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Throttle valve damping wearable robot joint driving 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: 2021-08-13
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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  • Throttle valve damping wearable robot joint driving device
  • Throttle valve damping wearable robot joint driving device
  • Throttle valve damping wearable robot joint driving device

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Embodiment Construction

[0031] 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.

[0032] The core of the present invention is to provide a throttling valve damping wearable robot joint drive device, the damping can be automatically adjusted in real time to control the size of the damping force under different load forces and human gait, to achieve natural and smooth rotation, and at the same time, The compact structure and light weight of the driving structure are realized.

[0033] Please refer to Figure 1 to Figure 3 , figure 1 It is a...

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Abstract

The invention discloses a throttle valve damping wearable robot joint driving device. The throttle valve damping wearable robot joint driving device comprises a double-cavity hydraulic cylinder, a first piston rod, a first piston, a second piston rod, a second piston and a knee joint module; one side of a single-shaft knee joint of the knee joint module is connected to the tail part of the first piston rod through a connecting rope, and the other side is connected to the tail part of the second piston rod through a connecting rope; a throttle valve respectively communicates with upper cavities of a first hydraulic cavity and a second hydraulic cavity; a hydraulic pump respectively communicates with lower cavities of the first hydraulic cavity and the second hydraulic cavity; a first motor controls the opening area of the throttle valve; a second motor controls the rotating speed and the steering direction of the hydraulic pump; and an angle sensor detects the rotating angle and speed of the knee joint module. The damping can be automatically adjusted in real time to control different loading force and damping force under human body gait so as to realize natural and smooth rotation; and meanwhile, the structure compactness and the light weight of a driving structure are realized.

Description

technical field [0001] The invention relates to the technical field of joint drive, and more specifically, relates to a throttling valve damping wearable robot joint drive device. Background technique [0002] At present, the population of patients with lower limb amputation is large in our country. Amputation caused by car accidents or diseases not only brings them physical pain, but also brings a certain amount of 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 wearable robot joints are largely determined by the drive structure of the joints. Whether the damping of the driving structure can be continuously adjusted determines the compliance of the swing posture of the joints of the wearable robot. If the posture is not compliant, the patient's we...

Claims

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Application Information

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Patent Type & Authority Applications(China)
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
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