall of the buffer gas chamber.

[0011] Furthermore, the power assembly also includes a control circuit and a power supply; the control circuit and the power supply are installed in the bottom cavity, and the control circuit includes a power management module and a microcontroller circuit board; the power supply is electrically connected to the power management module and the microcontroller circuit board respectively, the power management module is electrically connected to the air pump and the proportional valve through a power line, and the microcontroller circuit board is signal connected to the air pump and the proportional valve through a signal line.

[0012] Furthermore, the power supply is used to provide power to the power management module and the microcontroller circuit board, ensuring that both operate normally;

[0013] The power management module receives power from the power source and transmits the electrical energy directly to the air pump and proportional valve through the power line, ensuring that both of them obtain a stable operating voltage / current.

[0014] The microcontroller circuit board is used to send control commands to the air pump and proportional valve via signal lines, so as to achieve precise control of the air pump start-up and shutdown and the proportional valve opening.

[0015] Furthermore, the exoskeleton assembly includes a waist strap and two hip assemblies, two thigh assemblies, and two calf assemblies symmetrically arranged. The upper ends of the two hip assemblies are connected to the waist strap, and each hip assembly is connected to the upper end of the thigh assembly on the same side via two hip joint bearings. The hip assemblies and thigh assemblies can rotate relative to each other around the axis of the two hip joint bearings. The lower ends of the thigh assemblies are connected to the upper ends of the calf assemblies on the same side via two knee joint bearings. The thigh assemblies and calf assemblies can rotate relative to each other around the axis of the two knee joint bearings.

[0016] Furthermore, each hip assembly includes a hip shell, two thigh straps, a hip joint cylinder, two hip joint bearings, and two hip joint cylinder bearings; the waist straps are connected to two opposite sides of the two hip shells, and the two opposite sides of the two hip shells are respectively connected to the thigh straps; two hip joint bearings are symmetrically installed below the two opposite inner walls of the hip shells, and two hip joint cylinder bearings are symmetrically installed above the two opposite inner walls of the hip shells; the rear end of the hip joint cylinder is connected to the two hip joint cylinder bearings.

[0017] Furthermore, each thigh assembly includes a thigh shell, at least one thigh strap, a knee joint cylinder, two knee joint bearings, two hip joint cylinder bearings (secondary), and two knee joint cylinder bearings (primary). The upper end of the thigh shell is connected to the hip shell via two hip joint bearings. Two hip joint cylinder bearings (secondary) are symmetrically mounted on two opposite sidewalls of the thigh shell. The piston rod end of the hip joint cylinder is connected to the two hip joint cylinder bearings (secondary). The thigh shell is connected to at least one thigh strap. Two knee joint bearings are symmetrically mounted on the lower part of two opposite inner sidewalls of the thigh shell. Two knee joint cylinder bearings (primary) are symmetrically mounted on two opposite inner sidewalls of the thigh shell. The knee joint cylinder bearings (primary) are located between the hip joint cylinder bearings (secondary) and the knee joint bearings. The rear end of the knee joint cylinder is connected to the thigh shell via two knee joint cylinder bearings (primary).

[0018] Furthermore, each of the lower leg components includes a lower leg shell, at least one lower leg strap, and two knee joint cylinder bearings; the upper end of each lower leg shell is connected to the thigh shell via two knee joint bearings, two knee joint cylinder bearings are symmetrically mounted on the two opposite inner sidewalls of the lower leg shell, the piston rod end of the knee joint cylinder is connected to the lower leg shell via two knee joint cylinder bearings, and the lower leg shell is connected to at least one lower leg strap.

[0019] The advantages of this invention over the prior art are:

[0020] 1. The gas source backpack assembly is equipped with a high-pressure gas chamber and a low-pressure gas chamber. The gas consumed in the high-pressure gas chamber will be indirectly replenished from the low-pressure gas chamber, making the system more energy-efficient.

[0021] 2. The air source backpack assembly is equipped with a buffer gas chamber. By controlling the gas pressure in the high-pressure gas chamber and the low-pressure gas chamber through an air pump, pressure fluctuations are transferred to the buffer gas chamber, which can maintain the pressure stability of the high-pressure gas chamber and the low-pressure gas chamber.

[0022] 3. The use of a pneumatic system to control motion offers advantages such as smooth driving and safe human-machine interaction.

[0023] 4. It uses straps to fix it to the body, which can adapt to people of different body shapes.

[0024] 5. The overall structure is simple, making it easy to manufacture and use.

[0025] In summary, the high-pressure gas internal circulation pneumatic exoskeleton robot of the present invention can reduce the energy consumption of the pneumatic system and improve the endurance of the pneumatic exoskeleton robot while retaining the advantages of flexible human-machine interaction of traditional pneumatic exoskeleton robots. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the high-pressure gas internal circulation pneumatic exoskeleton robot of the present invention;

[0028] Figure 2 for Figure 1 Structural cross-sectional view of the exoskeleton components;

[0029] Figure 3 for Figure 1 Internal structure diagram of the gas source backpack component;

[0030] Figure 4 for Figure 1 Schematic diagram of the mid-hip component;

[0031] Figure 5 for Figure 1 Schematic diagram of the mid-thigh assembly;

[0032] Figure 6 for Figure 1 Schematic diagram of the lower leg assembly;

[0033] Figure 7 A simplified circuit diagram showing the connections between the control circuit, power supply, proportional valve, and air pump.

[0034] The component names and reference numerals in the above figures are as follows:

[0035] 1. Air Source Backpack Component; 2. Exoskeleton Component; 21. Hip Component; 22. Thigh Component; 23. Lower Leg Component; 11. Low-Pressure Gas Chamber; 12. Buffer Gas Chamber; 13. High-Pressure Gas Chamber; 14. One-Way Valve; 15. Proportional Valve; 16. Air Tube; 17. Control Circuit; 18. Power Supply; 19. Air Pump; 20. Bottom Chamber; 21. Hip Component; 22. Thigh Component; 23. Lower Leg Component; 211. Hip Shell; 212. Waist Strap; 2 13. Thigh root strap; 214. Hip joint cylinder; 215. Hip joint bearing; 216. Hip joint cylinder bearing one; 221. Thigh shell; 222. Thigh strap; 223. Knee joint cylinder; 224. Knee joint bearing; 225. Knee joint cylinder bearing one; 226. Hip joint cylinder bearing two; 231. Lower leg shell; 232. Lower leg strap; 233. Knee joint cylinder bearing two; 24. Power management module; 25. Microcontroller circuit board. Detailed Implementation

[0036] The following detailed description of a high-pressure gas internal circulation pneumatic exoskeleton robot according to the present invention, with reference to the accompanying drawings, is provided in further detail.

[0037] like Figures 1-6 As shown, this embodiment describes a high-pressure gas internal circulation pneumatic exoskeleton robot, including an air source backpack assembly 1 and an exoskeleton assembly 2; the air source backpack assembly 1 is disposed on the upper part of the exoskeleton assembly 2, and the air source backpack assembly 1 includes an air source backpack and a power assembly; the air source backpack includes a bag body and multiple proportional valves 15, and the power assembly includes two air pumps 19.

[0038] The package contains three independent and sealed high-pressure gas chambers: a high-pressure gas chamber 13, a buffer gas chamber 12, and a low-pressure gas chamber 11. Air pumps 19 are installed between the high-pressure gas chamber 13 and the buffer gas chamber 12, and between the buffer gas chamber 12 and the low-pressure gas chamber 11. The air pump 19 located between the high-pressure gas chamber 13 and the buffer gas chamber 12 has its inlet connected to the buffer gas chamber 12 and its outlet connected to the high-pressure gas chamber 13 (used to pump gas from the buffer gas chamber 12 to the high-pressure gas chamber 13 to replenish the high-pressure gas consumed by the high-pressure gas chamber 13 during operation and to maintain the gas pressure within the high-pressure gas chamber 13). Air pumps 19 are installed between the buffer gas chamber 12 and the low-pressure gas chamber 11. The air pump 19 between chambers 11 has its inlet connected to the low-pressure gas chamber 11 and its outlet connected to the buffer gas chamber 12 (the air pump 19 pumps gas from the low-pressure gas chamber 11 to the buffer gas chamber 12). The high-pressure gas chamber 13 is connected to the high-pressure chamber of the hip joint cylinder 214 and the high-pressure chamber of the knee joint cylinder 223 of the exoskeleton assembly 2 via the air pipe 16. The low-pressure gas chamber 11 is connected to the high-pressure chamber and the low-pressure chamber of the hip joint cylinder 214 and the high-pressure chamber and the low-pressure chamber of the knee joint cylinder 223 of the exoskeleton assembly 2 via the air pipe 16. A proportional valve 15 is connected between the air pipe 16 and the high-pressure gas chamber 13 and between the air pipe 16 and the low-pressure gas chamber 11.

[0039] Trachea 16 is a flexible trachea.

[0040] The low-pressure gas chamber 11 is connected to the low-pressure chamber of the hip joint cylinder 214 of the exoskeleton assembly 2 via the air tube 16. It is used to discharge the gas received by the hip joint cylinder 214 in the low-pressure gas chamber 11 due to the execution of the action, and to maintain the gas pressure in the low-pressure gas chamber 11.

[0041] Furthermore, such as Figures 2-5 As shown, there are twelve proportional valves 15. The package also includes a bottom chamber 20. The high-pressure gas chamber 13, the buffer gas chamber 12, the low-pressure gas chamber 11, and the bottom chamber 20 are separated from top to bottom by three partitions. One air pump 19 is installed on the partition between the high-pressure gas chamber 13 and the buffer gas chamber 12, and another air pump 19 is installed on the partition between the buffer gas chamber 12 and the low-pressure gas chamber 11. Two proportional valves 15 are installed on each of the left and right side walls of the high-pressure gas chamber 13. The two proportional valves 15 are connected to the high-pressure chambers of the hip joint cylinder 214 and the knee joint cylinder 223 on the same side via air pipes 16, respectively. Four proportional valves 15 are installed on each of the left and right side walls of the low-pressure gas chamber 11. The four proportional valves 15 are connected to the low-pressure and high-pressure chambers of the hip joint cylinder 214 and the knee joint cylinder 223 on the same side via air pipes 16, respectively.

[0042] Furthermore, such as Figure 2As shown, the gas source backpack also includes a one-way valve 14; the one-way valve 14 is installed on the side wall of the buffer gas chamber 12.

[0043] The one-way valve 14 is normally closed. It is only opened when the exoskeleton robot has been operating for a long time and some gas has leaked due to sealing reasons. A small amount of gas is then supplied from the outside using an air pump or air pipe. Only gas is allowed to enter the buffer gas chamber 12 from the outside. This is used to replenish the gas leaked from the pneumatic system (including the buffer gas chamber 12, high-pressure gas chamber 13, one-way valve 14, proportional valve 15, air pipe 16, and air pump 19 in the air source backpack assembly 1; and the hip joint cylinder 214 and knee joint cylinder 223 in the exoskeleton assembly 2) after the exoskeleton robot has been operating for a period of time.

[0044] Furthermore, such as Figure 3 , Figure 7 As shown, the power assembly also includes a control circuit 17 and a power supply 18; the control circuit 17 and the power supply 18 are installed in the bottom chamber 20. The control circuit 17 includes a power management module 24 and a microcontroller circuit board 25; the power supply 18 is electrically connected to the power management module 24 and the microcontroller circuit board 25 respectively. The power management module 24 is electrically connected to the air pump 19 and the proportional valve 15 through a power line. The microcontroller circuit board 25 is signal connected to the air pump 19 and the proportional valve 15 through a signal line.

[0045] The microcontroller circuit board 25 can be an STM32F407 development board, and the signal lines can be CAN lines.

[0046] Furthermore, such as Figure 7 As shown, the power supply is used to provide power to the power management module 24 and the microcontroller circuit board 25 to ensure that both work properly (as the total energy source of the entire system).

[0047] The power management module 24 is used to receive power from the power source 18 and transmit the electrical energy directly to the air pump 19 and the proportional valve 15 through the power line to ensure that both of them obtain a stable operating voltage / current (the main function is to distribute and manage electrical energy).

[0048] The microcontroller circuit board 25 is used to send control commands (such as switching, adjusting ratio, etc.) to the air pump 19 and the proportional valve 15 via signal lines to achieve precise control of the start and stop of the air pump 19 and the opening degree of the proportional valve 15.

[0049] Furthermore, such as Figure 1 , Figure 2As shown, the exoskeleton assembly 2 includes a waist strap 212 and two hip assemblies 21, two thigh assemblies 22, and two calf assemblies 23, which are symmetrically arranged. The upper ends of the two hip assemblies 21 are connected to the waist strap 212. Each hip assembly 21 is connected to the upper end of the thigh assembly 22 located on the same side through two hip joint bearings 215. The hip assembly 21 and the thigh assembly 22 can rotate relative to each other around the axis of the two hip joint bearings 215. The lower end of the thigh assembly 22 is connected to the upper end of the calf assembly 23 located on the same side through two knee joint bearings 224. The thigh assembly 22 and the calf assembly 23 can rotate relative to each other around the axis of the two knee joint bearings 224.

[0050] Furthermore, such as Figure 1 , Figure 2 , Figure 4 As shown, each hip assembly 21 includes a hip housing 211, two thigh straps 213, a hip joint cylinder 214, two hip joint bearings 215, and two hip joint cylinder bearings 216. The waist straps 212 are connected to two opposite sides of the two hip housings 211, and the two opposite sides of the two hip housings 211 are respectively connected to the thigh straps 213. Two hip joint bearings 215 are symmetrically installed below the two opposite inner walls of the hip housings 211, and two hip joint cylinder bearings 216 are symmetrically installed above the two opposite inner walls of the hip housings 211. The rear end of the hip joint cylinder 214 is connected to the two hip joint cylinder bearings 216.

[0051] Furthermore, such as Figure 1 , Figure 5 As shown, each thigh assembly 22 includes a thigh shell 221, at least one thigh strap 222, a knee joint cylinder 223, two knee joint bearings 224, two hip joint cylinder bearings 226, and two knee joint cylinder bearings 225. The upper end of the thigh shell 221 is connected to the hip shell 211 via two hip joint bearings 215. Two hip joint cylinder bearings 226 are symmetrically mounted on two opposite sidewalls of the thigh shell 221. The piston rod end of the hip joint cylinder 214 is connected to the two hip joint cylinder bearings 226. The leg shell 221 is connected to at least one thigh strap 222 (the number of thigh straps 222 can be multiple as needed). Two knee joint bearings 224 are symmetrically installed on the lower side of the two opposite inner walls of the thigh shell 221. Two knee joint cylinder bearings 225 are symmetrically installed on the two opposite inner walls of the thigh shell 221. The knee joint cylinder bearings 225 are located between the hip joint cylinder bearings 226 and the knee joint bearings 224. The rear end of the knee joint cylinder 223 is connected to the thigh shell 221 through the two knee joint cylinder bearings 225.

[0052] Furthermore, such as Figure 1 , Figure 2 , Figure 6 As shown, each of the lower leg components 23 includes a lower leg shell 231, at least one lower leg strap 232, and two knee joint cylinder bearings 233. The upper end of each lower leg shell 231 is connected to the thigh shell 221 by two knee joint bearings 224. Two knee joint cylinder bearings 233 are symmetrically installed on the two opposite inner sidewalls of the lower leg shell 231. The piston rod end of the knee joint cylinder 223 is connected to the lower leg shell 231 by two knee joint cylinder bearings 233. The lower leg shell 231 is connected to at least one lower leg strap 232 (the number of lower leg straps 232 can be multiple as needed).

[0053] When the high-pressure gas internal circulation pneumatic exoskeleton robot of the present invention moves, the following actions occur:

[0054] (1) Hip joint relaxation: The control circuit 17 controls the proportional valve 15 connecting the high pressure gas chamber 13 and the high pressure chamber of the hip joint cylinder 214, and the proportional valve 15 connecting the low pressure gas chamber 11 and the low pressure chamber of the hip joint cylinder 214 to open; and controls the proportional valve 15 connecting the low pressure gas chamber 11 and the high pressure chamber of the hip joint cylinder 214 to close, so that high pressure gas is input into the high pressure chamber of the hip joint cylinder 214, pushing the piston rod of the hip joint cylinder 214 to extend, and discharging the gas in the low pressure chamber of the hip joint cylinder 214 into the low pressure gas chamber 11.

[0055] (2) Hip joint contraction: The control circuit 17 controls the high pressure chamber 13 connected to the high pressure chamber of the hip joint cylinder 214 to close, controls the proportional valve 15 connected to the low pressure chamber 11 connected to the low pressure chamber of the hip joint cylinder 214 and controls the proportional valve 15 connected to the low pressure chamber 11 connected to the high pressure chamber of the hip joint cylinder 214 to open, so that the high pressure gas is discharged from the high pressure chamber of the hip joint cylinder 214 to the low pressure chamber 11, the piston rod of the hip joint cylinder 214 retracts, and the gas in the low pressure chamber 11 is replenished into the low pressure chamber of the hip joint cylinder 214.

[0056] (3) Knee joint relaxation: The control circuit 17 controls the opening of the proportional valve 15 connecting the high pressure gas chamber 13 and the high pressure chamber of the knee joint cylinder 223, and controls the opening of the proportional valve 15 connecting the low pressure gas chamber 11 and the low pressure chamber of the knee joint cylinder 223, and controls the closing of the proportional valve 15 connecting the low pressure gas chamber 11 and the high pressure chamber of the knee joint cylinder 223, so that the high pressure gas is input into the high pressure chamber of the knee joint cylinder 223, pushing the piston rod of the knee joint cylinder 223 to extend, and discharging the gas in the low pressure chamber of the knee joint cylinder 223 into the low pressure gas chamber 11.

[0057] (4) Knee joint contraction: The control circuit 17 controls the high pressure chamber 13 connected to the high pressure chamber of the knee joint cylinder 223 to close, controls the proportional valve 15 connected to the low pressure chamber 11 connected to the low pressure chamber of the knee joint cylinder 223 and controls the proportional valve 15 connected to the low pressure chamber 11 connected to the high pressure chamber of the knee joint cylinder 223 to open, so that the high pressure gas is discharged from the high pressure chamber of the knee joint cylinder 223 to the low pressure chamber 11, the piston rod of the knee joint cylinder 223 retracts, and the gas in the low pressure chamber 11 is replenished into the low pressure chamber of the knee joint cylinder 223.

[0058] (5) Gas source backpack adjusts the gas pressure of the high pressure chamber: the air pump 19 between the high pressure gas chamber 13 and the buffer gas chamber 12 works to pump gas from the buffer gas chamber 12 to the high pressure gas chamber 13, replenishing the high pressure gas consumed by the high pressure gas chamber 13 due to the operation, and maintaining the gas pressure in the high pressure gas chamber 13.

[0059] (6) Gas source backpack adjusts the gas pressure in the low-pressure chamber: The air pump 19 between the buffer gas chamber 12 and the low-pressure gas chamber 11 works to pump gas from the low-pressure gas chamber 11 to the buffer gas chamber 12, and discharge the gas discharged from the cylinders (including the hip joint cylinder 214 and the knee joint cylinder 223) in the low-pressure gas chamber 11 due to the execution of the action, so as to maintain the gas pressure in the low-pressure gas chamber 11.

[0060] (7) Replenishing leaked gas in the pneumatic system: Use an external air pump to replenish a small amount of gas to the buffer gas chamber 12 through the one-way valve 14.

[0061] Both the hip joint cylinder 214 and the knee joint cylinder 223 are double-acting single-piston rod cylinders.

[0062] This invention focuses on energy saving in pneumatic systems and pneumatic exoskeleton robots, improving the way gas is used in pneumatic systems and achieving energy saving, thereby increasing the endurance of pneumatic exoskeleton robots.

[0063] This invention reduces the energy consumption of the pneumatic system and improves the endurance of the pneumatic exoskeleton robot while retaining the advantages of flexible human-machine interaction in traditional pneumatic exoskeleton robots. Specifically, after the actuator (such as a cylinder) completes its action, the gas is discharged into the low-pressure gas chamber 11. The gas lost in the high-pressure gas chamber 13 is replenished from the low-pressure gas chamber 11 through the buffer gas chamber 12, thereby realizing the internal circulation of gas in the entire pneumatic system and achieving energy-saving effect.

[0064] The theoretical basis for energy conservation is as follows:

[0065] Ideal gas law

[0066] In the process of change

[0067] Where: C is a constant, Assuming the working gas is air, then γ is 1.4, and k can be 1.2.

[0068] According to the polytropic process formula for gas compression:

[0069]

[0070] Where: B is a constant;

[0071] If the pressure is Volume is The gas is compressed to a pressure of Volume is ,but

[0072]

[0073]

[0074]

[0075] Depend on have to, Substituting into

[0076]

[0077]

[0078]

[0079] For systems with different pressures in the high-pressure chamber and the low-pressure chamber, since the pressure difference between the high-pressure chamber and the low-pressure chamber is equal, the output force is the same when performing the same action, and the volume of high-pressure gas consumed is the same. That is, the volume of high-pressure gas that needs to be replenished in the high-pressure chamber is the same.

[0080] More generally, the energy consumption formula for compressed gas is:

[0081] ,in , , ,

[0082] make , , ,

[0083]

[0084]

[0085]

[0086] make ,

[0087]

[0088]

[0089]

[0090] make , ,

[0091] when hour, ,because , ,

[0092] when hour, , ,

[0093] exist The expression is monotonically increasing, and its zero point is... Therefore, in , ,exist , ,so exist Monotonically decreasing, in Monotonically increasing, in There is a minimum value.

[0094]

[0095]

[0096] because Therefore , , ,

[0097] so , along with Increases and monotonically increases, because Therefore , .

[0098] , along with The pressure increases and then monotonically decreases, so the pressure difference between the high-pressure chamber and the low-pressure chamber... Without changing the pressure, simultaneously increasing the pressure in the high-pressure chamber and the low-pressure chamber can reduce the work required to replenish gas from the low-pressure chamber to the high-pressure chamber, thereby achieving energy saving in the system.

[0099] Example:

[0100] Assuming the cylinder diameter is 5cm and the stroke is 30cm, the volume of high-pressure gas consumed when the cylinder extends is... .

[0101] For a system (atmosphere) where the high-pressure chamber pressure is 7 Bar and the low-pressure chamber pressure is 1 Bar:

[0102]

[0103] That is, the work required to replenish gas from the low-pressure chamber to the high-pressure chamber is 2283.98 (J);

[0104] For a system (atmosphere) with a high-pressure chamber pressure of 10 Bar and a low-pressure chamber pressure of 4 Bar:

[0105]

[0106] That is, the work required to replenish gas from the low-pressure chamber to the high-pressure chamber is 1668.35 (J).

[0107] Compared to a 7-Bar system, a 10-Bar system requires only 73% of the work to replenish the gas, saving 27% of energy.

[0108] The meanings of the symbols in the above formulas are shown in Table 1:

[0109] Table 1

[0110]

[0111] The innovation of this invention lies in the graded recovery of the exoskeleton's air source. Traditional exoskeletons directly release the gas from the cylinders into the atmosphere after the cylinders have completed their movements. This invention, however, releases the gas from the cylinders into the low-pressure gas chamber 11 of the air source backpack (one innovation). Then, through a graded recovery technology, the gas flows from the low-pressure gas chamber 11 through the buffer gas chamber 12 (another innovation), and finally returns to the high-pressure gas chamber 13. Using this graded recovery technology, less energy is consumed when the cylinders perform the same actions, making the exoskeleton robot more energy-efficient.

Claims

1. A high-pressure gas internal circulation pneumatic exoskeleton robot, characterized in that: It includes an air source backpack assembly (1) and an exoskeleton assembly (2); the air source backpack assembly (1) is located on the upper part of the exoskeleton assembly (2), and the air source backpack assembly (1) includes an air source backpack and a power assembly; the air source backpack includes a bag body and twelve proportional valves (15), and the power assembly includes two air pumps (19). The package contains three independent and sealed high-pressure gas chambers (13), buffer gas chambers (12), and low-pressure gas chambers (11). Air pumps (19) are installed between the high-pressure gas chamber (13) and the buffer gas chamber (12), and between the buffer gas chamber (12) and the low-pressure gas chamber (11). The air pump (19) located between the high-pressure gas chamber (13) and the buffer gas chamber (12) has its inlet connected to the buffer gas chamber (12) and its outlet connected to the high-pressure gas chamber (13). The air pump (19) located between the buffer gas chamber (12) and the low-pressure gas chamber (11) has its inlet connected to the buffer gas chamber (12) and its outlet connected to the high-pressure gas chamber (13). The air pump (19) between the gas chambers (11) has its inlet connected to the low-pressure gas chamber (11) and its outlet connected to the buffer gas chamber (12); the high-pressure gas chamber (13) is connected to the high-pressure chamber of the hip joint cylinder (214) and the high-pressure chamber of the knee joint cylinder (223) of the exoskeleton assembly (2) through the air pipe (16); the low-pressure gas chamber (11) is connected to the high-pressure chamber and the low-pressure chamber of the hip joint cylinder (214) and the high-pressure chamber and the low-pressure chamber of the knee joint cylinder (223) of the exoskeleton assembly (2) through the air pipe (16); The package also includes a bottom chamber (20); the high-pressure gas chamber (13), buffer gas chamber (12), low-pressure gas chamber (11) and bottom chamber (20) are separated from top to bottom by three partitions. One of the air pumps (19) is installed on the partition between the high-pressure gas chamber (13) and the buffer gas chamber (12), and another air pump (19) is installed on the partition between the buffer gas chamber (12) and the low-pressure gas chamber (11). Each of the two side walls of the high-pressure gas chamber (13) has a bottom chamber (20). Two proportional valves (15) are installed, and the two proportional valves (15) are respectively connected to the high pressure chamber of the hip joint cylinder (214) and the high pressure chamber of the knee joint cylinder (223) located on the same side through the air pipe (16); four proportional valves (15) are installed on the left and right side walls of the low pressure gas chamber (11), and the four proportional valves (15) are respectively connected to the low pressure chamber and high pressure chamber of the hip joint cylinder (214) and the low pressure chamber and high pressure chamber of the knee joint cylinder (223) located on the same side through the air pipe (16).

2. The pneumatic exoskeleton robot according to claim 1, characterized in that: The gas source backpack also includes a one-way valve (14); the one-way valve (14) is installed on the side wall of the buffer gas chamber (12).

3. The pneumatic exoskeleton robot according to claim 1, characterized in that: The power assembly also includes a control circuit (17) and a power supply (18); the control circuit (17) and the power supply (18) are installed in the bottom chamber (20). The control circuit (17) includes a power management module (24) and a microcontroller circuit board (25); the power supply (18) is electrically connected to the power management module (24) and the microcontroller circuit board (25) respectively. The power management module (24) is electrically connected to the air pump (19) and the proportional valve (15) through a power line. The microcontroller circuit board (25) is signal connected to the air pump (19) and the proportional valve (15) through a signal line.

4. The pneumatic exoskeleton robot according to claim 3, characterized in that: The power supply is used to provide power to the power management module (24) and the microcontroller circuit board (25) to ensure that both work properly; The power management module (24) is used to receive power from the power source (18) and transmit the power directly to the air pump (19) and the proportional valve (15) through the power line to ensure that both of them obtain a stable operating voltage / current. The microcontroller circuit board (25) is used to send control commands to the air pump (19) and the proportional valve (15) via signal lines to achieve precise control of the start and stop of the air pump (19) and the opening degree of the proportional valve (15).

5. The pneumatic exoskeleton robot according to claim 1, characterized in that: The exoskeleton assembly (2) includes a waist strap (212) and two hip assemblies (21), two thigh assemblies (22) and two calf assemblies (23) arranged symmetrically. The upper ends of the two hip assemblies (21) are connected to the waist strap (212). Each hip assembly (21) is connected to the upper end of the thigh assembly (22) on the same side through two hip joint bearings (215). The hip assembly (21) and the thigh assembly (22) can rotate relative to each other around the axis of the two hip joint bearings (215). The lower end of the thigh assembly (22) is connected to the upper end of the calf assembly (23) on the same side through two knee joint bearings (224). The thigh assembly (22) and the calf assembly (23) can rotate relative to each other around the axis of the two knee joint bearings (224).

6. The pneumatic exoskeleton robot according to claim 5, characterized in that: Each of the hip components (21) includes a hip housing (211), two thigh straps (213), a hip cylinder (214), two hip bearings (215), and two hip cylinder bearings (216); the waist strap (212) is connected to two opposite sides of the two hip housings (211), the two opposite sides of the two hip housings (211) are respectively connected to the thigh straps (213), two hip bearings (215) are symmetrically installed below the two opposite inner walls of the hip housings (211), two hip cylinder bearings (216) are symmetrically installed above the two opposite inner walls of the hip housings (211), and the rear end of the hip cylinder (214) is connected to the two hip cylinder bearings (216).

7. The pneumatic exoskeleton robot according to claim 6, characterized in that: Each thigh assembly (22) includes a thigh shell (221), at least one thigh strap (222), a knee joint cylinder (223), two knee joint bearings (224), two hip joint cylinder bearings (226), and two knee joint cylinder bearings (225). The upper end of the thigh shell (221) is connected to the hip shell (211) via two hip joint bearings (215). Two hip joint cylinder bearings (226) are symmetrically mounted on two opposite sidewalls of the thigh shell (221). The piston rod end of the hip joint cylinder (214) is connected to the two hip joint cylinder bearings. The thigh shell (221) is connected to the second (226) and at least one thigh strap (222). Two knee joint bearings (224) are symmetrically installed on the lower side of the two opposite inner walls of the thigh shell (221). Two knee joint cylinder bearings (225) are symmetrically installed on the two opposite inner walls of the thigh shell (221). The knee joint cylinder bearings (225) are located between the hip joint cylinder bearings (226) and the knee joint bearings (224). The rear end of the knee joint cylinder (223) is connected to the thigh shell (221) through the two knee joint cylinder bearings (225).

8. The pneumatic exoskeleton robot according to claim 7, characterized in that: Each of the lower leg components (23) includes a lower leg shell (231), at least one lower leg strap (232), and two knee joint cylinder bearings (233). The upper end of each lower leg shell (231) is connected to the thigh shell (221) through two knee joint bearings (224). Two knee joint cylinder bearings (233) are symmetrically installed on the two opposite inner sidewalls of the lower leg shell (231). The piston rod end of the knee joint cylinder (223) is connected to the lower leg shell (231) through two knee joint cylinder bearings (233). The lower leg shell (231) is connected to at least one lower leg strap (232).

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