CN106239481A - A kind of exoskeleton robot micro hydraulic servosystem - Google Patents
A kind of exoskeleton robot micro hydraulic servosystem Download PDFInfo
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- CN106239481A CN106239481A CN201610777958.0A CN201610777958A CN106239481A CN 106239481 A CN106239481 A CN 106239481A CN 201610777958 A CN201610777958 A CN 201610777958A CN 106239481 A CN106239481 A CN 106239481A
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- oil pump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of exoskeleton robot micro hydraulic servosystem, including fuel tank, hydraulic servo power unit and joint oil cylinder, joint oil cylinder is some, hydraulic servo power unit is some and a shared fuel tank and each hydraulic servo power unit are provided with an oil pump and the motor mated with oil pump, the output of this oil pump controls to be positioned at the one or more joints oil cylinder on human body one or the upper arm and each oil pump control difference joint oil cylinder, and each motor controls corresponding oil pump flow for mating the load pressure that the joint oil cylinder of this oil pump control is born by regulation rotating speed.The present invention avoids hydraulic system to be constantly in high-pressure work state, reduces system heat generation to greatest extent, improves running efficiency of system and lengthens working hours.
Description
Technical field
The present invention relates to a kind of hydraulic control technology, particularly a kind of exoskeleton robot micro hydraulic servosystem.
Background technology
Exoskeleton robot is a kind of man-machine integration machinery that people can be allowed to dress, using the teaching of the invention it is possible to provide soft to human body
Internal carries out configuration, and the external structure built and protect, particularly lower limb exoskeleton robot are used for expanding or strengthening
The physiological function of one people.Owing to exoskeleton robot can be closely linked supporting, move, protect three functions, tool
Have many unique performance advantages, therefore can be widely used in military affairs (improving soldier's fighting efficiency), civilian (constructions work,
Earthquake relief work and speedily carry out rescue work) and the medical treatment field such as (patients bed nursing, medical rehabilitation).
At present, exoskeleton robot mainly uses hydraulic-driven and motor to drive, and compared with motor driving, hydraulic-driven is held
Loading capability is big and is prone to miniaturization, stable drive and have pooling feature, is easily controlled and is particularly well-suited to the use ring in field
Border, therefore hydraulic-driven has wider application in exoskeleton robot, and no matter hydraulic drive type exoskeleton robot is in army
In thing or the most civilian on, be all following development trend.But current domestic close-coupled Hydrauservo System relies on substantially import,
Use conventional hydraulic principle and hydraulic structure, by a set of motor-pump power system, (i.e. close fuel-economizing for all executive components
Cylinder) pressure and flow are provided, make hydraulic system be in high pressure and the duty of big flow all the time, cause hydraulic work system
Time is short, and noise is big, the problems such as power-mass ratio is relatively low, it is impossible to meet exoskeleton robot low noise, lightweight, long-time work
The requirement made.Therefore a kind of lightweight, miniature liquid of rapid heat dissipation, longevity of service that power is provided is designed for exoskeleton robot
Pressure servosystem has very important practical significance.
Summary of the invention
It is an object of the invention to provide a kind of exoskeleton robot micro hydraulic servosystem, solve conventional hydraulic pressure and watch
Dress system high cost with low efficiency, quality weight, the problem that heating is big and the working time is short, preferably meet the work need of exoskeleton robot
Ask.
A kind of exoskeleton robot micro hydraulic servosystem, including fuel tank, hydraulic servo power unit and pass fuel-economizing
Cylinder.Described joint oil cylinder is some, and described hydraulic servo power unit is some and a shared fuel tank and each hydraulic servo power list
Unit is provided with an oil pump and the motor mated with oil pump；The output of this oil pump controls the one or more passes being positioned on human body one or the upper arm
Fuel-economizing cylinder and each oil pump control difference joint oil cylinder；Each motor by regulation rotating speed control corresponding oil pump flow for
Join the load pressure that the joint oil cylinder of this oil pump control is born.
Based on said system, each hydraulic servo power unit includes oil pump, motor, filter, front end electromagnetic valve, safety
Valve, also includes and the joint electromagnetic valve of joint oil cylinder quantity Matching of oil pump control, servo valve, survey in hydraulic servo power unit
Crimp head；Wherein oil pump enters oilhole and is connected with fuel tank oil outlet, and motor is connected with oil pump, and filter enters oilhole and oil pump oil outlet
Connect, filter oil outlet respectively with front end electromagnetic valve input, relief valve input, pressure transducer and servo valve input
Connecting, front end electromagnetic valve outfan is connected with mailbox return port, relief valve outfan respectively with joint electromagnetic valve input and watching
Taking valve input to connect, joint electromagnetic valve outfan is connected with pressure measuring tie-in, and servo valve outfan is connected with joint oil cylinder.
Based on said system, described top of oil-tank arranges breather valve and obturating cup；Wherein breather valve pressure in fuel tank surpasses
Opening when crossing atmospheric pressure and close when mailbox inside and outside differential pressure is zero, obturating cup is arranged between breather valve and fuel tank.
Based on said system, described electromagnetic valve is two-position two-way solenoid valve.
Based on said system, described motor is DC brushless motor.
The present invention compared with prior art, has the advantage that
(1) according to the work characteristics of exoskeleton robot, the hydraulic servo power unit that the present invention utilizes two sets independent carries
For power, it is achieved fixed displacement speed Control, it is to avoid hydraulic system is constantly in high-pressure work state, reduces system to greatest extent
Heating, improves running efficiency of system and lengthens working hours.
(2) use the power combination of the embedded oil pump+DC brushless motor of small-sized efficient, hydraulic system is highly collected
Become design, it is achieved the lightweight of system structure and miniaturization, the operating noise of system can also be reduced simultaneously.
(3) system can make knee joint oil cylinder and hip joint oil cylinder be in servo-actuated state by two-position two-way solenoid valve, it is simple to
The wearing of exoskeleton robot device and walking.
Below in conjunction with Figure of description, the present invention is described further.
Accompanying drawing explanation
Fig. 1 is the hydraulic schematic diagram of the present invention.
Fig. 2 is the appearance assumption diagram of the embodiment of the present invention.
Fig. 3 is the front section view of the embodiment of the present invention.
Detailed description of the invention
In conjunction with Fig. 1, a kind of exoskeleton robot micro hydraulic servosystem, including fuel tank, hydraulic servo power unit
With joint oil cylinder.Described joint oil cylinder is some, and described hydraulic servo power unit is some and a shared fuel tank and each hydraulic pressure are watched
Take power unit and be provided with an oil pump and the motor mated with oil pump；The output of this oil pump controls be positioned on human body one or the upper arm one
Or multiple joints oil cylinder and each oil pump control difference joint oil cylinder；Each motor controls corresponding oil pump flow by regulation rotating speed
For mating the load pressure that the joint oil cylinder of this oil pump control is born.
Each hydraulic servo power unit includes oil pump, motor, filter, front end electromagnetic valve, relief valve, also includes and liquid
The joint electromagnetic valve of joint oil cylinder quantity Matching of oil pump control, servo valve, pressure measuring tie-in in pressure servo power unit；Wherein oil
Pumping into oilhole to be connected with fuel tank oil outlet, motor is connected with oil pump, and filter enters oilhole and is connected with oil pump oil outlet, and filter goes out
Oilhole is connected with front end electromagnetic valve input, relief valve input, pressure transducer and servo valve input respectively, front end electromagnetism
Valve outfan is connected with mailbox return port, and relief valve outfan connects with joint electromagnetic valve input and servo valve input respectively
Connecing, joint electromagnetic valve outfan is connected with pressure measuring tie-in, and servo valve outfan is connected with joint oil cylinder.
Described top of oil-tank arranges breather valve and obturating cup；Wherein breather valve pressure in fuel tank is opened when exceeding atmospheric pressure
And close when mailbox inside and outside differential pressure is zero, obturating cup is arranged between breather valve and fuel tank.
Described oil pump is arranged in fuel tank.
Hydraulic servo power unit oil circuit maximum pressure is set in described relief valve, if oil circuit pressure is more than maximum pressure,
Then work reduction oil circuit pressure.
Described pressure measuring tie-in connects external pressure table.
Described electromagnetic valve is two-position two-way solenoid valve.
Described motor is DC brushless motor.
The present invention can preferably meet the work requirements of exoskeleton robot, except the exoskeleton robot being equipped with in army
Outside upper application, it is also possible to the exoskeleton robot for fields such as army rear service, rescue and relief work, patients ' recoveries provides power source.
Embodiment
In conjunction with Fig. 2, Fig. 3, the present embodiment designs the hydraulic servo power list that two sets are independent as a example by knee joint and hip joint
Unit, the most a set of hydraulic servo power unit drives the first knee joint oil cylinder 28 and the first hip joint oil cylinder 30, another set of hydraulic pressure
Servo power unit drives the second knee joint oil cylinder 29 and the second hip joint oil cylinder 31.Two set hydraulic servo power units share oil
Case 1.
A set of hydraulic servo power unit includes first oil pump the 4, first motor the 6, first filter the 8, first pressure sensing
Device the 10, first relief valve the 12, first servo valve the 14, second servo valve the 15, first electromagnetic valve the 18, second electromagnetic valve the 19, the 3rd electricity
Magnet valve the 20, first pressure measuring tie-in the 24, second pressure measuring tie-in 25.Wherein first filter the 8, first pressure transducer 10, first is pacified
Full valve the 12, first servo valve the 14, second servo valve the 15, first electromagnetic valve the 18, second electromagnetic valve the 19, the 3rd electromagnetic valve 20, first
Pressure measuring tie-in the 24, second pressure measuring tie-in 25 is all integrated on the first valve block 32.The hydraulic oil direct admission valve that first oil pump 4 provides
Block, by after the first filter 8 and valve block internal oil passages respectively with first pressure transducer the 10, first relief valve 12, first watch
Take valve the 14, second servo valve 15 to be connected with the 3rd electromagnetic valve 20；The first relief valve 12, first is connected respectively by oil circuit in valve block
The oil-out of servo valve the 14, second servo valve the 15, first electromagnetic valve the 18, second electromagnetic valve the 19, the 3rd electromagnetic valve 20, goes out the most at last
Hydraulic fluid port oil sump tank 1 after reunification.First servo valve 14 is connected with the first knee joint oil cylinder 28 with the first electromagnetic valve 18, the second servo valve
15 are connected with the first hip joint oil cylinder 30 with the second electromagnetic valve 19, realize the control to joint oil cylinder displacement by controlling servo valve
System.
Another set of power unit includes that fuel tank 1, breather valve 2, obturating cup the 3, second oil pump the 5, second motor 7, second filter
Device the 9, second pressure transducer the 11, second relief valve the 13, the 3rd servo valve the 16, the 4th servo valve the 17, the 4th electromagnetic valve the 21, the 5th
Electromagnetic valve the 22, the 6th electromagnetic valve the 23, the 3rd pressure measuring tie-in the 26, the 4th pressure measuring tie-in 27.Wherein second filter the 9, second pressure
Sensor the 11, second relief valve 13, the 3rd servo valve 16, the 4th servo valve 17, the 4th electromagnetic valve 21, the 5th electromagnetic valve 22,
Six electromagnetic valve the 23, the 3rd pressure measuring tie-in the 26, the 4th pressure measuring tie-ins 27 are all integrated on the second valve block 33.Second oil pump 5 provides
Hydraulic oil direct admission valve block, by after the second filter 9 and valve block internal oil passages respectively with the second pressure transducer 11, second
Relief valve the 13, the 3rd servo valve the 16, the 4th servo valve 17 is connected with the 6th electromagnetic valve 23；Is connected respectively by oil circuit in valve block
Two relief valve the 13, the 3rd servo valve the 16, the 4th servo valve the 17, the 4th electromagnetic valve the 21, the 5th electromagnetic valve the 22, the 6th electromagnetic valves 23
Oil-out, the most at last oil-out oil sump tank 1 after reunification.3rd servo valve 16 and the 4th electromagnetic valve 21 and the second knee joint oil cylinder 29
Being connected, the 4th servo valve 17 is connected with the second hip joint oil cylinder 31 with the 5th electromagnetic valve 22, realizes pass by controlling servo valve
The control of fuel-economizing cylinder displacement.
First oil pump 4 and the second oil pump 5 are embedded oil pump, are arranged on fuel tank 1 internal, have more preferable oil suction effect
Really, noise during operation of oil pump can be reduced simultaneously.Fuel tank 1 structure is closed, it is ensured that fuel tank is being stood, squats down, crawled
During the actions such as crawl, fluid will not leak；Fuel tank 1 top is provided with breather valve 2 and obturating cup 3, when fuel tank inside and outside pressure reduction is more than one
During definite value, breather valve 2 is opened, and tank internal pressure keeps consistent with atmospheric pressure, the most both can guarantee that the oil absorbing effect of oil pump, again
When tank internal pressure can be prevented excessive, oil pump is damaged；Obturating cup 3, by completely separated to fuel tank internal and breather valve 2, works as breathing
When valve 2 work is opened, it is ensured that fuel tank inner fluid will not leak.
First relief valve 12 and the second relief valve 13 define the maximum system in two set hydraulic servo power unit oil circuits
Pressure, it is ensured that the personal safety of wearer and equipment safety；First pressure transducer 10 and the second pressure transducer 11 can be real
Time monitoring system and the pressure of joint oil cylinder, it is ensured that the effectiveness of control；3rd electromagnetic valve 20 and the 6th electromagnetic valve 23 are two
Position two-way electromagnetic valve, has the function of system quick relief.At the first servo valve, the second servo valve, the 3rd servo valve and the 4th
First pressure measuring tie-in the 24, second pressure measuring tie-in 25, the 3rd pressure measuring tie-in 26 and it is respectively arranged with at the control port of servo valve
Four pressure measuring tie-ins 27, by pressure measurement flexible pipe and Pressure gauge, can detect the pressure of control port；First electromagnetic valve 18 with
First knee joint oil cylinder 28 is connected, and the second electromagnetic valve 19 is connected with the first hip joint oil cylinder 30, the 4th electromagnetic valve 21 and the second knee joint
Joint oil cylinder 29 is connected, and the 5th electromagnetic valve 22 is connected with the second hip joint oil cylinder 31, when opening first electromagnetic valve the 18, second electromagnetism
When valve the 19, the 4th electromagnetic valve 21 and five electromagnetic valves 22, first knee joint oil cylinder the 28, first hip joint oil cylinder the 30, second knee joint closes
Fuel-economizing cylinder 29 and the second hip joint oil cylinder 31 directly communicate with oil return line, and the most all oil cylinders are in servo-actuated state, it is simple to dress
And walking.
First motor 6 and the second motor 7 are DC brushless motor, drive the first oil pump 4 and the second oil pump 5 respectively.Outward
During skeleton robot ambulation, the first knee joint oil cylinder 28 and the second knee joint oil cylinder 29 the most alternately bear load pressure, now
The flow that two oil cylinders need is also in alternate, and the first hip joint oil cylinder 30 and the second hip joint oil cylinder 31 the most alternately bear
Load pressure.This feature when walking according to exoskeleton robot, the two independent hydraulically controlled servo power lists of set that the present invention includes
Unit can be according to the change of loading condition, by regulating the first motor 6 and rotating speed of the second motor 7, provides not for joint oil cylinder
Same system pressure and flow, it is to avoid system is constantly in high pressure, the duty of big flow, thus reduces to greatest extent
System heat generation, improves running efficiency of system.
The above is only the preferred embodiment of the present invention, and professional and technical personnel in the field can be on the basis of the present invention
On carry out various change and deformation.Therefore, the present invention is not intended to be limited to the embodiments shown herein, all in the present invention
Spirit and principle within any modification, equivalent substitution and improvement etc. made, should be included in protection scope of the present invention it
In.
Claims (8)
1. an exoskeleton robot micro hydraulic servosystem, including fuel tank, hydraulic servo power unit and joint oil cylinder,
It is characterized in that,
Described joint oil cylinder is some,
Described hydraulic servo power unit is some and a shared fuel tank and each hydraulic servo power unit be provided with an oil pump and with
The motor of oil pump coupling；
The output of this oil pump controls to be positioned at the one or more joints oil cylinder on human body one or the upper arm and each oil pump control difference is closed
Fuel-economizing cylinder；
Each motor controls what corresponding oil pump flow was born for the joint oil cylinder mating this oil pump control by regulation rotating speed
Load pressure.
System the most according to claim 1, it is characterised in that each hydraulic servo power unit includes oil pump, motor, mistake
Filter, front end electromagnetic valve, relief valve, also include and the joint oil cylinder quantity Matching of oil pump control in hydraulic servo power unit
Joint electromagnetic valve, servo valve, pressure measuring tie-in；Wherein
Oil pump enters oilhole and is connected with fuel tank oil outlet, and motor is connected with oil pump, and filter enters oilhole and is connected with oil pump oil outlet, mistake
Filter oil outlet is connected with front end electromagnetic valve input, relief valve input, pressure transducer and servo valve input respectively, front
End electromagnetic valve outfan is connected with mailbox return port, and relief valve outfan inputs with joint electromagnetic valve input and servo valve respectively
End connects, and joint electromagnetic valve outfan is connected with pressure measuring tie-in, and servo valve outfan is connected with joint oil cylinder.
System the most according to claim 1 and 2, it is characterised in that described top of oil-tank arranges breather valve and obturating cup；Its
In
Breather valve pressure in fuel tank is opened when exceeding atmospheric pressure and closes when mailbox inside and outside differential pressure is zero,
Obturating cup is arranged between breather valve and fuel tank.
System the most according to claim 1 and 2, it is characterised in that described oil pump is arranged in fuel tank.
System the most according to claim 2, it is characterised in that hydraulic servo power unit oil circuit is set in described relief valve
Maximum pressure, if oil circuit pressure is more than maximum pressure, then work reduction oil circuit pressure.
System the most according to claim 2, it is characterised in that described pressure measuring tie-in connects external pressure table.
System the most according to claim 2, it is characterised in that described electromagnetic valve is two-position two-way solenoid valve.
System the most according to claim 1 and 2, it is characterised in that described motor is DC brushless motor.
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| CN201610777958.0A CN106239481A (en) | 2016-08-31 | 2016-08-31 | A kind of exoskeleton robot micro hydraulic servosystem |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618022A (en) * | 2017-09-14 | 2018-01-23 | 西南交通大学 | Volume speed regulating hydraulic system and power-assisted lower limb exoskeleton |
| CN107639626A (en) * | 2017-09-14 | 2018-01-30 | 西南交通大学 | Throttle grverning hydraulic system and power-assisted lower limb exoskeleton |
| CN108569091A (en) * | 2017-03-13 | 2018-09-25 | 科维（营口）工业有限公司 | A kind of mechanical arm control gas circuit and tire changer |
| CN109764029A (en) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技（成都）有限公司 | A kind of miniature single power source hydraulic system applied to exoskeleton robot |
| CN109779986A (en) * | 2019-03-14 | 2019-05-21 | 布法罗机器人科技（成都）有限公司 | A kind of miniature only power source servo hydraulic system applied to exoskeleton robot |
| CN112975908A (en) * | 2021-02-19 | 2021-06-18 | 华南理工大学 | Hydraulic system and hydraulic driving method applied to load-mobile exoskeleton |
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| CN103612257A (en) * | 2013-12-02 | 2014-03-05 | 电子科技大学 | External skeleton pump and valve combined control device and method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108569091A (en) * | 2017-03-13 | 2018-09-25 | 科维（营口）工业有限公司 | A kind of mechanical arm control gas circuit and tire changer |
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| CN107639626A (en) * | 2017-09-14 | 2018-01-30 | 西南交通大学 | Throttle grverning hydraulic system and power-assisted lower limb exoskeleton |
| CN107639626B (en) * | 2017-09-14 | 2024-04-23 | 西南交通大学 | Throttling speed-regulating hydraulic system and power-assisted lower limb exoskeleton |
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| CN109764029A (en) * | 2019-03-14 | 2019-05-17 | 布法罗机器人科技（成都）有限公司 | A kind of miniature single power source hydraulic system applied to exoskeleton robot |
| CN109779986A (en) * | 2019-03-14 | 2019-05-21 | 布法罗机器人科技（成都）有限公司 | A kind of miniature only power source servo hydraulic system applied to exoskeleton robot |
| CN112975908A (en) * | 2021-02-19 | 2021-06-18 | 华南理工大学 | Hydraulic system and hydraulic driving method applied to load-mobile exoskeleton |
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Application publication date: 20161221 |